Input-output linearization and zero-dynamics control of three-phase AC/DC voltage-source converters

Nonlinear differential-geometric techniques are proposed for the design of a feedback controller for three-phase voltage-source pulsewidth modulation (PWM) AC/DC boost converters under a cascade control structure. The input-output linearizability of the system modeled in d-q synchronous reference frames is examined. The results lead to a decoupled d-q current control scheme. For the internal DC-bus voltage dynamics (zero dynamics), by considering the d-axis current command as control input and using a square transform on DC-bus voltage, it is shown that this remaining system contains an input memoryless nonlinearity of conic sector type and satisfies the conditions for a Lur´e plant. This suggests a new outer-loop control strategy to control the square of the DC output voltage, rather than DC output voltage itself, utilizing a simple proportional plus integral (PI) controller cascaded to the d-axis current loop. Since most results do not consider the control of zero dynamics, the strategy for the control of zero dynamics via cascade control structure may provide valuable insight for the design of input-output linearized systems in which zero dynamics contain some desired control variables. The absolute tracking concept for Lur´e plants is introduced to prove the global tracking capability with zero steady-state error of the voltage loop. The controlled PWM AC/DC converter has the features of global stability, fast (exponential) tracking of DC-bus voltage command with zero steady-state error, asymptotic rejection of load disturbance, robustness against parameter uncertainties and decoupled dynamical responses between d and q current loops. Also, measurement of load current is not required. All these features are confirmed via laboratory experiments on a 1.5 kVA PC-based controlled prototype.