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Energy
EnergyProcedia
Procedia156 (2019) 000–000
00 (2017) 110–114
www.elsevier.com/locate/procedia
2018 5th International Conference on Power and Energy Systems Engineering, CPESE 2018,
2018 5th International Conference on Power 2018,
19–21 September and Energy Systems
Nagoya, Japan Engineering, CPESE 2018,
19–21 September 2018, Nagoya, Japan
Experimental Performance Comparison of Various Sliding Modes
Experimental Performance
The 15th Comparison
International Symposium of Various
on District Heating andSliding Cooling Modes
Controlled PWM Inverters
Controlled PWM Inverters
Assessing the feasibility
En-Chih Changa,a,*, Yow-Chyi of using Liubb,the heat demand-outdoor
Chien-Hsuan Changcc
a, c temperature function
En-Chih Chang for*, aYow-Chyi
long-term Liu ,district
Chien-Hsuan heatChang demand forecast
Department of Electrical Engineering, I-Shou University, No.1, Sec. 1, Syuecheng Rd., Dashu District, Kaohsiung City 84001, Taiwan, R.O.C.
a,bc Department
Department of
of Electrical
Electrical Engineering,
Engineering, Kao Yuan
I-Shou University,
University, No.1821,
No.1, Sec. 1,Jhongshan
Syuecheng Rd.,
Rd., Lujhu
DashuDistrict,
District,Kaohsiung
KaohsiungCity
City82151,
84001,Taiwan,
Taiwan,R.O.C.
R.O.C.
a,b,c a a b c c
b
I. Andrić *, A. Pina , P. Ferrão , J. Fournier ., B. Lacarrière , O. Le Corre
Department of Electrical Engineering, Kao Yuan University, No.1821, Jhongshan Rd., Lujhu District, Kaohsiung City 82151, Taiwan, R.O.C.

Abstract
a
IN+ Center for Innovation, Technology and Policy Research - Instituto Superior Técnico, Av. Rovisco Pais 1, 1049-001 Lisbon, Portugal
b
Abstract Veolia Recherche & Innovation, 291 Avenue Dreyfous Daniel, 78520 Limay, France
c
In this paper, Département
the study ofSystèmes
variousÉnergétiques
sliding modeset Environnement
has suggested- IMT thatAtlantique, 4 rue Alfred
integral terminal Kastler,(ITA)
attractor 44300performs
Nantes, France
satisfactorily in
regulating
In the the
this paper, output
studyduring load perturbations.
of various sliding modesThough all sliding
has suggested thatmodes areterminal
integral insensitive to system
attractor (ITA)uncertainties, their unique
performs satisfactorily in
properties are
regulating the greatly different.
output during loadThe sliding modeThough
perturbations. control all
(SMC)
slidingandmodes
terminal
are attractor
insensitive(TA)to inherently have steady-state
system uncertainties, error,
their unique
but TA assures
properties the good
are greatly transient
different. response.
The sliding Though
mode control both integral
(SMC) sliding mode control
and terminal attractor(ISMC) and ITA possess
(TA) inherently less steady-state
have steady-state error,
Abstract
error,
but TAbetter transient
assures response
the good transientis ITA. Experimental
response. Though both results in thissliding
integral study show
modethat the ITA
control (ISMC)can and
be regarded as a viable
ITA possess controller
less steady-state
for pulse-width
error, modulated
better transient response(PWM) inverter
is ITA. applications,
Experimental such
results inas photovoltaic
this study showinverter,
that the wind
ITA can power inverter and
be regarded as afuel cellcontroller
viable inverter.
District heating networks are commonly addressed in the literature as one of the most effective solutions for decreasing the
for pulse-width modulated (PWM) inverter applications, such as photovoltaic inverter, wind power inverter and fuel cell inverter.
greenhouse gas emissions from the building sector. These systems require high investments which are returned through the heat
© 2018 The Authors. Published by Elsevier Ltd.
©sales. Due to the changed climate conditions and building renovation policies, heat demand in the future could decrease,
© 2019
This is an
2018 The Authors.
open
The accessPublished
Authors. article under
Published by
by Elsevier Ltd.
the CC BY-NC-ND
Elsevier Ltd. license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
This is an open
prolonging the access article
investment under
return the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
period.
Selection
This and peer-review
is an open access articleunderunder responsibility
the CC BY-NC-ND of thelicense
2018 (https://creativecommons.org/licenses/by-nc-nd/4.0/)
5th International Conference on Power and Energy Systems
Selection
The mainand peer-review
scope underisresponsibility
of this paper to assess the of the 2018of5thusing
feasibility International Conference
the heat demand on Power
– outdoor and Energy
temperature Systems
function forEngineering,
heat demand
Engineering,
Selection
CPESE and
2018, CPESE 2018,
peer-review 19–21
under September 2018,
responsibility ofNagoya,
the Japan.
2018 5th International Conference on Power and Energy Systems
forecast. The19–21 September
district of Alvalade,2018, Nagoya,
located in Japan.
Lisbon (Portugal), was used as a case study. The district is consisted of 665
Engineering, CPESE 2018, 19–21 September 2018, Nagoya, Japan.
buildingsVarious
Keywords: that vary in modes,
sliding both construction period
steady-state error, and typology.
transient Three weather
response, pulse-width scenarios
modulated (PWM)(low, medium, high) and three district
inverter
renovation scenarios were developed (shallow, intermediate, deep). To estimate
Keywords: Various sliding modes, steady-state error, transient response, pulse-width modulated (PWM) inverter
the error, obtained heat demand values were
compared with results from a dynamic heat demand model, previously developed and validated by the authors.
1.The results showed that when only weather change is considered, the margin of error could be acceptable for some applications
Introduction
(the error in annual demand was lower than 20% for all weather scenarios considered). However, after introducing renovation
1. Introduction
scenarios, the error value increased up to 59.5% (depending on the weather and renovation scenarios combination considered).
TheThe pulse-width
value modulatedincreased
of slope coefficient (PWM)oninverters
average havewithinbeen widely
the range applied
of 3.8% up in
to 8%photovoltaic
per decade,energy systems, wind
that corresponds to the
The systems,
energy
decrease pulse-width andmodulated
in the number fuel
of heating (PWM)
cell systems inverters
hours of[1], have
highbeen
[2]. Aduring
22-139h widelyseason
performance
the heating applied
PWM in photovoltaic
inverter
(depending onmust energy the
regulate
the combination systems,
of outputwind
weather AC
and
energy
renovation systems,
voltage/current toand
scenarios fuel cell systems
theconsidered).
reference sinusoidal [1],input
On the other [2]. with
hand, Afunction
high
low performance
total harmonics
intercept PWM
increased forinverter
distortion must
(THD)
7.8-12.7% regulate
and
per the output
satisfactory
decade (depending onAC
dynamic the
voltage/current
coupled scenarios). to the
Thereference sinusoidal
values suggested input
could be with
used low total harmonics
to modify the functiondistortion
parameters (THD)
for theand satisfactory
scenarios dynamic
considered, and
improve the accuracy of heat demand estimations.

© 2017 The Authors. Published by Elsevier Ltd.

* Corresponding author. Tel.: +886-7-6577711 Ext. 6642; fax: +886-7-6577205.
Peer-review under responsibility of the Scientific Committee of The 15th International Symposium on District Heating and
enchihchang@isu.edu.tw
E-mail address:author.
* Corresponding Tel.: +886-7-6577711 Ext. 6642; fax: +886-7-6577205.
Cooling.
E-mail address: enchihchang@isu.edu.tw
1876-6102 © 2018 The Authors. Published by Elsevier Ltd.
Keywords:
This Heat
is an open demand;
access Forecast; Climate change license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
1876-6102 © 2018 Thearticle under
Authors. the CC BY-NC-ND
Published by Elsevier Ltd.
Selection
This is an and
openpeer-review under
access article responsibility
under of the 2018
the CC BY-NC-ND 5th International
license Conference on Power and Energy Systems Engineering, CPESE
(https://creativecommons.org/licenses/by-nc-nd/4.0/)
2018, 19–21
Selection andSeptember 2018,
peer-review underNagoya, Japan. of the 2018 5th International Conference on Power and Energy Systems Engineering, CPESE
responsibility
2018, 19–21 September 2018, Nagoya, Japan.
1876-6102 © 2017 The Authors. Published by Elsevier Ltd.
1876-6102 © 2019 The Authors. Published by Elsevier Ltd.
Peer-review under responsibility of the Scientific Committee of The 15th International Symposium on District Heating and Cooling.
This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
Selection and peer-review under responsibility of the 2018 5th International Conference on Power and Energy Systems Engineering,
CPESE 2018, 19–21 September 2018, Nagoya, Japan.
10.1016/j.egypro.2018.11.113
 En-Chih Chang et al. / Energy Procedia 156 (2019) 110–114 111
En-Chih Chang et al. / Energy Procedia 00 (2018) 000–000

response. Recently, researches have been conducted to derive various sliding modes to perform the control
performance [3], [4]. Jezernik et al. [5], Chiang et al. [6], and so on utilized the conventional sliding mode control
(SMC) to control objections; nevertheless, the steady-state error exists. Chern et al. [7] proposed the integral sliding
mode control (ISMC) to solve the steady-state error problem. However, poor transient response is seen. As above
cited [5-7], the dynamics reaches the system origin in infinite time. Zheng et al. [8] applied the terminal attractor
(TA) to enforce the finite time convergence through simulations, but the steady-state error still occurs. Chibani et al.
[9] developed an integral terminal attractor (ITA) to eliminate the steady-state error. Unfortunately provided results
are simulated, and do not consider the nonlinear loads. Thus, in this paper experiments are presented to compare the
varying performance of various sliding modes under different load conditions.

2. Problem Statement and Preliminaries

This work highlights the output voltage v o of the single-phase PWM inverter depicted in Fig. 1, that is driven to
follow a sinusoidal reference voltage v d , by employing various sliding modes.
L
iL Sudden change in load

T1 T3 + io
ic
R

Vs C vo
Load
T2 T4
Nonlinear Load

T1 T2 T3 T4 Cd Rd

vo

DIGITAL CONTROL USING DSP

Fig. 1. Circuit diagram of a digital controlled PWM inverters

An error state variable ~

xe can be written as
~
xe  vo  vd vo  vd T (1)
The error-state equations can be derived as
~ xe1   0 1  ~ x   0  0
 ~    1 1   ~e1    K pwm u    (2)
 x f
 xe 2   LC RC   e 2   LC 
 0 1   0 
 1 1   K pwm 
where A     , B  , K pwm is the inverter’s equivalent gain, u is the control input, and
LC RC
     LC
 
 a1 a2   b 
v v
f   d  d  vd .
LC RC
The final target must design a control law u to robustly regulate the output voltage against load disturbance, f .
The control law in various sliding modes can be partitioned into two or three items as follows:
u  ueq  u s or u  ueq  u s  ui (3)
where the equivalent control ueq is valid only on the sliding surface, the sliding control u s guarantees the existence
of the sliding mode, and the integral control ui achieves the zero steady-state error.
112 En-Chih Chang et al. / Energy Procedia 156 (2019) 110–114
En-Chih Chang et al. / Energy Procedia 00 (2018) 000–000

The obtainment of the equivalent control can use the following invariance condition
d
0 (4)
dt   0
u  u eq
The existence of the sliding mode can be formulated by
d
 0 (5)
dt u u or u u s  ui
s

SMC: The linear sliding surface can be defined as

 SMC  c~xe  0 (6)
where c is a matrix.
Using (2) and (6), one yields
 sm  c~xe  c[ A~xe  Bu  f )]  0 (7)
From (4) and (5), we have
u sm   (cB) 1 cA~
x  k sm (cB) 1 sgn( sm ) (8)
 e    
u sm
eq u sm
s

where k sm is a SM switching gain.

ISMC: An integral state variable is introduced as
~
xe0  ~
xe1  (9)
The (7) can be rewritten as
 ism  c~xe  c0 ~xe0  c1 ~xe1  ~xe 2  0 (10)
where c is an augmented matrix of the c , and c0 and c1 are constants.
Utilizing (4) and (5), then one yields
uism   (cB) 1cA~
x  kism (cB) 1 sgn( ism ) kic (cB) 1 ~
xe0 (11)
e   
u ism
eq u ism
s u ism
i

where A and B are augmented matrices of the A and B , respectively, kism is a switching gain and kic is an
integral compensation gain.
TA: The nonlinear sliding surface can be chosen as
 ta  ~xe1  ~xe1  ~xe 2  ~xe1  0 (12)
where   0 is a constant, and 0    1 .
Differentiating  ta with respect to time becomes
d ~
 ta  ~xe 2   x 0 (13)
dt e1
Similar to the operation of the SMC, which leads to
d 
uta  b 1 (a1~
xe1  a2 ~
xe 2   ~
xe1 ) kta b 1 sgn( ta ) (14)
dt
  
 ta
us
u eqta
where kta is a TA switching gain.
ITA: Integrating ~
xe1 and the nonlinear sliding surface with integral compensation can be expressed by
 ita   0  1 0 1  0 (15)

where  0   1   0 10 ,  1  ~
xe1dt ,  0 , 1 >0 , and  0 ,  1 <1.
 En-Chih Chang et al. / Energy Procedia 156 (2019) 110–114 113
En-Chih Chang et al. / Energy Procedia 00 (2018) 000–000

The time derivative of the (15) yields

d 1
 ita  0  1  0 (16)
dt 0
Imitating the solution of the ISMC becomes
0
d m2 
uita  b 1 (a1 1  a1~
xe1  a2 ~
dt
xe 2 
   m 1
  m2
 mm1 ) kita b 1 sgn( ita ) kic
 b 1 1 (17)
 m
 1 
  
 u sita u iita
u eqita
 is an integral compensation gain.
where a1 is a constant, kita is a switching gain and kic

3. Experimental Results

The following system parameters can be chosen: Vs=200V, output voltage=110Vrms, 60Hz, switching
frequency=20 kHz, L=2 mH, C=10 μF, Cd=420 μF, Rd=40 Ω and R=50 Ω. From the results plotted in Fig. 2(a), the
TA and ITA achieve the smaller voltage dips and faster recovery times in the presence of sudden change in loads,
however SMC and ISMC are on the contrary. For nonlinear loads as illustrated in Fig. 2(b), the ISMC and ITA have
almost zero steady-state errors while there are nonzero steady-state errors in the SMC and TA. We can easily find
that the ITA not only carried out performance satisfactorily during steady-state but the total harmonic distortion is
lower than other sliding modes. Table 1 outlines the above-mentioned experimental results.

SMC SMC %THD=8.41%

ISMC ISMC %THD=5.94%

TA TA %THD=6.85%

ITA ITA %THD=4.78%

(a) (b)
Fig. 2. (a) Sudden change in load from no load to full load (100V/div; 20A/div; 5ms/div), (b) Nonlinear load (100V/div; 25A/div;
5ms/div).
 En-Chih Chang et al. / Energy Procedia 00 (2018) 000–000
114 En-Chih Chang et al. / Energy Procedia 156 (2019) 110–114

Table 1 Performance of various sliding modes

Performance Fast Low Less
requirements
transient %THD steady-state
Controller response error
SMC △ △ △
ISMC △ ◎ ◎
TA ◎ ○ △
ITA ◎ ◎ ◎
△ : Poor; ○: Good; ◎ : Preferable

4. Conclusions

This paper presents a comparative evaluation of the conventional SMC, integral SMC, terminal attractor, and
integral terminal attractor controlled PWM inverters. The dissimilarity among their characteristics which lead to
varying performance is described. Robustness of these sliding modes to the load perturbation is studied and
experimental results are provided. Compared with other sliding modes, ITA can offer better performance for
practical application.

Acknowledgements

This work was supported by the Ministry of Science and Technology of Taiwan, R.O.C., under contract number
MOST 107-2221-E-214-006.

References

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[3] S. Vaidyanathan, and C. H. Lien, Applications of Sliding Mode Control in Science and Engineering, Springer, New York, 2017.
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[8] X. M. Zheng, Q. M. Li, W. Wang, and Y. Feng, “Higher-order nonsingular terminal sliding mode dead-time compensation method in
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[9] A. Chibani, B. Daaou, A. Gouichiche, A. Safa, and Y. Messlem, “Finite-time integral sliding mode control for chaotic permanent magnet
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