04 3939 Ijecs Ijens

International Journal of Electrical & Computer Sciences IJECS-IJENS Vol:12 No:04 10
124103-04-3939-IJECS-IJENS August 2012 IJENS

I J E N S

AbstractA photovoltaic system connected to the grid is
constituted by two main parts: a solar cell and a power converter
DC-AC. The impedance adaptation between the two parties is a
technological problem that essentially means the transfer of
maximum power of PV generator to the grid. I n this paper, a
new technique for nonlinear control of power converter DC-AC
is presented. This converter is built on two stages: a DC-DC
stage and a DC-AC stage. The two blocks are bound by a DC
voltage intermediate bus. The control objective is threefold: i)
control the input voltage of the converter to find the MPP
(maximum power point), ii) regulating the DC bus voltage, iii)
generate a sinusoidal current at industrial frequency that will be
injected into the network with a power factor near unity. The
synthesis of controllers was performed using the technique of
backstepping nonlinear control. A detailed analysis of the
stability control system is presented. The performance of
controllers has been validated by numerical simulation in
MATLAB / SI MULI NK.

Index Term DC-AC converter, Backstepping, MPP,
photovoltaic system, power factor.

I. INTRODUCTION
Solar radiation is the most shared energy resource on earth
and the most abundant: The quantity of energy released by the
sun (captured by the planet earth) for one hour may be
sufficient to meet global energy needs for one year.Part of this
radiation can be used to directly produce heat

Abdelhafid Ait Almahjoub is serving in
M.I.T. L'University Hassan 2 mohamedia-Casablanca, Morocco
aitelmahjoub@gmail.com
A.Ailaneis serving in
M.Rachik is serving in
A.Essadki is serving in
D.GE ENSET University Mohamed 5 Rabat Morocco
J .Bouyaghroumni is serving in

(solar thermal) or electricity, it is solar photovoltaics. This
production method does not require a distribution network.
Indeed it can generate electricity where it is consumed
(Villages, isolated houses, relay communications, water
pumping, Shelters ...).
Some countries are introducing measures to encourage the
producing of electricity from solar energy. And within this
framework, the energy is purchased at an attractive price
(price per kWh produced higher than the price per kWh
consumed and billed by the energy supplier).
The conversion of this energy to electrical energy is performed
by through a photovoltaic cell (PV)[1].
The voltage generated may vary depending on the material
used for the manufacture of the cell. The combination of
several PV cells in series / parallel result in a photovoltaic
generator (GPV) which has a current-voltage (I-V) non-linear
with a maximum power point.
The I-V characteristic of GPV depends on the level of
illumination (Figure 1) and the temperature of the cell (Figure
2) and the aging of the assembly. Moreover, its operating
point depends directly on the load that it supplies. In order to
extract in every moment the maximum power available at the
terminals of the GPV, we introduce an adapting stage between
the generator and the load to couple the two elements as
perfectly as possible.
In this paper, only the adapting stage, which is performed by a
power converter DC-AC, is investigated in order to implement
control strategies to improve the energy behavior of these
systems.
More investigations have been published on various topologies
of DC-AC converters [7] [8] [9] [10]. Among these
topologies, which is based on the cascade of DC-DC
converters and DC-AC has a great feature (simple
configuration). Figure 3 shows the schematic diagram of such
a system. It is constituted of the one part, of a bridge chopper
for converting the input DC voltage into a DC voltage higher,
and secondly an inverter capable of generating, from this DC
voltage, an alternating current which is injected directly into
the power grid.
Non-linear Control of a Multi-loop
DC-AC Power Converter Using in
Photovoltaic SystemConnected to the Grid
Abdelhafid Ait Almahjoub, A.Ailane

, M.Rachik

, A.Essadki

, J .Bouyaghroumni

I J E N S
Using means models, widely used in AC-DC converters
literature, several control design techniques have been
proposed, such as the classic PID controller that uses small-
signal linear models [11] [12]. In this work we propose to
control this type of converter by the nonlinear backstepping
approach. The concept is to calculate an appropriate control
law to guarantee the global asymptotic stability of the closed
loop system [13] [14] [15] [16].

Fig. 1. I=F(V) T =25C depending on irradiation

Fig. 2. I=F(V) depending on thejunction temperature

Fig. 3. DC-AC converter
II. MATHEMATICAL MODEL OF THE CONVERTER
The converter shown in Figure 3 consists of a chopper and
an inverter using switches such as IGBTs. These transistors
are controlled by the principle, widely known in the literature,
the pulse width modulation (PWM). Thus, the arms ((k
1
, k
2
),
(k
3
, k
4
)) and the switch k
5
we associate respectively the binary
switching functions
1
and
2
such that:
1 4 2 3
1
1 4 2 3
1 if k and k are ON and k and k are OFF
1 if k and k are OFF and k and k are ON

5
2
5
1 if k is ON
1 if k is OFF

The cyclical and binary signals
1
and
2
are the control
inputs of the AC-AC. They vary from one period to another,
and their variations can determine the trajectories of the state
variables of the converter such as the currents in the inductors
and the voltages across the capacitors.
The development of the model switched system is based on the
application of Kirchhoff's laws. Thus, we obtain
1
out
o o out rs dc
di
L r i v v
dt
= + (1a)
2
1
1
2
dc
out in
dv
C i i
dt

= + (1b)
2
1
2
in
i pv i in dc
di
L v ri v
dt

=
(1c)
pv in
pv
i
i i
dt
dv
C + = (1d)
The above model proves to be unsuitable for the development
of continuous control laws since it involves, as input variables,
the binary signals
1
and
2
. To overcome this
inconvenience, the equivalent average model is used. Thus,
we obtain the model
1 1 1 2 o o res
L x r x v u x = + (2a)
2
2 1 1 3
1
2
u
Cx u x x
= + (2b)
i
in
i
pv
v
pv
v
res
i
out
v
dc
I J E N S
2
3 3 4 2
1
2
i i
u
L x r x x x
= + (2c)
4 3 i pv
C x x i = + (2d)
where
1
x ,
2
x ,
3
x ,
4
x ,
1
u ,
2
u and
pv
i represent, respectively,
the means values, over a period of cutting, of variables
out
i ,
dc
v ,
in
i ,
pv
v ,
1
,
2
and
pv
i .
Note that the mathematical model (2) is nonlinear because of
the products involving the state variables and input signals.
The non-standard form of this model leads us to choose
techniques taking into account the nonlinearities such as
approach backsteeping.
III. CONTROLLER DESIGN
A. The aim of controller
The converter control strategy must be developed to: i)
achieve the MPPT (Maximum Power Point Tracking) side of
the PV cell by setting the operating point current / voltage, ii)
ensure the setting of the DC bus voltage iii) manage the
transfer of power from the network side, such that the
incoming average active power equals outgoing active power
(around losses). Moreover, the quality of injected current has
to be the best possible.
The controller synthesis will be performed in three steps.
First, an output current inner loop (regulator 1) is designed to
inject a sinusoidal current in the network and have a power
factor close to unity. In the second step, an input current inner
loop (regulator 2) is designed to have a DC voltage at the
input whose amplitude is determined by the reference signal
(command received from the system controlling MPPT). In
the end an outer voltage loop (regulator 3) is built-up to
generate the reference signal, which will be used by the
controller 1, to regulate the DC bus voltage at its desired
reference value
2 DC
x =v
- -
.

The proposed control system will have the structure shown in
Figure 4. Both controllers 1 and 2 will be synthesized by a
technique using Backstepping approach and the third will be
done by a simple proportional-integral corrector.

Fig. 4. Les boucles de rgulations du convertisseur DC-AC
B. Output current inner loop design (regulator 1)

The PFC objective means that the converter output current
should be sinusoidal and in phase with the grid supply
voltage. It amounts to ensuring current harmonics rejection.
We therefore seek a regulator that enforces the current x
1
to
track a reference signal of the form
*
1 in
x = v when IR
+
e .
The block diagram in Figure 5 shows the basic structure of the
control loop of the output current.
Taking into account the equations (2a) the relative degree of
the system in relation with the variable x
1
is 1, the
backstepping synthesis of the regulator will be done in one
step.

Fig. 5. Output current inner loop

Consider the tracking error z
1
defined by
) (
*
1 1 1
x x L z
o
=
its dynamics is given by:
) (
*
1 1 1
x x L z
o
= (3)
Let us use the Lyapunov candidate function
2
1 1
5 . 0 z V =

As its derivative with respect to time, is given by
1 1 1
z z V
=
the choice
1 1 1
z k z = (4)
Where k
1
is a positive constant synthesis, leads to a Lyapunov
candidate function whose dynamics is negative definite.
So
2
1 1 1
z k V =

Therefore global asymptotic stability is achieved and z
1

tends exponentially to 0.
Using (2a) , (3) and (4) we will have :
*
1 1 1 1 2 1 o res o
k z r x v u x L x = +
x
2
will initially be equal to 2E

because the capacitor (C) of
the DC bus is automatically loaded by the DC-AC converter
that acts as a rectifier diode (D1, D2, D3 and D
2
) at system
startup if we delay the switch control (k
1
, k
2
, k
3
, k
4
).
Solving the previous equation with respect to u
1
led to the
backstepping control law as follows:
*
1 1 1 1 1
2
1
( )
o res o
u k z r x v L x
x
= + + + (5)
Proposition 1.
Consider the DC-AC converter of Figure 3 which is
described by the model means (2). If the first derivative of is
available, then the control law (5) guarantees global
asymptotic stability of the error signal z
1
.

I J E N S
C. input current inner loop design (regulator 2)

The block diagram of figure 6 shows the control loop of the
input voltage. It calculates the control law of the second stage
of the power converter DC-DC to regulate the output voltage
x
4
to its desired reference value x
4
*
.

Fig. 6. Input voltage inner loop
Taking into account the equations (2c) and (2d) the relative
degree of the system, by respect to the variable x
4
, is 2, the
backstepping synthesis of the regulator will realized in two
stages.
We define an error variable

*
4 4 4
( )
i
z C x x =
the dynamics of the error z
4
is given by

*
4 4 4
( )
i
z C x x = (7)
So with (2e)

*
4 3 4 pv i
z x i C x = + (8)
Consider the following candidate Lyapunov function

2
4 4
0.5 V z =
its derivative with respect to time is given by

4 4 4
V z z =

The choice
4 4 4
z k z = (9)
Where k
4
is a positive constant synthesis, leads to a
Lyapunov candidate function whose dynamics is negative
definite.
using (8) and (9) we will have

*
4 4 3 4 pv i
k z x i C x = + (10)
if we choose x
3
as virtual control input we deduce the
stabilizing function

* *
3 4 4 4 pv i
x k z i C x = +
(11)
As x
3
is not the control input, a new error variable z
3
between
the virtual control x
3
and its desired value x
3
*
is introduced:
*
3 3 3
z x x = (12)
The dynamics of the error z
3
is given by:
*
3 3 3
z x x = (13)
Using (8) , (9), (11) and (12), we will have :
4 3 3 3
z z k z = (14a)
2
4 4 4 3 4
V k z z z = +

(14b)
Now consider the dynamics of the error z
3
taking into account
(2c), so:
* 2
3 3 4 2 3
1 1
2
i
i i i
r u
z x x x x
L L L
= + (15)
We see appear for the first time, the true signal of the control
noted u
2
.The objective now is to stabilize the system (z
4
, z
3
),
for this we take as a Lyapunov candidate function the
following function:
2 2
3 4 3
1 1
2 2
V z z = +
Its dynamics is given by:
3 4 4 3 3
V z z z z = +
.
Using (14a)
2
3 4 4 3 4 3
( ) V k z z z z = + +

The choice
4 3 3 3
z z k z + = (16)
Where k
3
is a positive constant synthesis, which guarantees
the negativity of the dynamics of the Lyapunov candidate
function, because:
2 2
3 4 4 3 3
V k z k z =
0
the equations (15) and (16) lead to:
* 2
3 4 2 3 3 3 4
1 1
2
i
i i i
r u
x x x x k z z
L L L
+ = +
We deduce then the following control law:
*
2 3 4 3 3 3 4
2
2
1 ( )
i i i i
u r x x L x k L z L z
x
= + + + (17)
Proposition 2.
Consider the DC-AC converter of Figure 3 which is
described by the model means (2). The control law (17)
guarantees the global asymptotic stability of error signals z
3

and z
4
. Moreover the dynamics of these errors is described by
the following model:
4 4 4
3 3 3
1
1
z k z
z k z
| | | || |
=
| | |
\ . \ .\ .

D. outer voltage loop design (regulator 3)

The block diagram in Figure 7 shows the structure of the
regulator of DC bus voltage.

Fig. 7. Structure for regulating the DC bus voltage
The aim of the outer loop is to generate a tuning law for the
ratio in such a way that the DC bus voltage x
2
be regulated
to a given reference value x
2
*
. The first step in designing is to
establish the relation (model) between the ratio (control
input) and the DC voltage x
2
.

Hypothesis:
H1
The inner loop input current (regulator 1) and the inner loop
output current (regulator 2) are supposed to have fast
I J E N S
dynamics compared to of the outer loop of DC bus voltage
(regulator 3).

H2
The voltage drops across the different coils and their parasitic
resistances are assumed negligible compared to the input and
output voltages.
Based on the hypotheses H1 and H2, the control laws (5) and
(17) reduce to:
1
2
1
res
u v
x
= (18a)

2 4
2
2
1 u x
x
= (18b)
If we substitute u
1
and u
2
given by expressions (18) in (2b)
the model becomes:
2 2 1 4 3
1
( )
res
x x xv x x
C
= + (19)
setting
2
2
x y= , its dynamics becomes:

2
E
( ) y p t
C
= + (20)
Where
2
3 4
E 2
( ) cos(2 ) p t t x x
C C
= +
Note that the model (20) can be seen as an integrator
perturbed by the signal ) (t p . The controller design is based on
the average model as follows:
) (t p k y + =
(21)
with
}
=
T
ydt
T
y
0
1

2
E
k
C
=

}
=
T
dt
T
0
1

3 4
2
( )
0
T
p t x x dt
CT
=
}

Where T is the period of the network.
The control model (21) has been verified by simulation. So,
the step response results in a signal y (the square of the output
voltage) ramp type perturbed by undulations of low amplitude.
The system (21) can be stabilized using a simple PI controller
that has the transfer function given by

s
k k s C
i p
1
) ( + = .
The block diagram of the controlled system is shown in Figure
8.

Fig. 8. Equivalent loop voltage

In closed loop, the output signal y depends on the reference
signal y* and the disturbing signal p (t) by the equation:
) ( ). ( ) ( ). ( ) (
*
s P s G s Y s F s Y + = (22)
With:
2
0
2
0
1
2
1
1
) (

s
s
s
s F
+ +
+
= and
2
0
2
0
2
2
1
) (

s
s
s
s G
+ +
=
Where:
i p
k k k /
1
= ,
i
k / 1
2
= ,
i
k =
0
,
i
p
k
k k
2
1
=

The transfer relation (22) shows that the proposed controller
guarantees a perfect pursuit
*
lim( ) 0
t
y y
= and a rejection
disturbance since G (s) contains a derivator effect.
The Bode diagram of Figure 9 shows the frequency response
of the transfer function F (s).
10
0
10
1
10
2
10
3
-90
-60
-30
0
P
h
a
s
e
(
d
e
g
)
BodeDiagram
Frequency (rad/sec)
-30
-20
-10
0
M
a
g
n
itu
d
e
(
d
B
)

Fig. 9. Bode diagramof F (s)
IV. SIMULATION RESULTS
The performance of the proposed controller has been
validated by simulation in the environment MATLAB /
SIMULINK. Table 1 shows all the parameters of the
controlled system.

TABLE I
Simulation parameters

Item value
grid

E
230 2 V
e 100t rad/s
DC -DC converter L
i
20mH
r
i
30m
C
i
2000F
DC-AC converter L
o
20mH
r
o
30m
C 4000F
Switching frequency f
PWM
10Khz

Figures 10 to 15 gives the simulation results when the
reference of the DC bus voltage (V
DC
) is an echelon going
from 500V to 600V and the reference voltage input (V
pv
) is set
at 10V and then passed to 12V.
y C(s)
y
*

+
-
k
+ 1 /s
+
p(t)
I J E N S
Figure 10 shows that the output current of the converter is
sinusoidal, and in Figure 11, we note that the output current is
sinusoidal and in phase with the grid voltage, this shows that
the power factor correction is perfectly realized.
Figure 12 shows the evolution of the converter input voltage,
in particular it is noted that this voltage follows the reference
voltage.
Figure 13 shows that the DC bus voltage follows perfectly (on
average) its reference.
Finally in Figures 14 and 15, are presented the control
signals
1
and
2
, it is clear that they are bounded.
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
-100
-50
0
50
Fig. 11. Courant iout
0.2 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.3
-6
-4
-2
0
2
4
6

i
out
v
rs
Fig. 12. Courant iout et tension vrs (vrs/60)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
5
10
15
20

v
pv
v
pvref

Fig. 13. Tension lentre vpv
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
200
400
600
800

v
dc
v
dcref

Fig. 14. Tension du bus continu vdc et sa rfrence
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
-0.5
0
0.5
1

Fig. 15. La loi de commande
1

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
-0.5
0
0.5
1

Fig. 16. La loi de commande
2

V. CONCLUSIONS
In this paper, we presented a new control technique using
the backstepping approach to control DC-AC converters used
in photovoltaic connected to the grid. The control objective is
threefold i) injecting a perfectly sinusoidal current in the grid
and power factor correction ii) regulating the input voltage iii)
regulating the DC bus voltage between the chopper stage and
the inverter stage of the DC-AC single phase used. The
studied system is described by a representation of nonlinear
state average of order 4. The synthesis of the regulator was
achieved by having recourse to advanced tools of nonlinear
control such as stability in the sense of Lyapunov. It was
shown by simulation that the proposed controller guarantees
the desired tracking performance and stability.
ACKNOWLEDGEMENTS
This work is supported by faculty Ben Msik of University
Hassan 2, L.T. Elkhaouarizmy, Moroccan school science
engineer (EMSI), the network of systems theory of Morocco
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International Journal of Electrical & Computer Sciences IJECS-IJENS Vol:12 No:04 10

124103-04-3939-IJECS-IJENS August 2012 IJENS

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