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Control Design and Implementation for High Performance Shunt Active Filters in Aircraft Power Grids
Junyi Liu, Pericle Zanchetta, Member, IEEE, Marco Degano, Member, IEEE, and Elisabetta Lavopa
AbstractThis paper presents the design and implementation of a Shunt Active Filter (SAF) for aircraft power networks using an accurate wide-band current control method based on Iterative Learning Control (ILC). The SAF control system is designed to compensate harmonic currents, with a 400 Hz supply voltage. This work introduces useful design strategies to increase the error-decay speed and improve the robustness of the SAF control system by using a hybrid P-type ILC controller. Detailed design of the hybrid P-type ILC controller and simulation results are presented. The overall system implementation is demonstrated through experimental results on a laboratory prototype. Index TermsActive lters, harmonic distortion, iterative learning control (ILC), power quality.

I. I NTRODUCTION N THE PAST two decades the increasing intensive use of nonlinear loads has resulted in a substantial reduction of power quality in electric power systems. Current harmonics produced by nonlinear loads, such as power electronic converters and electrical drives cause supply voltage harmonics and a number of related problems in power distribution networks. In more recent years this problem has affected also smaller distribution grids like for example in ships and aircrafts. The more electric aircraft trend, consisting in the replacement of most of hydraulic/pneumatic actuators with electronically controlled electromechanical devices, is gaining interest in the aerospace industry. In fact, it is expected to provide signicant benets in terms of actuation accuracy, employ exibility, system dependability, energy efciency and overall lifecycle cost thanks to the reduced maintenance requirements [1]. Since aircraft electric power systems are relatively small with a rough balance of rated power of loads and generators, power quality issues grow with the number and size of the loads driven by static converters. This is leading to a growing interest in active mains interfaces and active lters suited to operate in aerospace ambit. In particular, shunt active lters (SAFs) are generally used to turn unbalanced, non-resistive and distorting loads into equivalent balanced resistive linear loads. SAFs have been intensively
Manuscript received November 5, 2010; revised May 5, 2011; accepted June 26, 2011. Date of publication August 18, 2011; date of current version April 13, 2012. The authors are with the Department of Electrical and Electronic Engineering of the University of Nottingham, NG7 2RD Nottingham, U.K. (e-mail: eexjyl@nottingham.ac.uk; pericle.zanchetta@nottingham.ac.uk; marco.degano@nottingham.ac.uk; Elisabetta.Lavopa@nottingham.ac.uk). Color versions of one or more of the gures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identier 10.1109/TIE.2011.2165454

studied in the literature for 50/60 Hz grids applications and many suitable control strategies are developed and proposed in the literature [2][9]. In [2] a control technique with twostep prediction has been developed. In [3] a stability analysis of the common dead-beat control is presented and a technique to increase its robustness is proposed. In [4] a selective harmonic compensation technique is developed, based on synchronous frame controllers. In [5] a resonant controller optimized with genetic algorithms is proposed. In [7] the authors present a repetitive control scheme based on a nite-impulse response digital lter. The application of these techniques in the avionic ambit presents specic issues mainly related to the higher rated supply frequency, which deserves further investigation. In [10] a complete model of an aircraft electric power system is developed using an accurate harmonic cancellation method. A multi-level converter solution is instead proposed in [11] in order to obtain a good reference tracking with limited switching frequency. In [12] an improved deadbeat digital controller is presented for shunt active lters used for compensation of load harmonics in aircraft power systems. As mentioned earlier, the aerospace ambit poses specic challenges for both the power and control parts of SAFs due to the much higher frequency (400 Hz in spite of 50/60 Hz standard industrial applications). Such aspect will be exacerbated in the future when the planned variable-frequency-and-voltage operation will be adopted [10]. In fact, good compensation performances require a suitably large bandwidth of control loops in comparison to the base frequency. This would in turn require, in a 400 Hz power supply, expensive high specs power semiconductor devices and microcontrollers/dsp technology. This paper will try to address these issues and propose a simple and efcient control solution based on the use of a Hybrid P-type Iterative learning control (ILC) together with useful guidelines for an optimized design. This is a fully digital control solution that can be implemented using current standard technology. Simulation and experimental results conrm the effectiveness and the reliability of the proposed strategy.

II. SAF S YSTEM OVERVIEW The SAF for this design uses the conventional structure shown in Fig. 1. A nonlinear load, represented by a diode bridge rectier, is connected to the power network to generate harmonics and emulate a distorted current in the aircraft power network. A Voltage Source Converter (VSC) is connected to the

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Fig. 3. Concept of P-type ILC control.

Fig. 1.

Standard scheme of a shunt active lter.

L = 1 mH, R = 0.15 . The supply voltage is 115 Vrms phase to neutral at 400 Hz. The switching and sampling frequencies are set at 14.4 kHz which gives 36 samples per cycle. III. P RINCIPLES OF THE P-T YPE ILC ILC is a linear control technique suitable for systems which present a repetitive behavior; it is therefore a promising solution for SAF applications as it provides a very accurate steady state current regulation to cancel harmonic currents in the power network. ILC is based on the internal modeling principle: the control loop iteratively adjusts the output signal of the controller by learning the error in the previous repetition (cycle), thus the tracking error of the controller can be iteratively reduced. Theoretically, within a nite time, the control system can achieve zero tracking error [13][19]. The P-type ILC is an intelligent control structure which can be applied for the regulation of systems operating under a repeated reference signal (see Fig. 3) [20]. The P-type ILC learns the tracking error from the previous repetition ek1 (z) and uses a learning update algorithm to adjust the control signal uk (z) in the current repetition to reduce the tracking error. Lets consider a single-input single-output system. ILC can be used to limit the tracking error caused by a periodical disturbance if the system transfer function Gp (z) satises the following conditions [21]: 1) 2) 3) 4) reference signal is repetitive; system has the same initial condition in each repetition; measurement noise of the output is small; system dynamics is invariant.

Fig. 2.

Structure of SAF control system.

power network at the Point of Common Coupling (PCC) and injects the current if to compensate for the current harmonics in il . The SAF control system is a cascade control loop, which includes an outer voltage loop and an inner current loop as shown in Fig. 2. The outer voltage loop controls the energy balance of the capacitor in the VSC to maintain a constant DC-link voltage (Vdc). The inner current loop takes the sum of demand supply current (Is ) and demand current from the outer voltage loop (Idc ) as the current reference amplitude. This is then multiplied by a sinusoidal three-phase template synchronous with the supply voltage to generate the current reference. The actual supply current is can be derived by the measurement of the load current il and the SAF output current if . The current loop then produces a demand voltage to control the SAF current if . This demand voltage needs to be subtracted to the measured voltage at the PCC to produce the reference voltage for the PWM modulator. According to the scheme depicted in Fig. 1, the SAF experimental prototype used includes a standard 3-legs IGBT based VSC whose leg rated current is 15 A whereas the designed DC bus voltage is 400 V. The DC terminals of the inverter are connected to a capacitors bank featuring a 2200 F capacity, whereas the AC terminals are connected to the PCC via three ltering inductors featuring equivalent series parameters

The simple learning update algorithm used in the P-type ILC controller can be represented by uk = uk1 (z) + L(z)ek1 (z) (1)

where uk (z) is the z-domain transform of the control signal driving the system plant at the kth repetition, L(z) is called learning factor and the ek1 (z) is the z-domain transform of the tracking error at the k-1th repetition. The error ek (z) between the actual current and the reference, and the output yk (z) of the plant are given, respectively, by ek (z) = yd (z) yk (z) yk (z) = Gp (z)uk (2) (3)

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where yd (z) is the reference signal. If the conditions 14 are satised, substituting (1) and (3) into (2) yields ek (z) = [1 L(z)Gp (z)] ek1 (z) (4)

where [1 L(z)Gp (z)] is the transfer function between the tracking errors in the current and next repetitions. By setting z = ejT , where T is the sampling time, the tracking error will decay to zero after a nite number of repetitions if 1 L(ejT )Gp (ejT ) < 1, T [, ]. (5)
Fig. 4. Structure of the hybrid P-type ILC SAF current control.

Relation (5) represents the error-decay condition of the P-type ILC controller; the quantity |1 L(ejT )Gp (ejT )| is called error-decay factor. L(ejT ) is the learning factor and includes two components: learning gain (L) and phase shift. The P-type ILC has to satisfy the error-decay condition for all frequencies from zero to the Nyquist frequency; failing this, the tracking error may be amplied at certain frequencies. In addition, a smaller error-decay factor determines a faster error-decay speed. Hence, a good design of the P-type ILC controller needs to determine a learning gain which satises the error-decay condition and generates minimized values of the error-decay factor at the frequencies of interest [20]. IV. SAF H YBRID P-T YPE ILC C URRENT C ONTROL D ESIGN The P-type ILC controller, in which the control action is based only on the previous cycle tracking error, provides a very effective steady state harmonic compensation due to its repetitive action, but does not produce a good transient performance. In particular, it is very sensitive to the variations in the reference signal between each nearby repetition. In particular, for the current control in SAF applications, a non-periodical demand current from the voltage control loop is added to the demand supply current, during transient conditions, to generate the reference of the inner current control loop (Fig. 2). The demand current from the outer voltage loop may cause a large variation of the reference signal, above all during initial repetitions and load variations. Given the poor dynamic response of a P-type ILC controller, a hybrid P-type ILC controller is preferred for this specic application. The hybrid P-type ILC controller is shown in Fig. 4, where a PI controller has been added in parallel to a normal P-type ILC system. The PI controller is usually designed by ignoring the P-type ILC term, and by using classical methods like for example the root locus. Regarding the determination of the delay values of the memories and the learning factor, further considerations need to be made. First of all it should be pointed out that, since the P-type ILC controller is combined with a PI controller in this application, the Gp (z) in (4) does not correspond to the current control plant transfer function G(z). If P(z) is the PI controller transfer function, from the system in Fig. 4, the following equation can be obtained: ek (z) = 1 L(z) G(z)z 1 + G(z)z 1 P (z)
1

Comparing (6) with (4), the Gp (z) can be determined as Gp (z) = G(z)z 1 . 1 + G(z)z 1 P (z) (7)

The learning factor design procedure is based on the use of the error-decay condition. This condition can be represented in a Nyquist diagram as a unit circle with central point at (1, 0). The error-decay factor at a certain frequency is represented by the distance between the central point and the point on the locus of L(ejT )Gp (ejT ) at the same frequency. The learning factor L(ejT ) is selected to ensure that the locus lies inside the unit circle to satisfy the error-decay condition and to minimize the value of error-decay factor at the frequencies of interest. In order to do so, the learning factor phase shift component is used to push the locus of Gp (ejT ) into the rst and fourth quadrants in a Nyquist diagram, while the learning gain (L) adjusts the gain of the locus to provide small values of error-decay factor at the frequencies of interest for the control (fundamental and harmonic frequencies in SAF applications). In this application, the learning factor phase shift component is a time-advance unit z m . As shown in Fig. 5, by selecting this phase shift component as z 2 , the locus of L(ejT )Gp (ejT ) lies in the rst and fourth quadrant; the learning gain has been chosen as 0.813 to keep the locus inside the unit circle and to minimize the values of the error-decay factor at the main harmonic frequencies. The memories (Mem1 and Mem2) in Fig. 4 are the discrete delays used to delay the tracking error and control signals for an entire repetition. As discussed earlier, the learning factor phase shift component is a time advance unit z m , hence the discrete delay for the error signal (Mem 2) becomes z (Nm) where N (=36 in this case) is the number of samples in one period of the fundamental, while the delay for the control signal remains z N . The Bode diagram of the magnitude of the closed loop current control using the direct and the hybrid P-type ILC, respectively is presented in Fig. 6. Fig. 6(a) shows the whole frequency band up to the Nyquist frequency, while Fig. 6(b) shows an expanded view of the harmonic frequencies. In Fig. 6(a) it can be seen that the hybrid P-type ILC approach shows a higher closed loop bandwidth which provides a faster dynamic response in the proposed current control loop. Fig. 6(b) shows that the hybrid ILC provides higher selective effect at each harmonic order. V. C ONTROL D ESIGN E NHANCEMENT There are a few drawbacks in the previous design procedure, which can be summarized in the following three points.

ek1 (z).

(6)

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Fig. 7. Overall, SAF control scheme.

Fig. 5.

Locus of L(ejT )Gp(ejT ) L = 0.813, m = 2.

Even if the hybrid P-type ILC system performs much better than the P-type in this respect, it still produces an inaccurate current tracking when the reference variation is large. 3) The hybrid P-type ILC controller presents poor robustness also against other non-periodical disturbances such as measurement noise. This work proposes optimized design solutions in order to increase the error-decay speed and the ILC robustness against reference variations and measurement noise. The introduction of a variable learning gain L and of a forgetting factor (Fig. 7) is accompanied by modications in the design strategy of current loop PI controller. A. PI controller Design Procedure in Hybrid P-Type ILC Equation (7) shows that the design choice of P(z) can modify magnitude and phase of the frequency response of Gp (z). Thus an optimized design of the PI controller needs to address two main issues: 1) produce a satisfying dynamic response of the current control and 2) produce a magnitude increase and phase shift decrease of Gp (z) at the frequencies of interest for the control, so that the error-decay factor at those frequencies can be reduced. This can be achieved either through an iterative trial and error procedure or, for a more accurate design, using software optimization routines (for example based on Genetic Algorithms). A trial and error tuning can be carried out from (7), setting the desired magnitude and phase of the frequency response Gp (ejT ) for the particular harmonic frequency to be compensated. However, if the aim is to compensate multiple harmonic components, an optimization technique, like a GA, is a more suitable approach, in order to nd the controller that gives the best performance overall. In the work presented in this paper, the authors have implemented Genetic Algorithms for the optimization of the PI controller. The GA has been implemented in order to obtain a magnitude frequency response as close as possible to one (0 dB) in the range of frequencies corresponding to the harmonic components to be compensated, and a phase shift as close as possible to zero in the same range of frequencies. These conditions correspond to an operation point positioned as close as possible to the point with coordinates (1,0) in the complex plane, which guarantees the fastest error decay, as shown in Fig. 5. The design of the traditional PI controller is performed ignoring the ILC dynamics, adopting as a design criterion the speed of response (the controller is designed setting the fastest speed

Fig. 6. Bode plot of the magnitude of the SAF current control loop with direct and hybrid P-type ILC controller (traditional design) , respectively. (a) whole spectrum. (b) expanded view of harmonics.

1) If the PI controller in the hybrid P-type ILC system is designed ignoring the presence of the P-type ILC controller, the error-decay speed of the current control system will be limited. 2) The non-periodic demand current (Idc ) from the voltage control loop causes a variation of the current reference at each repetition during transient conditions.

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B. Variable Learning Gain (L) From a robustness analysis of the control system, it has been observed that the P-type ILC control with a smaller learning gain (L) has a faster error-decay speed when a large disturbance occurs in the SAF current control loop. However, when a disturbance with lower intensity occurs, a smaller value of L can reduce the error-decay speed for the P-type ILC controller. Therefore, if the value of the learning gain (L) is made variable according to the intensity of the disturbance, then the P-type ILC controller can achieve optimized error-decay speed in each different condition. The idea is to implement a learning gain that reduces the effect of the reference variation. The ILC shows its best performance when the reference is constant, because the algorithm is based on the error at the previous repetition, hence, when the error variation is large, a small learning gain reduces the effect of the variation, improving the performance of the ILC. When the variation is small, a larger value of the learning gain can be used. A rigorous demonstration of this concept is given in [22]. When the SAF is enabled to full load, the ideal solution is to set a small value of L, as in that condition the variation in the current reference is large. The value of L is then increased at each repetition, as a function of the attenuation of this reference variation, nally reaching a constant value when the reference variation is negligible. The approach used in this method rst nds the most suitable value of L which can provide the fastest error-decay within the rst repetition. Then using the value of L generated from the previous repetition as a reference point, it derives the value of L for the next repetition using the same method; this is iterated for the subsequent repetitions until the disturbance becomes negligible. The optimization of the variable learning gain has been carried out by means of Genetic Algorithms (GA). The GA is programmed in order to minimize the tness function represented by the control error. On the basis of this minimization criterion, it nds the optimal learning gain value. It has been found that the learning gain obtained as a result of the GA optimization can be expressed by the following relation, where it can be expressed as a linear function of the error variation, as in (10): L(z) = 0.3395 [ek (z) ek1 (z)] + 3.2238. (10)

Fig. 8. Frequency response of Gp (z).

Fig. 9. Bode plot of the SAF current control loop with traditional and optimized design hybrid P-type ILC controllers.

of response possible). On the other hand, the optimized PI is designed with the criteria mentioned above, in order to satisfy the error decay condition. After that, a value for the learning gain is chosen in order to improve the error decay condition, given the optimized PI. The learning gain will have the effect of a scaling factor for the magnitude of Gp (z), shifting up the response to larger values, which makes it easier to improve the response at all frequencies by means of a constant value of L. Fig. 8 shows the effect of the suggested design approach to the frequency response of Gp (z), which improves the error decay factor. Fig. 9 shows an expanded view of the Bode diagram of the magnitude of the current control loop using the traditional and optimized hybrid P-type ILC at the harmonic frequencies. It can be seen that the optimized hybrid P-type ILC provides larger gains at the higher harmonic frequencies (up to the system Nyquist frequency), hence those harmonic components can be more efciently compensated in the SAF current control, if the optimized PI design is chosen. The transfer functions of the traditional and the optimized PI controller utilized for the application presented in this paper are P (z) = P (z) = 4.1 (z 0.979) z1 9.39 (z 0.989) . z1 (8) (9)

Fig. 10(a) shows the case where the ASF is enabled to full load at 0.1 s. The current reference starts from zero, increasing with a constant high slope during the time interval 0.10.106 s. The variable learning gain is equal to 0.4 during this interval (it has been found that for very high variations of the reference it is best to saturate L to a minimum value0.4 in this application). After 0.106 s the reference variation decreases, so L linearly increases to 3.2238. From 0.15 s to 0.16 s the reference signal is constant, so its variation is zero, and the learning gain is set to a constant value equal to 3.2238. Fig. 10(b) shows the variable learning gain implementation in the transient case when, at t = 0.3 s, the load is switched from full to half. The current reference is constant in the time interval 0.290.3 s. During this interval the reference variation is zero, so L is equal to 3.2238. When the transient occurs, the reference decreases with

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Fig. 11. Frequency response of the P-type ILC controller at 5th harmonic with different forgetting factor value.

frequencies making the control action more selective, but it decreases the closed loop gain at the same frequency. The degree of such effect is related to the value of , i.e., a smaller means more effectiveness in compensating the tracking error (higher gain). On the other hand, a larger indicates higher steady-state tracking error (lower gain). Studies show that with a small value of (set to 0.01), the P-type ILC controller is more effective in compensating the SAF current tracking error in the presence of white noise owing to a good compromise between gain and selectiveness at harmonic frequencies. The overall gain of the system is also reduced at high frequency. VI. S IMULATION AND E XPERIMENTAL R ESULTS
Fig. 10. Concept of variable learning gain.

a high slope, so the learning gain, after a few repetitions, goes down to a low value (0.4) and it remains constant for the time interval 0.30.305 s. From 0.305 s the reference variation starts decreasing and L increases as a ramp up to 3.2238, and it remains constantly equal to that value when the reference variation becomes zero, from 0.32 s onwards. C. Forgetting Factor () The forgetting factor is a gain introduced in the control action signal feedback (Fig. 7), which has been successfully applied to improve the P-type ILC system robustness against measurement white noise in robotic motion application [23]. As shown in Fig. 7, the forgetting factor is used in this implementation to reduce the value of the control action signal uk . It therefore reduces the impact of random noise on the learning process, allowing the controller to focus its action on the repetitive component of the tracking error in the following repetitions. This solution however will produce a lower error decay speed. To demonstrate the effect of the forgetting factor, Fig. 11 shows a zoomed view of the frequency responses of the open loop transfer function around the 5th harmonic frequency of the P-type ILC (designed in the previous sections), by using different forgetting factor values. It can be found that the forgetting factor narrows the system bandwidth at the harmonic

The SAF and the proposed control have been simulated in Matlab-Simulink environment using the circuit conguration and data as in Section II. The nonlinear load consists of a diode bridge rectier equipped with input inductive series lter (L = 1 mH), supplying a 1 kW resistive load. Fig. 12 shows the supply current before and after the SAF compensation. Through the harmonic spectra shown in Fig. 13, it can be found that, the optimized hybrid P-type ILC system reduces the THD from 26.5% to 1.72%. In the same transient conditions of Fig. 10, the simulation results in Figs. 14 and 15 clearly show that the optimized hybrid P-type ILC can actually provide an overall better dynamic response over the direct one for the SAF current control. Fig. 16 shows that the optimization of the hybrid P-type ILC controller leads to a 92.2% smaller initial error, and a 33% faster error-decay speed for the SAF control system with an average steady state error of 0.001 A. In order to investigate and compare the robustness of the control system with and without the use of a forgetting factor, measurement white noise with a value of 10% of the supply current is added to the measured supply current signal. As shown in Fig. 17, the compensated supply current using a control system without the forgetting factor, presents a THD equal to 3.85%. Comparatively, the use of a forgetting factor equal to 0.01 successfully reduces the THD to 2.11%. The experimental implementation uses the circuit conguration and data as in simulation. The control system is composed of a main board featuring a TMS320C6713 digital signal

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Fig. 14. Supply current tracking using direct (a) and optimized hybrid (b) P-type ILC controlled SAF system; SAF is enabled to full load at 0.1 s. Fig. 12. Supply current without (upper) and with (lower) SAF compensation.

Fig. 15. Supply current tracking using direct (a) and optimized hybrid (b) P-type ILC controlled SAF system; load is switched from full to half at 0.3 s.

Fig. 13. Harmonic spectrum without (a) and with (b) SAF compensation.

processor (DSP) and an auxiliary board equipped with a eld programmable gate array (FPGA) used for data acquisition and pulse generation. Such boards may be noticed on the top in the picture of Fig. 18, showing the prototype SAF except the

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Fig. 16. Average tracking error in each repetition with the traditional and optimized hybrid P-type ILC controller.

Fig. 19. Supply line current (a) and its harmonic spectrum (b) without SAF compensation (experimental). Fig. 17. Harmonic spectrum of the compensated supply current with SAF control system with and without forgetting factor presence of measurement noise.

which reduces from 27.6% to 3.32%. The effectiveness of the SAF compensation at high harmonic frequencies (almost up to the Nyquist frequency) is also evident from the spectra. Fig. 21 shows the experimental supply current compared with its reference, during a transient where the load is switched from full to half. It can be seen how, after the few initial cycles, the tracking is very accurate during the transient. Figs. 22 and 23 show the oscilloscope screenshots with expanded views of the transient and the steady-state. In these gures, the experimental supply voltage and supply current are presented, demonstrating high quality compensation and unity power factor operation. VII. C ONCLUSION

Fig. 18. Top view of the experimental SAF prototype.

AC side inductors. The xed frequency line-to-line voltage at 400 Hz, 115 Vrms emulating an aircraft power supply was provided by a 12 kVA dedicated controlled static generator (Chroma 61705). Fig. 19 shows the experimental line current and its harmonic spectrum before the compensation while Fig. 20 shows the same quantities after the compensation. The harmonic content is noticeably improved with the current THD

The more electric aircraft trend has led to the increasing use of power converters on board of modern aircrafts; thus the use of shunt active power lters becomes desirable for on-board power quality issues. The much higher rated supply frequency makes the SAF design scenario more challenging compared to standard 50/60 Hz industrial grid applications, due to the performance limits of power and control devices. This paper investigated the development of an optimized hybrid P-type ILC controlled SAF for aerospace applications working in an aircraft power system with supply frequency of 400 Hz.

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Fig. 22. Oscilloscope screenshot showing the supply voltage and the supply current during the transient (load switched from full to half).

Fig. 20. Supply line current (a) and its harmonic spectrum (b) with SAF compensation (experimental).

Fig. 23. Oscilloscope screenshot showing the supply voltage and the supply current during the steady-state (load switched from full to half).

using ordinary equipment and reasonable switching frequency and also ensuring good dynamics in transient conditions. R EFERENCES
[1] J. A. Rosero, J. A. Ortega, E. Aldabas, and L. Romeral, Moving towards a more electric aircraft, IEEE Aerosp. Electron. Syst. Mag., vol. 22, no. 3, pp. 39, Mar. 2007. [2] M. Odavic, P. Zanchetta, M. Sumner, C. Ladisa, and Z. Jakopovic, A two ahead predictive controller for active shunt power lters, in Proc. IECON, 2006, pp. 47134718. [3] L. Malesani, P. Mattavelli, and S. Buso, Robust dead-beat current control for PWM rectiers and active lters, IEEE Trans. Ind. Appl., vol. 35, no. 3, pp. 613620, May/Jun. 1999. [4] P. Mattavelli, A closed loop selective harmonic compensation for active lters, IEEE Trans. Ind. Appl., vol. 37, no. 1, pp. 8189, Jan./Feb. 2001. [5] W. Lenwari, M. Sumner, and P. Zanchetta, The use of genetic algorithms for the design of resonant compensators for active lters, IEEE Trans. Ind. Electron., vol. 56, no. 8, pp. 28522861, Aug. 2009. [6] S. Bhattacharya, T. M. Frank, and D. M. Divan, Active lter system implementation, IEEE Ind. Appl. Mag., vol. 4, no. 5, pp. 4763, Sep./Oct. 1998. [7] P. Mattavelli and F. P. Marafao, Repetitive-based control for selective harmonic compensation in active power lters, IEEE Trans. Ind. Electron., vol. 51, no. 5, pp. 10181024, Oct. 2004. [8] Z. Shu, Y. Guo, and J. Lian, Steady-state and dynamic study of active power lter with efcient FPGA-based control algorithm, IEEE Trans. Ind. Electron., vol. 55, no. 4, pp. 15271536, Apr. 2008. [9] B. Singh and J. Solanki, An implementation of an adaptive control algorithm for a three-phase shunt active lter, IEEE Trans. Ind. Electron., vol. 56, no. 8, pp. 28112820, Aug. 2009. [10] A. Eid, H. El-Kishky, M. Abdel-Salam, and M. T. El-Mohandes, On power quality of variable-speed constant-frequency aircraft electric power systems, IEEE Trans. Power Del., vol. 25, no. 1, pp. 5565, Jan. 2010.

Fig. 21. Supply current tracking; load switched from full to half at 0.3 s (experimental).

This system requires therefore the ability of compensating harmonics at very high frequencies. Considering both simulation and experimental results, it can be concluded that the proposed SAF control has proved to be very effective for accurate reduction of current harmonics on aircraft power grids,

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Pericle Zanchetta (M00) received the 5 years Laurea degree in electronic engineering from the Technical University of Bari, Bari, Italy, in 1993 and the Ph.D. degree in electrical engineering from the same University, in 1997. In 1998, he became Assistant Professor of Power Electronics and control at the Technical University of Bari. In 2001, he became lecturer in control of power electronics systems in the PEMC research group at the University of Nottingham, Nottingham, U.K., where he is currently Associate Professor. He has published over 120 papers in international Journals and conferences. His main research interests are in the eld of power quality and harmonics, active power lters, Repetitive and Model Predictive Control of power converters, Design and Identication using Heuristic optimization strategies.

Marco Degano received the 5 years Laurea degree in electronic engineering from the University of Udine, Udine, Italy, in April 2004. In February 2008, he joined the Power Electronics Machines and Control (PEMC) research group at the University of Nottingham, Nottingham, U.K., where he is currently working towards his Ph.D. His main research interests are in the eld of active lters, power converters and EMC lters for aircraft applications.

Junyi Liu received the B.Eng. degree in electrical engineering from the University of Nottingham, Nottingham, U.K., in July 2006. He received the Ph.D. degree from the University of Nottingham, in December 2010. He is currently working as a research fellow in South University of Science and Technology of China. His main research interests are in the eld of power quality, active lters, power converters in particular for electrical systems on aircrafts.

Elisabetta Lavopa received the 5 years Laurea degree in electrical engineering from the Technical University of Bari, Bari, Italy, in February 2005. She received the Ph.D. degree from the University of Nottingham, Nottingham, U.K., in December 2010. She is currently a Research Fellow in the PEMC research division at the University of Nottingham. Her main research interests are in the eld of power quality, active lters, power converters in particular for electrical systems on aircrafts, algorithms for harmonic analysis.