DESIGN AND IMPLEMENTATION OF A HYBRID SERIES ACTIVE FILTER SYSTEM

Deep& Divan Subhashish Bhattacharya Department of Electrical and Computer Engineering University of Wisconsin Madison 1415 Johnson Drive Madison, W 53706 I Te1:608-265-38 15/608-262-5702 Fax:608-262- 1267 email:bhattach@cae.wisc.edu / divan@engr.wisc.edu

Abstract A Hybrid Series Active Filter system has been designed, built and installed at Beverly Pump Station in New England Electric Power Company utility for 765kVA, 48OV adjustable speed drive load to comply with IEEE 519 recommended harmonic standards. The series active filter has a small rating 35kVA which is 4% of the load kVA and is controlled by a Synchronous Reference Frame (SRF) based controller. The hybrid series active filter system is controlled to act as an harmonic isolator between the supply and load. This paper discusses the SRF controller implementation issues, design considerations of the series coupling transformer and protection issues of the small rating series active filter inverter. Operation of the series active filter under off-tuned passive filter conditions is investigated. Effectiveness of the series active filter to provide harmonic damping and the use of simpler and low cost passive filter structures such as power factor correction capacitors is demonstrated by laboratory experimental results. Field installation results demonstrate the practical and economic viability of hybrid series active filter systems for harmonic compensation of large non-linear loads to comply with IEEE 519 recommended harmonic standards.

I. INTRODUCTION
The incidence of harmonic related problems in the utility-load interface is increasing with the proliferation of power converters in industrial applications and in transmissionldistribution systems. A rapid increase in the installed capacity of power electronics loads, a prerequisite for realizing energy efficiency and productivity benefits, has brought utilities to crossroads. Utilities on the one hand are promoting the use of non-linear Adjustable Speed Drive (ASD) loads for significant energy savings to the customer and on the other hand, more frequently encounter harmonic related problems including substantially higher transformer and line losses due to harmonics, required derating of distribution equipment and severe harmonic interactions between customers or between the utility supply and load. The user achieves energy efficiency at the expense of increased system losses and reduced system stability and safe operating margin for the utilities. To alleviate harmonic related problems, utilities are also beginning to enforce IEEE 519 recommended harmonic standards for industrial and large commercial customers by rebate programs. This increases the need for cost-effective and practically viable
0-7803-2730-6/95$4.00 0 1995 IEEE

approaches to harmonic filtering problem for large nonlinear loads to meet IEEE 519 recommended harmonic standards. Passive filters have traditionally been used to absorb harmonics generated by large industrial loads, primarily due to their simplicity, low cost and high efficiency. The supply impedance strongly influences the compensation characteristics of the passive filter and they are highly susceptible to series and parallel resonance with the supply. Passive filters are sensitive to L-C component tolerances. Tuned passive filters have the caveat of attracting harmonic currents from ambient loads and are susceptible to load and line switching transients. In particular, for industrial loads connected to stiff supply, it is difficult to design passive filters so that it diverts a significant part of the load harmonic current and hence its effectiveness deteriorates for stiff supply systems 6 1 Active filter solutions were developed to mitigate the problems of the passive filters and consist of pure active filter solutions [l-41 and hybrid active filter solutions [5-71. The optimal active filter solution is application and utility interface specific, as will be illustrated by the following field installation case study. Parallel active filters are a viable solution if the peak harmonic current is limited and there are displacement power factor constraints under light load conditions. They require large rating for high peak harmonic current, such as diodecapacitor rectifiers. and the consequent cost penalties. It is difficult to implement a large kVA rated PWM inverter with high current bandwidth. High current bandwidth requires high switching frequency which is device and power level limited. The higher order harmonics generated by PWM inverters can flow into other passive filters in the system. Inverter output filters are highly susceptible to utility line interactions and require active damping. Active damping requires high bandwidth PWM inverters and hence is not a cost effective solution for stiff supply systems.

n. HYBRID SERIES ACTIVE FILTER SYSTEM

Hybrid active filter topologies consist of both active filters and passive filters in different configurations. Hybrid active filters effectively address and mitigate the problems of both passive filter and pure active filter solutions and provide a cost-effective and practical harmonic compensation approach, particularly for high power non-linear loads. Hybrid active filters improve the compensation characteristics of the passive filters and thus realize a reduction in the rating of the active filter [5-71.

189

In. HYBRID SERIES ACTIVE FILTER SYSTEM INSTALLATION SITE

The single line diagram of the hybrid series active filter installation site at the Beverly Pump Station (BPS)of South Essex Sewerage District (SESD) in the New England Electric Power Company OISEEpc) utility is shown in Fig. 2. The utility 4160V/480V step-down transformer is rated 750 kVA with 5.9%impedance (18.1 mQ and 45uH) on 750 kVA base and 480V. Since NEEPC owns the step-down transformer, the point of common coupling for application of IEEE 519 recommended harmonic limits is defined on the low voltage 480V side, This is an important point since IEEE 519 is applicable only at the point of common coupling to the utility and it is not an equipment specification. The Short Circuit Ratio (SCR) at the utility transformer is calculated to be 26.38 and the corresponding IEEE 519 recommended Total Harmonic Distortion (THD) limit is 8.0%. The utility short circuit capacity is 95 MVA and impedance is 2.4 mR and hence the short circuit fault current at Bus A is 13.5 kA. The BPS is an example of a facility where the load is dominated by ASDs. The BPS site has two buses - Bus B has a 200 hp constant speed induction motor with 60kVAR of power factor correction capacitor. for backup and is disconnected under normal operating conditions. The hybrid series active filter system is installed on Bus A. The 35kVA series active filter has a 1UX)A bypass circuit breaker (Fig. 2). The passive filter consists of 133kVAR of 5th and 65kVAR of 7th L-C filters. Bus A has four ASDs which supply four 200 hp induction motors for pump drive application. The ASDs have front-end full wave diode rectifiers with 1.5% at 480V input line reactors (6OuH) and large dc link capacitors. The ASDs have 1 kHz sine triangle modulated PWM inverters for variable speed induction motor pump drives. The supply current THD without the ac side input line reactors of the ASDs exceeded 100%. The total supply line inductance seen by each ASD including the input line reactors is around 1lOuH. The 1.5% input line reactors help reduce the supply current THD to 50% and allow implementation of cost effective active filtering approaches.

-w

ELI z T
SERIES ACTIVE INVERTER

LL

NONLINEAR

SHUNT PASSIVE FILTER

Fig. 1. Hybrid Series Active Filter System Among the hybrid active filter solutions the Hybrid Series Active Filter system is particularly attractive and consists of a small rated series active filter and tuned L-C passive filters as shown in Fig. 1. The active filter has a small rating - typically 5 % of the load kVA rating - and can be controlled to act as a "harmonic isolator" between the supply and load. This prevents supply-load interaction and resonance problems. The harmonic isolation feature reduces the need for precise tuning of the passive filters and allows their design to be insensitive to supply impedance and eliminates possibility of filter overloading due to ambient voltage harmonics and/or ambient harmonic loads. The passive filters can be tuned to dominant load current harmonics and can be designed to achieve unity displacement power factor. The passive filter can also be implemented with low cost power factor correction capacitors as shown in [9] and also validated by experimental results in section VIII. For multiple. large and diverse types of harmonic producing loads in an industrial plant; a single hybrid series active filter can be installed at the point of common coupling with the utility and provides a very cost effective approach. This approach can also provide limited line voltage regulation and is easily amenable for retrofit applications - a cost effective solution for ASDs with input power factor correction capacitors. However, series active filters require adequate protection.

lXA

UTILITY SUPPLY

Fig. 2. Single Line Diagram of Beverly Pump Station SESD, Salem, MA Site of Hybrid Series Active Filter Installation Maximum Load on Bus A = 765 kVA

I90

Table 1 gives measured supply harmonic currents at the nominal load of 425 kVA and the corresponding recommended IEEE 519 harmonic limits, The supply current THD is 46.47% and it exceeds the IEEE 519 limits except for the 19th harmonic current. The system response is dominated by the utility transformer impedance without any passive filters. Since the transformer impedance is very small, it prevents voltage distortion problems due to the ASD harmonics. Initially 5th and 7th tuned passive filters were designed to meet IEEE 519 harmonic limits. Since diode front-end ASDs have high displacement power factor (DPF), a maximum of 85 kVAR is required to achieve unity DPF at rated load. With small kVAR passive filters needed for such applications, it is difficult to achieve the required tuning to absorb significant percentages of ASD harmonic currents. Passive filters cannot be tuned exactly to harmonic frequencies because they can be overloaded due to supply voltage distortions and/or ambient harmonic currents. Measured supply voltage distortions at the utility transformer are 1.4% of 5th and 0.8% of 7th and total voltage distortion (THD) of 1.65%. Note that the measured voltage THD is within the IEEE 519 voltage THD limits of 5% at the point of common coupling. Table 1 shows that with a combined 200 kVAR (133 kVAR of 5th and 65 kVAR of 7th) 5th and 7th tuned passive filters, the 5th harmonic supply current exceeds IEEE 519 limit. Component tolerances for the passive filter capacitors are 0% to +lo% and hence the inductance values of the reactors are assumed to have a tolerance of 0% to -10%. Estimated voltage distortion at 480V Bus A based on harmonic load currents given in Table 1 without passive filters is 10.23% and with the passive filters is 3.39% with maximum tolerances. This case study illustrates the limitations of passive filters for harmonic filtering of diode frontend ASDs with high DPF and the potential problems of designing effective passive filters for stiff utility systems and in the presence of utility supply voltage distortions. This also demonstrates the need for implementation of an effective active filtering approach to meet IEEE 519 harmonic

filters. This approach also allows tuning and rating of the passive filters to dominant 5th and 7th harmonics. The worst case rating of the series active filter is given by the arithmetic sum of the passive filter terminal voltage distortion and supply voltage distortion (or background voltage distortion). Other hybrid active filter approaches [6-71 such as different configurations of hybrid parallel active filters were evaluated for this site. Effectiveness and small rating of hybrid parallel active filters is sensitive to the precise tuning of the passive filters to dominant load harmonics and line parameters. For a fairly stiff supply, as at this site, it is difficult to design small kVAR passive filters with extremely low impedances at 5th and 7th harmonic frequencies and this results in increased rating of the hybrid parallel active filter. Also measured supply voltage distortion levels of 1.4% at 5th h and 0.8% at 7th at this site, adversely affect the rating of t e parallel hybrid active filter if it is to provide damping or harmonic isolation, and hence does not provide a costeffective harmonic filtering approach for this site application.

Iv. SERIES ACTIVE FILTER IMPLEMENTATION

The Series Active filter inverter is implemented by a Passive Clamped Resonant DC Link Inverter (PC-RDCLI) with a resonant frequency of 70lrHz, as shown in Fig. 3. The series active filter inverter is 35kVA which is 4% of the total load kVA (765 kVA). The dc bus voltage Vdc is 32SV. The series coupling transformer has a nominal turns ratio of 1:20 with lOOOA rated on the supply side (primary winding) and 50A on the inverter side (secondary winding). The output filter inductor Lf is 1.9 mH. The series active filter is controlled as a current controlled harmonic voltage source as explained in section V. The RDCL inverter is current regulated by an adjacent state Current Regulated Delta Modulator (CRAM) [CRAM is a Discrete Pulse Modulation @PM) based scheme for RDCLI] with zero ball (hysteresis) around the zero state, which allows the use of zero state for only one resonant cycle, The use of zero state always ensures adjacent state switching which reduces the r m s ripple current in the dc capacitor, resonant inductor and resonant capacitor. This strategy maximizes the bandwidth of the current regulator with the constraint of adjacent state switching. Field installation results, show that harmonic filtering is achieved up to 25th harmonic which gives an effective RDCL inverter current bandwidth of 1.5 kHz and demonstrates the effectiveness of this new adjacent state CRAM. The current bandwidth of the inverter determines the frequency limits for harmonic isolation. The design considerations for the series coupling transformer are an integral part of the series active filter system design and are unlike conventional transformer designs. The leakage inductance of the series coupling transformer is the critical design parameter and has been designed to be low. Transformer leakage inductance entails fundamental voltage drop and fundamental VA, which has to be supported by the inverter. This effectively reduces the series active filter inverter rating available for harmonic isolation. The measured leakage inductance is 1.625uH, (0.2%), and magnetising inductance on the primary side is 1.OmH (1.22 pu).
191

maximum tolerances for the filter components. based on High harmonic current THD of 46.47% render parallel active filter solution uneconomical. This site presents a perfect application for hybrid series active filter, where the series active filter can be controlled to act as a harmonic isolator between the supply and load and thereby, all the load harmonic currents are constrained to flow into the passive

&e

Series Coupling

ASD LOAD 765 LVA

Series Active Filter Implemented by Passive Clamped Resonant DC Link Inverter 35 kVA Fig. 3. Implementation of Hybrid Series Active Filter System

v. SYNCHRONOUS REFERENCE FRAME CONTROLLER

IMPLEMENTATION
The SRF controller [6,9] shown in Fig. 3, uses as instantaneous supply currents and Phase Lock Loop (PLL) signal from passive filter terminal voltage for generation of fundamental frequency unit vectors for transformations.

to phase errors. This is a significant advantage of the SRF controller since most other controllers will introduce significant phase errors at fundamental and at harmonic frequencies. The dc components of the supply current in the de - qe reference frame, iesqsdc and iedsdc, are transformed to fundamental frequency components in the stationary reference frame:

In the synchronously rotating de - qe reference frame, the components at the fundamental frequency, are transformed to dc quantities and all the harmonics are transformed to non-dc quantities and undergo a frequency shift of 60 Hz in the spectrum. SRF controller extracts the dc quantities by a low pass filter (LPF) and hence it is insensitive

ih The series active filter is current controlled w t the threephase fundamental supply Current references i*sa. i*sb. i*sc. The SRF controller realizes the series active filter inverter as a current controlled harmonic voltage source which injects only harmonic voltages and zero fundamental frequency voltage into the supply line and consequently does not handle any fundamental VA. This constrains all the load harmonic currents into the passive filters.

'sb
isc

to

2Phase

is&

*
~

to
de-qe
A

Low Pass
Filter

Stationary Ref Frame

to

LPF

ds qs
Synchronous Ref Frame

Measured
Supply Currents

Stationary Ref Frame

v e

Synchronous

Ref Frame

From PLL cos

sin

rt

Reference
Supply Currents

Fig. 4. Synchronous Reference Frame Controller For Series Active Filter

192

The SRF controller is insensitive to background supply voltage distortions and t system parameters such as supply o line inductance, leakage inductance of the series coupling transformer, load and passive filter unbalances and off-tuned passive filter conditions. The SRF controller is implemented by analog and digital hardware as opposed to a DSP based implementation for ease of debugging in the field installation. The SRF controller implementation is sensitive to dc offsets and gains. This requires a flat or constant gain of the LPF up to the cutoff frequency. Effective heterodyning is possible due to wide separation of the fundamental frequency (at dc) and the lowest 5th harmonic in the synchronous reference frame and reduces the sensitivity of the LPF to phase and amplitude errors. Amplitude accuracy is achieved by maximally flat second order Butterworth LPF realized by switched capacitor filters (SCF) which are sampled systems. The sampling frequency of the SCF determines the highest harmonic frequency possible that can be filtered without aliasing errors. This is an important consideration and a design tradeoff for SCF applications since the cut-off frequency of the LPF determines the limit of the maximum harmonic frequency and vice-versa. A fifth order LPF (two cascaded 2nd order Butterworth LPF and 1st order LPF) with a cutoff frequency fo of 30 Hz has been implemented by SCF (MAX 280) and achieves attenuation of less than 1% for the 5th harmonic frequency. The sampling frequency of the SCF is 3 M z (1OOfo) and this allows hamonic filtering up to z 1500 H (25th harmonic) without aliasing errors. It is important to note that SCFs are not phase and gain sensitive to component tolerances, unlike continuous time analog filters. A modified SRF controller [9] enables reduction of passive filter voltage distortion by controlled injection of load current harmonics into the supply within IEEE 519 limits. This achieves a further reduction in the series active filter rating. This also enables the use of simpler passive filter structures such as power factor correction capacitors as validated by laboratory experimental results in section VIII.
VI. PROTECTION AND SEQUENCING OF SERIES
ACTIVE FILTER

inductors are designed to have a tolerance of 0 6 -10%. Case 9, 2 and Case 3 represent maximum off-tuning above and below nominal tuned frequencies respectively.
able 2: 5th and 7th Tuned Passive Fllter Component Values
with Tnlernnces

Tuned 5th & 7th passive

Table 3 shows the simulation results of the effect of off-tuned passive filters on the hybrid series active filter system without any supply voltage distortion. For the same load condition, higher supply current and passive filter voltage THD results for off-tuned filters above nominal (case 2) compared to below nominal (case 3). This is expected since the filter impedance to the dominant 5th and 7th load current harmonics is higher for the off-tuned filter above nominal than off-tuned filter below nominal. Note that the IEEE 519 THD limit of 8% is met in all three cases. Operation in general with off-tuned passive filters has an adverse impact on the rating of the series active filter inverter, compared to case 1. The rating of the series active filter inverter is 4% of the total load kVA and for a load current of 0.5 pu (as in Table 3). the current controller of the series active filter inverter is saturated for case 2 and case 3 and hence results in higher supply current THD compared to case 1.

VnI.

EXPERIMENTAL RESULTS

Since the active filter is coupled in series with the supply line and it has a small rating, it requires a sophisticated protection and sequencing scheme. In the installation unit, the series coupling transformer has antiparallel thyristors and mechanical contactor to short the secondary of the transformer in the events of system faults, large transients and voltage overload conditions. A state machine based sequencing scheme has been implemented for start-up, shut-down, fault coordination and by-pass of the series active filter inverter under appropriate conditions.

vrr. SIMULATION RESULTS WITH OFF-TUNED

PASSIVE FILTERS

Table 2 gives the 5th and 7th passive filter component values for perfectly tuned filters (Case 1) and with component tolerances designed for the BPS installation site. Filter capacitor tolerances are 0%. +lo% and hence the filter

Fig. 5 shows laboratory set up and experimental results with a three phase diode bridge rectifier-capacitor load. The same 35kVA series active filter inverter and the series coupling transformer installed at the BPS site were used. The passive filter was implemented by a low cost power factor correction capacitor CF of 25uF in per phase wye connection. To limit the rms harmonic load current in the filter capacitor CF, an inductor LR was used in series with the diode rectifier. The supply inductance LS was varied to excite resonance conditions with the filter capacitor CF, to demonstrate the harmonic damping capability of the SRF controlled series active filter system. Experimental results show the effectiveness of the series active filter to provide harmonic damping and achieve sinusoidal supply currents with a 7th harmonic resonance condition (Ls=6.OmH, f0=410Hz, 6.83 tuned Ls-CF filter). SRF controlled series active filter constrains all load harmonic currents in the filter capacitor

193

Cp. The fdta capacitor voltage Vcpp ius distortions due to the relatively high impadmce of the filter capacitor Q a t lower (34t. 1lth) harmonic h q w ~ i e sThe lineacutrpl 7h . voltsne o the series active filter i n v a t a is also shown. f

v. &v

component values are L5=0.22omH, Cpl586uF and hence ( t Of 5.0). due to hd Out+f-speCificrrtiOn reraOr. Figs. 6 & 7 &OW the mcpIwrtd site itwallatior~ nsults a the point of unnmm coupling of the t utility transformcr. The series active film has a small rating and is n t &signed t operate u n k krge off-tuned passive o o filter conditions. Fig. 6 shows the supply CMcllf voltage aud the supply c\nrrnt THD without the hybrid d e s rctive filter system operating at 115 kVA 0 9 . 3 kW, e 3 5 . 9 kVAR) kro&The supply current THD is 44.08 .dit excetdl I E I EE 519 limits ami has very high crest factor of 1.8. The individual harmonics which c not mea I E 519 limits are b EE 375% of 5th 19.3% of 7th,4.6% of 11th. 4.0% of 13th md 1.3% o 23rd. f Table 4 shows the installation results at 220 kVA (P=l05kW, w193.3 LVAR) load with the passive filters, redat the utility trsndfocreer and at the passive f i l m . MwurcmenU without the series active filter clearly

the 5th film k off-hmed to 4.5

demoastRtetbcoff-amingofthe~vefiltenrraditisreen
that a large percentage of the 5th harmonic 1 0 4 curtent flows into the supply. Measuremenu with the series wive filter demonstrate the harmonic isolation feature of the series d v e filter within its rssing. Ofi-tuning of the passive f f i l m overloedr the small rated (4% o the load LVA) #ria active filter inverter. Lhe supply current THD is reduced fmm 44.0% to 8.% and the crest f a a x is reduced from 1.8 to 1.4 by the hyhid s r e active film Opaation. The 8.1% eis 5th harmonic distortion is thc ma& component of 8.9% supply current THD and the remaining supply current harmonics meet IEEE 519 individual harmonic limits. Effectiveness of tbe Mia active filter system to provide humonic isolation even under off-tuned passive filter conditions and with 5th and 7th supply voltage distortions has beea demonstrpted by fgld instplluiaa results. Fild installation expaienCe suggats that hybrid series llctive filter system is a colt effective sd viable h a r i c filtering solution for multiple and diverse harmonic lords. The series w i v e film provides 'harmonic isolation at the point of co01l coupling and provides an effective solution t my posoible o DPF coaditians due to load diversity.

The designed 5th and 7th passive filter component values are Ls=O.l91mH, C5=1475uF and L7-0.195mH. C7=74OuF. In the site installation measured 5th passive filter

Pll#r.

controlkr for 8erie-s active filter achieves harmonic isolation between the supply and the load under normal and pbnonnal conditions such as off-tuned passive filter conditions and A hybrid series active filter system has been presence of supply voltage distortions. Installation results successfully installed and demonstrated at the BPS site in show that series active filter implemented with a Remnant DC NEEPC utility far adjustable speed drive loads to meet IEEE Link Inverter provides current bandwidth in excess of 1.5 * 519 recommended hannonic standards. The series active lcHz (Zthharmonic) to achieve harmonw: isolation between film has a small rating - 35 kVA which is 4% of the load the supply and load. Effectivenessof the series active filter to rating. The developed Synchronous Reference Rme based provide harmonic damping and the use of simpler and low
X. CONCLUSIONS
194

cost power factor correction capacitor passive filters has been experimentally demonstrated. Synchronous Reference Frame controller issues have been addressed. Protection and sequencing issues of the series active filter have been identified and addressed in the installation unit. Impact of offtuned passive filters on the operation of the series active filter has been investigated. This is the first field installation of Hybrid Series Active filter and demonstrates its cost effectiveness and practical viability as a harmonic filtering approach to meet IEEE 519 harmonic standards for large non-linear power electronic loads and for multiple and diverse harmonic loads.

+so01

SlVE FILTER

JSO.OV/div vortical
IC8

3.3mmldlv

hOCi8.

? I W E A IYAP8NOT J W A u g 31 1993 1 1 : O I M

Wund

5.

0.0

w.q,.

. . . .

. .

8C1 X R l I

FWO lbth 3lnd P W I C A CVIREKT MPLIYUDC IPCCIIUI J% Aua 3 1 1993 I l f i 111

EREPENCES __ -. -. - --

1 L. Gyugyi, E.C. Snycula. "Active AC Power Filters", Roc. EFX-IAS Annual Meeting, pp 529,1976.

Sensitive Lopd IsdPtion". & , S Annual Meeting, pp 947-951,1989. 5 F.Z. Peng, H. Akagi. A. N a b . "A New Approach To Harmonic C o m p e d o n In Power Systems", [EEE/IASRecord, pp 874-880,1988. 6 S. Bhattacharya, D.M. Divan, B. Bancrjec, "Synchronous Referenct Frame Harmonic Isolator Using Series Active Filter", Roc. 4th EPE, Rorencc, 1991, vol. 3, pp 030-035. 7 H. Fyita, H.Akagi, "A pnctical Approach to Harmonic Compensation in Power Systems - Series Connection of Passive and Active Filtm".

N. Mohan. et d, "Active Filters for AC Harmonic Supprcssion", IEEupEsWinter M e i g 1977, A770268. etn. 3. M.Takda, ct al. "HnmonicCurrent Compensation with Active Filtcf', E m S . Annual M n g , pp 808,1987. 4 S. M m , "A Lint Vol e Regulator/Conditioner for Harmonic2

IEEWlASAnnualMeeting.pp 1107-1112,1990. 8 D.M.Divan, S. BhanPchrya, R.Znvadil, ct. al, "Design of an Active Serics/Passive Parallel Hannonic Filter for ASD Loads a I Wastewater t Trutmcnt Plant", Roc of Sccond Intl. PQA 92, Atlanta, USA, 1992. 9. S.Bhattacharya, D.M. Divan, B. BpmJet, "Control and Reduction of Terminal Voltage T d Harmonic Distortion W D ) in I Hybrid Series Acfive and Parallcl Passive Filta Systcm", PESC C o d Recard 1993.

195