IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO.

2, MAY 2013

957

Phase Compensation Resonant Controller for PWM Converters

Yunhu Yang, Keliang Zhou, Senior Member, IEEE, and Ming Cheng, Senior Member, IEEE
AbstractThis paper develops a phase compensation method for resonant control. Phase compensation enables resonant control to achieve high tracking accuracy, wide stability range and fast error convergence rate. A simple and efcient phase compensation resonant control scheme is proposed for a single-phase PWM inverter. Experiment results are provided to demonstrate the effectiveness of phase compensation for resonant control. Index TermsPhase compensation, PWM converters, repetitive control, resonant control.

Fig. 1. General repetitive control system.

I. INTRODUCTION

OTAL HARMONIC DISTORTION (THD) of output voltage/current is one important index to evaluate the performance of power converters. The harmonics will lead to communication interference, excessive heating in capacitors and transformers, solid-state device malfunctions and so on. Nonlinear loads and uncertainties often distort the output voltage waveform and thus degrade the converters performance. The suppression of harmonic distortion and high accuracy control of output waveforms of PWM converters, have attracted many researchers interests [1][13]. Repetitive control (RC) [4][13], which is based on the internal model principle (IMP) [14], have been found to be a high tracking accuracy control scheme for PWM converters to reduce THD. Repetitive control can suppress all harmonics below Nyquist frequency. However, due to the high order structure of its internal model, repetitive controller is found to be very slow in removing high order harmonics in many cases. Resonant control (RSC), which is based on IMP, has innite open-loop gain at resonant frequency, and can achieve zero steady state error control for sinusoidal signal with the frequency at resonant frequency [15][19]. Since harmonics

of the output voltage/current of power converters mainly concentrate within low frequency band, for example, 3rd, 5th, 7th, 9th, 11th, 13th and 15th order harmonic often dominate the harmonic distortion caused by the single-phase rectier load. Therefore a parallel combination of multiple resonant controllers (MRSC) at dominant frequencies can be used to eliminate major harmonic distortion, and can obtain high control accuracy. However, in practical applications, when a RSC with high-order resonant frequency (e.g., seventh, ninth, eleventh order harmonics) is plugged into MRSC, the control system is apt to become unstable. It is hard for multiresonant control scheme to improve its control accuracy due to the limited number of parallel RSCs. Till now it is still an open issue. With the help of phase compensation principle for repetitive control [20][23], phase compensation method is proposed for RSC to achieve wider stability range. Phase compensation at each resonant frequency enables more RSCs to be added into MRSC. Therefore both stability and control accuracy of multiresonant control system can be improved. Finally, phase compensation resonant control scheme is applied to a single-phase PWM inverter to evaluate its validity. II. PHASE COMPENSATION PRINCIPLE A. Phase Compensation Principle for RC

Manuscript received November 28, 2011; revised March 23, 2012; accepted July 09, 2012. Date of publication July 26, 2012; date of current version January 09, 2013. This work was supported by the National Natural Science Foundation of China under Grant No. 50977013, the Research Fund for the Doctoral Program of Higher Education of China under Grant No. 20070286013, and the Outstanding Talents in Six Fields of Jiangsu Province under Grant No. 2008116. Paper no. TII-11-820. Y. Yang is with the School of Electrical and Information Engineering, Anhui University of Technology, Maanshan 243002, China (e-mail: roye_yang@126. com). K. Zhou is with the Department of Electrical and Computer Engineering, University of Canterbury, Christchurch 8020, New Zealand (e-mail: keliang. zhou@canterbury.ac.nz). M. Cheng is with the School of Electrical Engineering, Southeast University, Nanjing 210096, China (e-mail: mcheng@seu.edu.cn). Color versions of one or more of the gures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identier 10.1109/TII.2012.2210432

Fig. 1 presents a general repetitive control system, where is a plant; is a feedback controller; is a disturbance; is a reference input; denotes RC which is encircled by the dash lines, i.e., (1) is a gain of RC; is a low pass lter; is a where phase compensator. For a zero phase compensation repetitive control system [22], the stability range of control gain is derived as follows [20]: (2)

1551-3203/$31.00 2012 IEEE

958

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO. 2, MAY 2013

Fig. 2. Lead phase compensation repetitive control system.

When , i.e., for all below Nyquist frequency, the stability range of control gain can be obtained, i.e., . where ; and are magnitude frequency characteristics of and phase frequency characteristics of respectively. and are magnitude frequency characteristics of and phase frequency characteristics of respectively. Zero phase compensation not only leads to a wider stability range of , but also signicantly simplies the design of RC system [20]. However, due to the effects of uncertainties, such as parameter variations, nonlinear loads and unknown delay, the accurate transfer function of cannot be obtained. Therefore, it is hard to achieve the zero phase compensation for RC systems, especially in high frequency band. The stability range of control gain will be signicantly reduced. Usually a lowpass lter is introduced to improve the control system stability at the cost of tracking accuracy reduction. The low-pass lter brings a trade-off between tracking accuracy and system robustness. However, will not give any phase compensation. Fig. 2 presents a lead phase compensation repetitive control system [21], [23]. In this control scheme, the phase compensator is simply replaced by . Experiment results show that phase compensation, especially at high order harmonic frequencies, can signicantly improve system stability, the steady-state accuracy and error convergence rate. B. Phase Compensation Principle for RSC Fig. 3(a) presents RC with lead phase compensation, i.e., (3) where is the gain of RC, is the fundamental of disturbance, is used to be lead phase compensation, represents RC without lead phase compensation. According to the nature of exponential function [24], can be rewritten as follows: (4) is harmonic angular where the resonant frequency frequency with being the fundamental frequency and . From (4), it is clear that a RC is equivalent to a parallel combination of a proportional controller, an integral controller, and resonant controllers at harmonic frequencies. These

Fig. 3. Phase compensation repetitive controller. (a) Phase conpensation RC. (b) Phase compensation RC at harmonic frequencies.

equivalent resonant controller components enable RC to eliminate the harmonic distortion. Let , , , the inverse Laplace transformation of (4) can be written as (5) denotes the pulse function, where function. Substitute (4) into (3), we have denotes the step

(6) The inverse Laplace transformation (6) can be written as

From (6), it can be seen that lead phase component an identical phase shift to all RSC components. Since

(7) adds

(8) Therefore, a RC with lead phase compensation at harmonic frequencies, as shown in Fig. 3(b), can be written as follows: (9)

YANG et al.: PHASE COMPENSATION RESONANT CONTROLLER FOR PWM CONVERTERS

959

Fig. 4. Single-phase CVCF PWM inverter with multiresonant control scheme.

It should be noted that all RCSs in (9) have gain and phase compensation time . Since all RSCs have identical phase compensation time, RC cannot achieve zero phase compensation at each harmonic frequency. Identical gain for all RCSs means that RC cannot optimize its error convergence rate by assigning larger gain for larger harmonics. Moreover, a low-pass lter is needed to enhance the control system stability at the cost of reduced tracking accuracy in high frequency band. In many practical applications, RC can eliminate harmonic distortion and achieve high steady-state tracking accuracy. However, in some cases, RC may not provide satisfactory performance due to its long time-delay in its forward channel. Since low frequency harmonics usually dominate the harmonic distortion, a parallel combination of multiple resonant controllers at dominant harmonic frequencies can be used to replace RC to eliminate dominant harmonic distortion as follows: (10) is a RSC with phase compensation time and where gain . Obviously, each RCS in MRSC of (10) can choose its gain and compensation phase independently. Independent phase compensation and gain for each RSC enable MRSC to achieve zero phase compensation at each dominant harmonic frequency (i.e., resonant frequency) with an optimal error convergence rate. Therefore, more RSCs can be added into MRSC to enhance its tracking accuracy. Compared with phase compensation RC, phase compensation MRSC can achieve almost the same tracking accuracy at much higher error convergence rate. Since MRSC is only comprised of RSCs at the dominant harmonic frequencies in the low frequency band, it doesnt need a low pass lter . From (2), for the general repetitive control system shown in Fig. 1, phase compensation renders a wider stability range for

the repetitive control gain . Likewise, phase compensation brings a wider stability range for RSC gains. C. Phase Compensation for Each RSC Let rewritten as , RSC with phase compensation can be

(11) The frequency characteristics of the numerator is

For the numerator, when

(12) , its phase can be written as (13)

(13) indicates that the numerator phase is at resonant frequency. For the denominator, when , ; when , , where and denote the frequency below and above resonant frequency respectively. It is clear that the denominator phase has discontinuous phase with transition at the resonant frequency of . The denominators average phase at the frequency of can be written as (14) From (13) and (14), the average phase of RSC at its resonant frequency can be obtained (15) Equation (15) indicates that RSC erage compensation phase . can provide an av-

960

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO. 2, MAY 2013

D. Digital RSC The most commonly used digitization technique is prewarped bilinear transform as follows:

(16) where denotes the gain; denotes the sampling period, Thus, (11) can be rewritten as (17) where , , and . III. CASE STUDY Fig. 4 presents a single-phase PWM inverter with its resonant control scheme. The control objective of the PWM inverter is to force output voltage to track the reference input accurately. The discrete mathematical model [21] of such a single phase PWM inverter can be expressed as , ,

Fig. 5. Block diagram of resonant control inverter system.

However, SFC is based on an accurate nominal model of the PWM inverter. In the presence of parameter uncertainties and nonlinear loads, phase compensation MRSC are plugged into SFC controlled inverter to improve the tracking accuracy and eliminate the dominant harmonics. As all we know, odd harmonics in the low frequency band dominate the total harmonic distortion of the output voltage of the single phase PWM inverter with the rectier load, especially 3rd, 5th, 7th, 9th, 11th, 13th and 15th order harmonics. Thus RSCs (the subscript , 3, 5, 7, 9, 11, 13, 15) are included into MRSC. Fig. 5 presents the resonant control system of the single phase PWM inverter, where is the reference input, is the control error, is the control input, is the disturbance, is the SFC of (19), is the plant of (18), denotes digital multiple RSCs. The transfer function from the reference input and the disturbance to the error e can be expressed as (21) at Since 3, 5, 7, 9, 11, 13, 15), we have (the subscripts ,

(18) where , , , , , , , and are the nominal value of the dc voltage, the inductance, the capacitance and the load resistance respectively, is the output voltage of the inverter, is the sampling period. A. Plug-In Phase Compensation Resonant Control Scheme First, a state feedback controller (SFC) can be employed as follows: (19) to control the PWM inverter, where , is the gain of the reference input . The poles of the feedback control system can be assigned to achieve good robustness by tuning control gains and . Substituting (19) into (18), the overall closed-loop system of this SFC system can be written as (20) where , . , ,

(22) Equation (22) indicates the tracking errors at these harmonic frequencies approach zero in the steady state. , the avTo achieve zero phase compensation for at erage phase of will be chosen as follows: (23) where ) is the phase of at . Taking into account the model uncertainties , the relationship between the true plant and the nominal plant can be written as (24) The system sensitivity can be derived as (25) Equation (25) shows that system performance are insensitive to parameter variations at resonant frequencies due to

YANG et al.: PHASE COMPENSATION RESONANT CONTROLLER FOR PWM CONVERTERS

961

TABLE I EXPERIMENT PARAMETERS

TABLE II PARAMETERS OF

Fig. 6. Poles displacements of

. Since phase compensation renders a wider range for RSC gains, the phase-compensation RSC system is more robust than a conventional RSC system. B. Experiment Setup All the experimental studies are carried out using a dSPACE (DS1104) controlled single-phase PWM IGBT inverter system. The experiment parameters are listed in Table I. In the case of nominal load , SFC of (19) is chosen as

Fig. 7. Output voltage

instability.

to assign the poles of of (20) at . Fig. 6 presents the poles distributions of the closed-loop system with resist load . When , the poles of are inside the unit circle. Therefore, the closed-loop system is stable if resist load . However, due to the parameter uncertainties, unknown delays and nonlinear loads, accurate transfer function of SFC system is different from of (20). The actual phase of SFC system at can be measured through experiments. Moreover, since the error convergence rate at is proportional to the gain of , larger yields faster convergence rate. But over-large gain may cause system unstable. Therefore, an optimal choice of enables the whole RSC controlled inverter to achieve satisfactory error convergence rate. According to experimental test results, the parameters of MRSC are chosen and listed in Table II. C. Experiment Results without any phase compensation (i.e., ) are If plugged into the SFC controlled inverter system with the rectier load, it can be observed that, the inverter system becomes

unstable if any (the subscript ) is included in MRSC. As shown in Fig. 7, when is plugged into , the output voltage grows monotonously, that is to say, the PWM inverter system becomes unstable. Therefore, without phase compensation, MRSC may not achieve high tracking accuracy due to its very limited number of RSC components. Fig. 8 gives the responses of the inverter system with rectier load in the case of different control schemes. Fig. 8(a) shows the steady state response, the harmonic spectrum of and the dynamic tracking error when SFC plus is applied to the inverter system. It can be seen that the PWM inverter produces the output voltage with THD of 5.81%, steady state error of 15 V (peak) and error convergence time of about 0.3 s. From the harmonic spectrum in Fig. 8(a), it can be observed that 3rd, 5th, 7th, 9th order harmonics dominate the harmonic distortion of , and the magnitudes of other harmonics are less than 0.6%. Fig. 8(b) shows the steady state response, the harmonic spectrum of and the dynamic tracking error when SFC plus phase compensation MRSC (the subscript , 3, 5, 7, 9, 11, 13, 15) are applied to the inverter system. It can be seen that the PWM inverter produces the output voltage with THD of 1.03%, steady state error of 8 V (peak) and error convergence time of about 0.2 s. Compared with Fig. 8(a), it can be observed that all th order harmonics ( , 5, 7, 9, 11, 13, 15) are signicantly removed from in Fig. 8(b), but no signicant change occurs in the magnitudes of even order harmonics in the spectrum Fig. 8(b). All the magnitudes of odd harmonics in the spectrum in Fig. 8(b) are less than 0.3%.

962

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO. 2, MAY 2013

Fig. 8. Steady-state and dynamic responses with different control schemes. (a)

. (b)

. (c)

Fig. 8(c) shows the steady state response, the harmonic spectrum of and the dynamic tracking error e when SFC plus phase compensation repetitive controller with , the gain and is applied to the inverter system. It can be seen that the PWM inverter produces the output voltage with THD of 1.28%, steady state error of 10 V (peak) and error convergence time of about 0.5 s. From Fig. 8(c), it can be observed that all th order harmonics are signicantly removed from . All the magnitudes of odd harmonics in the spectrum in Fig. 8(c) are less than 0.4%. Generally speaking, the magnitudes of even harmonics in the spectrum in Fig. 8(c) are less than those in Fig. 8(b), except the magnitude of 10th order harmonics. From Fig. 7 and Fig. 8, it can be concluded that phase compensation enables MRSC to achieve very low THD and high tracking accuracy at faster error convergence rate. From Fig. 8, it can be seen that phase compensation MRSC (the subscript , 3, 5, 7, 9) are good enough to achieve high tracking accuracy. Other RSCs (the subscript , 13, 15) are included in MRSC to show the validity of phase compensation principle. Furthermore, RSC with even order harmonic

frequencies can also be added into MRSC to eliminate the dominant even order harmonics if appropriate. Fig. 9 shows the transient responses of SFC plus phase compensation MRSC (the subscript , 3, 5, 7, 9, 11, 13, 15) controlled PWM inverter with rectier load. It is clear that the PWM inverter system is robust to sudden rectier load changes. From Fig. 79, it is not difcult to conclude that phase compensation MRSC controlled single-phase PWM inverter can achieve high steady-state tracking accuracy, low THD, fast convergence rate, and good robustness in the presence of sudden load changes. IV. CONCLUSION Phase compensation principle for RSC is developed. A multiresonant control scheme is proposed for single-phase PWM inverters. The proposed control scheme can provide accurate phase compensation for RSCs at harmonic frequencies, enables more RSCs to be employed in MRSC, and thus leads to high tracking accuracy, low THD and fast convergence rate. Experimental results show that MRSC controlled inverter, even with

YANG et al.: PHASE COMPENSATION RESONANT CONTROLLER FOR PWM CONVERTERS

963

Fig. 9. Transient responses with SFC plus phase compensation MRSC. (a) From rectier load to no load. (b) From no load to rectier load.

rectier load, can produce high quality output voltage with high tracking accuracy, fast error convergence rate, and good robustness under sudden load changes. Phase compensation multiresonant control scheme provides a high performance control solution for PWM converter systems.

REFERENCES
[1] N. Farokhnia, S. H. Fathi, N. Yousefpoor, and M. K. Bakhshizadeh, Minimisation of total harmonic distortion in a cascaded multilevel inverter by regulating voltages of DC sources, IET Power Electron., vol. 5, no. 1, pp. 106114, Jan. 2012. [2] Q.-C. Zhong, F. Blaabjerg, J. Guerrero, and T. Hornik, Reduction of voltage harmonics for parallel-operated inverters equipped with a robust droop controller, in Proc. IEEE Energy Convers. Congr. Exp., Phoenix, AZ, 2011, pp. 473478. [3] M. Castilla, J. Miret, J. Matas, L. Garcia de Vicuna, and J. Guerrero, Control design guidelines for single-phase grid-connected photovoltaic inverters with damped resonant harmonic compensators, IEEE Trans. Ind. Electron., vol. 56, no. 11, pp. 44924501, Nov. 2009. [4] K. Zhou and D. Wang, Digital repetitive learning controller for threephase CVCF PWM inverter, IEEE Trans. Ind. Electron., vol. 48, no. 4, pp. 820830, Aug. 2001. [5] C. R. Costa, Robert, and E. Fossas, Odd-harmonic digital repetitive control of a single-phase current active lter, IEEE Trans. Power Electron., vol. 19, no. 4, pp. 10601067, Jul. 2001. repetitive [6] G. Weiss, Q.-C. Zhong, T. C. Green, and J. Liang, control of DC-AC converters in microgrids, IEEE Trans. Power Electron., vol. 19, no. 1, pp. 219230, Jan. 2004. repetitive voltage control of grid[7] T. Hornik and Q.-C. Zhong, connected inverters with a frequency adaptive mechanism, IET Power Electron., vol. 3, no. 6, pp. 925935, Nov. 2010.

[8] T. Hornik and Q.-C. Zhong, A current control strategy for voltagesource inverters in microgrids based on H-innity and repetitive control, IEEE Trans. Power Electron., vol. 26, no. 3, pp. 943952, Mar. 2011. [9] Y. Wang, D. Wang, K. Zhou, B. Zhang, and Y. Ye, Modelling and robust repetitive control of PWM DC/AC converters, in Proc. 22nd IEEE Int. Symp. Intell. Control, Singapore, Oct. 2007, pp. 2142376. [10] P. Mattavelli and F. Pinhabel, Repetitive-based control for selective harmonic compensation in active power lters, IEEE Trans. Power Electron., vol. 51, no. 5, pp. 504510, Oct. 2004. [11] G. Escobar, J. Leyva-Ramos, P. R. Martinez, and A. A. Valdez, A repetitive-based controller for the boost converter to compensate the harmonic distortion of the output voltage, IEEE Trans. Control Syst. Technol., vol. 13, no. 3, pp. 836841, May 2005. [12] G. Escobar, A. A. Valdez, J. Leyva-Ramos, and P. Mattavelli, Repetitive-based controller for a UPS inverter to compensate unbalance and harmonic distortion, IEEE Trans. Power Electron., vol. 54, no. 1, pp. 504510, Feb. 2007. [13] G. Escobar, G. Perla, P. G. Hernandez-Briones, P. R. Martinez, M. Hernandez-Gomez, and R. E. Torres-Olguin, A repetitive-based controller for the compensation of 6 l 1 harmonic components, IEEE Trans. Power Electron., vol. 55, no. 8, pp. 31503158, Aug. 2008. [14] B. A. Francis and W. M. Wonham, The internal model principle of control theory, Automatica, vol. 12, no. 5, pp. 457465, 1976. [15] M. Liserre, R. Teodorescu, and F. Blaabjerg, Multiple harmonics control for three-phase grid converter systems with the use of PI-RES current controller in a rotating frame, IEEE Trans. Power Electron., vol. 21, no. 3, pp. 836841, May 2006. [16] L. Wanchak, S. Mark, and Z. Pericle, The use of genetic algorithms for the design resonant compensators for active lters, IEEE Trans. Ind. Electron., vol. 56, no. 8, pp. 28522861, Aug. 2009. [17] R. I. Bojoi, G. Griva, V. Bostan, V. Bostan, M. Guerriero, F. Farina, and F. Profumo, Current control strategy for power conditioners using sinusoidal signal integrators in synchronous reference frame, IEEE Trans. Power Electron., vol. 20, no. 6, pp. 14021411, Nov. 2005. [18] C. Lascu, L. Asiminoae, I. Boldea, and F. Blaabjerg, High performance current controller for selective harmonic compensation in active power lters, IEEE Trans. Power Electron., vol. 22, no. 5, pp. 18621835, Sep. 2007. [19] C. Lascu, L. Asiminoaei, I. Boldea, and F. Blaabjerg, Frequency response analysis of current controllers for selective harmonic compensation in active power lters, IEEE Trans. Ind. Electron., vol. 56, no. 2, pp. 337347, Feb. 2009. [20] K. Zhou, K.-S. Low, D. Wang, D. Wang, F. L. Luo, B. Zhang, and Y. Wang, Zero-phase odd-harmonic repetitive controller for a singlephase PWM inverter, IEEE Trans. Power Electron., vol. 21, no. 1, pp. 193201, Jan. 2006. [21] B. Zhang, D. Wang, K. Zhou, K. Zhou, and Y. Wang, Linear phase lead compensation repetitive control of a CVCF PWM inverter, IEEE Trans. Ind. Electron., vol. 55, no. 4, pp. 15951602, Apr. 2008. [22] M. Tomizuka, Zero phase error tracking algorithm for digital control, J. Dyn. Syst. Meas. Control (ASME), vol. 109, no. 2, pp. 6568, Mar. 1987. [23] B. Zhang, K. Zhou, Y. Wang, and D. Wang, Performance improvement of repetitive controlled PWM inverters: A phase-lead compensation solution, Int. J. Circuit Theory Appl., vol. 38, no. 5, pp. 453469, Jun. 2010. [24] L. S. Gradshteyn and L. M. Ryzhik, Table of Integrals, Series, and Products. San Diego, CA: Academic Press, 2007, pp. 2030.

Yunhu Yang was born in Bengbu, China in 1973. He received the B.Sc. and M.Sc. degrees from Heifei University of Technology in 1996 and 2005 respectively, Heifei, China, and the Ph.D degree from Southeast University in 2012, Nanjing, China. Currently, he works in the School of Electrical and Information Engineering, Anhui University of Technology, Maanshan, China. His research interests include power converters applied to renewable energy applications, control of power electronic converters and industrial drives, advanced control and its applications.

964

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO. 2, MAY 2013

Keliang Zhou (M04SM08) received the B.Sc. degree from Huazhong University of Science and Technology in China in 1992, the M.Eng degree from Wuhan Transportation University (now Wuhan University of Technology) in China in 1995, and the Ph.D. degree from Nanyang Technological University, Singapore, in 2002. During 20032006, he was a research fellow at Nanyang Technological University in Singapore and at Delft University of Technology in the Netherlands, respectively. From 2006 to 2011, he was with Southeast University in China, as a Professor in the School of Electrical Engineering. Since 2011, he joined the University of Canterbury in New Zealand, where he is currently a Lecturer in the Department of Electrical and Computer Engineering. His teaching and research interests include power electronics and electric drives, renewable energy generation, and control theory and applications. He has authored or co-authored over 80 technical papers and several patents in related areas.

Ming Cheng (M01SM02) received the B.Sc. and M.Sc. degrees from Southeast University, China, in 1982 and 1987, respectively, and Ph.D. degree from University of Hong Kong, Hong Kong, in 2001. Since 1987, he has been with Southeast University, where he is currently a Professor in the School of Electrical Engineering and the Director of the Research Center for Wind Power Generation. As a Visiting Professor, he worked in WEMPEC, University of Wisconsin-Madison in 2011, and in the Department of Energy Technology, Aalborg University, Denmark in 2012. His teaching and research interest include electrical machines, motor drives for electric vehicles and renewable energy generation. He has authored or coauthored over 280 technical papers and ve books, and holds 50 patents in these areas. Prof. Cheng is a Fellow of IET. He has served as chair and organizing committee member for many international conferences. He is the recipient of IET Premium Award in Electric Power Application, GM Automotive Innovative Talent Award for China University, and SAE Environmental Excellence in Transportation Award-Education, Training and Public Awareness.