Journal of King Saud University – Engineering Sciences 33 (2021) 276–283

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Short communication

Performance comparison for grid connected photovoltaic system using

sliding mode control
D. Menaga ⇑, V. Sankaranarayanan
Department of Electrical and Electronics Engineering, National Institute of Technology, Control Systems Research Laboratory, Tiruchirappalli 620 015, India

a r t i c l e i n f o a b s t r a c t

Article history: Three sliding mode controllers are designed for the control of a photo-voltaic system connected to grid on
Received 4 December 2019 the nonlinear behavior of the dc-link capacitor and inverter switching input signals. In this proposed sys-
Accepted 25 April 2020 tem, a nonlinear state space model is used after abc-dq reference frame transformation to design sliding
Available online 5 May 2020
mode control inputs to ensure the maximum power point extraction from the photo-voltaic system and
unity power factor in the grid with different sliding manifolds. The performance of three sliding mode
Keywords: controller is compared and it is concluded that the controller based on the power balanced perform better
Nonlinear control
compared to separate current and voltage tracking. Performance of these controller under nominal con-
Grid connected photovoltaic system
Sliding mode control
ditions, parameter variations and load disturbances is validated by the numerical simulation.
Ó 2020 Production and hosting by Elsevier B.V. on behalf of King Saud University. This is an open access
article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

1. Introduction
In recent years, photo-voltaic (PV) system is acquiring more
popularity due to its ease of availability. The photo-voltaic system
can be classified into grid connected or standalone type based on
the power generation and requirements. The grid connected
photo-voltaic system is one of the primary approaches in the solar
energy power conversion. The specifications, requirement and
their technical challenges, inter connections, inverter control
topologies and future applications of PV energy system is
explained in (Anzalchi and Sarwat, 2017). The internal and external
factors such as environment, installation and cost of PV system are
discussed in (Fouad et al., 2017). The design and analysis of the grid
connected PV system are discussed with high voltage gain in (Yang
et al., 2010) and reliability performance of the system as evaluated
in (Zhang et al., 2012).
A constant power algorithm is proposed for the single and two
stage photovoltaic power plants during overloading and over volt-
age conditions in (Tafti et al., 2017). In literatures (Mahmud et al.,
2013; Lalili et al., 2011; Kim, 2007), single stage and multi-stage
⇑ Corresponding author.
E-mail address: menaganit@gmail.com (D. Menaga).
Peer review under responsibility of King Saud University.
Production and hosting by Elsevier
power conversion techniques are commonly used in the grid con-
nected photo-voltaic system. A single stage power conversion has
been used in the grid system to reduce circuit complexity and
power loss (Zhang et al., 2012; Tafti et al., 2017).
A partial feed-back linearization control design is used to
ensure closed loop PV system within specified uncertainty condi-
tions in (Mahmud et al., 2013). A linear pole placement control
method is applied without considering internal dynamics of the
PV system in (Lalili et al., 2011). Sliding mode controller (SMC) is
designed for parametric variations in the PV system in (Kim, 2007).
Many MPPT techniques with nonlinear controls for PV applica-
tion is explained in (Wei et al., 2019; Zhang et al., 2012; Tafti et al.,
2017; Lalili et al., 2011). Perturb & Observe (P&O) and Incremental
Conductance method are most commonly used due to their relia-
bility and precision to track the solar power from PV system
(Lalili et al., 2011; Kim, 2007; Wei et al., 2019) and fixed duty cycle
adaptive, modified P&O algorithm is proposed respectively in
(Srikumar and Saibabu, 2020; Kamran et al., 2020). While connect-
ing photovoltaic to the grid system, it is necessary to synchronize
the voltage and current with the grid and maintain unity power
factor in the grid. Synchronization techniques are explained using
non-linear response of the voltage across the dc-link capacitor in
(Lalili et al., 2011) and current switching signals in (Mahmud
et al., 2013; Kim, 2007).
Sliding mode control is a popular nonlinear control technique
used in grid connected photo-voltaic generation (Farhat et al.,
2017). The stability of the closed loop PV system is ensured using
Lyapunov control theorem in (Mojallizadeh et al., 2016). A SMC
design is applied for the grid connected PV system with converter

https://doi.org/10.1016/j.jksues.2020.04.012
1018-3639/Ó 2020 Production and hosting by Elsevier B.V. on behalf of King Saud University.
This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
 D. Menaga, V. Sankaranarayanan / Journal of King Saud University – Engineering Sciences 33 (2021) 276–283 277

and inverter, MPPT topologies in (Montoya et al., 2015; De Brito 2011) between inverter and grid with control inputs (u1 ; u2 ). Three
et al., 2012). An integral and a second order SMC is proposed for phase inverter model can be written as interms of voltages by the
the tracking performance analysis in (Shaker and Kraidi, 2019; following equations
Kchaou et al., 2017) respectively for the photovoltaic system
V a ¼ RIa þ L dIdta þ Ea
application.
A new sliding mode control is proposed for non-linear photo- V b ¼ RIb þ L dIdtb þ Eb ð1Þ
voltaic system to meet the following constraints (i). To extract V c ¼ RIc þ L dIdtc þ Ec
maximum power from the PV arrays, (ii). Make grid voltage and
inverter current in-phase to satisfy unity power factor operation. A three phase inverter voltages (V abc ) is transformed into V dq using
The performance of two controllers are compared under different abc  dq transformations equations can be written as
sliding functions. It is found that the proposed power balanced
non-linear method is independent of the system parameter, load
V d ¼ RId þ L dIdtd  xLIq þ Ed
ð2Þ
þ xLId þ Eq
dIq
variations and is extracting more current as compared with current V q ¼ RIq þ L dt
switching signal non-linear control under different disturbances.
The Eqs. (2) can be re-written as

2. Problem formulation I_d ¼  RL Id þ xIq  ELd þ VLd

ð3Þ
I_q ¼  RL Iq  xId  Lq þ Lq
E V

The main control objective of the proposed method is to design

sliding mode control for nonlinear photo-voltaic system to deliver The power balance relationship considered between the PV input
maximum power from the photo-voltaic array into the grid with and grid output is given by V dc Idc ¼ Ed Id þ Eq Iq . The capacitor across
unity power factor. The sliding manifold (S1 ) is designed with the the dc-link voltage dynamics can be written as


reference and desired value of d-axis current (id ; id ) to extract max-
C V_ dc ¼ Ipv  Idc
imum power from the photo-voltaic array. Similarly, sliding man-
V_ dc ¼ pv dc
I I
ifold (S2 ) is designed with q-axis current (iq ) to achieve unity power C
Ed Id þEq Iq ð4Þ
factor. A circuit diagram of the nonlinear photo-voltaic system is where Idc ¼ V dc
shown in Fig. 1.
V_ dc ¼ pCv  d CV
I E Id þEq Iq
dc

3. Controller designs The state equation of the photo-voltaic system can be represented
using abc  dq transformed co-ordination Eq. (4) as
The sliding mode controller design is divided into two parts; (i).
Design of sliding surfaces S1 ¼ 0 and S2 ¼ 0 such that the control x_ 1 ¼ a1 x1 þ a2 x2  a3 þ a4 u1
objectives are ensured on the sliding manifold M , S1 ¼ S2 ¼ 0, x_ 2 ¼ a2 x1  a1 x2  a5 þ a4 u2
(ii). Finding the controller inputs u1 and u2 such that trajectories
x_ 3 ¼ a6  a7 xa19þa 8 x2
starting from anywhere reaches the sliding manifold Min finite- x3

time. where
x1 ¼ Id ; x2 ¼ Iq ; x3 ¼ V dc ; u1 ¼ V d ; u2 ¼ V q ; a1 ¼ RL ; a2 ¼ x; a3 ¼ ELd ;
3.1. Controller design for non-linear behavior of the dc-link capacitor Eq I pv
a4 ¼ 1L ; a5 ¼ L
; a6 ¼ C
; a7 ¼ Ed ; a8 ¼ Eq ; a9 ¼ C
ð5Þ
The state space model of the proposed photo-voltaic system
shown in Fig. 1 can be written after the abc  dq transformation The nonlinear dynamics of the photovoltaic system can be written
by using non-linear behavior of the dc-link capacitor (Lalili et al., as

Fig. 1. Circuit diagram of single stage three phase grid connected photo-voltaic system.
278 D. Menaga, V. Sankaranarayanan / Journal of King Saud University – Engineering Sciences 33 (2021) 276–283

x_ ¼ f ðxÞ þ g 1 ðxÞu1 þ g 2 ðxÞu2 S1 S_ 1 ¼ jS1 jr1 þ S1 l1 ; S1 S_ 1 6 0

0 1 0 1
a1 x1 þ a2 x2  a3 a4 0   S1 ðr1 signðS1 Þ þ l1 Þ 6 0
B C B C u1 ð6Þ ð12Þ
x_ ¼ @ a2 x1  a1 x2  a5 A þ @ 0 a4 A S1 ðr1 signðS1 ÞÞ þ S1 l1 6 0
u2
a6  a7 xa19þa
x3
8 x2
Þ 0 0 jS1 jr1 þ S1 l1 6 0

if jl1 j < r1 and the sliding surface S1 ¼ 0 is finite-time reachable.

The dynamics of S2 becomes
Lemma 3.1. Single stage three phase grid connected PV system
represented in (6) ensures unity power factor and maximum power S_ 2 ¼ a2 x1  a1 x2  a5 þ a4 u2
h i
extraction on the sliding manifold M , S1 ¼ S2 ¼ 0. ¼ a2 x1  a1 x2  a5 þ a4 r2 signðS2 Þþa
a4
2 x1 þa1 x2 þa5
ð13Þ
S1 ¼ x1  x
1 ; S2 ¼ x2 ¼ r2 signðS2 Þ
ð7Þ since r2 > 0 the surface S2 ¼ 0 is finite-time reachable.

x
a
3 Þþa6 x_ 3
where x
1 ¼ ½aðx3 a7
9 x3 a8 x2
; a>0

3.2. Controller design for non-linear behavior of the switching current

Proof. On the manifold M ¼ 0
The state space model of the proposed photovoltaic system
S1 ¼ 0 ) x1 ¼ x
1 shown in Fig. 1 can be written after the abc  dq- transformation
a7 x1 ¼ ½aðx
3  x3 Þ þ a6  x_
3 a9 x3  a8 x2 by using non-linear behavior of the current switching signal
a7 x1 þ a8 x2 ¼ ½aðx
3  x3 Þ þ a6  x_
3 a9 x3 (Mahmud et al., 2013; Kim, 2007) between inverter and grid with
ð8Þ control inputs (u1 ; u2 ). Three phase inverter model can be written
x_
3  a6 þ ½a7 xa19þa
x3
8 x2
 ¼ aðx
3  x3 Þ
as in terms of currents by the following equations
ðx_
3  x_ 3 Þ ¼ aðx
3  x3 Þ
x3 ! x
3 as t ! 1 I_a ¼  RL Ia  ELa þ V3Ldc ð2Sa  Sb  Sc Þ
I_b ¼  RL Ib  ELb þ V3Ldc ðSa þ 2Sb  Sc Þ ð14Þ
Since x
3 computed from MPPT algorithm, which shows that MPPT is
achieved. S2 ¼ 0 shows that unity power factor is achieved. I_c ¼  R Ic  Ec þ V dc ðSa  Sb  2Sc Þ
L L 3L

The dc-link voltage can be written in-terms of the input switching

Proposition 3.1. The sliding manifold M is finite-time reachable signals of the inverter as
using the following control law
h i h i h i V_ dc ¼ C1 ðIpv  Idc Þ
a1 a2 a8 a2 a8
u1 ¼ þ a4
 a4
 x1 þ a4 a7
2a
a4
 aa24 2aa8
a4 a7
þ 2aa6 a9
a4 a7
x3 where Idc ¼ Ia Sa þ Ib Sb þ Ic Sc ð15Þ
h i
a6 a6 a8 x1 a3 a22 a9 r1 singðS1 Þ V_ dc ¼ 1 ðIpv Þ  1 ðIa Sa þ Ib Sb þ Ic Sc Þ
þ  a4  a4 a7 x3 þ a4 þ a4 a7  a4 C C

The Eqs. (14) and (15) can be re-written using abc-dq

þ a8 r2asingðS
4 a7
2Þ
 aaa97aa6 4x3
þ axa1 4x3
þ aaa48 ax27 xx33
ð9Þ transformation
u2 ¼ a14 ½r2 signðS2 Þ þ a2 x1 þ a1 x2 þ a5 
I_d ¼  RL Id þ xIq  ELd þ V dcLSd
where l1 ¼ aa9 x3 x_ 3
þa9ax_ 73 x_ 3
þa9 x3 €x3
;
I_q ¼  RL Iq  xId  Lq þ dcL q
E V S
ð16Þ
r1 > jl1 j; r2 > 0
V_ dc ¼ pv  Id Sd  q q
I I S
C C C

Proof. The dynamics of S1 becomes The state equation of the photovoltaic system can be represented

S_ 1 ¼ ðx_1  x_
1 Þ
h
a2 a
¼ ða1 x1 þ a2 x2  a3 þ a4 u1 Þ  a2 a8 x1 þ aa87 r2 singðS2 Þ  a2 aa78 x1  6a7 9 a6 x1
x3
 a6aa7 8x3x2
a x_ x_
aa x x_

i
aa a x
ax x
aa x x
a9 x3 x3€

 2aaa67a9 x3  2ax1  2aaa78 x2  9a76 3  x13 3 þ a87 x23 3  9 a37 3  9a73 3  a7
h
¼ a1 x1 þ a2 x2  a3 þ a4 aa14 x1 þ a2aa4 8 x1  aa24 aa87 x1  2a
a4 1
x  aa24 x2 ð10Þ
i
aa9 a6 x
3 ax1 x
3 aa8 x2 x
3
x3  aa64 xx13  aa64 aa87 xx13 þ aa34  r1 singðS þ a8 r2asingðS
1Þ 2Þ
a26 a9
 2aa 8
x þ 2aa
a4 a7 2
6 a9
a4 a7 a4 4 a7
 a4 a7
þ a4
þ a4 a7 x3
þ a4 a7
a26 a9
a2 a8 x1  a8
a7
r2 signðS2 Þ þ a2 a8 x1
a7
 a7
þ a6 x1
x3
þ a6 a8 x2
a7 x3
 2aa6 a9 x3
a7
þ 2ax1
aa9 a6 x
3 ax1 x
3 aa8 x2 x
3 a9 x_3 x_
3 aa9 x3 x_
3 a9 x3 €x
3
þ 2aaa78 x2 þ a7
 x3
 a7 x3
þ a7
þ a7
þ a7

aa9 x3 x_
3 þa9 x_ 3 x_
3 þa9 x3 €x
3

¼ r1 signðS1 Þ þ a7
using abc  dq transformed co-ordination Eq. (16) as
ð11Þ x_ 1 ¼ a1 x1 þ a2 x2  a3 þ a4 x3 u1
¼ r1 signðS1 Þ þ l1 x_ 2 ¼ a2 x1  a1 x2  a5 þ a4 x3 u2 ð17Þ
x_ 3 ¼ a6  ax1 u1  ax2 u2
To show finite-time reachability of the surface, 9 9
 D. Menaga, V. Sankaranarayanan / Journal of King Saud University – Engineering Sciences 33 (2021) 276–283 279

where x1 ¼ Id ; x2 ¼ Iq ; x3 ¼ V dc ; u1 ¼ Sd ; u2 ¼ Sq ; a1 ¼ RL ; a2 ¼ x; Proposition 3.3. The sliding manifold M is finite-time reachable

a3 ¼ ; a4 ¼ 1L ; a5 ¼ Lq ; a6 ¼ pCv ; a7 ¼ Ed ; a8 ¼ Eq ; a9 ¼ C.The nonlinear
Ed E I using the following control law
L
h i
dynamics of the photovoltaic system abc  dq transformed co-
u1 ¼ a6x1a9 þ a41x3  1x1 2  a5x1x2 þ x2 r2 singðS
a x2
x1
2Þ
þ r1 singðS
x1
1 Þa9
ordination can be written as
0 1 0 1 u2 ¼  r2 singðS2 Þþa 2 x1 a1 x2 þa5 ð22Þ
a1 x1 þ a2 x2  a3 a4 x3 0   a4 x3
B C B
x_ ¼ @ a2 x1  a1 x2  a5 A þ @ 0 a4 x3 CA
u1
ð18Þ where l3 ¼ x_
3 ; r1 > jl3 j; r2 > 0
u2
a6  ax19  ax29
Proof. The dynamics of S1 becomes

S_ 1 ¼ x_ 3  x_
3
Lemma 3.2. Single stage three phase grid connected PV system
represented in (18) ensures unity power factor and maximum power ¼ a6  x1au9 1  ax29 u2  x_
3
h i
extraction on the sliding manifold M , S1 ¼ S2 ¼ 0.
¼ a6  ax19 a6x1a9  a4 1x1 2x3  aa4 5x1x2x3 þ x2 ra24singðS
a x2
x3 x1
2Þ
 x1 a9 ra19singðS
x1
1Þ
þ x2asingðS
4 a9 x3
2Þ

S1 ¼ x1  x
1 ; S2 ¼ x2 a x2
 aa42 ax19 xx23  a4 1a92x3  a4x2aa95x3  x_
3
Since x
1
computed from MPPT algorithm, which shows that MPPT is
¼ r1 signðS1 Þ  l3
achieved. S2 ¼ 0 shows that unity power factor is achieved.
ð23Þ

Proposition 3.2. The sliding manifold M is finite-time reachable To show finite-time reachability of the surface,
using the following control law S1 S_ 1 ¼ jS1 jr1  S1 l3 ; S1 S_ 1 6 0
r1 singðS1 Þþa1 x1 a2 x2 þa3
u1 ¼ 
S1 ðr1 signðS1 Þ  l3 Þ 6 0
a4 x3
r2 singðS2 Þþa2 x1 a1 x2 þa5 ð19Þ
u2 ¼  a4 x3
S1 ðr1 signðS1 ÞÞ  S1 l3 6 0
where l2 ¼ x_
1 ; r1 > jl2 j; r2 > 0
 jS1 jr1  S1 l3 6 0
Proof. The dynamics of S1 becomes
if jl3 j < r1 and the sliding surface S1 ¼ 0is finite-time reachable.
S_ 1 ¼ x_ 1  x_
1 The dynamics of S2 becomes

¼ a1 x1 þ a2 x2  a3 þ a4 x3 u1  x_
1 S_ 2 ¼ a2 x1  a1 x2  a5 þ a4 u2
h i
¼ a2 x1  a1 x2  a5 þ a4 r2 signðS2 Þþa 2 x1 þa1 x2 þa5
ð24Þ
¼ a1 x1 þ a2 x2  a3 þ a4 x3 ½r1 singðS1 Þ þ a1 x1  a2 x2 þ a3  a41x3  x_
1 a4

¼ r2 signðS2 Þ
¼ r1 signðS1 Þ  l2
since r2 > 0 the surface S2 ¼ 0 is finite-time reachable.
ð20Þ
To show finite-time reachability of the surface,
4. Controllers performance discussions
S1 S_ 1 ¼ jS1 jr1  S1 l2 ; S1 S_ 1 6 0
The block diagram demonstrates the controller simulation as
S1 ðr1 signðS1 Þ  l2 Þ 6 0 shown in Fig. 2. The inverter currents (Ia ; Ib ; Ic ) and grid voltages
(Ea ; Eb ; Ec ) are transformed into abc  dq axis as Id ; Iq ; Ed ; Eq which
S1 ðr1 signðS1 ÞÞ  S1 l2 6 0 are given to sliding mode control. Also the photo-voltaic voltage
(V pv ) and current (Ipv ) are used to perform the MPPT technique
which generates references and fed to the input of system con-
 jS1 jr1  S1 l2 6 0 troller. The performs of the controllers are validated through
numerical simulation using MATLAB Simulink software.
if jl2 j < r1 and the sliding surface S1 ¼ 0is finite-time reachable.
The dynamics of S2 becomes 4.1. Nominal conditions performance comparison
S_ 2 ¼ a2 x1  a1 x2  a5 þ a4 u2
h i The following system parameters are considered for the simula-
¼ a2 x1  a1 x2  a5 þ a4 r2 signðS2 Þþa
a4
2 x1 þa1 x2 þa5
ð21Þ tion to validate the controller performances under nominal or nor-
mal condition such as standard solar irradiance, temperature and
¼ r2 signðS2 Þ grid voltage (E) = 440 V, frequency (f) = 50 Hz, Resistance
(R) = 2.5 X, Inductance (L) = 8.4 mH, dc-link capacitor
since r2 > 0 the surface S2 ¼ 0 is finite-time reachable. (C) = 3700 lF and the controllers gains a ¼ 7; r1 ¼ 8; r2 ¼ 6.
The simulation results performance of the controller design for
Lemma 3.3. Single stage three phase grid connected PV system repre- the dc-link capacitor are presented in the Fig. 3. A constant irradi-
sented in (18) ensures unity power factor and maximum power ation and temperature for the presented case are shown in the


extraction on the sliding manifold M , S1 ¼ S2 ¼ 0. Fig. 3a & b respectively. The d-axis current (id ) tracks the id which
is desired from the MPPT method using voltage across the dc-link
S1 ¼ x3  x
3 ; S2 ¼ x2
capacitor dynamics and the surface (S1 ) converges to zero (S1 ! 0)
Since x
3 computed from MPPT algorithm, which shows that MPPT is as shown in the Fig. 3d. The q-axis current (Iq ) is converging to zero
achieved. S2 ¼ 0 shows that unity power factor is achieved. thereby unity power factor is achieved as shown in Fig. 3e. A phase
280 D. Menaga, V. Sankaranarayanan / Journal of King Saud University – Engineering Sciences 33 (2021) 276–283

Fig. 2. Over all block diagram.

Fig. 3. Power balanced dynamics based simulation result under normal condition.

angle between (Ea ) and (Ia ) is shown in Fig. 3f as it varies from The simulation results of the controller design for the current
out-of-phase to in-phase by becoming sliding manifold reachable switching signals based on current reference are presented in the
(S2 ! 0). The control input response are presented in Fig. 3g and Fig. 4. A constant irradiation and temperature for the presented
h. The sliding manifold satisfied with M , S1 ¼ S2 ¼ 0condition. case are shown in the Figs. 4a & b respectively. The d-axis current
 D. Menaga, V. Sankaranarayanan / Journal of King Saud University – Engineering Sciences 33 (2021) 276–283
Fig. 4. Simulation results for switching input signals dynamics based on current reference controller design under normal condition.


(id ) tracks the id which is desired from the MPPT method using
current switching signals, and the surface (S1 ) converges to zero
(S1 ! 0) as shown in the Fig. 4d. The q-axis current (Iq ) is converg-
ing to zero thereby unity power factor is achieved as shown in
Fig. 4e. A phase angle between (Ea ) and (Ia ) is shown in Fig. 4f
and it varies from out-of-phase to in-phase by becoming sliding
manifold reachable (S2 ! 0). The control input response are pre-
sented in Figs. 4g and h. The sliding manifold satisfied with
M , S1 ¼ S2 ¼ 0 condition.
4.2. Robustness performance comparisons
The robustness performance analysis of a power balanced con-
troller design is compared with current switching input signals
based on two different cases such as current and voltage reference
sliding functions respectively. The robustness performance com-
parison simulation results are shown in the Figs. 5 and 6. A varia-
tions in the irradiations and temperature for the presented case are
shown in the Figs. 5a & b respectively. The Id is tracking the desired
I
d which is generated from the MPPT method. Surface (S1 ) converg-
ing to zero (S1 ! 0) as shown in the Fig. 5d. The q-axis current (iq )
is converging to zero thereby unity power factor is achieved as
shown in Fig. 5e. A phase angle between (Ea ) and (Ia ) is shown in
Fig. 5f and it varies from out-of-phase to in-phase by becoming
sliding manifold reachable (S2 ! 0). The robustness of the pro-
posed controllers are validated under sudden changes in tempera-
ture, irradiation and parameter variations such as grid voltage
(DE) = 400 V, frequency (Df ) = 49 Hz, Resistance (DR) = 3.5 X,
Inductance (DL) = 10.4 mH, dc-link capacitor (DC) = 4700 lF.
Case i: It is observed that the effect of external variations are
less in the performance for power balanced nonlinear
control design and it extracts more d-axis current, as
281
shown in Fig. 5c based on current reference sliding func-
tions. It is also evident from Figs. 5d and e, the power
balanced nonlinear controller sliding surfaces manifolds
satisfies with M , S1 ¼ S2 ¼ 0condition at finite-time
under different disturbances. But, current switching sig-
nals controller based on current reference sliding sur-
face manifolds is not satisfies the M , S1 ¼ S2 ¼ 0
conditions. However, the difference can be seen from
the plot of sliding functions S1 ; S2 ; d-axis current and
control input u1 . Further more control input u2 remains
same for different operating conditions. It is noted from
the Fig. 5, power balanced controller independent of the
system parameter, load variations and is extracting
more current as compared with current switching signal
based on current reference non-linear control under dif-
ferent disturbances.
Case ii: Also, it is observed that the effect of external variations
are less in the performance for power balanced nonlin-
ear control design and it extracts more d-axis current,
as shown in Fig. 6c based on voltage reference sliding
function. It is also evident from Figs. 6d and e, the power
balanced nonlinear controller sliding surfaces manifolds
satisfies with M , S1 ¼ S2 ¼ 0condition at finite-time
under different disturbances. But, current switching sig-
nals controller based on voltage reference sliding sur-
face manifolds is not satisfies the
M , S1 ¼ S2 ¼ 0conditions. However, the difference
can be seen from the plot of sliding functions S1 ; S2 ; d-
axis current and control input u1 . Further more control
input u2 remains same for different operating condi-
tions. It is noted from the Fig. 6, power balanced con-
troller independent of the system parameter, load
variations and is extracting more current as compared
282 D. Menaga, V. Sankaranarayanan / Journal of King Saud University – Engineering Sciences 33 (2021) 276–283

Fig. 5. Controllers simulation comparison results under robustness condition: For power balanced dynamics (blue line), For switching input signals dynamics based on
current reference (brown line). (For interpretation of the references to colour in this figure legend, the reader is referred to the web version of this article.)

Fig. 6. Controllers simulation comparison results under robust condition: For power balanced dynamics (blue line), For switching input signals dynamics based on voltage
reference (brown line). (For interpretation of the references to colour in this figure legend, the reader is referred to the web version of this article.)

with current switching signal based on voltage reference 4.3. Relative degrees for non-linear behavior of the dc-link capacitor
non-linear control under different disturbances. Also,
summary of these controllers performance are tabulated The output of the system can be defined as y ¼ ðy1 y2 Þ, where
in Table 1. y1 ¼ iq ¼ x2 ; y2 ¼ V dc ¼ x3 . Two outputs (y1 ; y2 ) is continuously dif-
 D. Menaga, V. Sankaranarayanan / Journal of King Saud University – Engineering Sciences 33 (2021) 276–283 283

Table 1 The relative degree of the output y2 is r 2 ¼ 1, since the control

Summary of the controllers comparison. inputs u1 ; u2 obtained after the first derivative of the y2 . The order
Parameters Switching current Power balanced Controller of the system is two, since relative degree of the outputs (y) is
Controller two (r 1 þ r2 ¼ 2).
Sliding surfaces S1 ¼ x1  x
1 ; S2 ¼ x2 S1 ¼ x1  x
1 ; S2 ¼ x2 where
(or) ½aðx
3 x3 Þþa6 x_3
a9 x3 a8 x2
x
1 ¼ a7 ; a>0 5. Conclusion
S1 ¼ x3  x
3 ; S2 ¼ x2
Control inputs current either (or) combined with voltage and
based on voltage reference current reference
In this paper, a sliding mode controller performance is com-
Actual condition M , S1 ¼ S2 ¼ 0, M , S1 ¼ S2 ¼ 0, pared for the photo-voltaic system with different sliding surfaces.
r1 > l2 (or) r1 > jl1 j; r2 > 0; a > 0 The tracking of the maximum power point is ensured for the
r3 > l3 ; r2 > 0 photo-voltaic array at unity power factor (upf) in the grid by ensur-
S1 ; S2 – 0, S1 ; S2 = 0, a > 0, M , S1 ¼ S2 ¼ 0
Robust condition
ing desired d-axis current (I
d ), d; q axis (id &iq ) current and dc-link
M4S1 ¼ S2 – 0
Disturbances more less
voltage (V dc ). In computation, the non-linear behavior of the dc-
Output relative 2 3 link capacitor controller optimizes the dynamic responses of the
degree photo-voltaic system, that shows the purity in robustness of the
Power extraction less more controller and stability performance. Also found that the controller
under
extracts more d-axis current even than order of the system is high
disturbance
condition compared to non-linear current switching signals.
Circuit simple simple
complexity Declaration of Competing Interest
Implementation simple simple

The authors declare that they have no known competing finan-

cial interests or personal relationships that could have appeared to
influence the work reported in this paper.
ferentiated until to obtain at least one of the control input u1 or u2 .
For the y1 output:
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