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308 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 20, NO.

2, MARCH 2005

Input Impedance Analysis of Single-Phase


PFC Converters
Jian Sun, Member, IEEE

Abstract—The input impedance of single-phase boost power A fundamental difficulty there is the sine wave input voltage to
factor corrected (PFC) ac–dc converters is modeled and ana- a single-phase PFC converter, which prevents, in theory, the ap-
lyzed in this paper. A large-signal model is presented for the plication of conventional small-signal linearization techniques.
input impedance which overcomes the limitations of traditional
At frequencies below the line fundamental frequency, the time-
piece-wise linearized models. The model is valid at frequencies
ranging from the crossover frequency of the output voltage loop to varying switching-cycle averaged model of the converter power
half the switching frequency of the converter. Experimental results stage can be averaged again over a line cycle to eliminate its de-
from a boost single-phase PFC converter are provided to validate pendency on time (due to time-varying input) [3]. The resulting
the model. Input characteristics of typical boost PFC converters, nonlinear, time-invariant, line-cycle averaged model can then
such as input impedance dipping, leading phase of the input cur- be linearized and combined with controller models to predict
rent, and responses to distorted input voltages are studied by using converter small-signal behavior in the low-frequency region [4].
the model. A simple compensation technique to reduce the dipping
in the input impedance, thereby improving converter performance The resulting low-frequency model can be further simplified by
and minimizing the potential for undesirable interactions with the assuming ideal current loop, i.e., by assuming that the inductor
input filter or the ac source, is also presented. current follows perfectly the reference current [5]. However,
since most converter-filter interactions occur at high frequen-
Index Terms—Converter-source interaction, input impedance,
power factor correction (PFC), PFC converter modeling, PFC con- cies, typically around the crossover of the current loop and/or
verter stability. the corner frequency of the input EMI filter, the low-frequency
model is not sufficient for system stability analysis.
The traditional approach to high-frequency modeling of
I. INTRODUCTION single-phase PFC converters relies on the assumption of
quasi-stationary operation, i.e., the converter operates in a quasi
D YNAMIC interactions of converters with their input fil-
ters are a common problem in systems involving switching
power converters. For dc–dc converters, a systematic approach
steady state at different points along the sine wave input. Under
this assumption, the nonlinear, switching-cycle averaged model
based on averaging and linearization has been developed for an- of the converter power stage can be linearized at different points
alyzing such interactions and their effects on stability of the along the sine wave input. This results in a set of linear models
interconnected systems. Specifically, the input impedance of each being “valid” for a particular point along the sine wave.
a dc–dc converter at a given steady-state operating point can From a practical point of view, it might be plausible to use such
be determined through linearization of the nonlinear averaged piece-wise linear models to assist in the design and stability
model of the converter. The Nyquist criterion can then be ap- analysis of PFC converter control loops. For example, if the
plied to the ratio of the filter output impedance to the converter piece-wise linear models indicate instability of the current loop
input impedance to determine the stability of the interconnected under a particular input voltage (lower than the peak of the ac
converter-filter system [1]. Linearization is a credible approach line), one could arguably infer that the converter would also
in this case because most dc–dc converters can be assumed to have stability problems when operating from the ac line.1 This
operate with constant input and output such that a steady-state has indeed been the approach used in previous works on control
operating point can always be identified. design for single-phase PFC converters [6].
Filter-converter interactions also exist in systems employing The piece-wise linear models have also been used to deter-
power factor corrected (PFC) ac–dc converters as the front end. mine the input impedance of single-phase PFC converters above
For example, [2] demonstrated that the interaction between a the line fundamental frequency, see, e.g., [7]. Despite some de-
PFC converter and the source impedance of a generator may gree of correlation between model predictions and experimental
lead to voltage instability. There is, however, a lack of system- measurements reported in the literature, this approach has a fun-
atic method for analyzing and characterizing such interactions. damental deficiency in its theory, i.e., there is no clear physical
interpretation for the piece-wise linear input impedance calcu-
lated under different dc input voltages and its correlation to the
Manuscript received March 31, 2003; revised February 25, 2004. This paper actual input impedance of a PFC converter under sine wave in-
was presented in part at the IEEE Applied Power Electronics Conference, puts. For example, the input impedance of a PFC converter at
Orlando, FL, February 2003. This work was supported in part by Rockwell three times the line frequency is, by definition, equal to the ratio
Collins, Inc., by RPI, and by the Center for Power Electronics Systems
(CPES - an Engineering Research Center of the National Science Foundation). of a (small) third harmonic voltage superimposed onto the ac
Recommended by Associate Editor F. Blaabjerg. line and the resulting third harmonic input current. A third har-
The author is with the Department of Electrical, Computer, and Systems En-
gineering, Rensselaer Polytechnic Institute, Troy, NY 12180-3590 USA (e-mail: 1However, stability of the converter with a sinusoidal input is not guaranteed
jsun@rpi.edu). even if the piece-wise models predict stability at all points along the sinusoidal
Digital Object Identifier 10.1109/TPEL.2004.843011 input waveform.

0885-8993/$20.00 © 2005 IEEE

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SUN: INPUT IMPEDANCE ANALYSIS 309

monic input voltage introduces a perturbation to the converter


operation along the entire fundamental cycle, not just at a par-
ticular point of the ac line. Hence the input impedance predicted
by the piece-wise linear model for a particular dc input voltage
is theoretically meaningless when the converter operates with a
sine wave input [5].
A new approach to high-frequency input impedance mod-
eling of boost single-phase PFC converters is presented in this
paper. The high-frequency input impedance model, which is
valid above half the line frequency, is derived by assuming that
the output voltage is constant, i.e., by ignoring the dynamics
of the voltage loop above half the line frequency, under which
the switching-frequency averaged model of the boost power
stage becomes linear. The resulting impedance model is valid
for large-signal operation and can be used to predict not only
the input impedance of the converter but also its input charac-
teristics under different lines.
The high-frequency impedance model described in this paper Fig. 1. Simplified boost single-phase PFC converter circuit for the calculation
was originally obtained as a by-product of a research effort of input impedance in the high-frequency region. The converter uses
aiming at understanding the input current zero-crossing distor- leading-edge modulation and standard average current control.
tion in single-phase PFC converters [9]. During the preparation
of the current paper, the author came across [10] and [11] which feedforward loop [8] can be ignored in the high-frequency re-
reported similar high-frequency models. In comparing the two gion. As such, the reference current, , can be expressed as
approaches, it was found that the derivation in [10] and [11] as-
(1)
sumed small-signal operation of the converter, and the results
were actually for the input impedance of the boost stage, i.e., in the high-frequency region, where is a constant. In steady
excluding the front-end rectifier bridge. In contrast, this paper state and under ideal control, the input current (rms) and power
uses a large-signal approach to determine the input impedance at of the converter are related to the parameter by following
the ac side of the converter directly. Additionally, the models in equations:
[10] and [11] were verified indirectly by measurements of con-
verter current loop gain, while direct measurements of converter (2)
input impedance are provided in this paper for model validation.
Furthermore, the large-signal nature of the model reported here The pulse-width modulator (PWM) in Fig. 1 is assumed to
allows it to be used for studying converter responses to distorted use leading-edge modulation such that the switch off-time duty
input voltages, which would not be possible with a small-signal ratio, , is proportional to the output of the current
model. amplifier, . Under the assumption that the ramp signal of the
PWM has a peak-to-peak voltage equal to , the modulator
II. HIGH-FREQUENCY IMPEDANCE MODEL has a gain of , and the off-time duty ratio of the switch
can be written as
This section presents the development of the high-frequency
input impedance model for boost single-phase PFC converters (3)
with average current control. The basic converter circuit and
control is depicted in Fig. 1. It is assumed here that the inductor where is the on-time duty ratio of the switch. It is known that
current is sensed by using a resistor. Other current sensing leading-edge modulation can reduce the output voltage ripple
methods can also be used, and the model presented in the of the PFC converter when its load is a trailing-edge modulated
following is applicable in general. The reference current, , dc–dc converter [14].
for the inductor is generated by a multiplier with three inputs Derivation of the high-frequency impedance model follows
the modeling procedure outlined in [9]. First, with standard av-
erage current control, the current compensator output, , can
be written as
where (4)
1) is the output of the output voltage compensator;
is generated by a low-pass circuit and represents the where is the current compensator transfer function
2)
rms value of the line voltage for input feedforward control
[8]. (5)
The crossover frequency of the output voltage loop in single-
phase PFC converters is usually well below the line frequency
[8]. Hence, the output of the voltage compensator, , can be with
assumed constant when calculating the input impedance in the
high-frequency region. Similarly, effects of the input voltage

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310 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 20, NO. 2, MARCH 2005

Since the pulse-width modulator can be modeled by a constant


gain under average current control [12], the off-time duty ratio
of the switch can be expressed as

(6)

To model the boost power stage, we further assume that


1) all components in the circuit are ideal; Fig. 2. Block diagram representing high-frequency dynamics of boost single-
phase PFC converters.
2) the boost inductor operates in the continuous conduction
mode (CCM) over the entire line cycle;
3) the sensing resistor, , is small such that the voltage
across it can be ignored;
4) the output voltage, , is constant.
Based on these, an average model can be written for the boost
inductor current,

(7)
Fig. 3. Boost single-phase PFC converter with an ac and a dc filter capacitor.
Since , (7) can be rearranged to give
Now, the input impedance of the converter can be determined
(8) from (13) and (1) as

On the other hand, multiplying both sides of (6) by the sign


(14)
function, , yields

(9) Note that (14) gives directly the input impedance of the PFC
converter at the ac side. It is also a large-signal model since
Based on (8) and (9), a block diagram representing the dynamics small-signal operation is not assumed in the derivation.
of the input current of a boost single-phase PFC converter with A small filter capacitor is usually placed on the dc side of the
average current control is obtained as shown in Fig. 2. Note rectifier bridge, as shown in Fig. 3, to reduce high-frequency
that the input and output in this diagram are the actual input noises in the rectified dc voltage. This capacitor should be as
voltage and current of the PFC converter, not the input voltage small as possible in order not to cause significant phase shift at
and current of the boost stage. Accordingly, the variable I_ref(s) the fundamental frequency, which would otherwise lead to high
in the block diagram as well as in (9) shall be understood as the zero-crossing distortion of the input current [9]. Yet the effect
reference for the actual input current of the converter, not the of this capacitor on the input impedance, especially at high fre-
boost inductor current. quencies, may not be negligible. When considering this capac-
Based on the diagram shown in Fig. 2, a transfer function can itor as well as the commonly used ac-side filter capacitor, ,
be derived for the input current in response to the input voltage, which could be part of the input filter, the total input impedance
, and the reference current, of the converter can be written as follows where is de-
fined by (14)

(10) (15)
By defining
A couple comments are in order here before proceeding to the
(11) validation of the developed model.
1) The boost inductor current becomes discontinuous near
and assuming that the effects of the high-frequency current com- the zero crossing of the input current, which is ignored in
pensator pole, , on the input impedance can be ignored, i.e.,2 the derivation of the model. Since the discontinuous cur-
rent interval is usually short compared to a line cycle, ig-
noring it will not introduce any significant error into the
(12) final model, as the experimental results presented in the
next section will prove. On the other hand, the model ac-
transfer function (10) can be simplified to curacy could be affected by this if the discontinuous cur-
rent interval is relatively long, such as in the case when the
(13) converter operates with very light load. Equation (7) can
be modified to model the inductor current in the discon-
2This is justified as ! is usually placed at half the switching frequency to tinuous conduction mode. But the equation would become
attenuate high-frequency noise in the control loop. nonlinear in that case [13], and the overall model over a

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SUN: INPUT IMPEDANCE ANALYSIS 311

Fig. 4. Input impedance of the boost single-phase PFC converter at 53-W Fig. 5. Input impedance of the boost single-phase PFC converter at 106-W
input. Solid lines: predicted; dashed lines: measured with 50-Hz input. input. Solid lines: predicted; dashed lines: measured with 400-Hz input.

line cycle becomes discontinuous due to the transition be- to ). The dashed lines represent the experi-
tween continuous and discontinuous conduction modes, mental measurement results taken with 50-Hz input, while the
which makes it impossible to derive a linear impedance solid lines are predicted from (15). A 30-nF capacitor was used
model. on the dc side of the rectifier in this measurement, but no ac-side
2) The inclusion of capacitors and in (15) was in- filter capacitor was used. As can be seen, the measurement
tended to provide a model which can be directly validated results agree with model predictions over the entire frequency
through measurements of converters incorporating such range (10 Hz–100 kHz). The measurement error around 50 Hz
capacitors. When using the model for analysis of con- was due to the fact that the frequency of the injected signal in
verter interactions with the ac source, the ac-side capacitor this region is equal or close to the fundamental frequency of
is usually considered part of the input filter, hence doesn’t the line, hence cannot be distinguished from the fundamental
need to be included in the input impedance of the PFC component of the input [15].
converter. It shall be pointed out that averaged models, such as the input
impedance model (14), are usually useful for predicting fre-
III. MODEL VALIDATION quency responses up to half the switching frequency. The input
impedance of the experimental boost converter above 50 kHz
The boost single-phase PFC converter described in [14] is dominated by the effect of the 30 nF dc side filter capacitor
was measured under various operating conditions to verify mentioned above. Hence, the agreement between the measured
the impedance model (14) and (15). Following are the major and predicted responses above 50 kHz in Fig. 4 should be inter-
parameters of this converter (refer to Fig. 1): boost inductor preted as a proof of the accuracy of the total input impedance
mH, steady state output voltage V, sensing expression (15), not as an indication that (14) is valid beyond
resistor , PWM ramp signal peak-peak voltage half the switching frequency.
V, k , k , nF, and Fig. 5 shows the input impedance response of the converter
pF, switching frequency kHz. With the with 106-W input power (corresponds to ) and
given compensator parameters, the zero, , is calculated to be a 30-nF dc side filter capacitor. The measurements were taken
rad/s, while its dc gain is 170 068. Then, with 400-Hz input, which is the standard ac bus frequency on
based on the definition of (11), can be calculated as most of today’s commercial jet airplanes. Good agreement be-
tween experimental measurements and model predictions can
again be seen. The measurement error around 400 Hz is again
due to the inability of the network analyzer to distinguish the in-
Input impedance measurement of the converter was con- jected signal from the fundamental component of the line. Fur-
ducted by injecting, through a power amplifier and an isolation thermore, Fig. 6 shows the total input impedance of the con-
transformer, a sinusoidal perturbation to the input voltage and verter with a 1.5- F filter capacitor placed at the ac side and
measuring the resulting perturbation in the input current. Fig. 4 a 30-nF capacitor on the dc side of the rectifier bridge. The
shows the input impedance response of the converter with measurements were taken with 400-Hz input, with 106-W input
115 V (rms) input voltage and 53-W input power (corresponds power. The deviation of the measured phase response from the

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312 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 20, NO. 2, MARCH 2005

Fig. 7. Input impedance responses of the boost PFC converter without filter
Fig. 6. Input impedance of the boost PFC converter with an ac side capacitor
= 1:5 mF, a dc side capacitor = 30 nF, and at 106-W input. Solid capacitors C and C . The two sets of plots correspond to g = 0:5 10 2
C C
lines: predicted responses; dashed lines: measured responses with 400-Hz input. 2
(dashed lines) and g = 0:25 10 (solid lines), respectively.

model prediction under 100 Hz was found to be caused by mea- frequency of ,3 from which the impedance starts to rise. For
surement errors. the measured boost PFC converter, this happens at about 10 kHz,
The close correlation between experimental measurements as can be seen from Fig. 7.
and model predictions in Figs. 4–6 proved the accuracy of the The amount of maximum dipping in the input impedance is
input impedance model presented here. also affected by the characteristics of the zeros of , espe-
cially its damping factor, , defined by
IV. INPUT IMPEDANCE ANALYSIS
The impedance responses in the previous section were
measured under small-signal operation conditions. The input
impedance model (14) is, however, valid for large-signal op- To maximize the current loop gain, the common design prac-
eration as well and can be used to study characteristics of the tice is to place the zero, , of the current compensator at the
converter with different inputs. The impedance plots in Figs. 4 crossover frequency, , of the current loop [8]. Since the duty
and 5 included the effects of , the capacitor on the dc side of ratio to inductor current transfer function of the boost converter
the rectifier bridge, see Fig. 3. Since this capacitor is not part of in the high frequency region is given by , see Fig. 1,
the basic function of the converter and can have very different unity gain of the current loop at implies that [9]
values in different designs, frequency-domain responses of
(without and ) are plotted using (14) in Fig. 7 for the (17)
example boost converter with and
(corresponds to 53 W and 106 W input power), respectively. With this, the damping factor of as defined above can be
The input voltage is 115 V (rms) in both cases. calculated as
A. Input Impedance Dipping
(18)
The most noticeable feature of the plots in Fig. 7 is the dipping
of the input impedance in the frequency region ranging from
Therefore, the two zeros of (which are also zeros of the
1 kHz to about 30 kHz. This is caused by the pole
input impedance) are under-damped, which causes an under-
shoot at the resonant frequency of and further adds to the
(16) dipping in the input impedance. Fig. 8 shows the magnitude
response of for the measured boost converter with
in . As can be seen, this pole is always smaller than the . As can be seen, there is about 3 dB undershoot at
zero, , of the current compensator and moves to lower fre- 8 kHz, which contributes to the dipping in the input impedance.
quency as decreases (so does the input power). The maximum 3It will be shown below that the second-order function p(s) is always under-
dipping happens at a frequency corresponding to the resonant damped in conventional designs so that it has two complex conjugate poles.

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SUN: INPUT IMPEDANCE ANALYSIS 313

current produced by an input voltage of the same magnitude but


at 200 Hz or lower frequency. In other words, assuming the line
fundamental frequency is under 200 Hz, 1% harmonic voltage
(relative to the fundamental) at 9 kHz would generate as much
as 5.6% harmonic current at the same frequency. This can be a
major concern for PFC converters that have to meet harmonic
current limits under distorted lines, such as the recently issued
DO-160D for airborne equipment.4

C. Performance Improvement
The two causes discussed in Section IV-A for the dipping in
Fig. 8. Frequency response of function p(s) defined by (11). Shown here is the input impedance, namely, the low-frequency pole and the
2
the magnitude response with g = 0:25 10 . under-damped zeros of , also point to possible ways for
reducing the dipping.
Stability of a PFC converter connected with an input EMI First, (14) indicates that it is possible to redesign the refer-
filter requires that the impedance ratio, , meets the ence current generation circuit to make purely resistive
Nyquist criterion, where is the output impedance of the over the entire frequency range (i.e., up to half the switching
filter. To provide sufficient attenuation for the switching-fre- frequency in which the average model is valid). This can be
quency ripple, the corner frequency of the EMI filter is usually achieved by adding a phase shift circuit to the input pin
designed to be 1/10 of the switching frequency, which would be of the multiplier shown in Fig. 1. Assuming the transfer func-
10 kHz for the measured boost PFC converter. Since the output tion of such a phase shift circuit is , the reference current
impedance of the EMI filter peaks at the corner frequency, a dip- can be expressed as . Based on (13), a
ping in the input impedance of the PFC converter in the same transfer function that will result in complete cancellation
frequency region can greatly increase the potential for insta- of the pole and zeros of was found to be
bility or deteriorated performance of the converter. The analyt-
ical input impedance model derived here can be used to guide
(19)
the converter and its EMI filter design to avoid undesirable in-
teractions, see Section IV-C.
As can be seen, this transfer function is dependent of the
B. Response to Different Lines control parameter . Therefore, its realization would require an
adaptive filter and is best implemented using digital circuits,
The large-signal nature of the input impedance model (14) which is beyond the scope of this paper. A simplified version
also allows it to be used for studying the response of the con- of it, as
verter to input voltages at different frequencies. As can be seen
from Fig. 7, when the line frequency is well below the pole of
(20)
, the actual input current will be in phase with the input
voltage, with a magnitude determined by the control parameter
according to (2). However, the decrease of the input impedance can be used instead for analog implementation. Fig. 9 com-
with frequency (beyond 500 Hz) implies that the same value pares the input impedance responses of the boost PFC con-
of will result in higher input current when the line frequency verter [14] before and after a phase shift circuit described by
approaches the pole of . Additionally, the input current (20) is added. The plots correspond to an input power of 53 W
starts to lead the input voltage as the line frequency goes up, and , and the measurement was taken with 400 Hz
the leading phase of the input current becomes significant (e.g., input. As can be seen, the model predicts that inclusion of the
at 1 kHz) even before the change in magnitude becomes appre- phase shift circuit would reduce the maximum input impedance
ciable. Furthermore, the plots in Fig. 7 suggest that these effects dipping by as much as 5 dB, while actual measurement shows
are more significant under light load conditions, i.e., when is a 3-dB reduction due to imperfect experimental setup. For the
small. The leading phase of the input current also causes har- interconnected converter-filter system, this would translate into
monic distortion in the input current around the zero crossing of improved system stability and/or more efficient EMI filter de-
the input voltage, as explained in [9]. sign as less damping would be required.
The input impedance model can be used to predict responses The phase shift circuit described by (20) was used in [9] as
of the converter to distorted lines. In particular, dipping of the a means to compensate for the leading phase of the input cur-
input impedance above 2 kHz implies that an percent har- rent so as to reduce the associated input current zero-crossing
monic voltage in this frequency region will generate more than distortion. Practical implementation of the circuit and its other
percent harmonic current. For example, the magnitude plot in benefits were also discussed there. It was also noted in [10] that
Fig. 4 shows a maximum of 15 dB dipping (from 48 dB adding a phase shift, such as the one described by (20), to the
at 200 Hz and below to 33 dB at 9 kHz). This implies that, reference current can improve the stability of the current loop in
with reference .." by "Assume that the magnitude of the ref- the interconnected EMI filter-PFC converter system, which is an
erence current is held constant. The 15-dB dipping in the input 4DO-160D requires that, for every 1% of individual voltage harmonic, the
impedance implies that an input voltage at 9 kHz will produce equipment shall not demand harmonic current greater than 1.25% above the
an input current that is 5.6 times (15 dB = 5.6234) of the input limit for the corresponding harmonic current with undistorted input.

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314 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 20, NO. 2, MARCH 2005

and found that it is not suitable for system analysis. Further de-
tails will be reported in a separate work.

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[15] Environmental Conditions and Test Procedures for Airborne Equipment,
V. CONCLUSION Tech. Rep. DO-160D, ch. 16, 2004.
A large-signal model has been presented for single-phase
boost PFC converters to predict their input impedance re-
sponses. The model is valid above the crossover frequency
of the output voltage control loop. Direct measurement of
the input impedance from a prototype converter proved the Jian Sun (M’95) received the B.S. degree from the
Nanjing Institute of Aeronautics, Nanjing, China,
accuracy of the model. The input impedance model was also in 1984, the M.S. degree from Beijing University
used to study general input characteristics of boost single-phase of Aeronautics and Astronautics, Beijing, China,
PFC converters. A particular issue we investigated was the in 1989, and the Ph.D. degree from the University
of Paderborn, Paderborn, Germany, in 1995, all in
dipping of the input impedance in the high-frequency region electrical engineering.
and its effects on converter operation, such as stability of con- He was a Post-Doctoral Fellow in the School
verter-filter interconnected systems and input current distortion of Electrical and Computer Engineering, Georgia
under distorted lines. Based on the analyses, a simple phase Institute of Technology, Atlanta, from 1996 to
1997, where he taught undergraduate courses on
compensation method was proposed and its effectiveness in electromechanical energy conversion. He worked in the Advanced Technology
reducing input impedance dipping was demonstrated. Center, Rockwell Collins, Inc., from 1997 to 2002, where he led several
The focus of this paper has been on derivation, validation, projects on the development of various power conversion technologies for
aerospace applications. In August 2002, he joined the Department of Electrical,
and analysis of the input impedance model. Applications of the Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy,
model in the analysis of high-frequency interactions between NY, as an Associate Professor. His research interests are in the general area of
single-phase converters and the source or input filters will be power electronics and energy conversion, with particular emphasis on converter
presented in a future work. To study converter-source interac- topologies, modeling, control, and various applications including computers,
communications, aerospace, and energy systems.
tions below the voltage loop crossover frequency, we are exam- Dr. Sun is a Member of the IEEE Power Electronics Society. He currently
ining the existing low-frequency input impedance model [2], [5] serves as an Associate Editor for IEEE POWER ELECTRONICS LETTERS.

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