Robust voltage tracking control of three phase

inverter with an output LC filter: A sliding mode

approach
Sameer Sabir1, Qudrat Khan2, M.Saleem2, Abdul khaliq1
1
Department of Electrical Engineering
Center for Advanced Studies in Engineering- CASE,
Islamabad, Pakistan
2
Center for Advanced Studies in Telecommunication,
COMSATS Institute of Information Technology,
Islamabad, Pakistan
engr.sameersabir@gmail.com, qudratullahqau@gmail.com, engr.saleem@comsats.edu.pk, ak@case.edu.pk

Abstract— In this paper, sliding mode control is designed and
implemented on three phase inverter with an output LC filter
which is mostly used for an AC sinusoidal voltages. The aim of
controller is to achieve robustness against uncertain disturbances
which may degrade the performance. The designed controller
keeps the filter inductor currents in desirable limits and also
suppresses the high frequency vibrations i.e., chattering. The
dynamic model of the three phase inverter is simulated in
MATLAB environment. The efficiency of the controller is shown
via the simulation results.
Index Terms— Sliding mode control, LC filter, three phase
inverter
INTRODUCTION
Three phase inverter is a popular device used in wide range
of applications [23] i.e. UPS and variable frequency drives.
Three phase inverter converts DC voltage to AC voltage to
achieve desired output voltages with low total harmonic
distortions (THD) [1].
Various types of controllers are implemented for efficient
operation of three phase inverter [24]. These controllers are
suitable to handle uncertain load variation, and ensure stability
[2].In literature, different control techniques that include
Proportional-Integral (PI) controller using PWM modulation
[3], multi-loop control [4], dead beat control [5], and linear
quadratic controller (LQR) [6] have been discussed for output
voltage regulation. A model predictive control (MPC) [7], an
adaptive control algorithm in [8], ஶ control theory [9] andɊ
synthesis [10] can handle uncertainties in system. In these
methods [9]-[10] there are tradeoffs between system
performance and stability margin. A new variant of MPC
optimizes computational burden by using filter inductor current
in its problem formulation and satisfy its constraints on peak
inductor currents [11]. However, a modulator is needed to
generate gate drive signal for triggering switches of three phase
inverter.
Sliding mode control (SMC) is a control technique that has
robust stabilizing effect in non-linear system under transient
conditions [12]. SMC techniques in literature are intended to
provide robust stabilizing effect against uncertainties while
keeping chattering suppressed [13]. The SMC is generally
suitable for power electronics devices [14]. In this context, the
performance of three phase inverter is usually determined by
THD of output voltage under disturbances [15]. However, in
SMC the signals of infinite switching frequency are required
for system to remain in an ideal sliding motion, which is
practically impossible to achieve. The switching signals must
be limited to a finite acceptable range [16]-[17]. The switching
signals limited to a finite acceptable range, causes chattering
which increase power loss and compels system to oscillate
around designed sliding surface. However, it can be controlled
by using hysteresis band level in SMC [18]. The sliding
manifold is designed by forcing a preferred dynamic response,
this allows in deciding the parameter for SMC design [19].
Since, SMC ensures robustness in uncertain condition.
Therefore, in case of inverters with SMC control, a low THD
of output voltages is possible. In addition, better dynamic
response under transient condition can be achieved [20]-[21].
In this work, we aim to get low THD and good performance
in the presence of load currents. A SMC law is designed for a
three phase inverter with an LC filter. The reference signals
used in our work are sinusoids with known amplitudes and
frequencies. The tracking error is regulated to zero even in the
presence of said disturbance. The performance in term of THD
is compared with standard literature results [11]. The
comparison confirms that SMC is good to be used to voltage
tracking purpose. The rest of paper is organized as follows:
In Section II the mathematical model is presented whereas
in Section III the SMC design is presented. The simulation
results are given in Section IV followed by conclusion in
Section V.
II. THREE PHASE INVERTER MODEL
The main components in three phase inverter are six
semiconductor switches. Three of the switchesܵଵ ,ܵଶ , ܵଷ are
connected at high side of DC voltage source while the
remaining three switches ܵସ ,ܵହ ,ܵ଺ are connected at low side
of DC voltage source. Each inverter is equipped with three legs
and only one switch in each leg may remain on at any instant to
avoid short circuiting of DC voltage source. The load is ୢ୚ౙభ౤ ሾ୧౗ ି୧౥భ ሿ
ൌ  (4)
ୢ୲ େ
supposed to be balanced and unknown [7].A schematic ୢ୚ౙమ౤ ሾ୧ౘ ି୧౥మ ሿ
diagram of a three phase inverter is shown in fig 1. ൌ (5)
ୢ୲ େ
ୢ୚ౙయ౤ ሾ୧ౙି୧౥య ሿ
ൌ  (6)
ୢ୲ େ

The output current ‹୭ଵ ǡ ‹୭ଶǡ ‹୭ଷ is considered as disturbance

because it depends on the unknown load [7].The overall
dynamic model of the three phase inverter is given as follows.

െͳ ʹ ͳ ͳ
ሶ୤ୟ  ൌ  ൅  െ  െ  ሺ͹ሻ
 ୡଵ୬ ͵ ୅୒ ͵ ୆୒ ͵ େ୒
െͳ ͳ ʹ ͳ
ሶ୤ୠ  ൌ ୡଶ୬ െ ୅୒ ൅ ୆୒ െ େ୒ ሺͺሻ
 ͵ ͵ ͵
െͳ ͳ ͳ ʹ
ሶ୤ୡ  ൌ ୡଷ୬ െ ୅୒ െ ୆୒ ൅ େ୒ ሺͻሻ
 ͵ ͵ ͵
ͳ ͳ
ሶୡଵ୬  ൌ ୤ୟ െ ‹୭ଵ ሺͳͲሻ
 
ͳ ͳ
Fig 1. Three phase inverter with an output LC filter ሶୡଶ୬  ൌ ୤ୠ െ ‹୭ଶ ሺͳͳሻ
 
ͳ ͳ
Note that୤ୟ ,୤ୠ ǡ ୤ୡ represents current passing through ሶୡଷ୬ ൌ ୤ୡ െ ‹୭ଷ ሺͳʹሻ
inductor filter from‡‰ ୟ ,‡‰ ୠ ǡ ‡‰ ୡ ǡ respectivelyǤ ‹୭ଵ ,‹୭ଶ ǡ  
The system from (7-12) is controllable and is used in the
‹୭ଷ represents current drawn by load from phase A, B, and C,
literature [5], [7].
respectively.
The above system in state space model can be represented as
Similarlyǡ ୡଵ୬ ,ୡଶ୬ ǡ ୡଷ୬ points to voltages across filter
follow
capacitor ‘C’. There are eight different switching states that can
be represented by three gate drive signal. Its working can be ሶ ൌ š ൅ — ൅ ୢ ‹୭
understood as follows.
Where,
In ‡‰ ୟ gate drive signal will be 1, if switch 1 is on and switch
‫Ͳۍ‬
െͳ
4 is off and gate drive signal will be 0, if switch 1 is off and Ͳ Ͳ Ͳ Ͳ‫ې‬
‫ێ‬  ‫ۑ‬
switch 4 is on. ‫ێ‬ െͳ ʹ െͳ െͳ‫ې‬
In‡‰ ୠ gate drive signal will be 1, if switch 2 is on and switch ‫Ͳێ‬ Ͳ Ͳ Ͳ Ͳ ‫ۑۑ‬ 
‫ۍ‬
͵ ͵ ͵ ‫ۑ‬
 ‫ۍ‬ ˆƒ ‫ې‬ ‫ێ‬
‫ێ‬ െͳ‫ۑ‬ ‫ێ‬െͳ ʹ െͳ‫ۑ‬
5 is off and gate drive signal will be 0, if switch 2 is off and ‫Ͳێ‬ ‫ۑ „ˆ ێ‬
Ͳ Ͳ Ͳ Ͳ ‫ۑ‬ ‫ێ‬ ͵ ‫ۑ‬
switch 5 is on. ൌ‫ێ‬  ‫ ۑ‬ǡ š ൌ ˆ… ǡ  ൌ  ‫͵ ێ‬
‫ێ‬  ‫ۑ‬ ͵
‫ͳێ‬
‫ۑ ێ‬ െͳ െͳ ʹ ‫ۑۑ‬
Similarly, in ‡‰ ୡ gate drive signal will be 1, if switch 3 is on Ͳ Ͳ Ͳ Ͳ Ͳ ‫ۑۑ‬ ‫ۑ ͳ… ێ‬
‫ێ‬
͵ ͵ ͵ ‫ۑ‬
‫ۑ ʹ…ێ‬
‫ێ‬ ‫ێ‬
and switch 6 is off and gate drive signal will be 0, if switch 3 is ‫ێ‬ ͳ ‫ۑ‬ ‫Ͳ ێ‬ Ͳ Ͳ‫ۑ‬
‫ے ͵…ۏ‬
off and switch 6 is on. ‫Ͳێ‬ Ͳ Ͳ Ͳ Ͳ‫ۑ‬ ‫Ͳ ێ‬ Ͳ Ͳ‫ۑ‬
‫ێ‬  ‫ۑ‬ ‫Ͳ ۏ‬ Ͳ Ͳ‫ے‬
Now, the following notations are introduced. ‫ێ‬ ͳ
Ͳ Ͳ Ͳ Ͳ Ͳ ‫ےۑ‬
‫ۏ‬ 
ܸ஺ே =ሺ‡‰ ୟ .ܸ஽஼ )
ܸ஻ே =(‡‰ ୠ .ܸ஽஼ ሻ Ͳ Ͳ Ͳ
‫Ͳۍ‬ Ͳ Ͳ‫ې‬
ܸ஼ே =(‡‰ ୡ .ܸ஽஼ ሻ ‫ێ‬ ‫ۑ‬
୅୒ Ͳ
‫ିێ‬ଵ Ͳ Ͳ‫ۑ‬ ‹୭ଵ
The voltage potential across output filter L is obtained via  ‫ێ‬
— ൌ ൥ ୆୒ ൩ǡୢ ൌ  େ Ͳ Ͳ ‫ ۑ‬ǡ ‹୭ ൌ ൥‹୭ଶ ൩
Kirchhoff’s Voltage Law while keeping in view figure 1. େ୒ ‫ێ‬ ିଵ ‫ۑ‬ ‹୭ଷ
‫Ͳێ‬ େ
Ͳ‫ۑ‬
‫ێ‬ ିଵ‫ۑ‬
ୢ୍౜౗
ൌ
ሾ୚ఽొ ି୚ౙభ౤ ି୚౤ొ ሿ
 (1) ‫Ͳۏ‬ Ͳ
େ‫ے‬
ୢ୲ ୐
ୢ୍౜ౘ ሾ୚ాొ ି୚ౙమ౤ ି୚౤ొ ሿ
ൌ (2) Where ‘x’ is the system sates vector, ‘A’ is the system
ୢ୲ ୐
ୢ୍౜ౙ ሾ୚ిొ ି୚ౙయ౤ ି୚౤ొ ሿ
ൌ (3) distribution matrix, ‘B’ is the input channel, ‘u’ is the control
ୢ୲ ୐
input vector, ‘ୢ ’ and ‘‹୭ ’ are the considered as disturbances in
The current flowing across output filter C is obtained via the system.
Kirchhoff’s Current Law while keeping in view figure 1. The system is in general under the effect of two control inputs
i.e. u and‹୭ . So combining the input matrix B and ୢ into one Now, the time derivative of equation (17) along equation (18)
matrix it becomes clearly controllable. and equation (19) can be written as follows:
The control problem is that the output should track a given
sinusoidal signal. In the next section a control law is designed ଵ ଵ ଵ
ሶ ୟ െ ‹୤ୟ ൅ ‹୭ଵ ቁ ൅ ሺ”‡ˆ
ɐሶ ଵ ൌ  Oଵ ቀ”‡ˆ ሷ ୟ൅ ୡଵ୬ െ
େ େ ୐େ
to meet this requirement. ଶ ଵ ଵ ଵ ௗ௜೚భ
   ൅   ൅  ൅ ሻ
ଷ୐େ ୅୒ ଷ୐େ ୆୒ ଷ୐େ େ୒ େ ௗ௧
III. CONTROL ALGORITHM DESIGN ଵ ଵ ଵ
In this section, the output tracking problem is handled via the ሶ ୠ െ ‹୤ୠ ൅ ‹୭ଶ ሻ ൅ ሺ”‡ˆ
ɐሶଶ ൌ  Oଶ ሺ”‡ˆ ሷ ୠ൅  ൅
େ େ ୐େ ୡଶ୬
sliding mode control. The reference signals which are aimed to 
ଵ
 െ
ଶ
 ൅
ଵ
 ൅
ଵ ௗ௜೚మ
ሻ
be tracked appear as follows: ଷ୐େ ୅୒ ଷ୐େ ୆୒ ଷ୐େ େ୒ େ ௗ௧

and
”‡ˆୟ ൌ  ୢୡ •‹ Z– ൅ Tଵ
 ሺͳ͵ሻ
Similarly,
”‡ˆୠ ൌ  ୢୡ •‹ Z– ൅ Tଶ
 ሺͳͶሻ
”‡ˆୡ ൌ  ୢୡ •‹ Z– ൅ Tଷ ሺͳͷሻ ଵ ଵ
ሶ ୡ െ ‹୤ୡ ൅ ‹୭ଷ ሻ ൅ ሺ”‡ˆ
ሷ ୡ൅ ଵ
 ɐሶଷ ൌ  Oଷ ሺ”‡ˆ  ൅
where, ”‡ˆୟ ǡ ”‡ˆୠ ǡ ”‡ˆୡ are desired references for voltages େ େ ୐େ ୡଷ୬
ଵ ଵ ଶ ଵ ௗ௜೚య
of phase A, B and C, respectively. Tଵ ,Tଶ , Tଷ denotes phase  ୅୒ ൅  െ  ൅ ሻ
ଷ୐େ ଷ୐େ ୆୒ ଷ୐େ େ୒ େ ௗ௧
angles which are set to Ͳq ,ͳʹͲq and ʹͶͲq ǡ respectively. In order Generally, the sliding mode control appears as follows:
to design a tracking control law, the error variables are defined ‫ ݑ‬ൌ ‫ݑ‬௘௤ ൅ ‫ݑ‬ௗ௜௦
as follows: Now, to design the control laws for each phase, posing ɐሶ ଵ ൌ Ͳǡ
ɐሶ ଶ ൌ Ͳǡ and ɐሶ ଷ ൌ Ͳ and calculating for.
‡ଵ ൌ ”‡ˆ௔ െ ௖ଵ௡ ͵ ͳ ͳ ݀݅௢ଵ
‫ݑ‬ଵ௘௤ ൌ ሷ ୟ ൅ ୡଵ୬ ൅
൬Oଵ ‡ሶ ଵ ൅ ”‡ˆ ൰
‡ଶ ൌ ”‡ˆ௕ െ ௖ଶ௡ ൡሺͳ͸ሻ ʹ   ݀‫ݐ‬
‡ଷ ൌ ”‡ˆ௖ െ ௖ଷ௡ ͵ ͳ ͳ ݀݅௢ଶ
‫ݑ‬ଶ௘௤ ൌ ሷ ୠ൅
൬Oଶ ‡ሶ ଶ ൅ ”‡ˆ ୡଶ୬ ൅ ൰
Since this design strategy is based on sliding mode control, ʹ   ݀‫ݐ‬
therefore, the sliding manifolds for each phase are defined as ͵ ͳ ͳ ݀݅௢ଷ
‫ݑ‬ଷ௘௤ ൌ ൬Oଷ ‡ሶ ଷ ൅ ”‡ˆሷ ୡ ൅ ୡଷ୬ ൅ ൰
follows: ʹ   ݀‫ݐ‬

ɐଵ ൌ  Oଵ ݁ଵ ൅ ݁ሶଵ And choosing

ɐଶ ൌ  Oଶ ݁ଶ ൅ ݁ሶଶ ൡሺͳ͹ሻ
ɐଷ ൌ Oଷ ݁ଷ ൅ ݁ሶଷ ‫ݑ‬ଵௗ௜௦ ൌ ‫ܭ‬௢ଵ Vଵ ൅ ଵ •‹‰ሺVଵ ሻ
The time derivative of equation (16) along the system (7-12), ‫ݑ‬ଶௗ௜௦ ൌ ‫ܭ‬௢ଶ Vଶ ൅  ଶ •‹‰ሺVଶ ሻ
takes the form. ‫ݑ‬ଷௗ௜௦ ൌ ‫ܭ‬௢ଷ Vଷ ൅  ଷ •‹‰ሺVଷ ሻ

ͳ ͳ The final expression of the control laws for the phase A, B, and
‡ሶ ଵ ൌ ”‡ˆሶ ୟ െ ‹୤ୟ ൅ ‹୭ଵ ۗ
  ۖ C, can be expressed as follows:
ሶ ͳ ͳ
‡ሶ ଶ ൌ ”‡ˆ„ െ ‹ˆ„ ൅ ‹‘ʹ ሺͳͺሻ
  ۘ —ଵ ሺ–ሻ ൌ 
ଷ୐େ
ሷ ୟ൅
ቀOଵ ‡ሶ ଵ ൅ ”‡ˆ
ଵ
ୡଵ୬ ൅
ଵ ௗ௜೚భ
ቁ ൅ ‫ܭ‬௢ଵ Vଵ ൅
ͳ ͳ
ሶ ୡ െ ‹୤ୡ ൅ ‹୭ଷ ۖ
ଶ ୐େ େ ௗ௧
‡ሶ ଷ ൌ ”‡ˆ ۙ ଵ •‹‰ሺVଵ ሻሺʹͲሻ
  ଷ୐େ
And —ଶ ሺ–ሻ ൌ  ቀOଶ ‡ሶ ଶ ൅ ”‡ˆሷ ୠ ൅ ଵ ୡଶ୬ ൅ ଵ ௗ௜೚మቁ ൅ ‫ܭ‬௢ଶ Vଶ ൅
ଶ ୐େ େ ௗ௧

ଵ ଶ ଵ
 ଶ •‹‰ሺVଶ ሻሺʹͳሻ
ሷ ୟ൅
‡ሷ ଵ ൌ ”‡ˆ  െ  ൅  ൅ۗ ଷ୐େ
ሷ ୡ ൅ ଵ ୡଷ୬ ൅ ଵ ௗ௜೚యቁ ൅ ‫ܭ‬௢ଷ Vଷ ൅
୐େ ୡଵ୬ ଷ୐େ ୅୒ ଷ୐େ ୆୒ —ଷ ሺ–ሻ ൌ  ቀOଷ ‡ሶ ଷ ൅ ”‡ˆ
ଶ ୐େ େ ௗ௧
ଵ
 ൅
ଵ ୢ୧౥భ ۖ  ଷ •‹‰ሺVଷ ሻሺʹʹሻ
ଷ୐େ େ୒ େ ୢ୲ ۖ
൅ۖ
ଵ ଵ ଶ
ሷ ୠ൅
‡ሷ ଶ ൌ ”‡ˆ  ൅  െ 
୐େ ୡଶ୬ ଷ୐େ ୅୒ ଷ୐େ ୆୒ The Oଵ ǡ Oଶ ƒ†Oଷ are adjusted in such a way that output
ଵ ଵ ୢ୧ ሺͳͻሻ
 ൅ ౥మ ۘ voltages track exactly input reference signal, whereas gains
ଷ୐େ େ୒ େ ୢ୲
ۖ ଵ ǡ  ଶ ƒ† ଷ gives robustness against transient response. The
ሷ ୡ ൅ ଵ ୡଷ୬ ൅ ଵ ୅୒ ൅ ଵ ୆୒ ۖ
‡ሷ ଷ ൌ ”‡ˆ
୐େ ଷ୐େ ଷ୐େ observer used to estimate output load currents is given in [7].
ଶ ଵ ୢ୧౥య ۖ
െ  ൅ ۙ The system, understudy, is highly coupled. At this stage the
ଷ୐େ େ୒ େ ୢ୲
The system reported in (19) is obviously coupled because in coupling effects of —ଶ ƒ†—ଷ on ‡ଵ is treated as disturbance
actual implementation both the inputs —ଶ ܽ݊݀—ଷ don’t become which is rejected via the robust nature of the SMC control.
zero simultaneously. This satisfies the coupling of the system. Similarly, the effects of the other inputs on ‡ଶ ƒ†‡ଷ are
This is also visible from figure 2(c). treated.
 IV. SIMULATION RESULTS
In this section, the simulation study is carried out. The
reference signals reported in equations (13-15) are tracked via
a three phase inverter output voltage. This objective is met with
the control algorithm given in equations (20-22). The initial
conditions of the overall system (7-12) are set to [0, 0, 0, 0, 0,
and 0].The typical parameters of the system are chosen
according to the Table I. The gains of the controllers are set
toOଵǡଶǡଷ ൌ ʹͷͲͲ, ‫ܭ‬௢௜ǡ ൌ ͸ͲͲ, i=1,2,3 and ‫ܭ‬ଵǡଶǡଷ ൌ ͲǤͳ.

Table
I Parameters Of Three Phase Inverter Circuit
Fig 3. Output voltages and output currents in steady state for a reference
amplitude of 200 V with 6-Ω load in case of MPC. Voltage THD: 30.93 %
Parameters Value

DC Voltage ୈେ 500[V]

Filter Inductance L 1[mH]

Filter Capacitance C 20[ȝ F]

Minimum duty cycle —ሺ–ሻ 0.1

0.9
Maximum duty cycle —ሺ–ሻ

Maximum Filter Inductor L current 12 [A]

Minimum Filter Inductor L current -12[A]
The system is treated in the presence of a resistance 20 Ω and
inductance of 10 mH. The time profile of the added disturbance
is shown in Figure 2(a). The current across the filter inductor is
shown in Figure 2(b). The controlled output voltage of the
inverter is shown in Figure 2(c). The output of the inverter is
quite appealing even in the presence of the disturbances.
Fig 4. Output voltages and load currents in steady state for a reference
amplitude of 200 V with 6-Ω load in case of designed SMC. Voltage THD:
4.62 %
Now, the system was again studied in the presence of an RL
(resistive and inductive) load of 20 Ω and 10 mH. It was
observed that 2.93% THD was resulted in case of MPC [11]
while the THD for our study was 2.62 %. The respective
results are shown in Figure 5 and Figure 6.

Fig 2. Load currents for series inductive 10 mH and resistive 20-Ω loads, filter
currents, and output voltages.
Fig 5. Output voltages and load currents in steady state for a reference
amplitude of 200 V with 20-Ω and 10 mH loads in case of MPC. Voltage THD:
The performance of the designed controlled law in term of 2.93 %
THD is compared with the standard literature [11]. The output
voltage THD in case of [11] was noticed to 30.93 %. Whereas,
in the present case with SMC, it was calculated to be 4.62%.
The respective results are shown in Figure 3 and Figure 4.

Fig 6. Output voltages and load currents in steady state for a reference
amplitude of 200 V with 20-Ω and 10 mH loads of designed SMC.Voltage
THD: 2.62 %
These results confirm that our SMC strategy works better than
MPC in uncertain conditions. The conclusion is presented in
the next section.
V. CONCLUSION
In this work an SMC strategy is employed to a three phase
inverter in the presence of varying load. The simulation results
of this strategy are compared with a standard literature result
[11]. It was observed that the performance of SMC for voltage
tracking purpose becomes far appealing because the percentage
of THD in case of SMC is quite low as compared to the THD
of [11]. Moreover, SMC in our case is quite robust with
alleviated chattering phenomenon. In addition, the SMC results
for the filter inductor current lies within acceptable range.
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 An integral sliding mode based robust voltage
tracking control of three phase inverter
Sameer Sabir,Abdul Khaliq
Department of Electrical Engineering
Center for Advanced Studies in Engineering, CASE
Islamabad, Pakistan
engr.sameersabir@gmail.com
Abstract—In this paper, an integral sliding mode control is
designed and implemented on three phase inverter having an LC
filter at output side. The main objective of the controller is to
attain robustness against load uncertainties which may reduce
performance. The implemented controller suppresses the high
frequency vibrations i.e. chattering. The nonlinear three phase
inverter model is simulated on MATLAB environment. The
simulation result shows the efficacy of the proposed controller.
Keywords— Integral sliding mode control (ISMC); Three phase
inverter; LC filter;
I. INTRODUCTION
An inverter is most widely used in many power applications
i.e. uninterrupted power supply systems (UPS), variable
frequency drives, PV based power system and hybrid vehicles.
The main objective of an efficient inverter device is to convert
DC voltage to a desired value of AC voltage with low total
harmonic distortion (THD) at the output [1].
Numerous control approaches applied for the efficient
operation of three phase inverters. These control algorithms
ensure stable operations and handles load uncertainties [2]. In
literature, numerous control techniques that includes pulse
width modulation (PWM) based PI- controller [3], voltage
regulation using multi-loop [4], and linear quadratic controller
[5] are applied for voltage regulation. The algorithm based on
model predictive control (MPC) [6], adaptive control [7], H-
infinity control theory in [8], and P synthesis [9] can handle
variation in system. However, last two techniques [8]-[9] have
tradeoff between system performance and stability margin. In
[10] a new variant of MPC optimizes computational burden
but a modulator is needed to generate gate drive signals for
triggering switches. Another control approach that is used for
stability of system under uncertain load conditions is the
sliding mode control (SMC) [11]. The sliding mode controller
stabilizes the system by keeping chattering suppressed [12].
That is why it is suitable in various power electronic devices
due to its variable control structure [13]. In this context, the
performance criteria for three phase inverter are based on its
output voltages THD under load variations [14]. The
switching signals of infinite frequency are required for the
978-1-5386-5482-8/18/$31.00 ©2018 IEEE
Qudrat Khan, M. Saleem
Center for Advance Studies in Telecommunication
COMSAT, Institute of Information Technology
Islamabad, Pakistan
qudratullahqau@gmail.com
system to remain in an ideal sliding motion which is
practically not possible. However to keep the system in an
ideal sliding mode motion, switching signal of an infinite
frequency is required which is not possible practically.
Therefore the switching signals are restricted to finite
frequency [15]-[16]. The restriction to a fixed extent of
switching signals frequency causes system to fluctuate around
designed sliding surface.
The system does not remain robust due to oscillation in
reaching phase which is generally assorted with these above
mentioned approaches. The problem in reaching phase is
improved by using integral sliding mode control (ISMC) [17]-
[18] based approach i.e. when the system is not reached in
sliding mode, the uncertainties causes system to become
unstable. The integral sliding surface causes the system to
directly establish sliding mode without going through reaching
phase at the beginning. The ISMC is now responsible to keep
the system on integral surface despite of the uncertainties.
The main focus of this work is to get low THD voltages
at output of inverter and robustness in the presence of varying
load currents. For this purpose, an ISM based control law is
designed and implemented on three phase inverter (3PI) with a
LC filter at output side. The output voltage is tracked to a
reference sinusoidal voltage of a known amplitude and
frequency. The error generated due to tracking is regulated to
zero even in the presence of varying load currents. The
functioning criteria are evaluated on the basis of output
voltages THD with the standard literatures [10]. The output
voltage THD results verify that ISMC works well for the
robust voltage tracking purpose.
The rest paper is organized as follows. The Section II deals
with the mathematical modeling of 3PI with an output LC
filter. The Section III presents the ISMC design. The results
are discussed in Section IV and conclusion is presented in
Section V.
II. MODELLING OF THREE PHASE INVERTER
There are six switches in three phase inverter. The 3PI
comprises of three branches, in each branch there are two
semiconductor switches and only one switch in each branch
may be remain on to avoid short circuiting of dc voltage source ,
=
[ , , ]
(4)
. The three switches , and are connected at the
[ , ]
positive terminal of dc voltage source and remaining three ,
= ,
(5)
switches , and are connected at the negative , [ , , ]
terminal of dc voltage source . The load is assumed to be = (6)
balanced and unknown [6]. The diagram of 3PI is shown in The output load currents , , , and , are treated as
figure 1. disturbances because it depends on unknown and balanced load
[6].
The overall model of 3PI is described below.
−1 2 1 1
İ , =
V , + V − V − V (7)
L 3L 3L 3L
−1 1 2 1
İ , = V , − V + V − V (8)
L 3L 3L 3L
−1 1 1 2
İ , = V , − V − V + V (9)
L 3L 3L 3L
1 1
V̇ , = I , − i , (10)
C C
1 1
V̇ , = I , − i , (11)
C C
1 1
V̇ , = I , − i , (12)
confirm that you have the correct template for your paper size. C C
The state space modeling of above system is presented below.
Fig.1. 3-phase inverter with LC filter at output side.

The , , =A +B +B i
, and , are the inductor currents flowing
from the branch a, branch b and branch c, respectively. Where,
The , , , and , are the output load currents. ⎡0
−1
0 0 0 0 ⎤
The V , , V , and V , represents the voltage across ⎢ L ⎥
2 −1 −1⎤
⎢ −1 ⎥ ⎡
filter capacitor. ⎢0 0 0 0 0⎥ I
⎡ fil,a ⎤ ⎢ 3L 3L 3L ⎥
L
⎢ −1⎥ ⎢ Ifil,b ⎥ ⎢−1 2 −1⎥
The eight switching states of three phase inverter are controlled ⎢0 0 0 0 0 ⎥ ⎢ I ⎥ ⎢ 3L 3L 3L ⎥
by three control signals which are briefly described below. A=⎢ L ⎥, = ⎢ fil,c ⎥ , B = ⎢−1
⎢1 V −1 2 ⎥⎥
⎢C 0 0 0 0 0 ⎥⎥ ⎢ cap,an ⎥
⎢V ⎥
⎢
⎢ 3L 3L 3L ⎥
In branch a, the control signal is 1, if S is on and S is ⎢ ⎥ ⎢ cap,bn ⎥ ⎢ 0 0 0⎥
1
off. The control signal is 0, if S is off and S is on. ⎢0 0 0 0 0⎥ ⎣ Vcap,cn ⎦ ⎢ 0 0 0⎥
⎢ C ⎥ ⎣ 0 0 0⎦
In branch b, the control signal is 1, if S is on and S is ⎢ 1
0 0 0 0 0 ⎥⎦
off. The control signal is 0, if S is off and S is on.
⎣ C

In branch c, the control signal is 1, if S is on and S is

and
off. The control signal is 0, if S is off and S is on.
Now, the following terms are introduced. 0 0 0
⎡0 0 0⎤
V = (branch a . V ) ⎢0 0 0⎥
⎢−1 ⎥ i ,
V = (branch b . V ) V ⎢ 0 0⎥
= V , B = ⎢C ⎥ , i = i ,
V = (branch c . V ) V ⎢ 0 −1 0 ⎥ i ,
The Kirchhoff’s voltage law applied across output filter ⎢ C ⎥
inductor while keeping in view schematic shown in fig. 1. ⎢ −1⎥
⎣0 0
C⎦
The ‘ ’ represents system states vector, system distribution
,
= ,
(1) matrix is ‘A’, ‘ ’ is the input control vector, input channel
[ ]
matrix is shown in ‘B’, ‘B ’ and ‘i ’ are accounted as
, ,
= (2) system disturbances.
[ ]
,
= ,
(3) The aim is that output voltage of 3PI should track given
reference sinusoidal signal. The controlled input is formulated
The current passing through output filter capacitor is found by
in next section.
applying Kirchhoff’s current law while keeping in view
schematic displayed in fig. 1.
 III. CONTROL LAW DESIGN and
This section presents the output voltage tracking control
σ̇ = O i , − i , − V̇ , + − V , −
using ISMC. The reference sinusoidal signal is defined below:
V − V + V − ,
− V̈ , + ̇ (22)
V , = V sin Zt + θ (13)
V , = V sin Zt + θ (14) The integral term of sliding manifold can be written as follows:
V , = V sin Zt + θ (15)
̇ = − O i , − i , − V̇ , + , ) (23)
The V , ,V , , and V , are the reference sinusoidal signal
for the output voltages of 3PI. The θ ,θ , and θ are the phase ̇ = −(O i , − i , − V̇ , + , ) (24)
angle which are set to 0q , 120q and 240q respectively. The
output voltages tracking error are defined below. and
e =V , −V , ̇ = −( O i − i − V̇ + ) (25)
, , , ,
e =V , −V , (16)
e =V −V Generally, the ISMC appears as follows:
, ,
= ,F + F, + F,
The design is based on ISMC, the sliding manifolds for the
phase A, B and C are described as follow: where F = A, B and C.
σ = O + ̇ +z The continuous term of integral sliding mode is defined
,F
σ = O + ̇ +z (17) below.
σ =O + ̇ +z
, =− − ̇
, =− − ̇
The derivative of error signals (16) along the overall model of
three phase inerter (7-12) is as follows: and
, =− − ̇
1 1
ė = i , − i , − V̇ , ⎫ Now, for designing control law of each phase, pose σ̇ = 0 ,
C C ⎪ σ̇ = 0 and σ̇ = 0 and calculating for.
1 1
ė = ifil,b − iout,b −V̇ ref,b (18) ,
C C ⎬ , =− − V , − V − V − −
1 1 ⎪
ė = i , − i , − V̇ , ⎭ V̈ ,
C C
and , =− − V , − V − V − ,
−

ë = −
1
V , +
2
V −
1
V −⎫
V̈ ,
LC 3LC 3LC ⎪
1 1 di , ⎪ and
V − − V̈ , ⎪
3LC C dt ,
1 1 2 ⎪ , =− − V , − V − V − −
ë = − V , − V + V −⎪
LC 3LC 3LC (19) V̈ ,
1 1 di , ⎬
V − − ̈ ,
3LC C dt ⎪ and selecting
1 1 1 ⎪
ë = − V , −
LC 3LC
V −
3LC
V ⎪
, = V + K sign(V )
⎪
2 1 di ,
̈
⎪ , = V + K sign(V )
+ V − − V ,
3LC C dt ⎭ , = V + K sign(V )
The integral sliding mode based control laws for phase A, B
The time derivative of integral sliding mode manifold (17) and C appeared as follows:
along equation (18) and equation (19) are presented below.
u , (t) = (− − ̇ )+ − − V , −
σ̇ = O i , − i , − V̇ , + − V , +
V − V − ,
− V̈ , +
V − V − V − ,
− V̈ , + ̇ (20)
(− V ) + (− K sign(V )) (26)
σ̇ = O i , − i , − V̇ , + − V , − u , (t) = (− − ̇ )+ − − V , −
V + V − V − ,
− V̈ , + ̇ (21)
 Putting the value of controller (27) and (24), the above
V − V − ,
− V̈ +
, expression becomes
(− V ) + (− K sign(V )) (27)
and υ ̇ = σ (O i , − i , − V̇ , + − V , −

u , (t) = (− − ̇ )+ − − V , −
V + (− − ̇ )+ − − V , −
V − V − ,
− V̈ , +
V − V − ,
− V̈ , + (− V )+
(− V ) + (− K sign(V )) (28)
The gains where x = , , = 1 , 2,3 4 are (− K sign(V )) − V − ,
− V̈ , +
adjusted in the way that system show robustness against
transients, and the O , O and O are set in the way that output (−(O i , − i , − V̇ , + (− − ̇ ))))
voltages tracks exactly input reference signal. The stability of
the sliding surface can be confirmed by using a Lyapunov υ ̇ = σ ((− V ) + (− K sign(V )))
candidate functions as follows. V
υ ̇ = −2 − K σ sign(V )
υ = σ 2

Calculating the υ ̇ along equations (20), one get. υ ̇ = −2 υ − K |V |

υ ̇ = σ σ̇ υ ̇ = −2 υ − √2K υ
υ̇ = σ ( O i , − i , − V̇ , + − V , + υ̇ + 2 υ + √2K υ = 0 (30)
V − V − V − ,
− V̈ , + ̇ Similarly, the stability of V by choosing a Lyapunov of the.
Putting (26) and (23), the above expression becomes υ = σ

υ̇ = σ ( O i − i − V̇ + − V + Calculating the υ ̇ along equations (22)

, , , ,
υ ̇ = σ σ̇
(− − ̇ )+ − − V , −
υ ̇ = σ (O i , − i , − V̇ , + − V , −
V − V − ,
− V̈ , + (− V )+ V − V + V − ,
− V̈ , + ̇ )

(− K sign(V )) − V − V − ,
− V̈ , + Putting (28) and (25), the above expression becomes

− O i , − i , − V̇ , + (− − ̇ )) ) υ ̇ = σ (O i , − i , − V̇ , + − V , −
υ ̇ = σ ((− V ) + (− K sign(V )))
V − V + (− − ̇ )+
V
υ ̇ = −2 − K σ sign(V ) ,
2 − − V , − V − V − −
υ ̇ = −2 υ − K |V |
V̈ , + (− V ) + (− K sign(V )) − ,
−
υ ̇ = −2 υ − √2K υ
V̈ , + (−( O i , − i , − V̇ , + (− −
υ̇ + 2 υ + √2K υ = 0 (29) ̇ ))))
Now consider the stability of V by choosing a Lyapunov as υ ̇ = σ ((− V ) + (− K sign(V )))
follows. V
υ ̇ = −2 − K σ sign(V )
υ = σ 2

Calculating the υ ̇ along equations (21), one get υ ̇ = −2 υ − K |V |

υ ̇ = σ σ̇ υ ̇ = −2 υ − √2K υ
υ ̇ = σ (O i , − i , − V̇ , + − V , − υ̇ + 2 υ + √2K υ = 0 (31)
V + V − V − ,
− V̈ , + ̇ ) These differential equations (29), (30) and (31) are finite time
stable [19]. Hence all the surfaces stay at zero.
Fig.2. Sliding surface stability result.

The stability of σ , σ and σ is shown in figure 2(a), 2(b) and

2(c) respectively.
IV. RESULTS
The graphical results are discussed here. The reference
sinusoidal signals given in equations (13-15) are tracked via
three phase inverter output voltages for phase A, B and C,
respectively. The aim is achieved by using ISM control laws
derived in equation (26-28). The initial conditions of three
phase inverter model presented in equation (7-12) are treated
to be {zero, zero, zero, zero, zero and zero}. The typical
parameters of three phase inverter are mentioned in Table I.
Three Phase Inverter Parameter
Table I
Parameters
Source dc voltage
Fig.3. 3PI under varrying load.
The performance of ISM based control law for three phase
inverter in terms of THD is compared with MPC [11]. The
output voltages THD in case of MPC [11] was observed to be
30.93 %.Whereas, in case of ISM based control it was
calculated to be 4.10 %.The corresponding output voltage and
their respective output load current results are given in Figure 4
and Figure 5 respectively.
Value
500[V]

Output filter inductor L 1 10 [H]

Output filter capacitor C 20 10 [F]
Duty cycle minimum u , (t) (min) 0.1
Duty cycle maximum u , (t) (max) 0.9

Maximum Output filter inductor L curent limit +12[A]

Minimum Output filter inductor L curent limit -12[A]

TABLE I. PARAMETERS OF THREE PHASE INVERTER. Fig.4. 3PI output voltages and output load currents in a steady state ( Ref.
The gains of ISM based controller reported in (26-28) are Voltage: 200 V, 6 ohm load) in case of MPC. Voltage THD : 30.93 %.
presented in Table II. Where = , and O , , = 10 .
Table Controller gains
II Parameters
Phase A 10 0.01 10 -133

Phase B 10 0.01 10 -133

Phase C 10 0.01 10 -133

TABLE II. ISM BASED CONTROLLER GAINS.

The three phase inverter is simulated under the varying load. At

time 20 msec load is switched on. It is shown in the figure the
ISM ensures that output voltage remains stable. After that load
is switched on again 100 msec and this time load varies
between 120 msec and 150 msec but output voltages remain
constant. The varying load current profile is given in Figure
3(a). The current passing through filter inductor L is shown in
Figure 3(b). The ISM based control output voltages of three
phase inverter are given in Figure 3(c). The output voltage
results shows robustness against disturbances.
Fig.5. 3PI output voltages and load currents in a steady state ( Ref. Voltage:
200 V, 6 ohm load ) in case of designed ISMC. Voltage THD : 4.10 %
Now, the 3PI was again simulated in the presence of a resistive
20 : and inductive 10 mH load. It was noted that in case of
MPC [10] voltage THD was 2.93%, while for ISM based
control THD was 2.60%. The corresponding output voltage and
their respective output load current results are given in Figure 6
and Figure 7 respectively.

Fig.6. 3PI output voltages and load currents in a steady state ( Ref. Voltage:
200 V, 20 ohm and 10mH load ) in case of MPC. Voltage THD : 2.93 %.
Fig.7. 3PI output voltages and load currents in a steady ( Ref. Voltage: 200 V,
20 ohm and 10mH load ) in case of designed ISMC. Voltage THD : 2.60 %.
The results validate that THD generated by ISMC is less than
MPC under undefined disturbances. The conclusion is
mentioned in next section.
V. CONCLUSION
The ISM based control is applied on 3PI with an output LC
filter under the presence of different loads. The simulation
results of ISMC are compared with standard literature MPC
[10]. It was observed that THD generated by ISMC is less than
MPC under uncertain conditions. Moreover, ISM based control
in our case is robust against load uncertainties. Furthermore,
the filter current constraint also lies within acceptable range.
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