IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 51, NO.

2, APRIL 2004 401

An Adaptive Controller in Stationary Reference

Frame for D-Statcom in Unbalanced Operation
Gerardo Escobar, Aleksandar M. Stanković, Senior Member, IEEE, and Paolo Mattavelli, Member, IEEE

Abstract—This paper presents a passivity-based controller for a

Distribution Static synchronous Compensator (D-Statcom) aimed
at compensating reactive power and unbalanced harmonics in the
general case of distorted and unbalanced source voltages and load
currents. The proposed approach is based on the measurements
of line currents, and ensures precise compensation for selected
harmonics. Moreover, in order to compensate for the unavoidable
uncertainty in certain system parameters, adaptation is added to
the passivity-based controller. One of the major advantages of the
proposed solution compared to conventional alternatives is that
we are able to perform precise tracking (including higher order
harmonics) even in the presence of a relatively low switching fre-
quency, i.e., in the presence of an inverter with limited bandwidth.
Simulation and experimental results are provided to illustrate the
merits of our solution.
Index Terms—Active filters, adaptive control, dissipative sys-
tems, nonlinear systems, reactive power control.

Fig. 1. Shunt connection of the STATCOM to the line.

I. INTRODUCTION

F LEXIBLE ac transmission systems (FACTS) [4] based on

voltage-source inverters (VSIs), such as static synchronous
compensators (Statcoms), are finding increased utilization in
power systems because of their ability to provide improved
performance compared with conventional thyristor-based
converters. Moreover, at the distribution level, especially in
the medium-voltage applications, the pulsewidth-modulation
(PWM) switching frequency of Distribution Statcoms (D-Stat-
coms) can be increased to a few kilohertz (1–5 kHz). Then,
the compensation of low-order harmonics becomes possible to
comply with harmonic standards (such as IEEE 519), emulating
the typical active filter behavior. For such purpose, however,
conventional techniques [1] used for active power filters seem
to reduce the achievable performance mainly due to the limited
control bandwidth, delays in digital implementation, and
interaction with load and line dynamics [2].
To overcome these limitations, we present an adaptive
control based on the ideas of passivity theory [6] for reactive
power, unbalance and selective harmonic compensation using
a D-Statcom. The proposed approach is based on the mea-
Manuscript received March 1, 2001; revised April 1, 2003. Abstract published
on the Internet January 13, 2004.
G. Escobar is with the Department of Applied Mathematics, Research Insti-
tute of Science and Technology of San Luis Potosí (IPICYT), San Luis Potosí,
SLP 78216, México (e-mail: gescobar@ipicyt.edu.mx).
A. M. Stanković is with the Department of Electrical and Computer
Engineering, Northeastern University, Boston, MA 02115 USA (e-mail:
astankov@ece.neu.edu).
P. Mattavelli is with the Department of Electrical, Mechanical and Manage-
ment Engineering (DIEGM), University of Udine, 33100 Udine, Italy (e-mail:
mattavelli@uniud.it).
Digital Object Identifier 10.1109/TIE.2004.825270
0278-0046/04$20.00 © 2004 IEEE
surements of line currents, and ensures precise compensation
for some harmonics, regardless of the limited switching fre-
quency. Moreover, we follow an approach that ensures, for any
compensated frequency, that the line currents are proportional
to the line voltages, so that the same apparent resistance is
observed in all phases and at all compensated frequencies,
for any unbalanced and distorted supply and load conditions.
The proposed energy-shaping controller requires adaptation
and estimation of rotating frame quantities. However, the
complexity of the rotating frame approach is reduced using
an equivalent representation in the stationary reference frame,
similarly to [8]. The resulting control structure is in a way
related to selective harmonic compensation proposed recently
in the literature [7], [9]. When compared with existing solu-
tions, we provide improvements in terms of robustness against
parameter uncertainties, stability in presence of load capacitive
components, and precise tracking for a D-Statcom with low
switching frequency. Simulation and experimental results are
provided to assess the performance of our controller.
II. SYSTEM MODEL
A three-phase three-wire of VSI working as a D-Statcom (or
as a PWM rectifier) is depicted in Fig. 1. The system is mainly
designed to compensate reactive power, unbalance, and har-
monics in distribution lines. The need for compensation arises
from nonlinear and distorting loads that we represent as a cur-
rent source . This main task is performed by injecting to the
line the compensating currents ( ) to force the
currents on each line to be proportional to the respective
source line voltage . To accomplish this, the capacitor
402
is charged to a certain voltage value and kept at this value
during the normal operation by the controller. Switching and
other losses are aggregated and modeled as an unknown con-
stant resistive element . Since both the load current and the
source voltages are allowed to be distorted and unbalanced, the
amplitudes and phase angles could take arbitrary values.
The dynamics of this system can be expressed by the fol-
lowing model:
where
compensating currents ( );
currents produced by the load ( );
voltages coming from the source (referred to “ ”)
( );
voltages at the input of the VSI (referred to “ ”)
( );
voltages at the input of the VSI (referred to VSI
neutral point “ ”) ( );
( );
voltage between points “ ” and “ ;”
vector of switch positions
( );
filter inductance;
parasitic resistance of filter inductance;
output capacitor;
resistive element collecting switching (and other)
losses plus an optional load resistance.
The second equation is derived from the power balance across
the lossless VSI. Due to the fact that
, taking parameters and the same for each branch, and
assuming that , we obtain
(1)
so that the vector of voltages at the input of the VSI (referred to
the neutral “ ” of the power grid) can be computed as follows:
For the control design purpose, we will consider an averaged
variant of the model described above. We assume that a suffi-
ciently high frequency is used to implement the switching con-
trol sequence (using, for instance, PWM), so that we can replace
vector by the corresponding duty ratio
which is a vector of continuous signals approximating the ac-
tual controller.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 51, NO. 2, APRIL 2004
Under these considerations the averaged model can be written
as follows:
(2)
(3)
Notice that the injected voltage term , appearing in the
system model, will generate harmonics other than those asso-
ciated with each factor, unless the control contains a term
that directly cancels . For such purpose, the whole injected
voltage is used as control input variable, introducing the fol-
lowing transformation:
The resulting model is
(4)
(5)
Our solution requires the transformation of the model (4) and
(5) into conventional stationary coordinates; for this reason
we perform the following transformation:
(6)
whose pseudoinverse transformation is defined by .
Moreover, with the idea of reducing the number of current
sensors, we describe the system in terms of the source currents
instead of the shunt currents , so that the only current
needed to evaluate the control action will be . Thus, after
the transformation to coordinates, and using the relationship
, the model takes the form
(7)
(8)
where we have defined the new control input ,
where we assume that is bounded away from zero, and used
the fact , with a 2 2 identity matrix. More-
over, we neglect the parasitic resistance , since its presence
only adds damping to the system.
The control objective consists in injecting the necessary cur-
rents so that from the source terminals the same apparent resis-
tance is observed in all phases and at all selected frequencies.
Thus, the current provided by the source should be forced to
track a reference which is proportional to the voltages gener-
ated by the source, that is,
(9)
with a scalar, yet to be determined, that represents the ap-
parent conductance. Indeed, due to the limited inverter band-
width, we will focus on selective harmonic compensation so that
ESCOBAR et al.: ADAPTIVE CONTROLLER IN STATIONARY REFERENCE FRAME FOR D-STATCOM 403

we attempt to satisfy (9) only for certain specific harmonics; ev- Solving for form (14) yields the following controller for
idently, more accurate tracking can be guaranteed as more har- the known parameters case:
monics are taken into consideration.
We assume that load current and source voltage (15)
are (independently) unbalanced periodic signals that contain
higher harmonics of the fundamental frequency denoted by
Subsystem (7) in closed loop with controller (15) yields the
following exponentially stable error system:
(10)

(11)

Hence, the controller above guarantees exponentially tracking

where is a rotation matrix of the form of current toward its reference .
The time derivative can be computed using (9) and
(12) as

Vectors , are the harmonic coefficients

for the positive- and negative-sequence representation of the
current load and , for the source voltage;
is the set of selected harmonics indices. (16)
Again, all load current and source voltage harmonic coefficients
are assumed to be unknown constants, or slowly varying signals. Substitution of (13) and (16) in controller (15) yields
Their time derivatives can be explicitly derived as follows:

(12)

(13)

which can be reduced to

III. CONTROLLER DESIGN
(17)
In what follows we assume that current dynamics represented
by (7) in the system model responds much faster than the dy-
namics involving the capacitor (8). This is typically satisfied where we have defined
and, at the same time, both reduces the complexity of the re-
sulting controllers, and simplifies the control design by splitting
it into two stages: current (inner loop) and voltage (outer loop)
control design.
to lump together all harmonic coefficients.
A. Inner Control Loop Since both and are distorted and unbalanced, their
The objective of this first step is to guarantee tracking of time derivatives, required in the controller (15), cannot be com-
signal , whose dynamics is described by (7), toward its ref- puted in a straightforward manner. This is the main motivation
erence . In the known parameters case, we may proceed to for the introduction of the harmonic decomposition.
apply the energy shaping plus damping injection (ESDI) proce- If we assume that and converge very slowly toward some
dure proposed in [6]. Following the ESDI procedure, a copy of constant values, then and can be considered approxi-
subsystem (7) is proposed where the state is replaced by mately constant vectors as well. Thus, motivated by the form of
the desired reference and a term of damping is added, this controller (17) and assuming that the inductance and all the
yields the system harmonic coefficients are unknown we propose the following
controller:
(14) (18)

where , and is a positive-definite design

matrix, used to introduce the required damping. where is used to represent the estimates.
404 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 51, NO. 2, APRIL 2004

The controller (18) in closed loop with the subsystem (7) (24)
yields the error dynamics
Writing the dynamical part of the controller above in the form
(19) of transfer functions, and defining ,
, yields the final expressions

where and , and they represent (25)

the parametric errors.
Next, following a Lyapunov approach [18], we derive the
(26)
adaptive laws to reconstruct parameters and ( ).
For this purpose, a positive-definite function is proposed which
is then forced to decrease along the trajectories of both, the where is the Laplace complex variable. The resulting con-
tracking error and the parametric errors dynamics. A quite troller thus includes a resonant filter tuned at the selected fre-
simple choice is the following quadratic function in terms of quency for each harmonic under concern [19].
the square of the tracking error and the parametric errors:
B. Outer Control Loop
In this second stage we design an “outer control loop”
ensuring that the dc component of the output voltage is
driven to some predefined constant reference . The average
where ( ) are design parameters representing the of a signal taken over a period of the fundamental, that is,
adaptation gains as will become clear in what follows. stands for the dc component.
Its time derivative along the trajectories of (19) is given by The design of such an “outer control loop” is reduced to the
computation of the gain used in the definition of in
(9), as we clarify shortly. This “outer control loop” should add
damping to reinforce the asymptotic stability of the closed loop
system, and should incorporate robustness to reject parametric
uncertainties.
which is made negative semidefinite by proposing As previously noted, we assume that the dynamics of the
“current control loop” is much faster than the dynamics of the
(20) “outer control loop.” Thus, after a relatively short time, the cur-
rents have reached perfect tracking on their references. There-
(21) fore, in what follows we assume that and
. Direct substitution of the control (22) in (8), under this
where we used the fact that and ( ), assumptions, yields the following expression for the capacitor
since and are assumed constants. voltage dynamics:
The time derivative is finally given by

Now, we can state that as asymptoti-

cally. Moreover, following LaSalle’s theorem [18],
implies that and are constants; according to (19), the
sum of these two vectors (rotating in opposite directions) should where we have defined .
be zero, which holds only for ( ), and Moreover, since the control objective mainly focus on the
thus guaranteeing convergence of the estimates toward their true regulation of the dc component of (or ), we consider the
values. following subsystem for design where we have neglected the
To avoid the rotations of the form appearing in the higher order harmonics
controller specification we consider the transformation
(27)

where , , and the constants and are

Finally, the inner loop controller can be expressed as given by

(22)

with adaptive laws (20) and (21) transformed now to

(23)
ESCOBAR et al.: ADAPTIVE CONTROLLER IN STATIONARY REFERENCE FRAME FOR D-STATCOM
which are assumed to be unknown. We remark that
an thus . In-
deed, .
Notice that system (27) is a linear time invariant (LTI) system.
Indeed, it is a simple first-order stable linear system, having as
output the state and as control input the signal , perturbed by
an unknown constant signal . Moreover, notice that control
input is affected by the positive constant . It is clear that a
simple proportional plus integral (PI) controller would solve the
problem since the perturbation is simply an unknown constant.
However, we observed that direct use of in the proportional
term (using a standard PI controller to construct ), causes more
distortion in , allowing the introduction of more harmonics
into the line. Instead, we propose to substitute the proportional
term by a low-pass filter (LPF) aimed at reducing the effects of
distortion present in . The proposed dynamical controller takes
the form
(28)
where , , , and are design parameters.
The state-space representation of both the plant (27) and the
dynamical controller (28) yields the following dynamics:
where we used , , and . the inner loop, mainly consisting of the second-order filters at
The equilibrium point of this LTI system is given by
. Following classical tools,
like the Routh–Hurwitz criterion, it can be proved that this
equilibrium point is stable provided , , , and are all
chosen positive. Notice that in the equilibrium point
holds.
The final expressions for the overall controller, including
inner and outer control loops, are
In conclusion, the proposed controller allows the active filter
to inject the appropriate current in such a way that the current
observed by the power source asymptotically follows a
reference proportional to the source voltage , i.e., guar-
antees reactive power and load current harmonics compensa-
tion. Indeed, the proportionality gain represents the equivalent
conductance observed by the power source. The controller also
maintains the capacitor voltage close to a desired level ,
in spite of the inherent losses represented by the resistance . second harmonic in the line current reference.
405
Fig. 2. Block diagram of the proposed controller.
Notice that, besides the frequency , all controller expressions
are independent of system parameters, which makes the con-
troller robust with respect to parameter uncertainties. Indeed,
step changes and slow variations of them can be absorbed by
the controller. Since we have considered the negative-sequence
component of signals in our derivations, the proposed controller
remains valid under unbalanced operation. Fig. 2 represents the
block diagram of the proposed controller where we can identify
resonant frequencies of the selected harmonics, and the outer
loop, mainly consisting of an LPF plus an integrator.
C. Design Criteria for Controller Parameters
We use an approximate procedure to find an initial setting of
controller parameters for the current loop. First, the matrix co-
efficient can be set as , where is a conven-
tional proportional gain of a PI controller. Accordingly, we can
set to be equal to , where is the desired current
loop bandwidth, usually of the sampling frequency.
Second, the remaining transfer function seen by the set of band-
pass filters is given by , plus a pole at . Disregarding,
for simplicity, the influence of such pole, we can set the gain
as , where is the desired response time for
each harmonic component (evaluated between 10%–90% of a
step response of the amplitude of the corresponding sinusoidal
perturbation). This relation is exact only when different band-
pass filters give independent contributions. In a general case,
however, this procedure gives a useful estimate of controller pa-
rameters given the desired response time for various harmonic
components.
In the outer loop, parameter selection is guided by conven-
tional techniques given the desired voltage loop bandwidth and
phase margin. Note, however, that due to the ripple on the dc
voltage at twice the supply frequency during unbalanced condi-
tions, the voltage loop bandwidth should be limited to approxi-
mately 10–20 Hz in order to avoid possible amplification of the
406 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 51, NO. 2, APRIL 2004

(a) (b)
Fig. 3. (–) Current load i 01) scaled 0.15 2
and ( v t
( ) for (a) first
condition and (b) second condition.

Fig. 6. Steady-state response (only  component) during the second load

condition (from top to bottom): voltage v (t), compensated current i (t),
current load i (t), and injected current i (t).

Fig. 4. Transient response of (–) i 01 2

and ( ) scaled 0.05 v (t) when
the compensation is enabled at t = 0:5 s (top)  component and (bottom) 
component.

Fig. 7. Spectrum of compensated current i t

( ).

lows the system to regulate to V, as shown

in Fig. 5 (without harmonic or reactive power compensation).
Fig. 5. Transient response of v (t) when the compensation is enabled at t = At time s, the compensation for the first load cur-
0:5 s and during the load change at t = 1 s. rent condition commences. In Fig. 4, the compensated currents
are presented, together with the scaled source voltages
IV. SIMULATION RESULTS 0.15 . Notice in Fig. 5 that, after a relatively short tran-
sient, the voltage maintains its average of V; its
For the purpose of simulation we consider a system model
second harmonic is mainly caused by compensation of the un-
on the averaged variables (i.e., the effects of the switching fre-
balanced fundamental component.
quency are blurred), and we use the following parameters:
At time s, the load current takes the shape shown in
mH (parasitic resistance ), F,
Fig. 3(b). In Fig. 6 we present the current response (only for the
K , at a constant frequency Hz. Control design pa-
coordinate) due to the second load condition during the steady
rameters: V,
state. The spectrum of the compensated current (normalized to
, , , ,
the fundamental amplitude) is shown in Fig. 7 (a similar
, , and .
plot can be obtained for ). In Fig. 5 the response of voltage
We will consider two conditions of the current load—at the
is shown following the change on the load current; the
beginning the system load takes the form shown in Fig. 3(a),
controlled voltage again reaches its desired value after a short
then after time s the second load shown in Fig. 3(b) is
transient.
applied. The first current load is composed of a fundamental,
3rd and 5th harmonics, which are independently unbalanced.
The second load consists of a three-phase diode rectifier plus V. EXPERIMENTAL RESULTS
an unbalanced load. The voltage source is composed of funda- The system of Fig. 1 has been experimentally tested using
mental, 3rd and 5th harmonics also unbalanced—a scaled plot a reduced-scale prototype with the following parameters:
0.15 is provided in both figures for comparison. mH, F, V, switching frequency
The compensation for harmonics and reactive power is not kHz, output voltage frequency Hz, and se-
activated until time s. Thus, during the first 0.5 s the lected frequencies: 1st, 3rd, 5th, 7th 9th, 1st, and 3rd. Moreover,
system is working as a simple synchronous rectifier, which al- the voltage loop bandwidth has been set to 10 Hz.
ESCOBAR et al.: ADAPTIVE CONTROLLER IN STATIONARY REFERENCE FRAME FOR D-STATCOM
Fig. 8. Active filter behavior with the proposed solution (from top to bottom):
line voltage (150 V/div), line current (10 A/div), load current (10 A/div), and
active filter current(10 A/div).
Fig. 9. Active filter behavior with PI control on line currents (from top
to bottom): line voltage (150 V/div), line current (10 A/div), load current
(10 A/div), and active filter current(10 A/div).
Control parameters have been chosen so as to impose a tran-
sient response for the harmonic currents equal to one line period
for all frequencies up to the 9th and equal to two line periods for
the 11th and 13th components.
The results of the proposed control with three-phase diode
rectifier loads are reported in Figs. 8 and 10. Note that the quality
of the line currents is very good and all selected harmonics have
been largely compensated. In order to compare the performance
of the proposed solution with a typical existing solution, we
implemented a PI controller based on line currents, following
the so-called line current detection method. The results obtained
are reported in Figs. 9 and 11. In this case, note that the residual
407
Fig. 10. Line current spectrum with the proposed solution (10 dB/div).
Fig. 11. Line current spectrum with PI control on line currents (10 dB/div).
line currents is much more distorted (resulting in an increase of
more than 10 dB for the 5th, 7th, and 13th components) because
of the low control bandwidth limited by the switching frequency
and the delay inherent to the digital implementation.
To test the dynamic properties of the proposed controller, the
active filter behavior during the turn-on of a distorting load is
reported in Figs. 12 and 13. Note that the harmonic correction
settles within 1–2 line periods, while the dc-link regulation takes
around 6–7 line periods to recover the nominal value, as pre-
dicted by our analysis.
As a final test for unbalanced conditions, we have applied a
single-phase line load together with a three-phase rectifier load,
as shown in Fig. 14. Note that the proposed control is able to
408
Fig. 12. Active filter behavior with the proposed control during turn-on of
distorting load (from top to bottom): turn-on signal, line current (10 A/div),
load current (10 A/div), and active filter current(10 A/div).
Fig. 13. Active filter behavior with the proposed control during turn-on of
distorting load (from top to bottom): turn-on signal, line current (10 A/div), and
dc-link voltage error (5 V/div).
control the line currents in a balanced manner, even during un-
balanced conditions, as reported in Fig. 15.
VI. CONCLUSION
This paper has presented a selective harmonic control for
a D-Statcom using passivity theory. The proposed solution
uses measurements of line currents only, and performs a
closed-loop control for each selected harmonic to achieve
reactive power, unbalance and harmonic compensation in
distorted and unbalanced operating conditions. One major
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 51, NO. 2, APRIL 2004
Fig. 14. Line currents with distorting and unbalanced loads (10 A/div).
Fig. 15. Load currents with distorting and unbalanced loads (10 A/div).
advantage of this approach for applications where harmonics
in the currents and voltages vary slowly is that we are able to
perform precise tracking (also for harmonics) even with rela-
tively low switching frequency. Moreover, we add adaptation
to the passivity-based control to compensate for the delay of
the digital implementation, and for the unavoidable uncertainty
in some of the parameters. Design guidelines, simulation, and
experimental results were provided to validate analytical results
and to illustrate the performance of the proposed solution.
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409
Gerardo Escobar received the Ph.D. degree from
the Signals and Systems Laboratory, LSS-SUP-
ELEC, Paris, France, in 1999.
He was a Technical Assistant in the Automatic
Control Laboratory of the Graduate School of
Engineering, National University of Mexico, from
May 1990 to April 1991. From August 1991 to
August 1995, he was an Assistant Professor in the
Control Department of the Engineering Faculty,
National University of Mexico. He was a Visiting
Researcher at Northeastern University, Boston
MA, from August 1999 to June 2002. In July 2002, he joined the Research
Institute of Science and Technology of San Luis Potosí (IPICyT), San Luis
Potosí, México, where he holds a Professor-Researcher position. His main
research interests include modeling and control of power electronic systems,
in particular, the control of active filters, inverters, and electrical drives using
linear and nonlinear control design techniques.
Aleksandar M. Stanković (S’88–M’93–SM’02) re-
ceived the Dipl. Ing. and M.S. degrees from the Uni-
versity of Belgrade, Belgrade, Yugoslavia, in 1982
and 1986, respectively, and the Ph.D. degree from
Massachusetts Institute of Technology, Cambridge,
in 1993, all in electrical engineering.
Since 1993, he has been with the Department of
Electrical and Computer Engineering, Northeastern
University, Boston, MA, where he is currently a
Professor. His research interests are in modeling,
analysis, estimation, and control of energy pro-
cessing systems.
Dr. Stanković is a member of the IEEE Power Engineering, IEEE Power Elec-
tronics, IEEE Control Systems, IEEE Circuits and Systems, IEEE Industry Ap-
plications, and IEEE Industrial Electronics Societies. He was an Associate Ed-
itor of the IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY during
1997–2001, and presently serves the IEEE TRANSACTIONS ON POWER SYSTEMS
in the same capacity.
Paolo Mattavelli (S’93–A’96–M’00) received the
Dr. degree with honors and the Ph.D. degree from
the University of Padova, Italy, in 1992 and 1995,
respectively, both in electrical engineering.
From 1995 to 2001, he was a Researcher at the
University of Padova. In 2001, he joined the De-
partment of Electrical, Mechanical and Management
Engineering (DIEGM), University of Udine, Udine,
Italy, where he has been an Associate Professor of
Electronics since 2002. His major fields of interest
include analysis, modeling, and control of power
converters, digital control techniques for power electronic circuits, active
power filters, and high-power converters.
Dr. Mattavelli is a member of the IEEE Power Electronics, IEEE Industry
Applications, and IEEE Industrial Electronics Societies, and the Italian Associ-
ation of Electrical and Electronic Engineers (AEI).