Showing papers in "IEEE Transactions on Power Electronics in 2006"

Stability of photovoltaic and wind turbine grid-connected inverters for a large set of grid impedance values

Abstract: The aim of this paper is to analyze the stability problems of grid connected inverters used in distributed generation. Complex controllers (e.g., multiple rotating dq-frames or resonant-based) are often required to compensate low frequency grid voltage background distortion and an LCL-filter is usually adopted for the high frequency one. The possible wide range of grid impedance values (distributed generation is suited for remote areas with radial distribution plants) challenge the stability and the effectiveness of the LCL-filter-based current controlled system. It has been found out and it will be demonstrated in this paper that the use of active damping helps to stabilise the system in respect to many different kinds of resonances. The use of active damping results in an easy plug-in feature of the generation system in a vast range of grid conditions and in a more flexible operation of the overall system able to manage sudden grid changes. In the paper, a vast measurement campaign made on a single-phase system and on a three-phase system used as scale prototypes for photovoltaic and wind turbines, respectively, validate the analysis.

Multiple harmonics control for three-phase grid converter systems with the use of PI-RES current controller in a rotating frame

Abstract: Voltage source inverters connected to the grid in applications such as active rectifiers, active filters, uninterruptible power supplies, and distributed generation systems need an optimal ac current control. To obtain zero steady-state error at the fundamental frequency (i.e., unity power factor), the use of a standard integrator in a rotating frame is as effective as the use of a resonant controller in a stationary frame. However, the grid voltage harmonics influence the current controller and generate current harmonics unless several integrators in multiple rotating frames or resonant compensators in a stationary frame are adopted. In this letter, a hybrid system consisting of a proportional integral (PI) controller plus a generic hth harmonic resonant controller implemented in a frame rotating at the n th harmonic frequency is discussed in detail. The hth harmonic controller is able to decrease both the (h - n)th and (h + n)th harmonics, while the PI controller is able to decrease other harmonics if the synchronization phase signal adopted for the frame transformation is unfiltered. It is demonstrated that the use of a PI and sixth harmonic resonant compensator is effective for both positive and negative sequence fifth and seventh harmonics; hence, four harmonics are compensated with the proportional integral-resonant (PI-RES) controller implemented in a synchronous frame. Simulation and experimental tests validate the proposed analysis

Power electronics intensive solutions for advanced electric, hybrid electric, and fuel cell vehicular power systems

Abstract: There is a clear trend in the automotive industry to use more electrical systems in order to satisfy the ever-growing vehicular load demands. Thus, it is imperative that automotive electrical power systems will obviously undergo a drastic change in the next 10-20 years. Currently, the situation in the automotive industry is such that the demands for higher fuel economy and more electric power are driving advanced vehicular power system voltages to higher levels. For example, the projected increase in total power demand is estimated to be about three to four times that of the current value. This means that the total future power demand of a typical advanced vehicle could roughly reach a value as high as 10 kW. In order to satisfy this huge vehicular load, the approach is to integrate power electronics intensive solutions within advanced vehicular power systems. In view of this fact, this paper aims at reviewing the present situation as well as projected future research and development work of advanced vehicular electrical power systems including those of electric, hybrid electric, and fuel cell vehicles (EVs, HEVs, and FCVs). The paper will first introduce the proposed power system architectures for HEVs and FCVs and will then go on to exhaustively discuss the specific applications of dc/dc and dc/ac power electronic converters in advanced automotive power systems

$Z$ -Source Inverter for Residential Photovoltaic Systems

Abstract: This paper proposes a Z-source inverter system for a split-phase grid-connected photovoltaic system. The operation principle, control method, and characteristics of the system are presented. A comparison between the new and traditional system configurations is performed. Simulation and experimental results are also shown to verify the proposed circuit and analysis

Analytical loss model of power MOSFET

Abstract: An accurate analytical model is proposed in this paper to calculate the power loss of a metal-oxide semiconductor field-effect transistor. The nonlinearity of the capacitors of the devices and the parasitic inductance in the circuit, such as the source inductor shared by the power stage and driver loop, the drain inductor, etc., are considered in the model. In addition, the ringing is always observed in the switching power supply, which is ignored in the traditional loss model. In this paper, the ringing loss is analyzed in a simple way with a clear physical meaning. Based on this model, the circuit power loss could be accurately predicted. Experimental results are provided to verify the model. The simulation results match the experimental results very well, even at 2-MHz switching frequency.

Flyback-Type Single-Phase Utility Interactive Inverter With Power Pulsation Decoupling on the DC Input for an AC Photovoltaic Module System

Abstract: In recent years, interest in natural energy has grown in response to increased concern for the environment. Many kinds of inverter circuits and their control schemes for photovoltaic (PV) power generation systems have been studied. A conventional system employs a PV array in which many PV modules are connected in series to obtain sufficient dc input voltage for generating ac utility line voltage from an inverter circuit. However, the total power generated from the PV array is sometimes decreased remarkably when only a few modules are partially covered by shadows, thereby decreasing inherent current generation, and preventing the generation current from attaining its maximum value on the array. To overcome this drawback, an ac module strategy has been proposed. In this system, a low-power dc-ac utility interactive inverter is individually mounted on each PV module and operates so as to generate the maximum power from its corresponding PV module. Especially in the case of a single-phase utility interactive inverter, an electrolytic capacitor of large capacitance has been connected on the dc input bus in order to decouple the power pulsation caused by single-phase power generation to the utility line. However, especially during the summer season, the ac module inverters have to operate under a very high atmospheric temperature, and hence the lifetime of the inverter is shortened, because the electrolytic capacitor has a drastically shortened life when used in a high-temperature environment. Of course, we may be able to use film capacitors instead of the electrolytic capacitors if we can pay for the extreme large volume of the inverter. However, this is not a realistic solution for ac module systems. This paper proposes a novel flyback-type utility interactive inverter circuit topology suitable for ac module systems when its lifetime under high atmospheric temperature is taken into account. A most distinctive feature of the proposed system is that the decoupling of power pulsation is executed by an additional circuit that enables employment of film capacitors with small capacitance not only for the dc input line but also for the decoupling circuit, and hence the additional circuit is expected to extend the lifetime of the inverter. The proposed inverter circuit also enables realization of small volume, lightweight, and stable ac current injection into the utility line. A control method suitable for the proposed inverter is also proposed. The effectiveness of the proposed inverter is verified thorough P-SIM simulation and experiments on a 100-W prototype

Dynamic Maximum Power Point Tracking of Photovoltaic Arrays Using Ripple Correlation Control

Abstract: A dynamically rapid method used for tracking the maximum power point of photovoltaic arrays, known as ripple correlation control, is presented and verified against experiment The technique takes advantage of the signal ripple, which is automatically present in power converters The ripple is interpreted as a perturbation from which a gradient ascent optimization can be realized The technique converges asymptotically at maximum speed to the maximum power point without the benefit of any array parameters or measurements The technique has simple circuit implementations

Hybrid electric vehicle propulsion system architectures of the e-CVT type

Abstract: There is now significant interest in hybrid electric vehicle (HEV) propulsion systems globally. Economics play a major role as evidenced by oil prices in North America pressing upwards of $100/Bbl coupled with a customer preference for full size crossover and sport utility vehicles. The situation in Oceania is milder, but emerging markets such as China are experiencing automotive sector growth rates of 37%/year. Europe remains least affected by hybrids since nearly 47% of all new vehicles sold are diesel fueled and have economy ratings on par with that of gasoline-electric hybrids. In the global economy there are presently some 57 Mil new vehicles manufactured each year. Toyota and Honda have projected that HEVs will be 10 % to 15 % of the U.S. market by 2009, with Toyota raising the bar further by stating they will produce 1 Mil hybrids a year in the 2012 time frame. Hybrid propulsion system types are only vaguely comprehended by the buying public, and to a large measure, even by technical professionals. This paper addresses this latter issue by presenting a summary of the globally accepted standard in hybrid power trains-the power split architecture, or more generically and in common usage, the electronic-continuously variable transmission

Automotive DC-DC bidirectional converter made with many interleaved buck stages

Abstract: Interleaving technique is used in some applications due to its advantages regarding filter reduction, dynamic response, and power management. In dual battery system vehicles, the bidirectional dc-dc converter takes advantage of this technique using three-to-five paralleled buck stages. In this paper, we propose the use of a much higher number of phases in parallel together with digital control. It will be shown that this approach opens new possibilities since changes in the technology are possible. Thus, two 1000-W prototypes have been designed using surface mount technology devices (SO-8 transistors). An additional important feature is that due to the accuracy of the digital device [field-programmable gate array (FPGA)], current loops have been eliminated, greatly simplifying the implementation of the control stage

Quasi-Resonant Zero-Current-Switching Bidirectional Converter for Battery Equalization Applications

Abstract: A systematic approach to reform and analyze a soft-switching bidirectional dc-to-dc converter is proposed for cell voltage balancing control in a series connected battery string. quasi-resonant converter circuits have been designed to achieve the zero-current-switching (ZCS) to reduce the switching loss in bidirectional battery equalizers. The results indicate that the switching loss and energy transfer efficiency can be substantially improved using the quasi-resonant ZCS (QRZCS) technology in a battery charging system with an individual cell equalizer (ICE). The validity of the battery equalization is further verified using an experimental installation involving a battery string of three lithium-ion cells. The simulation and experimental results show that the proposed QRZCS battery equalization schemes can achieve bidirectional battery equalization performance and reduce the MOSFET transistor switch power losses by more than 96% and increase the efficiency by around 20%~30% compared with the conventional battery equalizer during an identical equalization process

A Novel Soft-Commutating Isolated Boost Full-Bridge ZVS-PWM DC–DC Converter for Bidirectional High Power Applications

Abstract: A soft-commutating method and control scheme for an isolated boost full bridge converter is proposed in this paper to implement dual operation of the well-known soft-switching full bridge dc/dc buck converter for bidirectional high power applications. It provides a unique commutation logic to minimize a mismatch between current in the current-fed inductor and current in the leakage inductance of the transformer when commutation takes place, significantly reducing the power rating for a voltage clamping snubber and enabling use of a simple passive clamped snubber. To minimize the mismatch, the method and control scheme utilizes the resonant tank and freewheeling path in the existing full bridge inverter at the voltage-fed side to preset the current in the leakage inductance of the transformer in a resonant manner. Zero-voltage-switching is also achieved for all the switches at the voltage-fed side inverter in boost mode operation. The proposed soft-commutating method is verified through boost mode operation of a 3-kW bidirectional isolated full bridge dc/dc converter developed for fuel cell electric vehicle applications. The tested result verified the isolated boost converter can operate at an input voltage of 8.5–15V and an output voltage of 250–420V with a peak efficiency of 93% and an average efficiency of 88% at 55-kHz switching frequency with 72 $^circ$ C automotive coolant.

Active harmonic elimination for multilevel converters

Abstract: This paper presents an active harmonic elimination method to eliminate any number of specific higher order harmonics of multilevel converters with equal or unequal dc voltages. First, resultant theory is applied to transcendental equations characterizing the harmonic content to eliminate low order harmonics and to determine switching angles for the fundamental frequency switching scheme and a unipolar switching scheme. Next, the residual higher order harmonics are computed and subtracted from the original voltage waveform to eliminate them. The simulation results show that the method can effectively eliminate the specific harmonics, and a low total harmonic distortion (THD) near sine wave is produced. An experimental 11-level H-bridge multilevel converter with a field programmable gate array controller is employed to implement the method. The experimental results show that the method does effectively eliminate any number of specific harmonics, and the output voltage waveform has low THD.

Digital Current Control of a Voltage Source Converter With Active Damping of LCL Resonance

Abstract: Inductance-capacitor-inductance (LCL)-filters installed at converter outputs offer higher harmonic attenuation than L-filters, but careful design is required to damp LCL resonance, which can cause poorly damped oscillations and even instability. A new topology is presented for a discrete-time current controller which damps this resonance, combining deadbeat current control with optimal state-feedback pole assignment. By separating the state feedback gains into deadbeat and damping feedback loops, transient overcurrent protection is realizable while preserving the desired pole locations. Moreover, the controller is shown to be robust to parameter uncertainty in the grid inductance. Experimental tests verify that fast well-damped transient response and overcurrent protection is possible at low switching frequencies relative to the resonant frequency

A Digital Current-Mode Control Technique for DC–DC Converters

Abstract: The objective of this paper is to propose a simple digital current mode control technique for dc-dc converters. In the proposed current-mode control method, the inductor current is sampled only once in a switching period. A compensating ramp is used in the modulator to determine the switching instant. The slope of the compensating ramp is determined analytically from the steady-state stability condition. The proposed digital current-mode control is not predictive, therefore the trajectory of the inductor current during the switching period is not estimated in this method, and as a result the computational burden on the digital controller is significantly reduced. It therefore effectively increases the maximum switching frequency of the converter when a particular digital signal processor is used to implement the control algorithm. It is shown that the proposed digital method is versatile enough to implement any one of the average, peak, and valley current mode controls by adjustment of the sampling instant of the inductor current with respect to the turn-on instant of the switch. The proposed digital current-mode control algorithm is tested on a 12-V input and 1.5-V, 7-A output buck converter switched at 100kHz and experimental results are presented

A bidirectional DC–DC converter for fuel cell electric vehicle driving system

Abstract: This paper presents a power converter for a fuel cell electric vehicle driving system. A new bidirectional, isolated topology is proposed in consideration of the differing fuel cell characteristics from traditional chemical-power battery and safety requirements. The studied converter has the advantages of high efficiency, simple circuit, and low cost. The detailed design and operating principles are analyzed and described. The simulation and experimental waveforms for the proposed converter are shown to verify its feasibility.

Three-level buck converter for envelope tracking applications

Abstract: This letter proposes a three-level buck converter for tracking applications such as envelope-tracking in radio frequency power amplifiers (RFPAs). It is shown that the three-level buck converter can offer advantages in terms of switching ripples, losses, bandwidth, or the size of magnetic components compared to a standard buck or a two-phase buck converter. Experimental results illustrate improved efficiency and ripple rejection in an RFPA envelope-tracking application representative for low-power battery-operated systems.

A New Simplified Multilevel Inverter Topology for DC–AC Conversion

Abstract: Multilevel converters offer high power capability, associated with lower output harmonics and lower commutation losses. Their main disadvantage is their complexity, requiring a great number of power devices and passive components, and a rather complex control circuitry. This work reports a new multilevel inverter topology using an H-bridge output stage with a bidirectional auxiliary switch. The new topology produces a significant reduction in the number of power devices and capacitors required to implement a multilevel output. The new topology is used in the design of a five-level inverter; only five controlled switches, eight diodes, and two capacitors are required to implement the five-level inverter using the proposed topology. The new topology achieves a 37.5% reduction in the number of main power switches required (five in the new against eight in any of the other three configurations) and uses no more diodes or capacitors that the second best topology in the literature, the Asymmetric Cascade configuration. Additionally, the dedicated modulator circuit required for multilevel inverter operation is implemented using a FPGA circuit, reducing overall system cost and complexity. Theoretical predictions are validated using simulation in SPICE, and satisfactory circuit operation is proved with experimental tests performed on a laboratory prototype

A ZVS Bi-Directional DC–DC Converter for Multiple Energy Storage Elements

Abstract: This letter presents a high-power-density multi-input dc-dc converter interfaced with energy storage elements such as a battery and an ultracapacitor. The converter consists of three half-bridges and a high-frequency multi-winding transformer. Bi-directional power flow between input and output is achieved by adjusting the phase-shift angles of the voltages across the two sides of the transformer. Soft-switching is implemented naturally by snubber capacitors and transformer leakage inductance. Operation principles are analyzed in detail. Simulation and experimental results are provided to verify the performance of the proposed converter

Active gate voltage control of turn-on di/dt and turn-off dv/dt in insulated gate transistors

Abstract: As the characteristics of insulted gate transistors [like metal–oxide–semiconductor field-effect transistors and insulated gate bipolar transistors (IGBTs)] have been constantly improving, their utilization in power converters operating at higher and higher frequencies has become more common. However, this, in turn, leads to fast current and voltage transitions that generate large amounts of electromagnetic interferences over wide frequency ranges. In this paper, a new active gate voltage control (AGVC) method is presented. It allows us to control the values of at turn-on and at turn-off for insulated gate power transistors, by acting directly on the input gate voltage shape. In an elementary switching cell, it enables us to strongly reduce over-current generated by the reverse recovery of the free-wheeling diode at turn-on, and oscillations of the output voltage across the transistor at turn-off. In the following sections, the AGVC in open and closed-loop for IGBT is presented, and its performance is compared with that of a more conventional method, i.e., increasing the gate resistance. Robustness of the AGVC is estimated under variations of dc-voltage supply and transistor switched current.

A Passive EMI Filter for Eliminating Both Bearing Current and Ground Leakage Current From an Inverter-Driven Motor

Abstract: This paper presents a practical approach to eliminating both bearing current and ground leakage current from an inverter-driven motor rated at 400 V and 3.7 kW. When the shaft voltage with respect to the motor frame exceeds the dielectric breakdown voltage of thin lubricating grease films in two metal bearings at the drive and non-drive ends, an electrical discharge machining (EDM) current flows through the bearings. A passive electromagnetic interference (EMI) filter can keep the shaft voltage in check, as a result of having eliminated high-frequency common-mode voltage from the motor terminals. Hence, no dielectric breakdown occurs in the grease films, so that no EDM current flows in the bearings. Experimental results verify the viability and effectiveness of the passive EMI filter designed in this paper

Natural Balance of Multicell Converters: The General Case

Abstract: This paper focuses on the development of the natural balancing theory for the p-cell case. It describes the relationship between the models for different numbers of cells in a generic model for a p-cell multicell converter. The model discussed is based on the same principles that were used to develop the two-cell model in , except that the mathematics is much more involved. The same conclusions that were found to be true for the two-cell case was also found to be true for the general case of p cells. These conclusions include that the natural balancing mechanism of multicell converters depends on the overlap of the groups of harmonics of the switching function as well as on the load impedance. It will also be shown that the self-balancing mechanism ensures safe operation under most operating conditions where a high enough switching frequency is chosen and the load is not purely reactive. Two new aspects of the balancing theory were identified in the p-cell case: 1) for fixed duty-cycle modulation there exists certain values of the duty-cycle that causes the natural balancing mechanism to fail and 2) for p-cell converters the balance booster concept can be extended to a number of balance boosters tuned to multiples of the switching frequency. A "DesignTool" based on the balancing theory was developed to aid practicing engineers in designing multicell converters

A General PWM Strategy for Four-Switch Three-Phase Inverters

Abstract: A general pulsewidth modulation (PWM) method for control of four-switch three-phase inverters is presented. The proposed vector PWM offers a simple method to select three or four vectors that effectively synthesize the desired output voltage, even in presence of voltage oscillations across the two dc-link capacitors. The method utilizes the so called space vector modulation, and includes its scalar version. Different vector combinations are compared. The effect of Wye and delta motor winding connections over the pulse width modulator is also considered. The common mode voltage generated by the four-switch three-phase converter is evaluated and compared to that provided by the standard six-switch three-phase inverter. Simulation and experimental results are presented to demonstrate the feasibility of the proposed approach

Natural Balance of Multicell Converters: The Two-Cell Case

Abstract: The multicell converter topology is said to possess a natural voltage balancing property. This paper is the first of a two-part series in which multicell converters are modelled for the general case of p-cells. This paper focuses on the development of the natural balancing theory for the two-cell case. An understanding of the two-cell case is fundamental to understanding the general balancing theory. The switching functions used in switching these converters are mathematically analyzed. Equivalent circuits are derived and presented. The switching and balancing properties of these converters are mathematically analyzed. The main conclusion of the analysis is that the natural balancing of these converters are influenced by three factors namely, the harmonic content of the reference waveform, the switching frequency and the load impedance. Mathematical tools are presented that can help designers to predict if balancing problems would occur for a particular set of operating conditions. As a result of the detailed understanding of the balancing mechanism that is gained through this theory it is shown that by adding a balance booster, the load impedance can be manipulated to improve the natural balancing of the converter. Simulation results are included to verify the presented balance theory and properties

Extended operation of flying capacitor multilevel inverters

Abstract: Recent research in flying capacitor multilevel inverters (FCMIs) has shown that the number of voltage levels can be extended by changing the ratio of the capacitor voltages. For the three-cell FCMI, four levels of operation are expected if the traditional ratio of the capacitor voltages is 1:2:3. However, by altering the ratio, the inverter can operate as a five-, six-, seven-, or eight-level inverter. According to previous research, the eight-level case is referred to as maximally distended (or full binary combination schema) since it utilizes all possible transistor switching states. However, this case does not have enough per-phase redundancy to ensure capacitor voltage balancing under all modes of operation. In this paper, redundancy involving all phases is used along with per-phase redundancy to improve capacitor voltage balancing. It is shown that the four- and five-level cases are suitable for motor drive operation and can maintain capacitor voltage balance under a wide range of power factors and modulation indices. The six-, seven-, and eight-level cases are suitable for reactive power transfer in applications such as static var compensation. Simulation and laboratory measurements verify the proposed joint-phase redundancy control.

Making the case for applications of switched reluctance motor technology in automotive products

Abstract: Switched reluctance machines (SRM) offer attractive attributes for automotive applications. These include robustness to harsh operational conditions, rugged structure, fault resilient performance, and a wide range of speed. The main debate over the adequacy of switched reluctance drives in automotive applications has often focused on efficiency and position sensorless control over the entire speed range, adaptation of control algorithms in the presence of parameter variations, and high levels of acoustic noise and vibration. The present paper demonstrates three key technologies developed over the past few years that have resulted in tangible improvements in the performance of SRM/generators (SRM/G) as related to the above areas of interest. This paper intends to illustrate the new possibilities and remaining challenges in applications of SRM in automotive industry. The proposed technologies have been validated by simulation and experimental results

Sensorless optimization of dead times in dc–dc converters with synchronous rectifiers

Abstract: This paper introduces an approach to achieve optimum dead times in dc–dc converters with synchronous rectifiers without sensing any of the power-stage signals other than the output voltage. The dead times are adjusted adaptively to minimize the duty-cycle command, which results in maximization of the converter efficiency. The method is particularly well suited for digital controller implementation, requiring no additional analog components or modifications of standard gate-drive circuitry. Experimental results for a digitally controlled 5 V-to-1 V, 5-A synchronous buck converter demonstrate practical implementation of the sensorless dead-time optimization algorithm.

Adaptive feedforward and feedback control schemes for sliding mode controlled power converters

Abstract: A major disadvantage of applying sliding mode control to dc/dc converters is that the steady-state switching frequency is affected by line and load variations This is undesirable as it complicates the design of the input and output filters To reduce switching frequency deviation in the events of line and load variations, an adaptive feedforward control scheme that varies the hysteresis band according to the change of line input voltage and an adaptive feedback control scheme that varies the control parameter (ie, sliding coefficient) according to the change of the output load are proposed This paper presents a thorough investigation into the problem and the effectiveness of the proposed solutions In addition, methods of implementing the proposed adaptive control strategies are discussed Experimental results confirm that the adaptive control schemes are capable of reducing the switching frequency variations caused by both line and load variations

Numerical state-space average-value modeling of PWM DC-DC converters operating in DCM and CCM

Abstract: State-space average-value modeling of pulsewidth modulation converters in continuous and discontinuous modes has received significant attention in the literature, and various models have been developed. This paper presents a new approach for generating the state-space average-value model. In the proposed methodology, the so-called duty-ratio constraint and the correction term are extracted numerically using the detailed simulation and are expressed as nonlinear functions of the duty cycle and average-value of the fast state variable. The parasitic effects of circuit elements are readily included. The resulting average-value model is compared to a hardware prototype, a detailed simulation, and several previously published models. The proposed model is shown to be very accurate in predicting the large-signal time-domain transients as well as the small-signal frequency-domain characteristics.

Analysis and design of a low-stress buck-boost converter in universal-input PFC applications

Abstract: In converters for power-factor-correction (PFC), the universal-input capability, i.e., the ability to operate from any ac line voltage world-wide, comes with a heavy penalty in terms of component stresses and losses, and with restrictions on the dc output voltage. In this paper, we propose a new two-switch topology, boost-interleaved buck-boost (BoIBB) converter, which can offer significant performance improvements over single-switch buck-boost converters (including flyback, SEPIC, or Cuk topologies) or other two-switch buck-boost converters in universal-input PFC applications. The paper presents an analysis of the converter operation and component stresses, as well as design guidelines. High efficiency (over 93%) throughout the universal-input ac line voltage range is demonstrated on an experimental 100-W, 200-V dc output, universal-input BOIBB PFC rectifier.

Zero-phase odd-harmonic repetitive controller for a single-phase PWM inverter

Abstract: In this paper, a zero-phase odd-harmonic repetitive control scheme is proposed for pulse-width modulation inverters. The proposed repetitive controller combines an odd-harmonic periodic generator with a noncasual zero-phase compensation filter. It occupies less data memory than a conventional repetitive controller does. Moreover, it offers faster convergence of the tracking error, and yields very low total harmonics distortion (THD) and low tracking error. Analysis and design of the proposed system are presented. Experimental results with the proposed repetitive controller are presented to validate the approach. The phenomena of even-harmonic residues in the proposed control system is discussed and experimentally demonstrated.