IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO.
5, SEPTEMBER 1998
Lyapunov-Based Control for Three-Phase PWM
AC/DC Voltage-Source Converters
Hasan Kömürcügil, Student Member, IEEE, and Osman Kükrer, Member, IEEE
Abstract— The three-phase pulsewidth modulation (PWM)
ac/dc voltage-source converter with the control laws proposed
so far is not only unstable against large-signal disturbances,
but also has the problem that its stability depends on the
circuit parameters such as the dc-output capacitance. This
paper describes a new control law based on Lyapunov’s
stability theory. It is shown that the converter can be stabilized
globally for handling large-signal disturbances. The resulting
closed-loop system not only guarantees a sufficient stability
region (independent of the circuit parameters) in the state space,
but also exhibits good transient response both in the rectifying
and regenerating modes. Also, a new simulation technique is
introduced which increases the speed of the simulation process
considerably. Computer simulations are presented to confirm the
effectiveness of the proposed control strategy and the validity of
the simulation technique. Experimental results are also presented
to verify the theoretical and simulation studies.
Index Terms—Lyapunov’s direct method, space-vector PWM,
three-phase ac/dc converters.
I. INTRODUCTION
T HE OPTIMAL ac/dc converter is one in which the output
is a pure dc voltage (or current) and the input draws a
pure sinusoidal current at unity power factor from the ac line,
but a converter with these requirements cannot be realized
in practice. Conventional diode bridge and thyristor phase-
controlled rectifiers have the inherent drawbacks that their
power factor decreases as the firing angle increases and that
harmonics of the line current are relatively high. In recent
years, there has been a tendency to operate ac/dc converters
with pulsewidth-modulated (PWM) switching patterns which
improve the input and output performances of the converter.
It is shown by many researchers [1]–[10] that the PWM
ac/dc voltage-source converter, as compared with the widely
used phase-controlled converter, merits attention because of its
ability to deliver near-sinusoidal currents at unity power factor.
Various control strategies have been proposed in recent work
for this type of PWM converters. The main objectives in the
control of PWM ac/dc converters are to achieve a high power
factor and minimum harmonic distortion of input line currents.
Proposed control strategies include the phase and amplitude
control (PAC) [1]–[3], hysteresis current control (HCC) [4],
[5], and predicted current control with a fixed switching
frequency (PCFF) [6]. The PAC provides a good switching
Manuscript received April 30, 1996; revised January 21, 1998. Recom-
mended by Associate Editor, L. Xu.
The authors are with the Department of Electrical and Electronic Engineer-
ing, Eastern Mediterranean University, Mersin 10, Turkey.
Publisher Item Identifier S 0885-8993(98)06491-6.
0885–8993/98$10.00  1998 IEEE
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801
pattern to reduce steady-state current harmonics and output
voltage ripple. However, it has a dc current component (current
offset) that appears on the ac side of the converter which
deteriorates the dc load current and voltage waveforms during
transients. The hysteresis current control has a fast dynamic
response, good accuracy, no dc offset, and high robustness,
but the major problem of HCC control is that its average
switching frequency varies with the dc load current, which
makes the switching pattern uneven and random, thus resulting
in additional stresses on switching devices. The predicted
current control with a fixed switching frequency shows a
fast dynamic response and has a good switching pattern that
reduces the switching device stresses. However, it is sensitive
to parameter variations.
On the other hand, the control strategies proposed in [1]
and [5] require a dc capacitor large enough to ensure a good
stability margin, making the system transient response slower.
The load current control method proposed in [8] overcomes
this problem by providing a very strong stability that neither
depends on the input inductance nor on the size of the dc
capacitor. It is shown in [9] that the pole-placement control
through state feedback provides not only stability, but also fast
transient response when the dc capacitance is substantially
reduced. The state feedback-based transient control method
proposed in [10] compensates the current offset that results
from the PAC method and reduces the oscillations of dc current
and voltage waveforms during transients.
These control strategies yield various advantages and dis-
advantages related to control circuit complexity, switching
frequencies, and transient responses. The common disadvan-
tage is that they cannot guarantee system stability against
large-signal disturbances. It is well known that the state-
space-averaged models of PWM ac/dc converters obtained
with these control strategies are nonlinear systems. Because
of the difficulties in controlling such nonlinear systems, most
of the previous work dealing with such converters are confined
to the application of linear control theory to small-signal
linearized models of the ac/dc converter. However, control
laws proposed so far guarantee system stability against only
small perturbations from the operating points of both state and
input variables of the original system. Then, it is most desirable
if control strategies (which would make the control system
globally stable) could be developed for the ac/dc converter
without linearization of its mathematical model.
In this paper, a new control law based on Lyapunov sta-
bility theory, without linearization, is proposed that strictly
guarantees a sufficient stability region in the state space for
802 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO. 5, SEPTEMBER 1998

Fig. 1. Three-phase PWM ac/dc voltage-source rectifier.

the system against large-signal disturbances. In this approach, conduction mode (CCM) and are turned on and off, such that
Lyapunov’s direct method which is the most important tool the output dc voltage is never shorted. It is assumed that the
for nonlinear system control design is used. In using the input ac voltage is a balanced three-phase supply as follows:
direct method, the idea is to construct a scalar energy-like
(1)
function (Lyapunov function) for the system and to examine
the function’s time variation. Lyapunov-based control strate- (2)
gies for dc–dc converters have been proposed in the literature
[11], [12]. The simulation results of two papers showed that
(3)
the Lyapunov function obtained is very useful for designing
globally stabilizing control schemes for dc–dc converters. In
this paper, this is extended to the PWM ac/dc voltage-source where and are the amplitude of the phase voltage
converter. A mathematical model of the system is derived in and angular frequency of the power source, respectively. The
the continuous-time domain and it is seen that it includes a voltage equation of Fig. 1 is
set of nonlinear equations which cannot be discretized exactly.
(4)
Therefore, the proposed control law equations are also derived
in the continuous-time domain. Then, the control equations where
are applied to the system in discrete time, assuming that a
continuous-time approximation is valid for the discrete-time
system for sufficiently high switching frequencies. Computer
The pole voltages at the input of the rectifier can be written as
simulations are carried out to study the operation of the system
in discrete time. The closed-loop system with the proposed (5)
control law not only guarantees a sufficient stability region, (6)
but also provides good transient response, unity power factor,
reduced harmonic distortion of the input line currents, and (7)
good regulation in the dc-output voltage. Stability of the where and are the bipolar switching functions. This
system is also seen to be independent of circuit parameters. means that the switching function of a switch in one leg of
Experimental results, obtained with a microcontroller-based the rectifier is defined as
hardware simulation circuit of the converter, are also presented
closed,
to verify the theoretical considerations. (8)
closed,

II. SYSTEM MODELING By using (5)–(7), the expressions for the phase-to-neutral
voltages ( ) are obtained as
A. Mathematical Model (9)
The system in Fig. 1 is a voltage-source-type PWM recti- where
fier. All circuit elements are linear time invariant (LTI). All
switches and source voltages are ideal. The system uses six
bidirectional switches that are capable of conducting current
in both directions. The switches operate in the continuous

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KÖMÜRCÜGIL AND KÜKRER: LYAPUNOV-BASED CONTROL FOR VOLTAGE-SOURCE CONVERTERS 803

and Therefore, the differential equation for the dc side of the

rectifier is written as

(22)
Since from Fig. 1, it can be easily shown that
the output current is given by where is the dc load current. Note that with the switching
(10) functions and as control variables, (18), (19), and (22)
are nonlinear.
For modeling and control design, it is very convenient to
transform three-phase variables into a rotating – frame. B. Steady-State Solution of the System
Transformed variables of and are defined as with Unity Power Factor
In order to obtain unity power factor, it is required that
(11) be zero (in steady state) since is zero. With controlled
to zero, corresponds to the magnitude of the input line
(12) current . The controller developed in Section III forces the
output voltage to coincide with the dc reference voltage
(13) in the steady state. Therefore, in steady state we have
, , , , and .
and represent the steady-state values of the switching
where is the transformation matrix given by
functions and , respectively. Now, we substitute the
above relationships into (18), (19), and (22) to get

(23)
(24)
(25)
(14)
Having obtained the transformations, we can transform (4) into
From (23) and (24), we obtain the switching functions in the
rotating – frame by finding out the transformation of each
steady state as follows:
term individually as follows. By making use of (12), it can
be shown that
(26)
(15)
(27)
Premultiplying (9) by on both sides and using the relation
in the resulting equation gives Now, we substitute (26) into (25) to get the dc load current
expression as
(16)
(28)
By making use of (13), we can obtain the transformation of
(16) as Note that the above equation has two solutions for

(17)
(29)
From (1)–(3) and (11), it follows that and .
Now, the transformation of (4) from three-phase to the rotating It should be pointed out that there are no real solutions for
– frame can be obtained as if

(18) (30)
(19)
The inequality in (30) determines the upper limit of the dc load
current that the converter can supply. The physical possibility
On the other hand, the output current in (10) must also be
of a solution for depends on the existence of an operating
expressed in terms of – frame variables. Since
point, which is determined by the nonsaturation condition of
(20) the switching functions in (34) (see next section). Substituting
(26) and (27) in (34) gives
then it can be easily shown that
(31)
(21)

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804 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO. 5, SEPTEMBER 1998

(a) (b)
Fig. 2. V –I r m characteristics for rectification operation: (a) smaller solution for Im physically possible and (b) both solutions physically possible.

Fig. 4. Saturation constraints for the switching functions.

Fig. 3. Switching function space vectors of the rectifier.

generalized form for all rectifier switching states as follows:

which determines the operating region of the converter shown
in Fig. 2 (shaded area).
(33)
For a given , the larger of the solutions for ( ) .
may not satisfy the inequality in (31). Hence, this solution
is not physically possible. If satisfies this inequality, then It is obvious from (33) that the rectifier produces only six
the system can be operated at this second operating point by nonzero space vectors – and two zero vectors of the
providing the switching functions resulting from substituting switching function, as shown in Fig. 3.
in (26) and (27). It can be easily shown that for steady-state sinusoidal
operation of the converter, the switching functions and
C. PWM Strategy must satisfy (see Fig. 3)
The switching states of the rectifier are determined by using (34)
the space-vector PWM method (SVPWM). Given a set of
three-phase switching functions, the switching function space Hence, the above equation implies that the switching function
vector is defined as stays unsaturated if the magnitude of the switching function
space vector is equal or less than .
(32) Let denote half the switching period. That is,
, where is the rectifier switching frequency. Let
where and is known as Park’s vector. Since the and denote the on times of the space vectors and
switching functions are bipolar, then (32) can be written in the for states and , respectively. If and

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KÖMÜRCÜGIL AND KÜKRER: LYAPUNOV-BASED CONTROL FOR VOLTAGE-SOURCE CONVERTERS 805

Fig. 5. Block diagram of the closed-loop system.

are adjacent to the switching function vector ,

computed by the controller, then can be synthesized as the
sum of the rectifier switching function space vectors. In the
and axes

(35)

(36)

where and are real and imaginary components of , Fig. 6. k th switching cycle showing the four subintervals, switching times,
respectively, and superscript “ ” denotes a stationary frame and applied space vectors.
quantity. Since and are computed by the controller
can be done by scaling the durations and as follows:
developed in the next section, then and can easily be
computed by

(37)
(42)
(38)
Note that as in [7] we minimize the ripple content of the
Having obtained the values of and , we can solve for
line currents by distributing the time spent on the zero state
and from (35) and (36) as follows:
equally at the beginning and the end of the period.
In Section IV, we will discuss how we use , , and
(39) in the analytical expressions of the line currents and the
dc-output voltage to simulate the system.
(40)
III. LYAPUNOV-BASED CONTROL STRATEGY
where . Note that pos- In this section, a control strategy is developed based on
itive solutions for and always exist if the nearest Lyapunov’s direct method which will make the converter
vectors and adjacent to the vector are chosen globally asymptotically stable. Note that even though the open-
[13]. The sum of the conduction times and is not in loop system is asymptotically stable, its dynamic behavior is
general equal to . When , then the remainder not in general satisfactory, becoming increasingly oscillatory
of the period is spent on the zero state ( ). That is, as approaches zero (with , the system is not stable).
The objectives in this control strategy are to drive the dc-output
(41) voltage to a reference voltage and also provide unity power
factor with near-sinusoidal input line currents.
The case means that cannot be synthesized On the basis of the Lyapunov stability theory, a positive
with the available switching function space vectors in definite scalar function as a candidate for the Lyapunov
period. In this case, and the vector must be limited in function is to be found, such that the total energy of the system
magnitude. Therefore, scaling the magnitude of the vector is continuously dissipated. In such a case, any nonlinear system

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806 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO. 5, SEPTEMBER 1998

(a) (b)
Fig. 7. (a) Response of the dc-output voltage (from initial value of 50 V) for a step change in i L (lower trace) from 0.5 to 1.5 A at f s = 2:5 kHz and
(b) line current and phase voltage in the steady state (phase voltage scale is Em =10 V).

(a) (b)
Fig. 8. (a) Response of the dc-output voltage for a step change in i L from 0.5 to 1.5 A at f s = 5 kHz and (b) line current and phase voltage in
the steady state (phase voltage scale is Em =10 V).

must eventually settle down to an equilibrium point. In order In addition to this, let us consider the perturbations away from
to obtain global asymptotic stability of the system, must the nominal operation (steady state) of the switching functions
be radially unbounded, by which we mean that and denote these quantities with a , so that away from the
as , where is the state vector of the system under nominal solution we have
consideration and denotes the norm of the state vector.
Assume that a Lyapunov function is found such that it (45)
is positive definite, is negative definite and goes to (46)
infinity as tends to infinity in any direction. Then, the equi-
librium point at the origin is globally asymptotically stable. Taking the derivative of (43) along any system trajectory gives
Let us define a positive definite Lyapunov function candi-
(47)
date as
(43) After substituting (26), (44), and (45) into (18) and simple
manipulation, the expression for is obtained as
where and are the state variables of the system
which are defined as
(44) (48)

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KÖMÜRCÜGIL AND KÜKRER: LYAPUNOV-BASED CONTROL FOR VOLTAGE-SOURCE CONVERTERS 807

(a) (b)

(c) (d)
Fig. 9. (a) Response of the dc-output voltage for startup at 0 V and a step change in iL . (b) The transient response of the line current due to step change in
iL from 0.5 to 3 A (phase voltage scale is Em =10 V). (c) Response of id for a step change in iL . (d) Response of iq for a step change in iL .

Similarly, substitution of (27), (44), and (46) into (19) gives It is obvious that along any system trajectory is negative
definite if
(52)
(49) (53)
The expression for can be obtained by substitution of where and are arbitrary real constants. Now, control
(28) and (44)–(46) into (22) laws given above should be modified such that they handle
switching function saturations. Substitution of (45) and (46)
into (34) gives the switching function saturation constraint as
(54)
(50)
In the case of switching function saturation, modified control
variables are obtained from (54) as
Equations (48)–(50) can be combined to obtain as (55)

(56)
(51)

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808 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO. 5, SEPTEMBER 1998

(a) (b)
Fig. 10. (a) Response of the dc-output voltage for a step change in iL when dc-output capacitance of 10 000 F is used and (b) the transient response
of the line current due to a step change in iL from 0.5 to 1.5 A (phase voltage scale is Em =10 V).

where subscript “ ” denotes the modification. Note that the

switching function vector after modification lies in the circle
of radius . It is clear from (55) and (56) that the modified (61)
control variables are nonlinear. In such a case, it is quite
.
difficult to guarantee the negative definiteness of . Hence,
it is necessary to decouple the saturation conditions for the - With the control laws as in (60) and (61), negative definiteness
and -axis switching functions. Therefore, we suggest a simple of is guaranteed. Note also that the system stability is
method that keeps the switching functions unsaturated. independent of the circuit parameters. Fig. 5 shows a block
Now, suppose that the system is controlled by . That is, diagram of the proposed control system based on the Lyapunov
. In such a case, the possible values that can take approach.
are from to . This means that the range of It should be noted that this control strategy has been devised
is given by based on a model obtained by assuming ideal components
of the converter system. Operation of the control system
(57) would be affected in case of nonideal components in the
where represents the possible maximum steady-state actual system. The steady-state operating point corresponding
value that can take for maximum dc load current (assuming to precalculated values of and would slightly differ
that is kept constant). Similarly, we let be the control from the predicted one. Hence, this would give rise to slight
variable of the system by which we mean that . This steady-state errors in the state variables. However, the dynamic
time can change from to which is equivalent response of the system during operation away from the steady-
to state operating point would not be considerably affected.
(58)
IV. SIMULATION TECHNIQUE
where is the possible maximum steady-state value of Operation of the proposed control strategy is verified by
which can be obtained from (34) as time-domain simulations. At first, we attempted to simulate
the system by using ready-packaged computer programs that
(59)
involve numerical methods. The numerical method employed
Hence, the resultant switching function saturation constraint is in solving the system differential equations is a variation of
rectangle in shape as shown in Fig. 4. Therefore, the modified the fifth-order Runge–Kutta algorithm. The simulation results
control law can be written as follows: obtained by this method are very accurate when a sufficiently
small step size (as the switching frequency is high) is used.
However, the small step size slows down the simulation speed
considerably. On the other hand, starting with a higher step
size would speed up the simulation process but the results
(60)
would be inaccurate.
Because of the effect of reduced step size of Runge–Kutta
method on the simulation speed, we developed a new sim-
ulation technique based on piecewise analytical solutions of

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KÖMÜRCÜGIL AND KÜKRER: LYAPUNOV-BASED CONTROL FOR VOLTAGE-SOURCE CONVERTERS 809

(a) (b)
Fig. 11. (a) Response of the dc-output voltage for a sudden change from rectifying to regenerating when a dc-output capacitance of 2000 F is used and
m
(b) the transient response of the line current for sudden change from rectifying to regenerating (phase voltage scale is E =10 V).

the state variables. An interactive computer program for the (69)

analytical solutions has been written in FORTRAN that is
run under a Unix medium on a SUN Work Station. The
results showed that the developed simulation method is highly
effective from the simulation speed viewpoint. Now, we start
our discussion by obtaining the differential equations for the ac
side of the rectifier under investigation. Substitution of (1)–(3)
(70)
and (9) into (4) yields

(62)

(71)
(63)

(64)

The differential equation for the dc side of the rectifier can be (72)
obtained from the substitution of (10) into (22) as
(73)
(65)
(74)

Solving for the dc-output voltage In the above equations, is the damped resonant frequency,
the natural resonant frequency, the damping factor,
the damping ratio of the system, and the starting time for
(66) subinterval . Because of limited space, analytical solutions
obtained for the line currents are too long to include them
where
here.
The system operating in CCM features four subintervals per
(67)
half as shown in Fig. 6, where the th switching period has
been isolated. The time , , is measured from the
(68) beginning of the switching period, i.e., the time origin.

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810 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO. 5, SEPTEMBER 1998

(a) (b)

(c) (d)
Fig. 12. Simulated and experimental responses for a step change in iL from 0.5 to 2 A. (a) and (c) Response of the dc-output voltage (top) for startup at 0
V and a step change in iL (bottom). Ch1 (iL ): 0.1 A/div; Ch2 (vo ): 2 V/div; time: 250 ms/div. (b) and (d) The transient response of the line current and phase
voltage due to step change in iL . The phase voltage scale is Em =10 V in the simulated response. Ch1 (ia ): 0.2 A/div; Ch2 (ea ): 2 V/div; time: 10 ms/div.

The subscript refers to the particular switching transition

within the th cycle, so that the th switching transition occurs
at the beginning of the th subinterval. Note that the analytical (77)
solutions, obtained for the input line currents and the dc-output
voltage, are valid in the subintervals where the switching
function space vectors and are applied. On the other
hand, the analytical solutions for these variables in the other
two subintervals where zero space vectors ( ) are (78)
applied are given by
where
(75)

(76)

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KÖMÜRCÜGIL AND KÜKRER: LYAPUNOV-BASED CONTROL FOR VOLTAGE-SOURCE CONVERTERS 811

(a) (b)

(c) (d)
Fig. 13. Simulated and experimental responses for a step change from rectifying to regenerating mode. The dc load current reversal is from 1 to 1 0
A. (a) and (c) Response of the dc-output voltage (top) and iL (bottom). Ch1 (iL ): 0.1 A/div, Ch2 (vo ): 2 V/div, Time: 100 ms/div. (b) and (d) The
transient response of the line current and phase voltage due to dc load current reversal. The phase voltage scale is Em =30 in the simulated response.
Ch1 (ia ): 0.1 A/div, Ch2 (ea ): 2 V/div, Time: 10 ms/div.

and V. COMPUTER SIMULATION AND EXPERIMENTAL RESULTS

In order to demonstrate the feasibility of the proposed
control method, the closed-loop system has been tested both
by simulations and experiments. A hardware simulation circuit
Hence, starting with the initial conditions of
and and having computed the on time of the for the voltage-source PWM converter has been constructed
switching function space vectors in each subinterval of the and tested in the laboratory using the 80C196KB embedded
first period from Section II-C, then we can compute the dc- microcontroller. Since the experimental system is a hardware
output voltage and the input line currents at the end of the first simulation circuit, analog multiplexers (digitally controlled
subinterval ( ) which are going to be the initial conditions analog switches) are used to implement the electronic switches
for the second subinterval ( ). This computation process of the converter. The system has been simulated for large
continues, step by step, for the other subintervals in the same disturbances to confirm the effectiveness of the proposed
way. control strategy and the validity of the simulation technique.

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812 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO. 5, SEPTEMBER 1998

In all the simulation and experimental results given, unless

otherwise stated, V, V,
rad/s, F, mH, , ,
and . Note that in the hardware simulation circuit,
voltages, and currents are scaled by a factor of ten.

A. Computer Simulation Study

All the simulations given in this section, except Fig. 8, have
been carried out at kHz.
Figs. 7 and 8 show the response of the dc-output voltage
and line current in the steady state for switching frequencies
of 2.5 and 5 kHz, respectively. The transient response of
the dc-output voltage due to the step change in the dc load
current from 0.5 to 1.5 A is also displayed in both simulation
results. It is clear from Figs. 7 and 8 that there is a steady-
state error in the dc-output voltage due to the continuous-
time approximation of the system used for controller design. (a)
Comparison of the steady-state response of the dc-output
voltage in both cases shows that there is a significant reduction
in the steady-state error for the case where the switching
frequency is higher. It can also be seen from Figs. 7(b)
and 8(b) that the space-vector method is highly effective in
reducing the harmonic content of the line current at higher
switching frequencies.
Fig. 9 shows the response of the dc-output voltage, line
current, and rotating – frame currents for a step change in
the dc load current from 0.5 to 3 A. The system has been
started at zero initial output voltage and line currents. The
response of the dc-output voltage exhibits a smooth and fast
transient to a sudden change in the dc reference voltage from
0 to 100 V. This means that the closed-loop system has a
very good dynamic response to the step change in the dc
reference voltage. The response of voltage to a step change
in the dc load current can be seen to be considerably fast,
with a reasonable undershoot to about 90 V, in spite of the
small output capacitance. The line current is nearly a sine
wave with unity power factor. The rapid amplitude change
of the line current shows that this system with the proposed (b)
control law has a very good dynamic response to step changes Fig. 14. Simulated and experimental responses for the PWM voltage van at
in the dc load current. The state variables and reach their steady state. Ch1: 2 V/div. Time: 2.5 ms/div.
theoretical values of and zero, respectively, in the steady
state. As a result, it can be concluded from Fig. 9 that the
proposed control law is highly effective when the system is current reversal). The dc load current reversal is from 1 to
subjected to operate in a large nonlinear region (region caused 1 A. The dc-output capacitor was taken as 2000 F. As can
by the step change in ). be seen from Fig. 11(a), the system keeps an almost constant
Fig. 10 shows the response of the dc-output voltage and the dc-output voltage during this sudden change. The rapid 180
line current for a step change in the dc load current from 0.5 to phase change of the line current shown in Fig. 11(b) means
1.5 A with . The dc-output capacitor was taken that this system with proposed control law has a very good
as 10 000 F. Comparison of the responses of the dc-output dynamic response to power reversal.
voltage in Figs. 7(a) and 10(a) shows that the undershoot
considerably reduces when a larger dc-output capacitor is used,
whereas large capacitance at the output causes slower startup B. Experimental Results
transient response of the dc-output voltage, compared with the Experiments were carried out on the hardware simulation
response shown in Fig. 7(a), as shown in Fig. 10(a). circuit to study the operation of the proposed control strategy.
Finally, Fig. 11 shows transient responses of the dc-output The switching frequency was chosen as 1.1 kHz, due to
voltage and line current with proposed control law for a sudden the extensive computations involved in the control algorithm.
change from rectifying to regenerating operation (dc load Simulation results corresponding to the cases studied are also

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KÖMÜRCÜGIL AND KÜKRER: LYAPUNOV-BASED CONTROL FOR VOLTAGE-SOURCE CONVERTERS
presented for comparison purposes. The gains of the controller
( and ) were chosen as 0.0006 and 0.8, respectively.
Fig. 12 shows the simulated and experimental responses of
the dc-output voltage and the line current for a step change in
the dc load current from 0.5 to 2 A in the rectifying mode.
The startup response of the dc-output voltage is also shown in
Fig. 12(a) and (c). As can be clearly seen, there is very good
agreement between the simulation and experimental results,
verifying the correct operation of the controller.
The performance of the closed-loop system for dc load
current reversal has also been tested both by simulations
and experiments. The simulated and experimental responses
of the dc-output voltage and the line current for a sudden
change from rectifying to regenerating operation ( has
been changed from 1 to 1 A) are shown in Fig. 13. Note
that the experimental results agree with simulation results,
demonstrating the feasibility of the controller.
Finally, Fig. 14 shows simulated and experimental results
for the PWM voltage ( ) of the converter in the steady state.
VI. CONCLUSIONS
The proposed Lyapunov-based control for three-phase PWM
ac/dc voltage-source converters has been described and veri-
fied by computer simulations and experiments. It is stressed
that the control laws proposed so far can guarantee system
stability against only small perturbations from the operating
points of state variables of the original system. The control
law proposed in this paper involves constructing a Lyapunov
function for the system, so that the closed-loop system strictly
guarantees a sufficient stability region (independent of the
circuit parameters) against large-signal disturbances. It is ap-
parent from simulation results that the closed-loop system has
no stability problem and has satisfactory transient, comparable
with that of the classical linear approaches. As can be seen
from the simulation and experimental results, the system with
the proposed control law draws nearly sine wave current from
the utility line with unity power factor in both rectifying and
regenerating modes. It has very good dynamic response to step
changes in the dc load current and reference voltage.
Another important contribution of this paper is the simula-
tion technique based on piecewise analytical solutions for the
state variables in terms of converter switching functions.
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Hasan Kömürcügil (S’94) was born in Cyprus in
1965. He received the B.Eng. and M.Eng. degrees
in electrical engineering from the Eastern Mediter-
ranean University (EMU), G. Magosa, Turkey, in
1989 and 1991, respectively. He is currently work-
ing towards the Ph.D. degree at EMU.
He is currently a Research Assistant in the Electri-
cal and Electronic Engineering Department, EMU.
His research interests are power electronics, control
systems, and analog/digital electronics.
Osman Kükrer (M’95) was born in Cyprus in
1956. He received the B.Sc., M.Sc., and Ph.D.
degrees in electrical engineering from the Middle
East Technical University, Ankara, Turkey, in 1979,
1982, and 1987, respectively.
From 1979 to 1985, he was a Research Assistant
in the Department of Electrical and Electronic En-
gineering, Middle East Technical University. From
1985 to 1986, he was with the Department of
Electrical and Electronic Engineering, Brunel Uni-
versity, London, U.K., on a British Council Schol-
arship, where he did research on variable-speed drives. He is currently an
Associate Professor in the Department of Electrical and Electronic Engineer-
ing, Eastern Mediterranean University (EMU), G. Magosa, Turkey. His current
research interests include power electronics, electrical machines, and control
systems.