Professor José Rodríguez, Universidad Técnica Federico Santa María, Chile Professor Rodriguez has been at the Department of Electronics Engineering, University Tecnica Federico Santa Maria, since 1977. From 2001 to 2004 he was Director of the Department of Electronics Engineering of the same university. In 1996 he was responsible for the Mining Division of Siemens Corporation, Santiago, Chile. He has extensive consulting experience in the mining industry, particularly in the application of large drives.Professor Rodriguez’ research group was recoginized as one of the two Centers of Excellence in Engineering in Chile from 2005 to 2008. He has directed more than 40 R&D projects in the field of industrial electronics, and his main research interests include multilevel inverters, new converter topologies, control of power converters and adjustable-speed drives. He has co-authored more than 250 journal and conference papers and contributed one book chapter. Since 2002 he has been active associate editor of the IEEE Transactions on Power Electronics and IEEE Transactions on Industrial Electronics. He received the Best Paper Award from the former in 2007. Patricio Cortés, Universidad Técnica Federico Santa María, Chile Dr Cortes joined the Electronics Engineering Department UTFSM in 2003, where he is currently Research Associate. His main research interests include power electronics, adjustable speed drives and predictive control. He has authored over 30 journal and conference papers, most of them in the area of predictive control in power electronics. Dr Cortes received the Best Paper Award from the IEEE Transactions on Industrial Electronics in 2007.

• Foreword xi Preface xiiiAcknowledgments xvPart One INTRODUCTION1 Introduction 31.1 Applications of Power Converters and Drives 31.2 Types of Power Converters 51.2.1 Generic Drive System 51.2.2 Classification of Power Converters 51.3 Control of Power Converters and Drives 71.3.1 Power Converter Control in the Past 71.3.2 Power Converter Control Today 101.3.3 Control Requirements and Challenges 111.3.4 Digital Control Platforms 121.4 Why Predictive Control is Particularly Suited for Power Electronics 131.5 Contents of this Book 15References 162 Classical Control Methods for Power Converters and Drives 172.1 Classical Current Control Methods 172.1.1 Hysteresis Current Control 182.1.2 Linear Control with Pulse Width Modulation or Space Vector Modulation 202.2 Classical Electrical Drive Control Methods 242.2.1 Field Oriented Control 242.2.2 Direct Torque Control 262.3 Summary 30References 303 Model Predictive Control 313.1 Predictive Control Methods for Power Converters and Drives 313.2 Basic Principles of Model Predictive Control 323.3 Model Predictive Control for Power Electronics and Drives 343.3.1 Controller Design 353.3.2 Implementation 373.3.3 General Control Scheme 383.4 Summary 38References 38Part Two MODEL PREDICTIVE CONTROL APPLIED TO POWER CONVERTERS4 Predictive Control of a Three-Phase Inverter 434.1 Introduction 434.2 Predictive Current Control 434.3 Cost Function 444.4 Converter Model 444.5 Load Model 484.6 Discrete-Time Model for Prediction 494.7 Working Principle 504.8 Implementation of the Predictive Control Strategy 504.9 Comparison to a Classical Control Scheme 594.10 Summary 63References 635 Predictive Control of a Three-Phase Neutral-Point Clamped Inverter 655.1 Introduction 655.2 System Model 665.3 Linear Current Control Method with Pulse Width Modulation 705.4 Predictive Current Control Method 705.5 Implementation 725.5.1 Reduction of the Switching Frequency 745.5.2 Capacitor Voltage Balance 775.6 Summary 78References 796 Control of an Active Front-End Rectifier 816.1 Introduction 816.2 Rectifier Model 846.2.1 Space Vector Model 846.2.2 Discrete-Time Model 856.3 Predictive Current Control in an Active Front-End 866.3.1 Cost Function 866.4 Predictive Power Control 896.4.1 Cost Function and Control Scheme 896.5 Predictive Control of an AC–DC–AC Converter 926.5.1 Control of the Inverter Side 926.5.2 Control of the Rectifier Side 946.5.3 Control Scheme 946.6 Summary 96References 977 Control of a Matrix Converter 997.1 Introduction 997.2 System Model 997.2.1 Matrix Converter Model 997.2.2 Working Principle of the Matrix Converter 1017.2.3 Commutation of the Switches 1027.3 Classical Control: The Venturini Method 1037.4 Predictive Current Control of the Matrix Converter 1047.4.1 Model of the Matrix Converter for Predictive Control 1047.4.2 Output Current Control 1077.4.3 Output Current Control with Minimization of the Input Reactive Power 1087.4.4 Input Reactive Power Control 1137.5 Summary 113References 114Part Three MODEL PREDICTIVE CONTROL APPLIED TO MOTOR DRIVES8 Predictive Control of Induction Machines 1178.1 Introduction 1178.2 Dynamic Model of an Induction Machine 1188.3 Field Oriented Control of an Induction Machine Fed by a Matrix Converter Using Predictive Current Control 1218.3.1 Control Scheme 1218.4 Predictive Torque Control of an Induction Machine Fed by a Voltage Source Inverter 1238.5 Predictive Torque Control of an Induction Machine Fed by a Matrix Converter 1288.5.1 Torque and Flux Control 1288.5.2 Torque and Flux Control with Minimization of the Input Reactive Power 1298.6 Summary 130References 1319 Predictive Control of Permanent Magnet Synchronous Motors 1339.1 Introduction 1339.2 Machine Equations 1339.3 Field Oriented Control Using Predictive Current Control 1359.3.1 Discrete-Time Model 1369.3.2 Control Scheme 1369.4 Predictive Speed Control 1399.4.1 Discrete-Time Model 1399.4.2 Control Scheme 1409.4.3 Rotor Speed Estimation 1419.5 Summary 142References 143Part Four DESIGN AND IMPLEMENTATION ISSUES OF MODEL PREDICTIVE CONTROL10 Cost Function Selection 14710.1 Introduction 14710.2 Reference Following 14710.2.1 Some Examples 14810.3 Actuation Constraints 14810.3.1 Minimization of the Switching Frequency 15010.3.2 Minimization of the Switching Losses 15210.4 Hard Constraints 15510.5 Spectral Content 15710.6 Summary 161References 16111 Weighting Factor Design 16311.1 Introduction 16311.2 Cost Function Classification 16411.2.1 Cost Functions without Weighting Factors 16411.2.2 Cost Functions with Secondary Terms 16411.2.3 Cost Functions with Equally Important Terms 16511.3 Weighting Factors Adjustment 16611.3.1 For Cost Functions with Secondary Terms 16611.3.2 For Cost Functions with Equally Important Terms 16711.4 Examples 16811.4.1 Switching Frequency Reduction 16811.4.2 Common-Mode Voltage Reduction 16811.4.3 Input Reactive Power Reduction 17011.4.4 Torque and Flux Control 17011.4.5 Capacitor Voltage Balancing 17411.5 Summary 175References 17612 Delay Compensation 17712.1 Introduction 17712.2 Effect of Delay due to Calculation Time 17712.3 Delay Compensation Method 18012.4 Prediction of Future References 18112.4.1 Calculation of Future References Using Extrapolation 18512.4.2 Calculation of Future References Using Vector Angle Compensation 18512.5 Summary 188References 18813 Effect of Model Parameter Errors 19113.1 Introduction 19113.2 Three-Phase Inverter 19113.3 Proportional–Integral Controllers with Pulse Width Modulation 19213.3.1 Control Scheme 19213.3.2 Effect of Model Parameter Errors 19313.4 Deadbeat Control with Pulse Width Modulation 19413.4.1 Control Scheme 19413.4.2 Effect of Model Parameter Errors 19513.5 Model Predictive Control 19513.5.1 Effect of Load Parameter Variation 19613.6 Comparative Results 19713.7 Summary 201References 201Appendix A Predictive Control Simulation – Three-Phase Inverter 203A.1 Predictive Current Control of a Three-Phase Inverter 203A.1.1 Definition of Simulation Parameters 207A.1.2 MATLAB® Code for Predictive Current Control 208Appendix B Predictive Control Simulation – Torque Control of an Induction Machine Fed by a Two-Level Voltage Source Inverter 211B.1 Definition of Predictive Torque Control Simulation Parameters 213B.2 MATLAB® Code for the Predictive Torque Control Simulation 215Appendix C Predictive Control Simulation – Matrix Converter 219C.1 Predictive Current Control of a Direct Matrix Converter 219C.1.1 Definition of Simulation Parameters 221C.1.2 MATLAB® Code for Predictive Current Control with Instantaneous Reactive Power Minimization 222Index 227

Professor José Rodríguez, Universidad Técnica Federico Santa María, Chile Professor Rodriguez has been at the Department of Electronics Engineering, University Tecnica Federico Santa Maria, since 1977. From 2001 to 2004 he was Director of the Department of Electronics Engineering of the same university. In 1996 he was responsible for the Mining Division of Siemens Corporation, Santiago, Chile. He has extensive consulting experience in the mining industry, particularly in the application of large drives.Professor Rodriguez’ research group was recoginized as one of the two Centers of Excellence in Engineering in Chile from 2005 to 2008. He has directed more than 40 R&D projects in the field of industrial electronics, and his main research interests include multilevel inverters, new converter topologies, control of power converters and adjustable-speed drives. He has co-authored more than 250 journal and conference papers and contributed one book chapter. Since 2002 he has been active associate editor of the IEEE Transactions on Power Electronics and IEEE Transactions on Industrial Electronics. He received the Best Paper Award from the former in 2007. Patricio Cortés, Universidad Técnica Federico Santa María, Chile Dr Cortes joined the Electronics Engineering Department UTFSM in 2003, where he is currently Research Associate. His main research interests include power electronics, adjustable speed drives and predictive control. He has authored over 30 journal and conference papers, most of them in the area of predictive control in power electronics. Dr Cortes received the Best Paper Award from the IEEE Transactions on Industrial Electronics in 2007.

• Foreword xi Preface xiiiAcknowledgments xvPart One INTRODUCTION1 Introduction 31.1 Applications of Power Converters and Drives 31.2 Types of Power Converters 51.2.1 Generic Drive System 51.2.2 Classification of Power Converters 51.3 Control of Power Converters and Drives 71.3.1 Power Converter Control in the Past 71.3.2 Power Converter Control Today 101.3.3 Control Requirements and Challenges 111.3.4 Digital Control Platforms 121.4 Why Predictive Control is Particularly Suited for Power Electronics 131.5 Contents of this Book 15References 162 Classical Control Methods for Power Converters and Drives 172.1 Classical Current Control Methods 172.1.1 Hysteresis Current Control 182.1.2 Linear Control with Pulse Width Modulation or Space Vector Modulation 202.2 Classical Electrical Drive Control Methods 242.2.1 Field Oriented Control 242.2.2 Direct Torque Control 262.3 Summary 30References 303 Model Predictive Control 313.1 Predictive Control Methods for Power Converters and Drives 313.2 Basic Principles of Model Predictive Control 323.3 Model Predictive Control for Power Electronics and Drives 343.3.1 Controller Design 353.3.2 Implementation 373.3.3 General Control Scheme 383.4 Summary 38References 38Part Two MODEL PREDICTIVE CONTROL APPLIED TO POWER CONVERTERS4 Predictive Control of a Three-Phase Inverter 434.1 Introduction 434.2 Predictive Current Control 434.3 Cost Function 444.4 Converter Model 444.5 Load Model 484.6 Discrete-Time Model for Prediction 494.7 Working Principle 504.8 Implementation of the Predictive Control Strategy 504.9 Comparison to a Classical Control Scheme 594.10 Summary 63References 635 Predictive Control of a Three-Phase Neutral-Point Clamped Inverter 655.1 Introduction 655.2 System Model 665.3 Linear Current Control Method with Pulse Width Modulation 705.4 Predictive Current Control Method 705.5 Implementation 725.5.1 Reduction of the Switching Frequency 745.5.2 Capacitor Voltage Balance 775.6 Summary 78References 796 Control of an Active Front-End Rectifier 816.1 Introduction 816.2 Rectifier Model 846.2.1 Space Vector Model 846.2.2 Discrete-Time Model 856.3 Predictive Current Control in an Active Front-End 866.3.1 Cost Function 866.4 Predictive Power Control 896.4.1 Cost Function and Control Scheme 896.5 Predictive Control of an AC–DC–AC Converter 926.5.1 Control of the Inverter Side 926.5.2 Control of the Rectifier Side 946.5.3 Control Scheme 946.6 Summary 96References 977 Control of a Matrix Converter 997.1 Introduction 997.2 System Model 997.2.1 Matrix Converter Model 997.2.2 Working Principle of the Matrix Converter 1017.2.3 Commutation of the Switches 1027.3 Classical Control: The Venturini Method 1037.4 Predictive Current Control of the Matrix Converter 1047.4.1 Model of the Matrix Converter for Predictive Control 1047.4.2 Output Current Control 1077.4.3 Output Current Control with Minimization of the Input Reactive Power 1087.4.4 Input Reactive Power Control 1137.5 Summary 113References 114Part Three MODEL PREDICTIVE CONTROL APPLIED TO MOTOR DRIVES8 Predictive Control of Induction Machines 1178.1 Introduction 1178.2 Dynamic Model of an Induction Machine 1188.3 Field Oriented Control of an Induction Machine Fed by a Matrix Converter Using Predictive Current Control 1218.3.1 Control Scheme 1218.4 Predictive Torque Control of an Induction Machine Fed by a Voltage Source Inverter 1238.5 Predictive Torque Control of an Induction Machine Fed by a Matrix Converter 1288.5.1 Torque and Flux Control 1288.5.2 Torque and Flux Control with Minimization of the Input Reactive Power 1298.6 Summary 130References 1319 Predictive Control of Permanent Magnet Synchronous Motors 1339.1 Introduction 1339.2 Machine Equations 1339.3 Field Oriented Control Using Predictive Current Control 1359.3.1 Discrete-Time Model 1369.3.2 Control Scheme 1369.4 Predictive Speed Control 1399.4.1 Discrete-Time Model 1399.4.2 Control Scheme 1409.4.3 Rotor Speed Estimation 1419.5 Summary 142References 143Part Four DESIGN AND IMPLEMENTATION ISSUES OF MODEL PREDICTIVE CONTROL10 Cost Function Selection 14710.1 Introduction 14710.2 Reference Following 14710.2.1 Some Examples 14810.3 Actuation Constraints 14810.3.1 Minimization of the Switching Frequency 15010.3.2 Minimization of the Switching Losses 15210.4 Hard Constraints 15510.5 Spectral Content 15710.6 Summary 161References 16111 Weighting Factor Design 16311.1 Introduction 16311.2 Cost Function Classification 16411.2.1 Cost Functions without Weighting Factors 16411.2.2 Cost Functions with Secondary Terms 16411.2.3 Cost Functions with Equally Important Terms 16511.3 Weighting Factors Adjustment 16611.3.1 For Cost Functions with Secondary Terms 16611.3.2 For Cost Functions with Equally Important Terms 16711.4 Examples 16811.4.1 Switching Frequency Reduction 16811.4.2 Common-Mode Voltage Reduction 16811.4.3 Input Reactive Power Reduction 17011.4.4 Torque and Flux Control 17011.4.5 Capacitor Voltage Balancing 17411.5 Summary 175References 17612 Delay Compensation 17712.1 Introduction 17712.2 Effect of Delay due to Calculation Time 17712.3 Delay Compensation Method 18012.4 Prediction of Future References 18112.4.1 Calculation of Future References Using Extrapolation 18512.4.2 Calculation of Future References Using Vector Angle Compensation 18512.5 Summary 188References 18813 Effect of Model Parameter Errors 19113.1 Introduction 19113.2 Three-Phase Inverter 19113.3 Proportional–Integral Controllers with Pulse Width Modulation 19213.3.1 Control Scheme 19213.3.2 Effect of Model Parameter Errors 19313.4 Deadbeat Control with Pulse Width Modulation 19413.4.1 Control Scheme 19413.4.2 Effect of Model Parameter Errors 19513.5 Model Predictive Control 19513.5.1 Effect of Load Parameter Variation 19613.6 Comparative Results 19713.7 Summary 201References 201Appendix A Predictive Control Simulation – Three-Phase Inverter 203A.1 Predictive Current Control of a Three-Phase Inverter 203A.1.1 Definition of Simulation Parameters 207A.1.2 MATLAB® Code for Predictive Current Control 208Appendix B Predictive Control Simulation – Torque Control of an Induction Machine Fed by a Two-Level Voltage Source Inverter 211B.1 Definition of Predictive Torque Control Simulation Parameters 213B.2 MATLAB® Code for the Predictive Torque Control Simulation 215Appendix C Predictive Control Simulation – Matrix Converter 219C.1 Predictive Current Control of a Direct Matrix Converter 219C.1.1 Definition of Simulation Parameters 221C.1.2 MATLAB® Code for Predictive Current Control with Instantaneous Reactive Power Minimization 222Index 227