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A Robust Control of Two-Stage Grid-Tied PV Systems Employing Integral

Sliding Mode Theory

Article  in  Energies · October 2018

DOI: 10.3390/en11102791

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Article
A Robust Control of Two-Stage Grid-Tied PV Systems
Employing Integral Sliding Mode Theory
Abbes Kihal , Fateh Krim * , Billel Talbi , Abdelbaset Laib and Abdeslem Sahli
Laboratory of Power Electronics and Industrial Control (LEPCI), Electronics Department, Faculty of Technology,
University of Sétif1, Sétif 19000, Algeria; kihalabbas.87@gmail.com (A.K.); bilel_ei@live.fr (B.T.);
laib_abdelbaset@univ-setif.dz (A.L.); sahli_abdeslem@yahoo.fr (A.S.)
* Correspondence: krim_f@ieee.org; Tel.: +213-796-206-432




Received: 26 August 2018; Accepted: 9 October 2018; Published: 17 October 2018


Abstract: This contribution considers an improved control scheme for three-phase two-stage grid-tied
photovoltaic (PV) power systems based on integral sliding mode control (ISMC) theory. The proposed
control scheme consists of maximum power point tracking (MPPT), DC-Link voltage regulation
and grid current synchronization. A modified voltage-oriented maximum power point tracking
(VO-MPPT) method based on ISMC theory is proposed for design of an enhanced MPPT under
irradiation changes. Moreover, a novel DC-Link voltage controller based on ISMC theory is proposed
to achieve good regulation of DC-Link voltage over its reference. To inject the generated PV power into
the grid with high quality, a voltage-oriented control based on space vector modulation (SVM) and
ISMC (VOC-ISMC-SVM) has been developed to control the grid current synchronization. Numerical
simulations are performed in a MATLAB/SimulinkTM (R2009b, MathWorks, Natick, MA, USA)
environment to evaluate the proposed control strategy. In comparison with conventional control
schemes, the developed control strategy provides an accurate maximum power point (MPP) tracking
with less power oscillation as well as a fast and an accurate DC-Link regulation under varying
irradiation conditions. Moreover, the transfer of the extracted power into the grid is achieved with
high quality.

Keywords: grid-tied photovoltaic system; maximum power point tracking (MPPT); voltage-oriented
control (VOC); integral sliding mode control (ISMC)theory; DC-Link control

1. Introduction
In recent years, photovoltaic (PV) power technology has become an important and promising
source of energy due to its advantages such as cleanness, renewability, and non-noisiness [1,2]. To make
PV power available for public use, two main topologies are used to transfer the produced PV power
into the grid, called single and two stages [3]. The latter topology has been extensively employed
since maximum power point tracking (MPPT) and control of generated power transfer into the grid
are decoupled by different converters. This feature offers an easier and better control than the single
stage topology control [4,5]. To enhance the cost-effectiveness of this topology, maximum power point
(MPP) should be tracked quickly and accurately under irradiation changes. Moreover, the DC-Link
voltage and power injected into the grid must also be controlled accurately.
Many MPPT techniques have been proposed in the literature to push PV arrays to deliver the
MPP under climatic condition changes [6–23]. Perturb and Observe (P&O) [7,8] and Incremental
Conductance (INC) [9–11] are two well-known conventional MPPT techniques. They are intuitive
to understand and easy to implement. However, they are not able to operate properly in case of
fast changes in environmental conditions; afterwards, they present large oscillations at the MPP in
steady-state conditions. In this context, artificial intelligence is adopted to overcome these drawbacks in

Energies 2018, 11, 2791; doi:10.3390/en11102791 www.mdpi.com/journal/energies

Energies 2018, 11, 2791 2 of 21

the form of different methods such as Artificial Neural Networks (ANN) [12], Fuzzy Logic (FL) [13–15],
Genetic Algorithms (GA) [16], Pattern Swarm Optimization (PSO) [17], and Grey Wolf Optimization
(GWO) [18]. Unlike conventional methods, the modern algorithms provide better performance.
However, they are complex in design and rigorous to implement in practice. Therefore, several
research works were interested in Voltage-Oriented MPPT (VO-MPPT) and Current-Oriented MPPT
(CO-MPPT) [19–24]. These methods involve MPPT voltage-based algorithm (V-MPPT) in cascade
with voltage control loop or MPPT current-based algorithm (C-MPPT) in cascade with current control
loop. Due to the almost-zero change in PV voltage at the MPP under irradiation changes, VO-MPPT is
considered to be a fast MPP tracking strategy [19,20]. However, the efficiency of this method depends
on the voltage regulator design.
To ensure transfer of produced PV power into the grid, the DC-Link voltage must be regulated
to a desired value higher than the grid peak voltage. The purpose of this regulation is to maintain
the DC-Link voltage to its desired value as well as to estimate the reference power or current for the
grid-side inverter controller. For this purpose, a proportional−integral (PI) or fuzzy controllers are
widely used in the literature [24–27]. However, PI regulator suffers from long response time and
inaccurate regulation under solar irradiation changes. To overcome the inherent difficulties of the PI
controller, several types of fuzzy controllers have been proposed [24,25]. These intelligent controllers
provide high-performance control. However, they lead to high computational burden which drastically
reduces their use, especially in the case of complex systems.
Obviously, the injection of the produced PV power into the grid must be performed with low
total harmonic distortion (THD %) for grid currents. In this context, numerous research works are
interested in direct power control (DPC) [28] and virtual flux direct power control (VF-DPC) [29] based
on switching tables. These two techniques do not provide high-performance control, and the switching
frequency is variable and not controllable. Otherwise, some researchers have developed distinct
control strategies such as hysteresis control [30] or Finite-set predictive control [31]. Hence, these
strategies provide high-performance control, but they suffer from uncontrollable switching frequency.
Other research works have employed voltage-oriented control (VOC) based on PI controllers through
pulse width modulation (PWM) or space vector modulation (SVM) [32]. In these strategies, the PI
controller weaknesses reduce the power transfer control performance.
Currently, sliding mode control (SMC) theory is widely introduced in power electronic converters
control [33–36]. In grid-tied PV systems, SMC is employed for different purposes such as: to modify
the voltage control loop of VO-MPPT [22,23], or internal current loop of VOC [36]. The application
of SMC offers high control performance in addition to simple experimental implementation [33–37].
However, it suffers from an undesirable effect named chattering. This problem is inevitably caused
by the conventional switching function (signum function) which leads to high switching frequency.
To reduce this phenomenon, numerous research works use the saturation as switching function [22].
In [23,36] the error between the selected variable and its reference has been used as input for switching
surface. However, a steady-state error (SSE) remains. That is why an advanced theory in SMC was
developed to enhance the SMC control performance and reduce its disadvantage by adding an integral
term to the sliding surface, which is called an integral sliding mode controller (ISMC).
In this paper, ISMC theory is used to develop effective and simple controllers for a two-stage
grid-tied PV system. Moreover, the control law design has been modified, where an approximation
of sign function is used as switching function resulting in a significant reduction of the chattering
phenomenon. Firstly, a fixed switching frequency VO-MPPT based on ISMC theory is proposed
to control the first stage (DC-DC converter) to achieve a fast and accurate MPP tracking under
solar irradiation changes. Then, a new design of DC-Link voltage control based on ISMC theory is
proposed to improve the regulation performance compared to other controller types, under linear solar
irradiation changes. Furthermore, to control the injection of produced PV power into the grid with
high grid current quality, a modified VOC based on ISMC theory is proposed. Numerical simulations
through MATLAB/SimulinkTM and Simpower packages are carried out to confirm the improvement
Energies 2018, 11, 2791 3 of 21

in control performance owing to the proposed scheme based on ISMC theory, under solar irradiation
Energies 2018, 11, x 3 of 20
changes, in comparison with a conventional control scheme based on PI regulators.
Bearing these
Bearing these ideas
ideas in
in mind,
mind, the
the remainder
remainder of of this
this paper
paper isis arranged
arranged asas follows.
follows. The
The second
second
section introduces an overview of the global system configuration. The proposed control scheme with
section introduces an overview of the global system configuration. The proposed control scheme with
detailed procedure
detailed procedure design
design is
is presented
presented inin the
the third
third section.
section. Simulation
Simulation results
results and
and discussions
discussions are
are
presented in the fourth section, after which conclusions are drawn in the final section.
presented in the fourth section, after which conclusions are drawn in the final section.

2. Overall System Configuration

2. Overall System Configuration
The system under consideration, which is shown in Figure 1, represents two-stage topology of
The system under consideration, which is shown in Figure 1, represents two-stage topology of
the grid-tied PV system. It is mainly composed of the following blocks: PV array which converts
the grid-tied PV system. It is mainly composed of the following blocks: PV array which converts solar
solar irradiation into electrical energy, DC-DC boost converter is used to track the MPP and deliver it
irradiation into electrical energy, DC-DC boost converter is used to track the MPP and deliver it
continuously to the DC-Link, two-level three-phase inverter whose role is to transfer the generated PV
continuously to the DC-Link, two-level three-phase inverter whose role is to transfer the generated
power from the boost converter to the mains grid through a passive filter “R g , L g ” .
PV power from the boost converter to the mains grid through a passive filter "𝑅𝑅𝑔𝑔 , 𝐿𝐿𝑔𝑔 " .

Figure 1.
Figure 1. Two-stage grid-tied PV
Two-stage grid-tied PV system
system topology.
topology.

2.1. PV Array Model

2.1. PV Array Model
The PV cell is the basic component in the conversion of sunlight into direct electrical energy.
The PV cell is the basic component in the conversion of sunlight into direct electrical energy.
Several PV cells connected either in series or parallel form a PV array, which could be modeled by the
Several PV cells connected either in series or parallel form a PV array, which could be modeled by
following equation [6]
the following equation [6]
𝑁𝑁𝑠𝑠 𝑣𝑣𝑝𝑝𝑝𝑝 +(𝑁𝑁𝑠𝑠 ⁄𝑁𝑁𝑝𝑝sPV
 Ns v pv +( Ns /Np )R i pv
)𝑅𝑅𝑠𝑠𝑠𝑠𝑠𝑠 𝑖𝑖𝑝𝑝𝑝𝑝 Ns v pv + ( Ns /Np ) RsPV i pv

i pv𝑖𝑖 ==N𝑁𝑁
p i ph − N i e aNs vt − 1 − − 𝑁𝑁𝑠𝑠 𝑣𝑣𝑝𝑝𝑝𝑝 + (𝑁𝑁𝑠𝑠 ⁄𝑁𝑁𝑝𝑝 )𝑅𝑅𝑠𝑠𝑠𝑠𝑠𝑠 𝑖𝑖𝑝𝑝𝑝𝑝 (1)
(1)
𝑝𝑝 𝑖𝑖𝑝𝑝ℎ − 𝑁𝑁𝑝𝑝 𝑖𝑖𝑜𝑜 �𝑒𝑒 − 1�
p o 𝑎𝑎𝑁𝑁 𝑣𝑣
𝑠𝑠 𝑡𝑡
𝑝𝑝𝑝𝑝 (N p )R
(𝑁𝑁s /N
𝑠𝑠 ⁄𝑁𝑁𝑝𝑝 )𝑅𝑅shPV
𝑠𝑠ℎ𝑃𝑃𝑃𝑃

where,i ph
where, 𝑖𝑖𝑝𝑝ℎis is the
the photocurrent,
photocurrent, io the the reverse
𝑖𝑖𝑜𝑜 reverse saturation
saturation or leakage
or leakage current current
of theof the diode,
diode, RsPV and and
𝑅𝑅𝑠𝑠𝑠𝑠𝑠𝑠RshPV
𝑅𝑅𝑠𝑠ℎ𝑃𝑃𝑃𝑃 respectively
respectively theand
the series series andresistances
shunt shunt resistances
of the PVof cell,
the PV cell,thermal
vt the 𝑣𝑣𝑡𝑡 the voltage
thermalof voltage
the PVofmodule,
the PV
amodule,
the diode the diode
𝑎𝑎 ideality ideality
factor, Ns and factor,
NP the and 𝑁𝑁𝑃𝑃 ofthe
𝑁𝑁𝑠𝑠numbers PV numbers
cells in seriesof PV andcells in series
parallel and parallel
respectively [6].
respectively
The PV [6]. array model is simulated for different irradiation values at T = 25 C and for different ◦

The PVvalues
temperature array model is simulated
with a fixed irradiation for value
different
G = irradiation
1000 W/m2values , to show at T
the= effect
25 °Cofand for different
irradiation and
temperature values with a fixed irradiation value G = 1000 W/m , to show the effect of irradiation and
temperature variations on the PV array. According to obtained 2
(I–V) and (P–V) characteristics presented
temperature
in Figure 2, a strong variations on the PV
dependence linksarray.
the PV According to obtained
array current (I–V) andwhich
to the irradiation (P–V)affects
characteristics
strongly
presented
the MPP ofinthe Figure 2, a strong
PV array. dependence
Nevertheless, links the
the voltage PV array
increases current
a little bit to the irradiation
when which affects
the solar irradiation G is
strongly the
increased from MPP
500 of
W/m the PV
2
array.
to 1000 W/mNevertheless,
2 . In contrast,theasvoltage
shown increases
in Figure a3, little bit when the
the temperature solar
change
irradiation
has little effect G isonincreased
the MPP of fromthe 500 W/m2 Also,
PV array. to 1000
it isW/m
worth2. In contrast,
noting as shown
that the in Figure
temperature 3, the
variations
temperature
during the day change has little
are generally not effect on the MPP of the PV array. Also, it is worth noting that the
important.
temperature variations during the day are generally not important.
Energies 2018, 11, x 4 of 20
Energies 2018, 11, 2791 4 of 21
Energies
Energies2018,
10
2018, 11,
11,xx 2 2 2 2
600
G=1000 W/m
2
G=800 W/m
2
G=700 W/m
2
G=500 W/m
44of
2 20
of 20
G=1000 W/m G=800 W/m G=700 W/m G=500 W/m
500
8 600
10
10 600 22 22 22 22
2 2 2 2 G=1000
G=1000W/m
W/m G=800
G=800W/m
W/m G=700
G=700W/m
W/m G=500
G=500W/m
W/m
G=1000
G=1000W/m
W/m
2 G=800
G=800W/m
W/m
2 G=700
G=700W/m
W/m
2 G=500
G=500W/m
W/m
2
400
Current (W)

6 500

Power (W)
88 500
300
400
400
4
(W)

66

(W)
PV(W)

PV(W)
200
300
Current

300
PVCurrent

Power
PVPower
2
44 100
200
200

PV
PV

0 0
22
0 10 20 30 40 50 60 70 80 90 100 10 20 40 50 70
100 0 30 60 80 90
PV Voltage (V) PV Voltage (V)
00 00
(a) (b)
00 10
10 20
20 30
30 40
40 50
50 60
60 70
70 80
80 90
90 00 10 20 30 40 50 60 70 80 90
10 20 30 40 50 60 70 80 90
PV
PVVoltage
Voltage(V)
(V) PV
PVVoltage
Voltage(V)
(V)
Figure 2. PV array
(a) characteristics for different solar irradiation values:(b)
(a) (a) I–V; (b) P–V.
(b)
Figure
Figure
Figure 2.
2. PV
T=20 °C 2. PV
PV array
T=25 array
array
°C
characteristics
characteristics
characteristics
T=30 °C T=35 °C
for
fordifferent
for differentsolar
different solarirradiation
600
solar T= 20values:
irradiation
irradiation values:
values:
°c (a)°c I–V;
(a)
(a)
T= 25 I–V;T=(b)
I–V; (b)
30 °c P–V.
(b) P–V.
P–V.
T= 35 °c
8
500
600
600
T=20 T=
T=20
20°c°c T=
T=25
25°c°c T=
T=30
30°c°c T=
T=35
35°c°c
T=20°C
°C T=25
T=25°C
°C T=30
T=30°C
°C T=35
T=35°C
°C
688 400
500
500

Power (W)
Current (A)

300
466 400
400

(W)
(A)

PV(W)
PV(A)

200
300
Current

300
Power
PVCurrent

PVPower
244
100
200
200
PV
PV

022 0
0 10 20 30 40 50 60 70 80 90 100
100 0 10 20 30 40 50 60 70 80 90
PV Voltage (V) PV Voltage (V)
00 00

(a) (b)
00 10
10 20
20 30
30 40
40 50
50 60
60 70
70 80
80 90
90 00 10 20 30 40 50 60 70 80 90
10 20 30 40 50 60 70 80 90
PV
PVVoltage
Voltage(V) PV
(V) PVVoltage
Voltage(V)
(V)
Figure 3. PV(a)
array characteristics for different temperature values: (a)
(a) (b)I–V; (b) P–V.
(b)
Figure
2.2. Boost Converter
Figure 3.
3. PV
3. PV array
PV array characteristics
FigureModeling
array characteristics for
characteristics fordifferent
for differenttemperature
different temperature values:
temperature values: (a)
values: (a)I–V;
(a) (b)
I–V; (b)
I–V; P–V.
(b)P–V.
P–V.

2.2. The DC-DC

2.2. Boost
Boost Converter
Converter boost converter is usually used in PV systems for tracking the MPP produced by the
Modeling
Modeling
PV array due to some of its important features, such as simplicity, robustness, and continuous input
TheFigure
The DC-DC4boost
DC-DC boost converter
converter isisusually
usually usedcircuits
used inPV
in PV systems
systems foron
for tracking
tracking theswitching
the MPP produced
MPP produced
states.byThethe
by the
current. shows the equivalent boost for both and off
PV arraymodel to
due toof some
some of its important
of its important features, such as simplicity,
converter features,
in term ofsuch dutyascycle simplicity, robustness, and continuous input
PV array due robustness, and continuous input
dynamic the boost "𝐷𝐷" can be expressed, using averaging
current.
current.
current. Figure
Figure
Figure 4 4shows
4 shows
shows thethe
the equivalent
equivalent
equivalent boost boost
boost
circuits circuits
circuits
for both for
for both
both
on andon offand
on and off
off
switchingswitching
switching
states. Thestates.
states. The
dynamicThe
method presented in [37], as
dynamic
dynamic
model of model
model
the of
boost of the
the boost
boost converter
converter in term ofin
converter term
indutytermcycle of
of duty “D”cycle
duty cycle
can be "𝐷𝐷"
"𝐷𝐷" can
can be be expressed,
expressed, expressed, using
using averaging
using averaging averaging
method
method 𝑑𝑑𝑣𝑣𝑝𝑝𝑝𝑝 𝑖𝑖𝑝𝑝𝑝𝑝 − 𝑖𝑖𝐿𝐿
method presented
presented in [37], asin
presented in [37],
[37], as
as ⎧( dv pv = i pv𝐶𝐶−i L
𝑑𝑑𝑑𝑑
𝑑𝑑𝑣𝑣
𝑑𝑑𝑣𝑣
dt = 𝑖𝑖 Cin𝑖𝑖𝑖𝑖
𝑖𝑖𝑝𝑝𝑝𝑝 −−Dv 𝑖𝑖𝑖𝑖𝐿𝐿𝐿𝐿 (2)
⎧⎧𝑑𝑑𝑖𝑖𝐿𝐿di L =
⎨ 𝑣𝑣𝑝𝑝𝑝𝑝
𝑝𝑝𝑝𝑝v −−𝑣𝑣
𝑝𝑝𝑝𝑝 ==
pv dc ++
v𝑝𝑝𝑝𝑝
𝑑𝑑𝑑𝑑 𝐷𝐷𝐷𝐷dc 𝑑𝑑𝑑𝑑
(2)
=
⎩ 𝑑𝑑𝑑𝑑 dt 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝐶𝐶
L𝐶𝐶𝑖𝑖𝑖𝑖
𝐿𝐿 𝑖𝑖𝑖𝑖 (2)
(2)
⎨⎨ 𝑑𝑑𝑖𝑖
𝑑𝑑𝑖𝑖𝐿𝐿
𝐿𝐿
𝑣𝑣𝑣𝑣𝑝𝑝𝑝𝑝
𝑝𝑝𝑝𝑝
−
− 𝑣𝑣𝑣𝑣𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑
+
+𝐷𝐷𝐷𝐷 𝐷𝐷𝐷𝐷𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑
where, i L and v pv are the state variables; D duty = cycle considered as input variable; v the DC-Link
where, 𝑖𝑖𝐿𝐿 and 𝑣𝑣𝑝𝑝𝑝𝑝 are the state variables; ⎩⎩𝑑𝑑𝑑𝑑 𝐷𝐷= duty cycle 𝐿𝐿𝐿𝐿 considered as input variable; 𝑣𝑣𝑑𝑑𝑑𝑑 the DC-
dc
capacitor voltage. 𝑑𝑑𝑑𝑑
Link capacitor voltage.
where, 𝑖𝑖𝑖𝑖𝐿𝐿𝐿𝐿 and
where, and 𝑣𝑣𝑣𝑣𝑝𝑝𝑝𝑝 are the state variables; 𝐷𝐷 duty cycle considered as input variable; 𝑣𝑣 𝑑𝑑𝑑𝑑 the
𝑝𝑝𝑝𝑝 are the state variables; 𝐷𝐷 duty cycle considered as input variable; 𝑣𝑣𝑑𝑑𝑑𝑑 the DC-
DC-
Link
Link capacitor
capacitor voltage.
voltage.

(a) (b)
Figure
(a)
(a)
Figure 4.
4. Equivalent
Equivalent boost
boost circuit:
circuit: (a)
(a) on
on state;
state; (b)
(b) off
off state.
(b)
(b)
state.

Figure
Figure 4.
4. Equivalent
Equivalent boost
boostcircuit:
circuit: (a)
(a) on
onstate;
state; (b)
(b) off
offstate.
state.
Energies 2018, 11, 2791 5 of 21

2.3. Inverter Model

The power circuit of the three-phase inverter consists of six bidirectional switches to connect
the three-phase grid through a passive filter “R g , L g ”. Each bidirectional switch is composed of an
Insulated Gate Bipolar Transistor (IGBT) with antiparallel diode. The two switches of each inverter leg
must operate in a complementary mode to avoid the short circuit of the DC-Link. The inverter voltage
vector can be expressed in terms of DC-Link voltage and switching states as follows [19]
  
2 j2π/3 j4π/3
v = vdc Sa + e Sb + e Sc (3)
3

where Sa , Sb and Sc are the switching states of the inverter.

3. Proposed Control Scheme

The proposed controllers for the two-stage grid-tied PV system are as follows:

• VO-MPPT based on ISMC, to enhance the PV energy conversion efficiency under any
irradiation changes.
• DC-Link voltage controller based on ISMC, to maintain the DC-Link voltage close to its reference
under any irradiation changes.
• VOC based on the modified ISMC and SVM, to control the injection of the produced PV power
into the grid.

3.1. ISMC Theory

The concept of an integral sliding mode controller (ISMC) generally includes three steps. The first
step concerns the design of a sliding surface on which the sliding motion will take place. The control
law is designed in the second step. The control law concept depends on the selection of switching
function to force the system state trajectories to track and slide on the sliding surface. Whereas, the last
step ensures the reaching condition, which pledges the existence of the sliding mode [38,39].
In the present contribution, a high-performance control scheme for grid-tied PV system using
ISM controllers is proposed. In ISMC theory, an integral term is added to the sliding surface to obtain
a high-performance control and to achieve a quick and accurate tracking. The sliding surface “s” in an
ISM controller can be expressed as Z
s = e + ki e dt (4)

where, e is the error between the measured variable and its reference, k i is the sliding surface coefficient.
Typically, the control law has a structure given as

u = ueq + udis (5)

where, ueq is the equivalent part responsible for helping to keep sliding, and udis is the discontinuous
part used to enforce the sliding mode to remain along the sliding surface traditionally written as follows

udis = −M sign (s) (6)

where, M is the proportional gain of discontinuous control and sign (s) is sign function.
The discontinuity related with this part leads to chattering phenomenon. To eliminate this
drawback, the sign function is replaced with its smoothing approximation, as shown in Figure 5.
Hence udis can be expressed by the following equation
s
udis = −M (7)
ksk + α
Energies 2018, 11, 2791 6 of 21

Energies 2018, 11, x 6 of 20

Energies α is11,
where,2018, x
a small positive value. 6 of 20

Figure 5. Approximation of sign function.

Figure
Figure5.5.Approximation
Approximationof
ofsign
signfunction.
function.
After the design of control law in the previous steps, the conditions required to ensure the
control
Afterstability
After the will of
design
the design be checked.
ofcontrol
controllaw Lyapunov
lawin in
thethe function
previous
previous is the
steps,
steps, used
thetoconditions
examine
conditions the control
required
required tostability.
to ensure ensure It
theis
the control
definedstability
control
stability as
willfollows
be will be checked.
checked. Lyapunov Lyapunov function
function is used istoused to examine
examine the control
the control stability.stability. It is
It is defined
defined as follows
as follows 1
𝑉𝑉 = 1 𝑠𝑠 2 (8)
V =12 s2 (8)
𝑉𝑉 = 𝑠𝑠 2 2 (8)
Therefore, to
Therefore, to guarantee
guarantee the
the convergence
convergence of
2 it should be verified that the derivative of 𝑉𝑉 is
𝑉𝑉,
of V, it should be verified that the derivative of V is
negative as follows
Therefore,
negative to guarantee the convergence of 𝑉𝑉, it should be verified that the derivative of 𝑉𝑉 is
as follows
.
negative as follows V𝑉𝑉̇ =
.
= s𝑠𝑠𝑠𝑠̇
s< < 00 (9)
(9)
Accordingly, one
Accordingly, one will
will define 𝑉𝑉̇ =
define individually
individually 𝑠𝑠𝑠𝑠̇reaching
the
the <0
reaching condition for
condition for each
each of
of the
the three (9)
three proposed
proposed
controllers,
controllers, in the
Accordingly,
in the one
following sections.
will define
following individually the reaching condition for each of the three proposed
sections.
controllers, in the following sections.
3.2. MPPT
3.2. MPPT Control
Control
3.2. MPPT
To Control
To obtain
obtainanan optimal
optimal exploitation
exploitation of PV
of the thearray
PV array
duringduring
all solarall solar irradiation
irradiation changes,
changes, the the
proposed
proposed
control control
scheme
To obtain is scheme
an optimalisin
divided divided
two steps
exploitation in two steps
as shown
of the PVasin shown
Figure
array in6.Figure
during 6. aFirstly,
Firstly,
all solar a P&O-based
P&O-based
irradiation voltage voltage
changes,MPPT
the
MPPT generates the reference Vvoltage 𝑉𝑉 . After that, an improved ISMC-based
proposed control scheme is divided in two𝑟𝑟𝑟𝑟𝑟𝑟steps as shown in Figure 6. Firstly, a P&O-based voltageis
generates the reference voltage re f . After that, an improved ISMC-based cascade cascade
voltage voltage
regulator
regulator
proposed
MPPT is
toproposed
enforce
generates the theto PV
enforce
reference the PV
voltage
voltage voltage
v pv 𝑉𝑉
to track 𝑣𝑣V𝑝𝑝𝑝𝑝
𝑟𝑟𝑟𝑟𝑟𝑟 . After
f to track
generated
re that, an improved generated
𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟previously bypreviously
ISMC-basedproviding by providing
the
cascade suitable
voltage
the suitable
duty cycle
regulator is Dduty cycle
for PWM
proposed 𝐷𝐷 for PWM
tomodulation
enforce the PV modulation
stage to control
voltage 𝑣𝑣stage
𝑝𝑝𝑝𝑝
the to control
boost
to track the
𝑉𝑉converter.
𝑟𝑟𝑟𝑟𝑟𝑟
boost converter.
generated previously by providing
the suitable duty cycle 𝐷𝐷 for PWM modulation stage to control the boost converter.

Figure
Figure 6.
6. Block
Block diagram
diagram of
of proposed VO-MPPT.
proposed VO-MPPT.

3.2.1. P&O-Based V-MPPT Figure 6. Block diagram of proposed VO-MPPT.

3.2.1. P&O-Based V-MPPT
3.2.1. The
P&O-Based
The objectiveV-MPPT
objective of the V-MPPT is to generate Vre f corresponding to the MPP. For this purpose,
of the V-MPPT is to generate 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟 corresponding to the MPP. For this purpose,
P&O-based V-MPPT technique is employed due to its featuring effectiveness and simplicity as shown
P&O-based V-MPPT
The objective technique
of the V-MPPTis employed due to
is to generate its featuring
𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟 effectiveness
corresponding and simplicity
to the MPP. as shown
For this purpose,
in Figure 7.
in Figure 7.
P&O-based V-MPPT technique is employed due to its featuring effectiveness and simplicity as shown
in Figure 7.
Energies 2018, 11, 2791 7 of 21

Energies 2018, 11, x 7 of 20

Figure
Figure 7.
7. P&O-based
P&O-based V-MPPT flowchart.
V-MPPT flowchart.

3.2.2.
3.2.2. ISM
ISM Controller
Controller Design
Design

Due to the
Due to the almost-zero
almost-zero change
change inin PV
PV voltage
voltage at
at the
the MPP
MPP under
under irradiation
irradiation changes,
changes, VO-MPPT
VO-MPPT
is considered to be a fast alternative [18,19]. However, the efficiency of this method depends on
is considered to be a fast alternative [18,19]. However, the efficiency of this method depends the
on the
cascade voltage regulator concept. In this section, an enhanced cascade voltage regulator based on
cascade voltage regulator concept. In this section, an enhanced cascade voltage regulator based on
ISMC theory is
ISMC theory proposed to
is proposed to provide
provide thethe suitable
suitable duty
duty ratio
ratio D to drive
𝐷𝐷 to drive the
the boost
boost converter
converter towards
towards
V𝑟𝑟𝑟𝑟𝑟𝑟
𝑉𝑉 toimprove
re f to improve thethe extracted
extracted power
power from
from the
the PV
PV array.
array. Hence,
Hence, inin the
the controller
controller strategy
strategy the
the sliding
sliding
surface has the same form as given in Equation (4) and expressed as
surface has the same form as given in Equation (4) and expressed as
Z
s𝑠𝑠pv = e𝑒𝑒pv
𝑝𝑝𝑝𝑝 = + k𝑘𝑘i,PV
𝑝𝑝𝑝𝑝 + 𝑖𝑖,𝑃𝑃𝑃𝑃 � 𝑒𝑒e𝑝𝑝𝑝𝑝 𝑑𝑑𝑑𝑑
pv dt (10)
(10)

where, e 𝑒𝑒pv𝑝𝑝𝑝𝑝(t(𝑡𝑡)
where, is the
) is the voltage
voltage errorerror between
between “Vre f ”"𝑉𝑉
and𝑟𝑟𝑟𝑟𝑟𝑟 "“vand "𝑣𝑣 " and 𝑘𝑘 sliding
pv ” and𝑝𝑝𝑝𝑝k i,PV is the𝑖𝑖,𝑃𝑃𝑃𝑃
is the sliding
surface surface
coefficient.
coefficient.
It is considered that δ is the sliding surface derivative, which is also called the sliding manifold,
givenItas
is considered that 𝛿𝛿 is the sliding surface derivative, which is also called the sliding manifold,
given as . .
δ = s pv = e pv + k i,PV e pv (11)

To obtain the equivalent control 𝛿𝛿signal,

= 𝑠𝑠̇𝑝𝑝𝑝𝑝 Equation
= 𝑒𝑒̇𝑝𝑝𝑝𝑝 + 𝑘𝑘𝑖𝑖,𝑃𝑃𝑃𝑃 𝑒𝑒𝑝𝑝𝑝𝑝must be derived and equated to (11)
(11) zero
To obtain the equivalent control signal,
as follows . Equation
.. (11). must be derived and equated to zero as follows
δ𝛿𝛿̇ = +
= 𝑒𝑒̈𝑝𝑝𝑝𝑝 + 𝑘𝑘𝑖𝑖,𝑃𝑃𝑃𝑃e𝑒𝑒̇pv
e k =0
𝑝𝑝𝑝𝑝 = 0
pv i,PV
Or
Or . (12)
..
−v pv − k i,PV v pv = 0 (12)
−𝑣𝑣̈𝑝𝑝𝑝𝑝 − 𝑘𝑘𝑖𝑖,𝑃𝑃𝑃𝑃 𝑣𝑣̇𝑝𝑝𝑝𝑝 = 0
By using Equation (2), Equation (12) can be written as
Energies 2018, 11, 2791 8 of 21

By using Equation (2), Equation (12) can be written as

. 
i pv − L1 v pv − vdc + vdc · D
  
k i,PV i pv − i L
− − =0 (13)
Cin Cin

Thus, the equivalent control can be expressed as

   . 
vdc − v pv + L·k i,PV i pv − i L + L·i pv
Deq = (14)
vdc

Hence, one part of the control input can be obtained; the second part called Ddis is given by
Equation (7).
Therefore, the overall sliding mode controller is expressed as
   . 
vdc − v pv + L·k i,PV i pv − i L + L·i pv s pv
D= − M PV (15)
vdc ks pv k + α

where, M PV is the proportional gain of discontinuous control parts.

The controller described by Equation (15) must satisfy the reaching condition. From Equation (2),
we obtain 
. [i pv −i ]
v pv = C L


in
h.
1
i
(16)
 v.. pv = i pv − L [v pv −vdc + Dvdc ]

C in
. ..
By substituting v pv and v pv in Equation (12), we get
h. i
i pv − L1 v pv − vdc + D ·vdc
  
. i pv − i L
δ=− − k i,PV (17)
Cin Cin

By substituting the overall control law D given by Equation (15) in Equation (17) and after some
simplifications, we get
. s pv
 
vdc
δ = −M PV (18)
L·Cin ks pv k + α
.
Finally, the reaching condition must be verified, which means δ·δ < 0. Thus

. s pv
  
vdc
δ·δ = kδk −M PV <0 (19)
L·Cin ks pv k + α
s pv vdc
Since ks pv k+α
and L·Cin are always positive, it is obvious that the reaching condition is verified
only if M PV is chosen positive.

3.3. Design of DC-Link Voltage Controller

As mentioned previously, the objective of DC-Link regulation is to maintain the DC-Link voltage
∗ ” whatever the produced
close to its reference value and estimate the reference d-axis grid current “idg
PV power. For this purpose, a novel design based on ISMC theory for the DC-Link voltage control is
discussed in this section. The block diagram of the proposed DC-Link controller is shown in Figure 8.
Energies 2018, 11, 2791 9 of 21
Energies 2018, 11, x 9 of 20

Figure8.8.Block
Figure Blockdiagram
diagramof
ofthe
theproposed
proposedDC-Link
DC-Linkvoltage
voltagecontroller
controllerbased
basedon
onISMC
ISMCtheory.
theory.

Theproposed
The proposedsliding
slidingsurface
surfaceofofthe
theDC-Link
DC-Linkvoltage
voltagecontrol
controlisisgiven
givenbelow
below
Z
s𝑠𝑠dc𝑑𝑑𝑑𝑑==edc
𝑒𝑒𝑑𝑑𝑑𝑑++k i,DC
𝑘𝑘𝑖𝑖,𝐷𝐷𝐷𝐷 �e𝑒𝑒dc𝑑𝑑𝑑𝑑dt𝑑𝑑𝑑𝑑 (20)
(20)

where,e 𝑒𝑒𝑑𝑑𝑑𝑑 is the voltage error between the DC-Link voltage 𝑣𝑣 and its reference value ∗ 𝑉𝑉 ∗ and
where, dc is the voltage error between the DC-Link voltage vdc and𝑑𝑑𝑑𝑑its reference value Vdc and k𝑑𝑑𝑑𝑑
i,DC is
𝑘𝑘𝑖𝑖,𝐷𝐷𝐷𝐷 is the sliding surface
the sliding surface coefficient. coefficient.
Thetime
The timederivative
derivativeofofthe
theprevious
previousequation
equationisisgiven
givenby
by

. 𝑠𝑠̇ 𝑑𝑑𝑑𝑑 = −𝑣𝑣̇

. 𝑑𝑑𝑑𝑑 + 𝑘𝑘𝑖𝑖,𝐷𝐷𝐷𝐷 𝑒𝑒𝑑𝑑𝑑𝑑 (21)
sdc = −vdc + k i,DC edc (21)
By considering energy conservation, it yields
By considering energy conservation, it yields
𝑝𝑝 = 𝑝𝑝 = 𝑝𝑝
𝑝𝑝𝑝𝑝 𝑑𝑑𝑑𝑑 𝑔𝑔 (22)
where, 𝑝𝑝𝑝𝑝𝑝𝑝 , 𝑝𝑝𝑑𝑑𝑑𝑑 and 𝑝𝑝𝑔𝑔 are the produced p pvPV= power,
pdc = pDC-Link
g power and power injected into(22)the
grid, respectively.
where,Thep pv
injected
, pdc and power intothe
p g are theproduced
three-phase PVgrid system
power, (in synchronous
DC-Link power andd-q frame)
power is expressed
injected into theas
grid, respectively.
3
The injected power into the three-phase 𝑝𝑝𝑔𝑔 = grid�𝑣𝑣 system
𝑖𝑖 + 𝑣𝑣(in
𝑞𝑞𝑞𝑞 𝑖𝑖synchronous
𝑞𝑞𝑞𝑞 � d-q frame) is expressed(23)
as
2 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
The aim of the proposed controller p g =is tovinject
3 only the produced PV power. According to(23) this

dg idg + vqg iqg
condition, the q-axis grid current 𝑖𝑖𝑞𝑞𝑞𝑞 becomes 2 null and Equation (23) can be rewritten as
3 only the produced PV power. According to this
The aim of the proposed controller is to inject
𝑝𝑝𝑔𝑔 = �𝑣𝑣𝑑𝑑𝑑𝑑 𝑖𝑖𝑑𝑑𝑑𝑑 � (24)
2 and Equation (23) can be rewritten as
condition, the q-axis grid current iqg becomes null
The inverter input power is given as
3 
pg = vdg idg (24)
𝑝𝑝𝑑𝑑𝑑𝑑2= 𝑣𝑣𝑑𝑑𝑑𝑑 𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 (25)
By applying
The Kirchhoff
inverter input current
power law as
is given at the DC-Link between the inverter and boost converter it yields
𝑑𝑑𝑣𝑣𝑑𝑑𝑑𝑑
𝑖𝑖𝑑𝑑𝑑𝑑 = 𝐶𝐶𝑑𝑑𝑑𝑑 = (𝑖𝑖 −𝑖𝑖 )
pdc =𝑑𝑑𝑑𝑑vdc iinv𝑜𝑜𝑜𝑜𝑜𝑜 𝑖𝑖𝑖𝑖𝑖𝑖 (26)
(25)
Or
Energies 2018, 11, 2791 10 of 21

By applying Kirchhoff current law at the DC-Link between the inverter and boost converter
it yields
idc = Cdc dvdtdc = (iout − iinv )
Or (26)
. (iout −iinv )
vdc = C dc

where, iout is the boost output current, iinv inverter input current and Cdc is the DC-Link capacitor.
By substituting Equations (24) and (25) in Equation (22), it yields

vdc iinv = 23 (vdg idg )

Or (27)
3vdg
iinv = 2vdc idg

By assuming that the DC-Link voltage vdc is properly regulated, the derivative of the DC-Link
.
voltage vdc (or capacitor current idc ) becomes close to zero. Then Equation (26) can be written as

iinv = iout (28)

Then,
pdc = vdc ·iout = p pv (29)

The current iout can be determined as

p pv
iout = (30)
vdc

By replacing Equations (27) and (30) in Equation (26), we get

p pv 3vdg
 
. 1
vdc = − i (31)
Cdc vdc 2vdc dg

To determine the equivalent control, Equation (21) must be set to zero as follows
. .
sdc = −vdc (t) + k
i,DC edc ( t ) = 0
p pv 3vdg (32)
⇒ − C1dc vdc − 2vdc idg + k i,DC edc (t) = 0

From Equation (32) the equivalent control law is expressed as

p pv
 
∗ 2Cdc vdc
idg (eq) = − k i,DC edc (t) (33)
3vdg Cdc vdc

Therefore, the global control law can be written as

p pv
 
∗ 2Cdc vdc sdc
idg = − k i,DC edc (t) − M DC (34)
3vdg Cdc vdc ksdc k + α

where, M DC is the proportional gain of discontinuous control part.

.
To confirm that the controller described by Equation (34) satisfies the reaching condition, sdc needs
to be evaluated.
By substituting Equation (31) in Equation (21), we get

p pv 3vdg
 
. 1
sdc =− − i + k i,DC edc (35)
Cdc vdc 2vdc dg
Energies 2018, 11, 2791 11 of 21

∗ given by Equation (34) in Equation (35), we get

By substituting the overall control law idg

3vdg
 
. sdc
sdc = −M DC (36)
2Cdc vdc ksdc k + α
Energies 2018, 11, x . 11 of 20
As previously, the condition sdc ·sdc < 0 must be verified. Thus
 3𝑣𝑣 2 
. 3vdg𝑑𝑑𝑑𝑑 s𝑠𝑠dc𝑑𝑑𝑑𝑑2
𝑠𝑠𝑑𝑑𝑑𝑑
sdc ·sdc· 𝑠𝑠̇=
𝑑𝑑𝑑𝑑 =
−M−ℳ �
DC𝐷𝐷𝐷𝐷 2𝐶𝐶 𝑣𝑣 �<< 00 (37)
(37)
2Cdc𝑑𝑑𝑑𝑑vdc𝑑𝑑𝑑𝑑 k‖𝑠𝑠
sdc𝑑𝑑𝑑𝑑k‖++α𝛼𝛼
 𝑠𝑠 22   3𝑣𝑣𝑑𝑑𝑑𝑑 
Since �‖𝑠𝑠sdc𝑑𝑑𝑑𝑑‖+𝛼𝛼 � and � 3vdg � are positive, so it is clear that the reaching condition is verified
Since ks 𝑑𝑑𝑑𝑑k+α and 2C 2𝐶𝐶𝑑𝑑𝑑𝑑 𝑣𝑣𝑑𝑑𝑑𝑑 are positive, so it is clear that the reaching condition is verified only
dc vdc
ifonly if ℳ is chosen positive.
dc
M DC is 𝐷𝐷𝐷𝐷
chosen positive.

3.4. VOC
3.4. VOC Based
Based ISMC
ISMC
In this
In this section,
section, aa modifiedmodified VOCVOC based
based on on ISMISM control
control theorytheory (VOC-ISMC)
(VOC-ISMC) is is presented
presented and and
detailed. The
detailed. Themain mainobjective
objectiveofofthe theproposed
proposed control
control scheme
scheme is to
is inject the the
to inject generated PV power
generated PV power into
the grid
into withwith
the grid high high grid current quality.
grid current VOC-ISMC
quality. VOC-ISMC is based on the on
is based calculation of the reference
the calculation voltage
of the reference
vector which
voltage vectoriswhich applied throughthrough
is applied SVM inSVM orderinto minimize
order to minimizethe error thebetween the rotating
error between frame
the rotating
currents
frame currents𝑖𝑖𝑑𝑑𝑑𝑑 , 𝑖𝑖 and their references
idg , iqg and their references
𝑞𝑞𝑞𝑞 𝑖𝑖 ,
∗ ∗∗ ∗
𝑖𝑖
𝑑𝑑𝑑𝑑i dg𝑞𝑞𝑞𝑞 . Figure 9 summarizes the functionality
, iqg . Figure 9 summarizes the functionality of VOC-ISMC. of VOC-ISMC.
Firstly,idg
Firstly, ∗𝑖𝑖 ∗ is is
𝑑𝑑𝑑𝑑 estimated
estimated by by
thethe DC-Link
DC-Link voltagevoltage regulator
regulator presented
presented in thein above
the above section,
section, whilewhile
iqg ∗
∗ is set
𝑖𝑖𝑞𝑞𝑞𝑞
is zero
to set totozero to eliminate
eliminate the injection
the injection of reactive
of reactive power into power theintogrid.the grid.the
Then, Then, the obtained
obtained referencereference
voltage
∗
voltage(vvector
vector ∗ ∗
d , vq ) is
∗
, 𝑣𝑣𝑞𝑞 ) is transformed
∗
(𝑣𝑣𝑑𝑑transformed to α-β frame to α-β (vαframe
∗ ∗
(𝑣𝑣𝛼𝛼 , applied
, v β ) and ∗
𝑣𝑣𝛽𝛽 ) andthrough
appliedSVM through SVM to
to control control
grid-tied
grid-tiedThe
inverter. inverter.
phase-locked The phase-locked loop controlling
loop (PLL) allows (PLL) allows controllingangle
an estimated an estimated angleof 𝜃𝜃the
θ g with respect 𝑔𝑔 with
grid
respect of the grid phase angle and it is also needed for the Park’s transformation.
phase angle and it is also needed for the Park’s transformation.

Figure 9.
Figure 9. The
The proposed
proposed VOC
VOC based
based on
on ISMC.
ISMC.

The
The development
development of of the
the proposed
proposed control control scheme
scheme needs needs the the mathematical
mathematical modelmodel of
of the
the grid-tied
grid-tied
inverter
inverter in d-q rotating frame which can be described in terms of inverter voltages, grid voltages, and
in d-q rotating frame which can be described in terms of inverter voltages, grid voltages, and
filter
filter inductance
inductance [40]
[40] as
as .
 didg = idg = (− R g idg −vdg +Vd ) + ωiqg

𝑑𝑑𝑑𝑑 dt �−𝑅𝑅𝑔𝑔 𝑖𝑖𝑑𝑑𝑑𝑑 L−g 𝑣𝑣𝑑𝑑𝑑𝑑 + 𝑉𝑉𝑑𝑑 � (38)
⎧ 𝑑𝑑𝑑𝑑diqg= 𝚤𝚤̇̇𝑑𝑑𝑑𝑑
.
= (− Rg iqg −vqg +Vq ) + 𝜔𝜔𝜔𝜔𝑞𝑞𝑞𝑞
⎪ 𝑑𝑑𝑑𝑑 dt = iqg = L𝐿𝐿g 𝑔𝑔 − ωi dg
(38)
𝑑𝑑𝑑𝑑
⎨ 𝑞𝑞𝑞𝑞 �−𝑅𝑅 𝑖𝑖
𝑔𝑔 𝑞𝑞𝑞𝑞 − 𝑣𝑣𝑞𝑞𝑞𝑞 + 𝑉𝑉
𝑞𝑞 �
⎪ = 𝚤𝚤̇̇𝑞𝑞𝑞𝑞 = − 𝜔𝜔𝜔𝜔𝑑𝑑𝑑𝑑
⎩ 𝑑𝑑𝑑𝑑 𝐿𝐿𝑔𝑔
where (𝑣𝑣𝑑𝑑𝑑𝑑 , 𝑣𝑣𝑞𝑞𝑞𝑞 ), (𝑖𝑖𝑑𝑑𝑑𝑑 , 𝑖𝑖𝑞𝑞𝑞𝑞 ) and (𝑉𝑉𝑑𝑑 , 𝑉𝑉𝑞𝑞 ) are the (d-q) components of grid voltages, grid currents and
inverter output voltages respectively; 𝜔𝜔 is the grid angular frequency; 𝑅𝑅𝑔𝑔 and 𝐿𝐿𝑔𝑔 are the resistance
and inductance of the filter, respectively.
The proposed sliding mode surfaces are defined as follows
Energies 2018, 11, 2791 12 of 21

where (vdg , vqg ), (idg , iqg ) and (Vd , Vq ) are the (d-q) components of grid voltages, grid currents and
inverter output voltages respectively; ω is the grid angular frequency; R g and L g are the resistance and
inductance of the filter, respectively.
The proposed sliding mode surfaces are defined as follows
( R
sd = ed + k i,d ed dt
R (39)
sq = eq + k i,q eq dt

where, ed is the error between idg ∗ and i currents, while e is the error between i ∗ and i currents
dg q qg qg
k i,d , k i,q are constant gains.
The time derivative of the above equation yields
( . .
sd = −idg + k i,d ed
. . (40)
sq = −iqg + k i,q eq
. .
The equivalent control terms are obtained by setting sd and sq to zero. Thus
( . .
sd = −idg + k i,d ed = 0
. . (41)
sq = −iqg + k i,q eq = 0

By substituting Equation (38) in Equation (41), we get

 "  #
 − R g idg −vdg +v∗d(eq)
 − + ωiqg + k i,d ed = 0


 Lg
"  # (42)
 − R g iqg −vqg +v∗q(eq)
 − − ωidg + k i,q eq = 0


 Lg

The equivalent control terms are given by

v∗d(eq) = R g idg − ωL g iqg + vdg + L g k i,d ed

(
. (43)
v∗d(eq) = R g iqg + ωL g idg + vqg + L g k i,q eq

The global control law is summarized as follows

 .
 v∗ = R g idg − ωL g iqg + vdg + L g k i,d ed − Md sd
d ks k+α d
. (44)
 v∗q = R g iqg + ωL g idg + vqg + L g k i,q eq − Mq sq
ks k+α q

where, Md and Mq are proportional gains of the discontinuous control parts.

To confirm that the controller described in Equation (44) satisfies the reaching condition,
. .
the expressions of sd and sq are needed.
So, by substituting Equation (38) in Equation (40), we get
  
. (− Rg idg −vdg +Vd )
 sd = − + qg + k i,d ed


Lg ωi
  (45)
. (− Rg iqg −vqg +Vq )
 sq = − − dg + k i,q eq


Lg ωi

Then, by replacing the global control law (v∗d and v∗q ) given by Equation (44) in Equation (45),
we obtain  .
 s d = Md sd
L g ksd k+α
. (46)
 sq = M q sq
L g ks k+α q
Energies 2018, 11, 2791 13 of 21

The reaching condition can be expressed as

( .
sd ·sd < 0
. (47)
sq ·sq < 0
Energies 2018, 11, x 13 of 20
By substituting Equation (46) in Equation (47), we obtain
2
1 1 sd 𝑠𝑠𝑑𝑑
 
. 2

s⎧
 d 𝑠𝑠𝑑𝑑d · 𝑠𝑠̇𝑑𝑑 = dℳ𝑑𝑑L�g ks k+α < 0� < 0
· s = M
⎪

 𝐿𝐿𝑔𝑔 d‖𝑠𝑠 𝑑𝑑 ‖
+ 𝛼𝛼 (48)
. s2q 2 (48)
 s⎨q ·sq = Mq L g 1ksq k+α𝑠𝑠𝑞𝑞 < 0
1

⎪ 𝑠𝑠𝑞𝑞 · 𝑠𝑠̇𝑞𝑞 = ℳ𝑞𝑞 �𝐿𝐿 �<0

⎩ 𝑔𝑔 �𝑠𝑠𝑞𝑞 � + 𝛼𝛼

s2 2 s2 𝑠𝑠𝑞𝑞 2
As As known
known that that the terms
the terms d
, 𝑠𝑠𝑑𝑑s k+
ksd k+α‖𝑠𝑠 k‖+𝛼𝛼
q
, α and Land
1 1
are positive,
are positive, theMgains
the gains and ℳ
M𝑑𝑑q must
d and ℳ must be
be𝑞𝑞chosen
𝑑𝑑
q �𝑠𝑠𝑞𝑞 �+𝛼𝛼 g 𝐿𝐿𝑔𝑔
negative in order to satisfy the reaching condition of the controller described in Equation (48).
chosen negative in order to satisfy the reaching condition of the controller described in Equation (48).
4. Simulation Results and Discussion
4. Simulation Results and Discussion
Numerical simulations using MATLAB/SimulinkTM TM environment are carried out to confirm the
Numerical simulations using MATLAB/Simulink environment are carried out to confirm the
performance of the proposed scheme compared to the conventional scheme. The specifications are
performance of the proposed scheme compared to the conventional scheme. The specifications∗ are
listed in the Appendix A. The DC-Link reference voltage is fixed at 220 V. The reference current iqg
listed in the Appendix A. The DC-Link reference voltage is fixed at 220 V. The reference current 𝑖𝑖 ∗
is set to zero (injecting only the active power). As discussed in Section 2.1, the temperature has a 𝑞𝑞𝑞𝑞
is set to zero (injecting only the active power). As discussed in Section 2.1, the temperature has a little
little effect on the MPP position of the PV array; in contrast, the irradiation level significantly affects
effect on the MPP position of the PV array; in contrast, the irradiation level significantly affects the
the PV array performance. That is why the proposed control scheme is verified under suddenly and
PV array performance. That is why the proposed control scheme is verified under suddenly and
linearly varying irradiation as shown in Figure 10 by considering a constant temperature value of
linearly varying irradiation as shown in Figure 10 by considering a constant temperature value of 25
25 ◦ C. The proposed control scheme is compared with the conventional scheme (PI-based controller),
°C. The proposed control scheme is compared with the conventional scheme (PI-based controller),
with the same specifications in Appendix A to provide a fair comparison.
with the same specifications in Appendix A to provide a fair comparison.

1000
)
2

800
Irradiation (W/m

600

400

0 0.5 1 1.5 2 2.5 3 3.5

Time (s)

Figure
Figure 10. 10. Solar
Solar irradiation
irradiation profile.
profile.

Figures 11 11
Figures andand12 12
represent thethe
represent results obtained
results with
obtained thethe
with conventional
conventionalandand
proposed
proposed control
control
schemes, respectively. From top to bottom, the waveforms given in Figures 11
schemes, respectively. From top to bottom, the waveforms given in Figures 11 and 12 are:and 12 are: (a) (a)
PVPV
voltage, (b)(b)
voltage, PVPV
current,
current,(c)(c)
PVPVpower, (d)(d)
power, DC-Link
DC-Linkvoltage with
voltage itsits
with desired reference,
desired idg𝑖𝑖 current
(e)(e)
reference, 𝑑𝑑𝑑𝑑 current
with its reference, (f) i
with its reference, (f) current
qg 𝑖𝑖 with its reference.
current with its reference.
𝑞𝑞𝑞𝑞
At the outset, the results confirm the low tracking speed of the conventional control scheme (PI-
based controller) under irradiation changes with significant PV voltage fluctuation in steady-state. In
contrast, a high tracking performance was exhibited by using the proposed control scheme. Also, an
instantaneous effect on the PV voltage is displayed under irradiation changes without overshoots
and with less fluctuation, as shown in Figure 13. Due to the relationship between the PV power and
PV voltage, the performance of MPP tracking is affected by the PV voltage behavior, when the PV
voltage fluctuation and tracking time are small, the extracted PV power loss is minimized. Moreover,
Figure 14 illustrates the improvement in the extracted PV power using the proposed control scheme
compared to the conventional VO-MPPT. For more details, the main simulation results obtained from
both MPPT methods are summarized in Table 1.
Furthermore, we examine the DC-Link voltage regulation using the conventional PI controller
and the proposed ISMC scheme. The obtained results shown in Figure 15 confirm the tracking
superiority of the proposed control scheme compared to the conventional one under solar irradiation
changes. It can be observed, that by using the conventional PI controller, the DC-Link voltage
 Control Scheme 800→500 W/m² W/m² 700→1000 W/m²
Static Error Overshoot Settling Static error Overshoot Settling
Average (%) (%) Time (s) Average (%) (%) Time (s)
Conventional PI 1.512 6.95 0.175 1.478 7.47 0.179
Proposed scheme 0.051 2.2 0.035 0.057 2.98 0.08
Energies 2018, 11, 2791 14 of 21

75

70
PV Voltage (V)

65

60

55
0 0.5 1 1.5 2 2.5 3 3.5

(a)
8

6
PV Current (A)

2
0 0.5 1 1.5 2 2.5 3 3.5

(b)
500
PV Power (W)

400

300

200
0 0.5 1 1.5 2 2.5 3 3.5

Energies 2018, 11, x (c) 15 of 20

260
Vdc Vdc-ref
240
DC-Link Voltage (V)

220

200

180
0 0.5 1 1.5 2 2.5 3 3.5

(d)
8

6
Id Current (A)

2
Id Id-ref
0
0 0.5 1 1.5 2 2.5 3 3.5

(e)
5
Iq Current (A)

Iq Iq-ref
-5
0 0.5 1 1.5 2 2.5 3 3.5
Time (s)

(f)
Figure 11.
Figure 11. Simulation
Simulation results
results of
of grid-tied
grid-tied PV
PV system
system with
with the
the conventional
conventional control
control scheme;
scheme; under
under
irradiationchanges.
irradiation changes.(a)
(a) PV
PV Voltage;
Voltage;(b)
(b)PV
PVCurrent;
Current;(c)
(c)PV
PVPower;
Power;(d)(d)DC
DC−Link
−Link Voltage; (e) Id
Voltage; (e) Id Current
Current
and (f)
and (f) Iq
Iq Current.
Current.

75

70
PV Voltage (V)

65

60

55
 -5
0 0.5 1 1.5 2 2.5 3 3.5
Time (s)

(f)
Figure 11. Simulation results of grid-tied PV system with the conventional control scheme; under
Energies 2018, 11, 2791 15 of 21
irradiation changes. (a) PV Voltage; (b) PV Current; (c) PV Power; (d) DC−Link Voltage; (e) Id Current
and (f) Iq Current.

75

70
PV Voltage (V)

65

60

55
0 0.5 1 1.5 2 2.5 3 3.5

(a)
8

6
PV Current (A)

2
0 0.5 1 1.5 2 2.5 3 3.5

(b)
500
PV Power (W)

400

300

200
0 0.5 1 1.5 2 2.5 3 3.5

Energies 2018, 11, x (c) 16 of 20

260
Vdc Vdc-ref
240
DC-Link Voltage (V)

220

200

180
0 0.5 1 1.5 2 2.5 3 3.5

(d)
8

6
Id Current (A)

2
Id Id-ref
0
0 0.5 1 1.5 2 2.5 3 3.5

(e)
5
Iq Current (A)

Iq Iq-ref
-5
0 0.5 1 1.5 2 2.5 3 3.5
Time (s)

(f)
Figure 12.
Figure 12. Simulation
Simulation results
results of
of grid-tied
grid-tied PV system with
PV system with the
the proposed
proposed control
control scheme;
scheme; under
under
irradiation changes.
irradiation changes.(a)
(a)PVPV
Voltage; (b)(b)
Voltage; PV PV
Current; (c) PV
Current; (c)Power; (d) DC−Link
PV Power; (d) DC−Voltage; (e) Id Current
Link Voltage; (e) Id
and (f) Iq Current.
Current and (f) Iq Current.

At the outset, the results confirm the low tracking speed of the conventional control scheme
(PI-based controller) under irradiation changes with significant PV voltage fluctuation in steady-state.
 Curr
IdIdCurre
2
2 Id Id-ref
Id Id-ref
0
0
0 0.5 1 1.5 2 2.5 3 3.5
0 0.5 1 1.5 2 2.5 3 3.5
(e)
(e)
5
5
Energies 2018, 11, 2791 16 of 21

(A)
Current(A)
0
0
IqIqCurrent
In contrast, a high tracking performance was exhibited by using the proposed controlIqscheme. Also,
Iq Iq-ref
Iq-ref
an instantaneous
-5
-5
0
effect on
0.5
the PV voltage
1
is displayed
1.5
under 2
irradiation changes
2.5
without
3
overshoots3.5
0 0.5 1 1.5 2 2.5 3 3.5
and with less fluctuation, as shown in Figure 13. Due Timeto(s) the relationship between the PV power and
Time (s)
PV voltage, the performance of MPP tracking is (f) affected by the PV voltage behavior, when the PV
(f)
voltage fluctuation and tracking time are small, the extracted PV power loss is minimized. Moreover,
Figure
Figure
Figure 12. Simulation
12. Simulation
14 illustrates results of
results
the improvement of grid-tied
grid-tied PV system
PV systemPV
in the extracted with
with the proposed
the
power proposed control
using thecontrol scheme;
scheme;
proposed under
under
control scheme
irradiation
irradiation
compared to the changes.
changes. (a) PV Voltage;
(a) PV Voltage;
conventional VO-MPPT.(b) PV Current;
(b) PVFor
Current;
more (c) (c) PV Power;
PV Power;
details, (d) DC−Link
(d) DC−Link
the main Voltage;
Voltage;
simulation (e) Id
(e) Id
results Current
Current from
obtained
and (f)
(f) Iq
Iq Current.
Current.
bothand
MPPT methods are summarized in Table 1.

Figure
Figure 13.
Figure 13. PV
13. PV voltage
PV voltage with
voltage with conventional
with conventional and
conventional and proposed VO-MPPT
and proposed
proposed VO-MPPT methods.
VO-MPPT methods.

500 Conventional
Conventional Proposed
500 Proposed
330
330

400
400 320
320
(W)

310
Power(W)

300
300
310
1.5 1.51 1.52
1.5 1.51 1.52
435 390
PVPower

379.5 435 390

379.5
200
200 380
380
PV

379 430
100
100 379 430 370
370
0.305 0.306 0.307 2.33 2.34 2.35 3 3.01 3.02
0.305 0.306 0.307 2.33 2.34 2.35 3 3.01 3.02
00
00 0.5
0.5 11 1.5
1.5 22 2.5
2.5 33 3.5
3.5
Time (s)
Time (s)

Figure 14.
Figure 14.
Figure Extracted PV
Extracted PV
14. Extracted power
PV power with
power with conventional
with conventional and proposed
conventional and
and proposed VO-MPPT
proposed VO-MPPT methods.
VO-MPPT methods.
methods.

Table 1. Comparison results for MPPT methods.

We also
We also observe
observe that
that the
the proposed
proposed VOC-ISMC
VOC-ISMC scheme
scheme allows
allows toto inject
inject the
the extracted
extracted PV
PV power
power
into the grid with high
into the grid with high quality and
qualityinand efficiency, contrary
efficiency, contrary to the
to the conventional control scheme (VOC-PI
conventional control scheme (VOC-PI
Linear Changes in
Step Change Irradiation Step Change in Irradiation
MPPT Irradiation 800→500 W/m2
500→700 W/m2 1000→800 W/m2
Technique and 700→1000 W/m2
Power Response Power Response
Tracking Accuracy
Oscillation (W) Time (s) Oscillation (W) Time (s)
Conventional
0.17 0.022 0.23 0.02 low
VO-MPPT
Proposed
Less than 0.03 0.0085 0.051 0.0061 Very good
VO-MPPT
Energies 2018, 11, 2791 17 of 21

Energies 2018, 11, x

Furthermore, 17 of
we examine the DC-Link voltage regulation using the conventional PI controller 20
and
the proposed ISMC scheme. The obtained results shown in Figure 15 confirm the tracking superiority
controller). It can be observed that by applying the proposed control scheme, 𝑖𝑖𝑑𝑑𝑑𝑑 and 𝑖𝑖𝑞𝑞𝑞𝑞 currents are
of the proposed control scheme compared to the conventional one under solar irradiation changes.
completely regulatedthat
It can be observed, to their references.
by using It is foundPIthat
the conventional 𝑖𝑖𝑑𝑑𝑑𝑑 current
controller, exhibitsvoltage
the DC-Link fast response with
deviates fromlessits
fluctuation compared to the conventional control, as shown in Figure 12e, which leads to
reference in case of linear changes in solar irradiation. Moreover, in case of step irradiation changes,increase the
quality of grid and
the overshoot currents and time
response their are
amplitudes almost
significantly instantaneously
large. In contrast, thefollow thereference
desired irradiation changes,
is accurately
as shown in Figure 16b. In contrast, the grid current waveforms obtained by using
tracked by employing the proposed ISMC in addition to, insignificant overshoot and short response the conventional
control scheme
time under stepare relativelychanges.
irradiation of poor To quality
showdue to the large fluctuation
the performance improvementandby response
using thetime of 𝑖𝑖𝑑𝑑𝑑𝑑
proposed
current, as shown
control scheme in Figureto16a.
compared theAconventional
comparisonscheme,
summary keyin results
terms of key
are indexes in
presented such as grid
Table 2. current
THD% and 𝑖𝑖𝑑𝑑𝑑𝑑 current ripples for various irradiation levels is depicted in Figure 17.

Figure
Figure15.
15.DC-Link
DC-Linkvoltage
voltageresponse
responsewith
withconventional
conventionaland
andproposed
proposed methods.
methods.

Table 2. Comparison results for DC-Link regulation.

5
Grid Currents (A)

0
Linear Change Step Change in Linear Change in Step Change in
in Irradiance Irradiance 500→700 Irradiance Irradiance 1000→800
Control Scheme
-5 800→500 W/m2 W/m2 700→1000 W/m2 W/m2
Static Error Overshoot Settling Static error Overshoot Settling
0 0.5 1 1.5 2 2.5 3 3.5
Average (%) (%) Time (s) Average (%) (%) Time (s)
Time (s)
Conventional
5
PIiag ibg
1.512 icg
6.95 0.175 1.478 7.47 0.179
5
Proposed scheme 0.051 2.2 0.035 0.057
5 2.98 0.08
Grid Currents (A)
Zoom of

0 0 0
We also observe that the proposed VOC-ISMC scheme allows to inject the extracted PV power
into the grid with high quality and efficiency, contrary to the conventional -5 control scheme (VOC-PI
-5 -5
controller).0.39It can be observed
0.395 0.4 0.405
that0.41by applying the proposed control scheme, idg and iqg currents are
1.45 1.5 1.55 1.6 1.65 2.95 3 3.05 3.1 3.15 3.2
completely regulated to their references. It is found that idg current exhibits fast response with less
fluctuation compared to the conventional control,(a) as shown in Figure 12e, which leads to increase the
quality of5 grid currents and their amplitudes almost instantaneously follow the irradiation changes,
Grid Currents (A)

as shown0 in Figure 16b. In contrast, the grid current waveforms obtained by using the conventional
control scheme are relatively of poor quality due to the large fluctuation and response time of idg
-5
current, as shown in Figure 16a. A comparison summary in terms of key indexes such as grid current
THD% and0 idg current0.5ripples for various 1 irradiation
1.5 levels2 is depicted2.5 in Figure 17.3 3.5
Time (s)
5 iag ibg icg 5
5
Grid Currents (A)
Zoom of

0 0 0

-5
-5 -5

0.39 0.395 0.4 0.405 0.41 1.45 1.5 1.55 2.95 3 3.05

(b)
Figure 16. Grid currents and their zoom waveforms: (a) conventional control scheme; (b) proposed
control schemes; under irradiation changes.
Energies 2018, 11, 2791 18 of 21

Figure 15. DC-Link voltage response with conventional and proposed methods.

Grid Currents (A) 5

-5

0 0.5 1 1.5 2 2.5 3 3.5

Time (s)
5 iag ibg icg 5
5
Grid Currents (A)
Zoom of

0 0 0

-5
-5 -5

0.39 0.395 0.4 0.405 0.41 1.45 1.5 1.55 1.6 1.65 2.95 3 3.05 3.1 3.15 3.2

(a)
5
Grid Currents (A)

-5

0 0.5 1 1.5 2 2.5 3 3.5

Time (s)
5 iag ibg icg 5
5
Grid Currents (A)
Zoom of

0 0 0

-5
-5 -5

0.39 0.395 0.4 0.405 0.41 1.45 1.5 1.55 2.95 3 3.05

(b)
Figure 16.
Figure 16. Grid
Grid currents
currents and
and their
their zoom
zoom waveforms:
waveforms: (a)
(a) conventional
conventional control
control scheme;
scheme; (b)
(b) proposed
proposed
control
Energies
control schemes;
11, x
2018, schemes; under irradiation changes.
under irradiation changes. 18 of 20

3.5
Conventional scheme Proposed scheme
3
2.5
Grid current THD

2
(%)

1.5
1
0.5
0
500 700 800 1000
2
Irradiation Levels (W/m )

(a)
0.7
0.6
0.5
idg Current ripples

0.4
(A)

0.3
0.2
0.1
Conventional scheme Proposed scheme
0
500 700 800 1000
2
Irradiation Levels (W/m )

(b)
Figure
Figure 17.17. Comparison
Comparison of:of:(a)(a)grid
gridcurrent
currentTHD%;
THD%;(b)
(b)grid
grid current
current ripples;
ripples; under
underirradiation
irradiationchanges.
changes.

5. Conclusions
This paper proposed a high-performance control scheme for a two-stage grid-tied PV system.
The control structure of the proposed scheme is based on ISMC theory and consists of MPPT control,
DC-Link voltage regulation loop, and VOC based on inner current control loops to improve system
performance during all climatic conditions. As it is a two-stage system, the PV power is provided to
the grid through a DC-DC boost converter and three-phase voltage source inverter. An ISM controller
Energies 2018, 11, 2791 19 of 21

5. Conclusions
This paper proposed a high-performance control scheme for a two-stage grid-tied PV system.
The control structure of the proposed scheme is based on ISMC theory and consists of MPPT control,
DC-Link voltage regulation loop, and VOC based on inner current control loops to improve system
performance during all climatic conditions. As it is a two-stage system, the PV power is provided
to the grid through a DC-DC boost converter and three-phase voltage source inverter. An ISM
controller for the boost converter has been proposed for MPP tracking. Moreover, for proper inverter
operation as well sinusoidal currents injection into the mains grid with low THD% (<5%), a novel
design for DC-Link voltage regulation is suggested to maintain the DC-Link voltage constant at
the desired value and estimate the reference currents for the VOC scheme, which is based on ISM
controllers and space vector modulators. The simulation results obtained confirm the feasibility,
effectiveness, and performance improvement of the proposed control scheme. As a future perspective,
an implementation of the proposed control scheme using a field-programmable gate array (FPGA)
control board will be introduced, where FPGA devices are generally cheaper and are suited for
high-speed demanding application.

Author Contributions: A.K. and B.T. designed and achieved the method; F.K. verified and analyzed the results;
A.L. and A.S. wrote the paper.
Funding: This research received no external funding.
Conflicts of Interest: The authors declare no conflict of interest.

Appendix A
The global specifications of the grid-tied PV system used in the simulation are listed in Table A1.

Table A1. Global system specifications.

GPV Nominal Values

Open circuit voltage (VOC )
42.1 [V]
Optimum operating voltage Vmpp 33.7 [V]
Short circuit current ( ISC )
3.87 [A]
Optimum operating current
Impp 3.56 [A]
Maximum power Pmpp 120 [W]
Number of cells connected in series Ns 72
Number of cells connected in parallel Np 1
Number of panels connected in series Nss 2
Number of panels connected in parallel Npp 2
Boost converter Values
Inductance ( L) 1 [mH]
Input capacitor (Cin ) 470 [µF]
output capacitor (Cdc ) 200 [µF]
Electrical parameters of grid-tied

Values
Output filter inductance

Lg 10 [mH]
Line resistance R g
0.1 [Ω]
Nominal grid frequency f g
50 [Hz]
Nominal line voltage of the 3-phase grid v g 100 [V]
Simulation parameters Values
V-MPPT sampling frequency ( Ts ) 1 [kHz]
PWM switching frequency ( f s,PW M ) 5 [kHz]
SVM switching frequency ( f s,SV M ) 25 [kHz]

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