Design of Adaptive Sliding Mode Controller for

Single-Phase Grid-Tied PV System

Kamran Zeb∗† , Saif-ul-Islam∗ , Waqar Uddin∗ ,
Imran Khan¶ , Muhammad Ishfaq∗ , Zahid Ullah‡ , T.D.C. Busarello§ , Hee Je Kim∗

∗ School
of Electrical Engineering, Pusan National University, Busan, South Korea
† Dept. of Electrical Engineering, National University of Sciences and Technology, Islamabad, Pakistan
‡ Electrical Engineering Department, University of Management and Technology, Sialkot, Pakistan
§ Department of Engineering, Federal University of Santa Catarina Blumenau, Rua Joao Pessoa, Brazil
¶ C2N, University of Paris Sud, University of Paris Saclay, Palaiseau, France

kamran.zeb@pusan.ac.kr, engr.saifulislam19@gmail.com, waqudn@pusan.ac.kr,

imran.khan@c2n.upsaclay.fr engrishfaq1994@pusan.ac.kr,
zahid.ullah@skt.umt.edu.pk, tiago.busarello@ufsc.br, heeje@pusan.ac.kr

Abstract—This paper proposed Fuzzy-Sliding Mode Controller
(F-SMC) for regulation of DC-link voltage and Proportional
Resonant (PR) with Resonant Harmonic Compensator (RHC)
for output current control of two stages 3 kW single-phase
grid-tied Photovoltaic (PV) system. The dynamics of the system
are tested with and without a feed-forward PV power loop.
A SOGI phase lock loop is implemented that has harmonic
insusceptibility, a fast-tracking accuracy, and rapid-dynamic
response. The proposed controller enhances the dynamic and
steady state performance of the overall system. Furthermore,
the simulation results of PI controller is also presented to show
the effectiveness of the proposed control strategy. A graphical
and tabulated comparative assessment with a well-tuned PI
controller authenticates the effectiveness, fastness and robustness
of proposed controller. MATLAB/Simulink R2017b software is
used as a design and implementation platform.
Index Terms—Photovoltaic, Grid-tied, PI Control, Fuzzy-
Sliding Mode Control, SOGI PLL.
I. I NTRODUCTION
The dilemma of continuous depletion of fossil fuel reserves
and increasing energy demand has compelled the modern
world to tend towards renewable energy resources because
of their sustainability, eco-friendly and everlasting nature [1].
In the near future, Photovoltaic (PV) power will be a vital
character of the hybrid power grid due to an abrupt increase
in the installation of PV through the past several years [2].
According to energy forecast, the PV power installed capacity
will supersede wind power by 2020 [3]. An electronics-
based voltage-source inverter (VSI) is employed to deliver PV
power to utility grid, mostly single-phase VSIs are used to be
connected with distribution grid [4].
The stability of PV output for connection with grid is an
important factor as the PV output power has a non-linear
unstable behavior. Various grid codes have been introduced
978-1-7281-5404-6 ©2019 IEEE
to ensure the fast control, robustness and high quality of grid
power to be injected [5]. Usually, a PV system comprises
two-stages having their own control structures which are DC-
DC converter at the input side and DC-AC inverter at the
output side [6]. Input side control is used for extraction of
maximum power with maximum power point tracking (MPPT)
algorithm and output side control is responsible to deliver that
extracted power to utility grid efficiently [7]. The DC-link
split capacitor is used for voltage regulation as it can perform
many essential functions like storage of energy, reduction of
ripples, minimize fluctuations for inverter‘s input and offers
flexibility between the two-stage to alternate instantaneous
power [8]. Similarly, the DC-AC inverter stage has other
essential duties such as synchronization, detection of islanding,
compensation of reactive power, low/high ride through for
voltage and frequency and insertion of quality current to the
grid [2]. The power quality of the PV system is evaluated by
harmonics, unbalance, flicker and slow variations in voltage
[9].
Nowadays, Transformerless Grid-Connected (TG) low rat-
ing i.e., 1 to 10 kW PV inverters are achieving a high range
of acceptability. Due to the small size of TGPV inverters
have low cost, light weight, high efficiency and much simple
as compared to transformer isolation-based inverters. A large
range of highly efficient PV inverter has been analyzed in the
novel Transformerless topologies achieved from Neutral Point
Clamped (NPC) and H-bridge topology with high proficiency
and low Electro-Magnetic Interference [3]. Although TGPV
has plenty of merits but having some concerns about leakage
current. In Reference [3], [10] various features, problems, and
TGPV trends in the future are thoroughly reported. A keen
analysis of DC-current injection and issues that can arise are
illustrated in Reference [10].
The effectiveness of energy transmission from the PV
system to AC-grids through inverters have deeply emphasized

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 Fig. 1. Schematic of the proposed model for a grid-tied PV system.
by the researchers. Most of them have focused on control
schemes, inverter topologies and design of controller, etc.
Generally, the current control loop is executed by three various
reference frames i.e., stationary frame (αβ), rotating frame
(dq) and natural frame (abc). However, to optimize and control
the transient and steady-state response of grid-tied PV system
different types of controllers are designed and examined such
as Proportional Resonant (PR) controller in collaboration with
resonant harmonic compensators (RHC), repetitive controller,
deadbeat controller and Sliding Mode Controller (SMC) [11]–
[13]. Moreover, the PI controller along with feedforward volt-
age of the grid, artificial-intelligence technique based fuzzy-
logic, Hysteresis controller, neuro-fuzzy controller and some
adaptive controllers have been proposed in Reference [13]–
[19].
An adaptive frequency-selective harmonic controlled
method is designed for a PV system connected to the grid
[11], however, adaptive SMC control is proposed for a
two-level cascaded inverter in Reference [13]. A completely
digital controller hysteresis current is proposed for the
regulation of grid-tied PV output current in Reference
[25]. Further, in Reference [16], a neuro-fuzzy based on
DSPAC control is given. Although the merits and demerits
of the above-mentioned control schemes for transient and
steady-state behavior are given in literature however, these
controllers have contributed effectively in the improvement of
grid-tied PV system performance. But still, these controllers
have not carried out the comparative analysis for PR with
RHC controller, Fuzzy-PI and Fuzzy-SMC with feedforward
and without feedforward power loop for STGT PV inverter.
The main contributions of the paper to overcome the above-
mentioned detailed problems are:
• Fuzzy-Logic based on Sliding Mode Controllers (F-SMC)
is proposed to control the DC-link voltage.
• To control the current of grid-tied PV inverter, PR with
RHC is implemented.
• PLL based on SOGI technique is adopted having fast-
dynamic behavior, harmonic insusceptibility and fast-
tracking with high accuracy.
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• A conventionally adopted well-tuned PI controller‘s re-
sponse is carried out for comparative analysis of proposed
controllers considering oscillations, rising time, settling
time, overshoot and undershoot etc.
• The performance evaluation of the proposed controllers is
carried out by using performance evaluation indices i.e.,
Integral Absolute Error (IAE) and Integral Square Error
(ISE).
• The Total-Harmonic-Distortion is calculated for grid volt-
age and current based on discrete samples through the
PLECS library.
The rest of the manuscript is structured as Section II
describes proposed model of grid-tied PV system, the design
of control structure is detailed in Section III, Section IV
presented the design and implementation of proposed (F-SMC)
controller, results are inspected/validated in Section V, lastly,
Section VI presents conclusion of this paper.
II. P ROPOSED M ODEL OF G RID -T IED PV S YSTEM
The efficient control at the various stages is important for
two-stage PV system connected to the grid e.g. maximum
extraction of PV power using the MPPT algorithm, injection
of excellent current (power) quality at the inverter side, and
auxiliary roles at the grid side. Considering solar irradiance
(mission profile) and ambient temperature is vital during
planning and design stages as it disturbs the PV energy [20],
[21]. A single-phase two stages grid-tied PV inverter (3 kW) is
presented in Figure 1. Table I tabulates the nominal parameters
of the system. MATLAB/Simulink R2017b software is used
as a design and implementation platform. The detailed design
of the proposed system is given in [22]. A Phase Lock
Loop (PLL) based on Second Order General Integral (SOGI)
is implemented that has a fast-tracking accuracy, harmonic
immunity, and fast-dynamic response.
III. D ESIGN OF C ONTROL S TRUCTURE
There are two cascaded loops in the generic control ar-
chitecture of a single-phase grid-tied system. The current
control loop is the internal loop and the power or voltage
 TABLE I
S PECIFICATION OF G RID -T IED PV S YSTEM

Parameter Symbol Value

Grid voltage (RMS) Vg 230 V
Switching Frequency of Inverter finv 10 kHz
1.8 mH, 2.35 μF,
LCL-Filter L 1 , Cf
1.8 mH
Grid Operating Frequency ωg 314 rad/sec
Reference DC-link voltage Vdc∗ 400 V
Grid- impedance L g , Rg 0.5mH 0.2Ω
Boost Inductance Lb 2 mH
DC-link voltage capacitance CDC 2200 μF
(a)
Boost-converter switching frequency fb 20 kHz

control loop is the external loop. The power or voltage loop is

used to generate required current references, the current loop
is accountable for power quality and protection issues [23].
Using vα and vβ generated by the orthogonal signal generator
the active and reactive power is calculated, conferring to (b)
single-phase PQ theory.
Fig. 2. Proposed Control diagram (a) with and (b) without feed-forward PV
power
1
P = (vα iα + vβ iβ )
2
1
Q = (vβ iα + vα iβ ) (1)
2
In Eq. 1 Q is reactive power, P is active power, vαβ is
grid voltages in a stationary reference frame, iαβ is the grid
currents in a stationary reference frame. The current reference
can be calculated from Eq. 1 as:

2 (vα P ∗ + vβ Q∗ )
iα =
vα2 + vβ2
2 (vβ P ∗ − vα Q∗ )
iβ = (2)
vα2 + vβ2

In Eq. 2 the reference signals are presented with *. In terms Fig. 3. The Fuzzy-Sliding Mode Controller
of grid references Eq. 2 can be modified as:
  and seventh harmonics [24], [25]. The final equation for PR
2   P∗
i∗g = i∗α = 2 vα vβ (3) with RHC is presented in Eqn 5.
2
vα + vβ Q∗
PR RHC


    
The overall control assembly is demonstrated in Figure 2 GP I (s) kr s kih s
= kp + 2 + (5)
(a) & (b). Two control structures are considered (a) with a CC s + ω02 s2 + h2 ω02
h=3,5,7
feedforward loop of PV power and (b) without feedforward
loop of PV power. The control and dynamics are improved in IV. D ESIGN OF F UZZY-SMC C ONTROLLER
the feedforward loop of PV power. A PI controller is used for
DC-link voltage regulation as shown in Eqn. 4. In the control structure of Fuzzy-Sliding Mode Controller
(F-SMC), two non-linear controllers i.e. Fuzzy-PI and Sliding
ki Mode Controller (SMC) are combined to make a hybrid
GP I (s)/DC − link = kp + (4) controller. Figure 3 presents the design of F-SMC, in which
s
the advantageous of two controllers are combined. For Fuzzy-
Where kp is proportional and ki is integral gain. Eq. 3 is PI, Fuzzy IF-Then rules are used to updates the PI controller
used for reference current generation. A Proportional Resonant gains kp , and ki [26], [27]. The rules employed are shown in
controller with Resonant Harmonic Compensator is used as a Table II. The Fuzzy-PI part reduces chattering and minimizes
current controller. The PR with RHC eliminates third, fifth, steady state error in response. The SMC part enhances system

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 TABLE II TABLE III
F UZZY IF-THEN RULES PV PANEL S PECIFICATION

Input Membership Output Membership Parameter Value

If-THEN Rules
Function Function Nominal power (1000 kW/m2 , 25 °C) Pmpp = 65 W
If Then Linguistic Linguistic Voltage at MPPT Vmpp = 17.6 V
Range Range Current at MPPT Impp = 3.69 A
Input Output Terms Terms
Zero Zero Zero [0, 0.2] Zero [0, 0.2] Short circuit voltage VOC = 21.7 V
Large Large Large [0.8, 1.0] Large [0.8, 1.0] Short circuit current ISC = 3.99 A
Small Small Small [0.3, 0.7] Small [0.3, 0.7]
TABLE IV
C ONTROLLER PARAMETERS
stability, provides a fast-dynamic response, and active during
Control Name Constants Values
the transient state of the system. The design of SMC consists Without Feed Forward Loop of PP V
of two stages. Stage one is the design of Sliding Surface (SS) kp 32×400
PI
and stage two is the control law that dictates the controller ki 280×400
k1 280
to minimize error abruptly. The details of designing sliding F-SMC k2 2980
surface and control law for a given system is discussed in  150
[28], [29]. Error and derivative of error calculate the SS as: With Feed Forward Loop of PP V
kp 32×400
PI
S(t) = ė(t) + λe(t) (6) ki 280×400
k1 280
Whereas λ is the bandwidth dependent and an arbitrary F-SMC k2 2980
 150
constant. In SMC error and derivative of error is continuously kp 22
coordinated towards SS. In addition, λe(t) is defined as: kr 2000
PR + RHC ki3 3rd harmonic compensation 1200
λe(t) = X1 L1 e(t) + X2 L2 e(t) (7) ki5 5th harmonic compensation 800
ki7 7th harmonic compensation 200

The Fuzzy-PI updates the λe(t) part. The control law is given
as:
∗ Case 1 is the analysis of various parameters (results) without
vDC /Ig∗ = −U sgn(S) (8)
feed-forward loop of PP V and case 2 is with feedforward
∗
where vDC /Ig∗ are reference for DC-link voltage and grid loop of PP V for both F-SMC and PI controllers. The graph-
current, U is positive constant, and S is sliding surface. The ical and tabulated analysis is performed to authenticate the
sgn function is defined as: robustness of designed controllers. The tabulated analysis is
 shown in Table V. In which Total Harmonic Distortion (THD)
U if S > 0
sgn (S(t)) = (9) (grid current and voltage), Integral Absolute Error (IAE), and
−U if S < 0
Integral Square Error (ISE) are calculated for the current
The control law designed above is discontinuous and causes controller loop and DC-link loop. The lower the values of these
chattering and oscillation in the electrical system where PWM parameters the superior is the performance of the system as
is utilized. Therefore, sgn function is substituted by sat func- these values give precise and exact comparisons. The F-SMC
tion to have steady control law as: value is lower indicates the high behavior in comparisons to
PI. In addition, the dynamics of the control loop is enhanced
∗
 
vDC S to a great extent with the inclusion of feedforward loop of PV
= −U sat (σ; ) = −U ·>0  ≈ 0 (10) power indicated by lower values of these parameters.
i∗g |S| + 
The graphical analysis consists of Figure 4 and 5 (a) to (f)
V. S IMULATION R ESULTS AND D ISCUSSION i.e. (a) Solar Irradiance and DC-link voltage, (b) input power
(PP V ), (c) PR with RHC (current control loop), (d) PV panels
Case 1 and Case 2 in Figure 4 and 5 success-
voltages, (e) PV panels currents, and (f) grid voltages for both
fully authenticates the efficacy of the designed con-
PI and F-SMC controllers. The results of F-SMC are robust,
troller and the overall system performance. Using MAT-
with less oscillation, faster, efficient, chattering, and allowable
LAB/Simulink/Simscape/PLECS as an implementation plat-
overshoot, undershoot, rise time and fall time.
form, a single-phase two-stages grid-tied inverter (3 kW)
having LCL filter is designed. Table I tabulates the nominal
VI. C ONCLUSION
parameters of the system. Table III gives PV panel specifi-
cations. Controllers parameters are given in Table IV. Three The proposed control strategy shows better response in term
strings are connected in parallel and there are 15 PV modules of rise time, settling time and overshoot. The effectiveness
in a string and. The details of the system are given in [22]. The of response is reflected in simulated. With the inclusion of
purpose of this section is to verify the performance of F-SMC feedforward loop of PP V , the responses of current control
and compare it with the traditionally tuned PI controller. loop and DC-link voltage loop are optimum, insensitive to

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 TABLE V
P ERFORMANCE OF THE DESIGNED CONTROLLERS

DC Link Current Controller THD

Controllers Designed
ISE IAE ISE IAE Vg Ig
Without Feed-Forward Loop of PP V
PI 0.003371 0.04815 4.202 1.0305 4.8970 6.8970
F-SMC 0.000769 0.02316 3.308 0.8936 3.0980 1.5560
With Feed-Forward Loop of PP V
PI 0.000445 0.01923 3.4570 1.0330 10.570 3.3882
F-SMC 0.000232 0.01360 2.5940 0.87109 2.9910 1.4521

Fig. 4. (a)Solar Irradiance and DC-link voltage, (b) input power (PP V ), (c) PR with RHC (current control loop), (d) Voltages of PV panels, (e) PV panels
currents, and (f) grid voltages for both PI and F-SMC controllers.

Fig. 5. (a) Solar Irradiance and DC-link voltage, (b) input power (PP V ), (c) PR with RHC (current control loop), (d) Voltages of PV panels, (e) PV panels
currents, and (f) grid voltages for both PI and F-SMC controllers.

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 parameter variation, faster, stable, and robust. The PV panel
power is improved, and the quality of grid voltage and current
is enhanced. Moreover, the proposed controllers enhance the
dynamic and steady state performance of the overall system.
The graphical results (current, voltage, power) and tabulated
values of Integral Absolute Error (IAE), and Integral Square
Error (ISE)) and THD shows the effectiveness, fastness and
robustness of proposed strategy.
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