Advanced current control implementation with

robust deadbeat algorithm for shunt single-phase

voltage-source type active power filter
K. Nishida, M. Rukonuzzman and M. Nakaoka

Abstract: A deadbeat current control implementation of shunt-type single-phase active power filter
(APF) is considered. The deadbeat control technique is often proposed as an advanced current
control method of APF, because the superiority of the digital control scheme to the analogue
control one can be effectively utilised by adopting the deadbeat-control strategy. Although the one-
dimensional deadbeat control method can attain a time-optimal response for APF compensating
current, one sampling period is actually required for its settling time. This delay is a serious
drawback for this control technique. To cancel such a delay and one more delay caused by DSP
execution time, the desired APF compensating current has to be predicted two sampling periods
ahead. For the prediction value, the reference value of one source voltage period before is employed
as a based value. At the same time, an adaptive line enhancer (ALE) is newly introduced to predict
the control error of two sampling periods ahead. By adding the ALE output as an adjustment term
to the based value, the settling time is made short in the transient state. On the other hand, in the
steady state, the THD (total harmonic distortion) of the utility grid side AC source current can be
reduced as much as possible compared to the case when an ideal identification of the controlled
system can be made. The experimental results obtained from a DSP-based APF are also illustrated
and evaluated. The compensating ability of this APF treated here is extremely high in accuracy and
responsiveness.

List of principal symbols v APF AC side voltage regulated by PWM scheme

e source voltage
Cdc capacitance in DC side of active power filter e error signal of adaptive line enhancer (ALE)
CL DC smoothing capacitance in DC side of a single- g constant value to prevent the coefficient from
phase full bridge diode rectifier being expanded ¼ 0.999 ( ¼ 1210)
H adaptive digital filter coefficient vector m step size in adaptation algorithm of ALE
ic APF compensating current o voltage-source angular frequency ( ¼ 2p/T)
ic * reference of compensating current
ic* data vector of compensating current reference in
the filter window
is source current 1 Introduction
il load current
LC inductance of filter inductor connected in utility The deadbeat control technique is often proposed as an
AC power side of active power filter advanced current control method for active power filters
LL DC smoothing inductance in DC side of a single- (APFs), because the superiority of the digital control
phase full-bridge diode rectifier scheme to the analogue control one can be effectively
LS series inductance in utility AC power side of a utilised by adopting the deadbeat-control strategy.
single-phase full-bridge diode rectifier The authors have previously proposed a deadbeat current
RC resistance component of filter inductor in utility control scheme which is acceptable for three-phase current-
AC power side of active power filter source shunt-type APFs [1, 2]. In that scheme, the adaptive
RL load resistance in DC side of a single-phase full- line enhancer (ALE) [3, 4] was originally applied to predict
bridge diode rectifier the compensating current reference and to bring a
T source voltage period robustness about parameter uncertainties to the deadbeat
TS sampling period for digital implementation controller.
In this paper, an advanced deadbeat control method
using an ALE for a single-phase voltage-source APF is
r IEE, 2004
introduced. The time-optimal response of the APF
IEE Proceedings online no. 20040317 compensating current is based on a one-dimensional
doi:10.1049/ip-epa:20040317 finite-time settling algorithm, and it is known that one
Paper first received 13th May 2003 and in revised form 26th November 2003. sampling period is required for a settling time. To cancel
Originally published online: 26th February 2004
both this delay and the delay in the DSP control strategy,
The authors are with the Division of Electrical and Electronic Systems
Engineering, The Graduate School of Science and Engineering, Yamaguchi the desired APF compensating current of two sampling
University, Yamaguchi, Japan periods ahead has to be predicted.

IEE Proc.-Electr. Power Appl., Vol. 151, No. 3, May 2004 283
 For the prediction value, the reference value of one
source voltage period before is employed as a base value,
because the compensation current is in the form of a
periodical wave. However, the prediction in a transient state
cannot be made only by examining the reference value
before one period. Furthermore, there is a problem that the
mathematical and dynamic circuit model of the controlled
APF system is not always perfectly exact in most cases. So
due to parameter uncertainties, a control error occurs in a
deadbeat current control system without robustness [5].
Therefore, the ALE is adopted for the purpose of both
predicting the control error of two sampling periods ahead
and bringing robustness to the deadbeat current control
system. By adding the ALE output as an adjustment term
to the based reference value, the settling time is reduced in
the transient state. On the other hand, in the steady state,
the THD of source side utility AC power current can be
reduced as much as possible, compared to the case when
ideal identification of the controlled APF system can be
made.
Finally, the newly proposed shunt single-phase voltage-
source type active power filter is applied to the nonlinear
load represented by diode bridge rectifiers. It is shown
experimentally, that the compensating ability of the
proposed active power filter is actually extremely high in
both responsiveness and accuracy.
2 Shut single-phase voltage-source type active
power filter
2.1 System configuration
Figure 1 shows a schematic configuration of a shunt single-
phase voltage-source type APF, in addition to a utility AC
power grid side harmonic-producing load and a current
control implementation scheme. The harmonic-producing
load system consists of a typical full-bridge diode rectifier
with a series smoothing reactor or a parallel smoothing
capacitor on the DC side. In the proposed control system,
both load current and single-phase APF compensating
current have to be detected by the Hall effect type current
sensor device.
The single-phase APF compensating current is regulated
by a deadbeat current controller, such that the current
drawn by the APF from the utility AC power source is
equal to the current harmonics and reactive current required
for the nonlinear load [6], and an ALE is introduced to
bring robustness to the deadbeat current control system.
Furthermore, the PI controller is necessary to keep the
capacitor voltage in the DC side of the single-phase APF
constant.
2.2 Implementation of instantaneous
compensating current command reference
Complete harmonic current detection from a nonlinear load
is implemented in practice by an adaptive neural network
(ADNN) developed by the authors [7]. The ADNN
calculates the fundamental current component as well as
the harmonic current components of the single-phase diode
full-bridge rectifier nonlinear load current il. That is, by
implementing the ADNN, a distorted load current il can be
expressed as:
il ðtÞ ffi xðtÞ ¼Al cos ot þ Bl sin ot
X
N
ð1Þ
þ ðAl cos lot þ Bl sin lotÞ
l¼3;5;...
where o is the fundamental angular frequency of the utility
AC power source voltage. In addition, the opposite phase
current components to the total harmonic currents and
reactive current exist in the distorted load current, which
means that the instantaneous compensating current refer-
ence is computed by subtracting the distorted load current
from its fundamental active component, as follows:
ic * ðtÞ ¼ A1 cos ot  il ðtÞ ð2Þ
2.3 Deadbeat current control
implementation
A dynamic mathematical circuit system model of the single-
phase voltage source shunt type APF illustrated in Fig. 1
can be derived as follows:
d
e ¼ Lc ic þ Rc ic þ v ð3Þ
dt
where e ¼ source voltage, v ¼ output voltage of voltage
source inverter, which is able to be regulated by using a

full bridge diode inductive capacitive

rectifier load or load
utility AC
D1 D3
voltage source is Ls il
LL CL RL
e
RL

Q1 Q3 Lc D2 D4
voltage
source Cdc ic harmonic and reactive
inverter current detection
v
Q2 Q4 by neural network
ic (k) − +
ic* (k)
ε (k )
deadbeat + ic*(k+2) adaptive
gate driver current line
+
controller ∆I (k +2) enhancer
z−2
Vdc −
∑ PI controller x ∆I(k)
+

Vref
u = cos{ωTs(k+2)}

Fig. 1 Schematic single-phase voltage source APF, load system and control system

284 IEE Proc.-Electr. Power Appl., Vol. 151, No. 3, May 2004
PWM strategy, Lc ¼ filter inductance and Rc ¼ filter inter- {e(k+1)v(k+1)} can be calculated at a sampling point k
nal resistance. as follows:
To solve the differential equation (3), e and v are assumed Rc
to be constant in each sampling period Ts. In this case, the eðk þ 1Þ  vðk þ 1Þ ¼ fic * ðk þ 2Þ þ DIðk þ 2Þ
system equation using the discretised value representation q ð5Þ
can be derived as:  pic ðk þ 1Þg
q
ic ðk þ lÞ ¼ pic ðkÞ þ feðkÞ  vðkÞg ð4Þ where ic * ðk þ 2Þ and ic ðk þ 1Þ mean predicted values, and
Rc DI is the active current component for keeping capacitor
where p ¼ exp((Rc/Lc)TS), q ¼ 1p and, Ts ¼ sampling voltage Vdc in the APF DC side at its desired value.
period.
It should be noted that the object of current control 2.4 Adaptive line enhancer
system is to obtain a deadbeat response [8], as illustrated in The adaptive line enhancer (ALE) is one kind of technique
Fig. 2. In this Figure, the digital control calculates the phase for adaptive finite impulse response (FIR) filter. This is
voltage across the filter reactor Lc, which is expressed in (4) generally used to select and emphasise the periodical
as {e(k)v(k)}, so as to make the phase current reach its components from the input signal with noisy components.
reference by the end of the following modulation period. Figure 3 shows the proposed current control system with
To compensate for the calculation time delay in the an ALE. In this system, the ALE is introduced to predict
the control error for two sampling periods ahead. In
addition, the accuracy and responsiveness of the current
control system can be improved by adding the ALE output
ic*(k + 2) + ∆I (k + 2)
as an adjustment term to the past compensating current
reference, which has been detected one source voltage
ic*(k + 1) + ∆I (k + 1) period previously. In other words, the ALE acts as an
ic*(k) + ∆I (k) integrating current controller for alternative quantity in
order to bring robustness to the deadbeat current control
ic (k + 1)
implementation.

ic (k) 2.4.1 Adaptation of digital filter coefficient: The

e (k + 1)−ν (k + 1)
e (k)−ν (k)
k k+1
sampling point
present point
Fig. 2 Deadbeat current control scheme
DSP [9], the reference value of two sampling periods ahead
ic * ðk þ 2Þ and the control value of one sampling period
ahead ic(k+1) have to be predicted. The prediction of
ic(k+1) can be made easily by using (4). On the other hand,
the prediction of ic * ðk þ 2Þ is difficult, especially in the
transient state. When this prediction is made successfully by
some means [10, 11], the phase voltage in the next period,
adaptation process of the digital filter coefficient is
illustrated by dashed lines in Fig. 3. It can be seen that
the adaptation of the FIR filter is implemented by using the
k+2
leaky least mean square (LMS) algorithm, as follows:
Hðk þ 1Þ ¼ gHðkÞ þ 2meðkÞi c * ðk  MÞ ð6Þ
where H(k) is the filter coefficient vector: H(k) ¼ [h0(k),
h1(k), h2(k),y,h127(k)]. With regards to the order of the
filter, the larger the order is, the higher the control accuracy
can be made. It is also necessary to set the order of the filter
low so that the operation may be made to end in the
sampling period. In the proposed ALE, the order is set at
128 to make the data vector in the filter window cover the
complete one cycle of the compensating current reference
ic *. In this proposed system, the data sampling frequency is

input signal
ic*(k) ic*(k−1) ic*(k−2) ic*(k−3) ic*(k−4) ic*(k−127) ic*(k−129)
z −1 z −1 z −1 z −1 z −1

h0 h1 h2 h3 h127

z −1 γ z −1 γ z −1 γ z −1 γ z −1 γ

ic*(k − 126) adjustment term

z −126
predicted
ic*(k + 2)
+ error reference ∆I(k + 2)(=active component
∆I(K) +
signal for keeping Vdc constant)
2

(k) deadbeat
−
controller

APF

ic (k)

Fig. 3 System configuration of adaptive line enhancer

IEE Proc.-Electr. Power Appl., Vol. 151, No. 3, May 2004 285
128 times the source voltage frequency. M is the delay
number, set at 2 in order to train the ALE to predict the
control error for two sampling periods ahead; ic * ðk  MÞ
ðkÞ
is the data vector in the filter window:
i c * ðk  MÞ ¼½ic
ðk  2Þ; ic
ðk  2  1Þ; responsiveness.
ð7Þ
ic * ðk  2  2Þ; . . . ; ic
ðk  2  127Þ frequency component contained in ic
and e can be obtained
e(k) is the error signal. It is the function of an adaptive FIR
filter that the filter coefficient vector is renewed in order to
decrease the square expectation value of the error signal as
much as possible. The purpose of APF (to make the AC
utility grid side current sinusoidal without higher harmonics
and reactive components) is thus achieved if the error signal
is defined as follows:
eðkÞ ¼ ic * ðkÞ þ DIðkÞ  ic ðkÞ ð8Þ
In the ALE, the distinctive feature is that the delayed signal
is employed as a data vector in (6). And equation (6) is
cross-correlation function computed between an error signal
e and a desired value ic *. h0(t) is the cross-correlation value
between them when the phase difference is set to
5.6251( ¼ 360/128 * 2) in fundamental frequency. Similarly,
h1(t) is the cross-correlation value when phase difference
is set to 8.43751( ¼ 360/128 * 3). And h127(t) is the cross-
correlation value when phase difference is set to
362.81251( ¼ 360/128 * 129). For example, h0(k) can be
extended as follows
h0 ðkÞ ¼2mfeðkÞic *ðk  2Þ þ geðk  1Þic * ðk  3Þ
þ g2 eðk  2Þic * ðk  4Þ
voltage period before, which is necessary so that higher
harmonics to be contained in the compensating reference
current are not eliminated. The second part H(k+1) i Tc
is an adjustment term for improving control accuracy and
As a meaningful cross-correlation value to each
in the frequency range from 0 Hz to within half the
sampling frequency, as shown by the sampling principle,
the cut-off frequency of the proposed ALE is one-half the
sampling frequencyF3.84 kHz in this case.
3 Experimental results and their discussions
3.1 Experimental conditions
The experimental conditions were as follows. The source
frequency was 60 Hz. The inductance of filter reactor was
Lc ¼ 8 mH and its resistance Rc ¼ 0.2 O. The sampling
period Ts was set to 0.130 ms. The circuit constant in the
DC side of the APF was designed as Cdc ¼ 8800 mF. The
load constants of the diode bridge rectifier were RL ¼ 36 O,
the DC smoothing reactor LL ¼ 95 mH and the DC
smoothing capacitor CL ¼ 3300 mF. In addition, the series
inductance was designed as Ls ¼ 4 mH.
3.2 Overall waveforms and ALE output
3.2.1 Inductive load: The overall operational wave-
forms of the experimental APF system applied to the
full bridge rectifier with an inductive load (RL ¼ 36 O,
LL ¼ 95 mH) are shown in Fig. 4. Figure 4a shows the result
þ g3 eðk  3Þic * ðk  5Þ þ    ð9Þ
when the ALE was stopped. Figure 4b shows the result
þ gn eðk  nÞic * ðk  n  2Þ
þ gnþ1 eðk  n  1Þic * ðk  n  3Þ þ   g CH1 = 2V
DC 10:1
CH2 = 2V
DC 10:1
CH3 = 2.42V
DC 10:1
CH4 = 500mV 5ms/div
DC 10:1 (5ms/div)
NORM:200ks/s
If the error signal e(k) contained the same frequency e
200 V/div
component that exists in the reference signal ic
ðkÞ, filter
coefficient H(k) would expand. e(k) must become zero as
long as the coefficient H(k) does not expand. This is the il
principle that the proposed ALE can reduce the control 5 A/div

error as much as possible. In the actual application of the

ALE, the adjustment of two parameters is vital, as follows: ic
1. g ¼ 0.999( ¼ 1210). This constant value g, which is 5 A/div
just less than one, is introduced to prevent the accumulation
of error, which often occurs in 16-bit fixed decimal point is
DSP. 5 A/div
2. m is the step size. This is fixed to a small enough value
to guarantee the stability of the LMS algorithm. It is a
necessary to set the value of m as non-zero within
P
1= 127 j¼0 Efic
2 ½n  jg, in order to settle the error signal e.
CH1 = 2V CH2 = 2V CH3 = 2.42V CH4 = 500mV 5ms/div
DC 10:1 DC 10:1 DC 10:1 DC 10:1 (5ms/div)
This value is experimentally found, so as to make the ALE e
NORM:200ks/s

output agree with the control error of two samplings 200 V/div
periods ahead. The prediction accuracy of the proposed
ALE is not very sensitive to the variation of m. We can
il
conclude that 0.2 is the optimal step size for various load
P 5 A/div
types in a single-phase system, where 1= 127 j¼0 Efic
2 ½n  jg
is 100%. ic
5 A/div
2.4.2 Prediction equation: The prediction equa-
tion for the compensating current reference of two sampling is
periods ahead at sampling point k is illustrated with solid 5 A/div
lines in Fig. 3. It can be seen that the prediction equation is
as follows:
b
ic
ðk þ 2Þ ¼ ic
ðk  126Þ þ H ðk þ 1ÞiTc
ðkÞ ð10Þ
Fig. 4 Overall operational waveforms for an inductive load
where i c
ðkÞ¼½ic
ðkÞ; ic
ðk  1Þ; ic
ðk  2Þ; . . . ; ic
ðk 127Þ. a ALE stopped (THD ¼ 4.5%)
The first part, ic
ðk  126Þ, is the reference of one source b ALE operating (THD ¼ 1.86%)

286 IEE Proc.-Electr. Power Appl., Vol. 151, No. 3, May 2004
when the ALE was operating. Due to the ALE, the THD of
ic*
the source current was reduced from 4.10% in Fig. 4a to ALE output
1.86% in Fig. 4b. (=Predicted error)
2
Figure 5 shows the transient response to a step change on
the load resistance RL from 72 to 36 O Due to the ALE, the
settling time was reduced from T to 3/4 T.
0

A
CH1=2V CH2=2V CH3=2.42V CH4=500mV 10ms/div
DC 10:1 DC 10:1 DC 10:1 DC 10:1 (10ms/div)
NORM:100kS/s
e −2 error
200 V/div

il
5 A/div −4
−256 −128 0 128 256 384 512
load change
ic step load change T=16.7ms
5 A/div sampling point

is Fig. 6 Control error and ALE output, H(k+1) iTc

ðkÞ, for an
5 A/div inductive load
Step size: m is set at 0.2 as normalised value

CH1=2V CH2=2V CH3=2.42V CH4=500mV 5ms/div

CH1=2V CH2=2V CH3=2.42V CH4=500mV 10ms/div DC 10:1 DC 10:1 DC 10:1 DC 10:1
DC 10:1 DC 10:1 DC 10:1 DC 10:1 (10ms/div) NORM:200kS/s
NORM:100kS/s
e
200 V/div

e
il
200 V/div
5 A/div
il
5 A/div
load ic
change
ic 5 A/div
5 A/div
is
is
5 A/div
5 A/div

a
b

Fig. 5 Transient response of currents to step on load resistance for CH1=2V CH2=2V CH3=2.42V CH4=500mV 5ms/div
DC 10:1
an inductive load e
DC 10:1 DC 10:1 DC 10:1 (5ms/div)
NORM:200kS/s
a ALE not operating 200 V/div
b ALE operating
il
5 A/div
In Fig. 6, it is proven that the term H(k+1) i Tc
ðkÞ, which
is used as an adjustment term for the current reference in ic
Fig. 5b, is almost equal to the control error in Fig. 5a. The 5 A/div
high compensating performance in Fig. 5b can be attained
by adding an adjustment term as large as the control error
to the compensating current reference. is

5 A/div

3.2.2 Capacitive load: The overall operational wa-

veforms for the experimental APF system applied to the b
bridge rectifier with a capacitive load (RL ¼ 100 O,
CL ¼ 3300 mF) are shown in Fig. 7. Figure 7a shows the Fig. 7 Overall operational waveforms for a capacitive load
result when the ALE was stopped. Figure 7b shows the a ALE stopped (THD ¼ 9.4%)
b ALE operating (THD ¼ 4.5%)
result when the ALE was operating. Due to the ALE, the
THD of a source current was reduced from 9.4% in Fig. 7a
to 4.5% in Fig. 7b.
Figure 8 shows the transient response to a step change for 4 Conclusion
a load resistance RL from 300 to 100 O. Due to the ALE,
the distortion of source current was significantly reduced in An advanced approach for robust deadbeat current control
the whole period. of shunt single-phase voltage-source type active power
Figure 9 confirms the effectiveness of the ALE. It can be filters has been proposed. In this method, the adaptive line
seen in the Figure that the term of H(k+1) i Tc
(k), which is enhancer (ALE) was originally applied to predict the
used as an adjustment term for the current reference in control error for two sampling periods ahead and to bring
Fig. 8b, is almost equal to the control error in Fig. 8a. robustness to the deadbeat current controller. The 128

IEE Proc.-Electr. Power Appl., Vol. 151, No. 3, May 2004 287
 CH1=2V CH2=2V CH3=2.42V CH4=500mV 10ms/div
DC 10:1 DC 10:1 DC 10:1 DC 10:1 (10ms/div) ic*
e NORM:100kS/s
200 V/div 2 predicted error by ALE

il
5 A/div

A
0

ic
−2
5 A/div control error in (a)

is
0 128 256 384 512
5 A/div
step load change T = 16.7ms
sampling point
a
Fig. 9 Control error and ALE output, H(k+1) iTc
ðkÞ, for a
capacitive load
Step size: m is set at 0.2 as normalised value
CH1=2V CH2=2V CH3=2.42V CH4=500mV 10ms/div
e DC 10:1 DC 10:1 DC 10:1 DC 10:1 (10ms/div)
200 V/div NORM:100kS/s

il
5 References
5 A/div
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modeling of active three-phase current-source PWM converter with
finite-time settling controller’. Proc. Int. Conf. Power electronics and
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(4), pp. 275–282
is 3 Haykin, S.: ‘Introduction to adaptive filters’ (Macmillan Publishing
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288 IEE Proc.-Electr. Power Appl., Vol. 151, No. 3, May 2004