AbstractThis paper presents a H-innity (H) controllers for

applications to output of fuel cell powered-uninterruptable power

system(UPS). This work considers voltage stabilization and THD
reduction of output in UPS for comparison. It is found that the H
control have better response compare to PID controller. Thus, H
control may be especially useful in control of output fuel cells, or
other applications that require UPS. Simulationresults are provided to
show the feasibility of the proposed system and the effectiveness of
the control methods.

KeywordsH-innity controller, PID controller, robust control,
uninterruptible-power-supply.
I. INTRODUCTION
ITH the increased usage of electrical equipment for
various applications, the demand for quality power
apart from continuous power availability has increased and
hence requires the development of appropriate power
conditioning system. An Uninterruptible Power Supply
(UPS)System is a device which ensures quality and
continuous power supply to the connected equipment by
supplying power from a separate source. The backup source
may be battery, fuel cell and super capacitor. Power quality
and power continuity are important factors that need to be
ensured for critical application [1], [2].
For industrial applications, the power converters are
generally controlled by means of double-loop lag-lead
compensators (e.g.,proportionalintegraldifferential (PID)
controllers) using an average model of a switched system that
is governed by the pulsewidth-modulation (PWM) technique
[3].One of the advantages of using PID controllers is the vast
number of tuning techniques that are available on the control
theory such as frequency-domain and optimization based
methods. Although the frequency-domain methods are well
known and largely employed by designer engineers, in
practical situations,the coupling between fast and slow
dynamicsand nonlinearitiesmay lead to a poor staticregulation
and bad dynamical response.
The appearance of new promising control approaches
thatare associated with the dissemination of powerful digital
signalprocessors that are devoted to the control of applications
hasled many researchers to apply a wide variety of techniques
thataim for improvement in the static and dynamic
performancesof dcac powerconverters that are as an
alternative to classical PID controllers. Among these are the

A. Salami is with the Iran University of Science and Technology-Arak
Branch, Arak -Markazi, IRAN(e-mail: a_salami@ ee.iust.ac.ir).

dead-beat controller[4]and the sliding-mode control [5].
The H control theory makes it possible to apply
multivariable control with frequency domain design method
and to get robust stable control systems. A newer technique
for computing the root-mean-square value ofthe output voltage
is proposed to improve regulation dynamics [6].
This paper is used both of PID and H-infinity control for an
Uninterruptible Power Supplysystem. The proposed
systemconsists ofhybridsource,a three-port dc-dc converter,
full bridge inverter, output filter and output controlled system.
Simulation results are presented to explore the potentials of
Hfor applications to UPS system. To emphasize the merits
of this controller, some comparisons have also been made with
the PID controller.
II. SYSTEM DESCRIPTION
Structure of the proposed system is shown in Fig. 1. A fuel
cell as the primary source is used, and battery is used as the
transient energy storage where I
P
and C
P
is output filter. The
three-port converter is used to link the fuel cell and the battery
to the inverter.
In this paper, the triple active bridge converter was selected.
Structure of converter consist of a three winding transformer
and three active bridges which to convert DC voltage to DC
voltage. A voltage source inverter is used for dc-ac voltage
conversion. The main application of inverter is to provide a
stable and regulated output voltage with low harmonics for
load. The using of LC filter in system reduces the harmonic
problem in the system. This LC filter is depending on value of
capacitor and inductor. It is not only reducing zero-sequence
harmonics but also reduce other harmonics in the system.
Besides that, this application also can improve power factor
and reduced the THD system.
The major disadvantage of fuel cell is that they long start-up
time and slow dynamic. Hence, to overcome these drawbacks,
an energy buffer is needed to supply the start-up power and
peak load demand. In this paper, energy buffer is a battery.
The hybrid source operation is such that the battery support
start-up and load transient and steady state power is supplied
by the fuel cell.


A. Salami and M. Feizi
Analysis ofH-Innity Controllers in Fuel Cell
Powered Uninterruptible Power Supply System
W
World Academy of Science, Engineering and Technology 73 2011
137

w
sig
sig
su
m
be
sy
pa
ad
m
in
be
w
.
Y
X




Three port

A. PID Contr
Proportional-
widely used in
gnalsthat are
gnal and the
upply system,
means of PID c

B. H Contro
The H con
een applied in
ystem should
arameter, the
dmissible unc
minimized on th
The Propose
nverter with a
e controlled th
The state equ
work:
) ( . ) (
) ( . ) (
t X C t Y
t X A t X
=
=
In this model
DC-
converter
III. CON
roller
-integral-deriv
ndustrial contr
proportional t
actual outpu
the power co
controllers.
ol
ntrol structure
n UPS system
be considere
closed-loop s
certainty, the
he output volt
ed UPS is c
output LC fil
hrough the PW
uation output
) ( .
) ( . )
t U D
t U B
+
+

l state equatio
-DC Stage

NTROL SYSTEM
vative (PID
rol systems .T
to the error b
ut. In this un
onverters are u
is presented
m.The perform
ed on the de
ystem is asym
effects of di
tage.
composed by
lter that load v
WM technique
t of ups will b
on can be writt


Fig.
MS
D) controller
They provide
etween the re
ninterruptible-
usually contro
in Fig. 2, wh
mance of close
esign of the
mptotically sta
sturbance sig
full-bridge D
voltage is var
e.
be considered
ten in below:



1 Proposed UP
rs are
control
eference
-power-
olled by
hich has
ed-loop
control
able for
gnal are
DC-AC
iable to
d in this
(1)


y=
wh
DC-A
full bridg
PS system
=
=
here

Fig. 2 Multiple
AC Stage
ge inverter

=
e-loop strategy t
LO
+ .u

to be considere
OAD
u

ed in this paper

(2)

(3)
(4)

World Academy of Science, Engineering and Technology 73 2011
138


The control parameters to be designed are viewed as the
terms of state feedback gain K. The control signal is given by
U(t):

) ( ) ( ) ( ) ( . ) (
4 4 3 3 2 2 1 1
t x k t x k t x k t x k X K t U + + + = = (5)

When we select the approperiate amount for state feed back
gain of system, can be sure which the closed loop system is
stable.
IV. SIMULATION RESULTS
Computer simulations have been carried out using
MATLAB software to help design and control the proposed
UPS system. Matrix K is defined based on LQR for statespace
system.
The output voltages for PID controller and H controller in
220 V
rms
are shown in Fig. 3 and Fig. 4.


















Fig. 3 The output-voltage responses for PID controller

Fig. 4 The output-voltage responses for H controller

Fig. 5 shows the root mean square of output-voltage
responses forPID and H controllers. The output voltage with
H controller is most stable than output voltage with PID
controller in UPS. Also it can observe that H controller has a
fast response compare with PID controller.



















Fig. 5 The rms of output-voltage responses for
PID and H controllers

The output total harmonic distortion has been shown in Fig.
6and it is clear that for H Controller is lower than PID
Controller in220V
rms
.
























Fig. 6 The THD responses for PID and H controllers


The harmonic distortion analysis of the controller time
response is summarized in Table I. Notice that the voltage
harmonic distortion of both controllers is in accordance with
IEEE Std 944-1986.Clearly, both strategies have led to good
results, takinginto account the time recovery and the voltage
total harmonicdistortion (THD).


0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
-400
-300
-200
-100
0
100
200
300
400
t(sec)
V
o
u
t
(
v
o
l
t
)




PID controller for 220v rms
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
-400
-300
-200
-100
0
100
200
300
400


H-Infinity for220v rms
0 0.5 1 1.5 2
0
50
100
150
200
250
300
t(sec)
V
o
u
t

r
m
s




H-Infinity control in 220v
PID control in 220v
0 0.2 0.4 0.6 0.8 1
2
4
6
8
10
12
x 10
-3
t(sec)
T
H
D




PID Controller fof 220Vrms
H Infinity Controller for 220Vrms
World Academy of Science, Engineering and Technology 73 2011
139



TABLE I
ANALYSIS OF HARMONIC DISTORTION AND RECOVERY TIME
Voltages PID Controller
E

Controller
220 Vrms THD Recovery time THD Recovery time
220 V
rms
0.42% 1.6 Sec 0.24% 0.2 Sec

The result of simulations shows that THD of H controller
is lower than PID controller and the root mean square of
output voltage (I
out,ms
) for H controller is more stable than
the root mean square of output voltage (I
out,ms
) for PID
controller.
V. CONCLUSION
In this paper, we considered two kinds of H and PID
controllers for an uninterruptible power supply systems.
The performance of each controller was evaluated with
several simulation results.
This work considers two parameters of voltage stabilization
and THD reduction in output of UPS. The results of H
control and PID control has been compared.The comparative
results for the PID and H Controllers shows that the H
Controller in structure of UPS is more effective than the PID
Controller. The root mean square of output voltage (I
out
rms
)
in the UPS with E

Controller is more stable than the PID

Controller.I
out,ms
oscillates around 220I
ms
for PID
controller, and is not stable but in the E

Controller, I
out,ms
is
constant around 220I
ms
.
This techniqueconsiders practical design constraints such as
uncertainty on thelinear load, load disturbances, guaranteed
rate of convergence.
REFERENCES
[1] G.V.Sukumara, A.Parthasarathy and V.R.Shankar, Fuel cell based
uninterrupted power system, in International Conference on power
Electronics and Drive Systems, vol. 2, May, 1999, pp. 728733.
[2] W.Choi,P.Enject,andJ.W.Howze, Fuel cell powered UPS system
Design consideration, in Proc.IEEE PESC, June, 2003, pp. 385390.
[3] N. M. Abdel-Rahim and J. E. Quaicoe, Analysis and design of a
multiple feedback loop control strategy for single-phase voltage-source
UPS inverters, IEEE Trans. Power Electron., vol. 11, no. 4, pp. 532
541,Jul. 1996.
[4] S.-L. Jung, H.-S. Huang, M.-Y. Chang, and Y.-Y. Tzou, DSP-based
multiple-loop control strategy for single-phase inverters used in AC
power sources, in Proc. 28th Annu. IEEE Power Electron. Spec. Conf.,
1997,vol. 1, pp. 706712.
[5] T. Tai and J. Chen, UPS inverter design using discrete-time sliding-
mode control scheme, IEEE Trans. Ind. Electron., vol. 49, no. 1, pp.
6775,Feb. 2002.
[6] G.Willmann ,D.F.Coutinho,Multiple loop H-infinity control design for
uninterruptible power supplies , IEEE Trans. Power Electronic., vol.
54, no. 3, pp. 159116011,Jun. 2007.




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