3rd IEEE International Symposium on Power Electronics for Distributed Generation Systems (PEDG) 2012
A Novel SVPWM Overmodulation Technique Based
On Voltage Correcting Function
Ilioudis C. Vasilios, Student Member, IEEE
Dept. of Electrical and Computer Engineering
Aristotle University of Thessaloniki
Thessaloniki, Greece
e-mail: ilioudis@teithe.gr
Abstract—This paper presents a new Space Vector Pulse Width
Modulation (SVPWM) strategy for voltage regulation of a
Voltage Source Inverter (VSI) enabling the continuous transition
from the linear modulation to the six-step mode. Overmodulation
operation is based on a correcting function method modifying
properly the amplitude and the phase angle of the VSI output
voltage. The evaluation of the method is explored via frequency
analysis of the inverter voltage and motor currents in order to be
able to evaluate the possible impact of the drive system.
Simulation results demonstrate the effectiveness of the proposed
SVPWM Overmodulation algorithm applied on sensorless speed
control of a salient-pole Synchronous Machine (SM) via
Matlab/Simulink utility.
Keywords-Synchronous Machine (SM); SVPWM Voltage
Correcting Function (VCF); SVPWM Overmodulation; Six-
Step Operation.
NOTATION
Vdc = dc-link voltage supplied to inverter
umax = maximum output voltage of inverter
Ts = PWM switching time
T0= zero state switching time
T1= first state switching time of the sector
T2= second state switching time of the sector
u* = reference voltage vector
uc = compensated voltage vector
Į = angle of the reference voltage vector
Į0 =angle of the inverter input voltage vector
m = SVPWM sector number
uȖ*, uį* = Ȗ-į axis reference voltages
u = inverter output voltage
uȖ, uį = Ȗ-į axis voltages
iȖ, iį = Ȗ-į axis currents
I. INTRODUCTION
In vector control, the controlling variables of the electrical
machine expressed in d-q synchronous rotating frame need to
be converted back to three-phase PWM signals before being
applied to the inverter. The desired three phase voltages and
currents of the machine are applied by means of a Voltage
978-1-4673-2023-8/12/$31.00/ ©2012 IEEE
Margaris I. Nikolaos, Member, IEEE
Dept. of Electrical and Computer Engineering
Aristotle University of Thessaloniki
Thessaloniki, Greece
e-mail: margaris@eng.auth.gr
Source Inverter (VSI) or Current Source Inverter (CSI) using
an effective PWM scheme. There two main methods to
generate these signals in order to feed with power the motor:
the Sinusoidal Pulse Width Modulation (SPWM) and the Space
Vector Pulse Width Modulation (SVPWM). Sinusoidal PWM
has been the most widely used technique in ac motor control. It
is a simple carrier-based PWM, where a triangular carrier wave
is modulated by a sine wave and their intersection points
determine the switching times of the inverter power devices.
On the other hand Space Vector PWM (SVPWM) is a more
sophisticated technique that provides better dc bus utilization
and lower total harmonic distortion (THD) of the inverter
voltage signal compared with SPWM. The appropriate PWM
timer values needed in SVPWM can be calculated from the
corresponding magnitude and angle parameters (i.e. u and )
using the dq voltage or current coordinates. Although SVPWM
technique has maximum modulation index (MI) greater
compared to SPWM nevertheless it is also unable to make full
use of the inverter’s supply voltage. Operating in linear area,
the maximum MI for SPWM and SVPWM are 0.5 and 0.866
respectively. In order to generate sinusoidal voltages the vector
u* must be maintained within the SVPWM hexagon (see
Fig.1), inside the inscribed cycle representing the linear area of
SVPWM. In other words, the modulation index, should not
exceed 3/20.866. Several techniques have been proposed to
extend the modulation index range above 0.866 for SVPWM
[1]-[8]. These techniques are referred to as overmodulation.
Such an extension of the inverter voltage range may cause
undesired effects even serious problems especially in the ac
motor traction applications (u* uc) [1]–[3]. Operation of these
modulation schemes in the overmodulation area as well as
continuous transition into the six-step mode is still a
challenging research area [6], [10]. However overmodulation
methods can be useful where the voltage supply needs to be
varied (e.g. in automotive applications), since they do provide a
higher voltage to the motor improving the dc bus utilization.
In this paper, according to the operational principle of
SVPWM, a novel over-modulation technique is proposed
implementing a simple magnitude-angle algorithm.
Implementing this unified auxiliary function, the output voltage
of three phases could increase continuously up to that of six-
step operation. In addition, the total harmonic distortion (THD)
of the output voltage using the proposed novel over-modulation
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 3rd IEEE International Symposium on Power Electronics for Distributed Generation Systems (PEDG) 2012

technique is analyzed. Simulation results are presented at the

end of this paper, which prove that the proposed over-
modulation technique could be practicable.

II. SVPWM OVERMODULATION BASED ON AN AUXILIARY

CORRECTING FUNCTION
In this section, an analysis of the novel overmodulation
strategy for the space-vector PWM is presented. The derived
algorithm is based on a compensated voltage function suitable
to extend inverter operation from linear modulation up to six-
step mode. For analysis simplicity, the dead-time effect is
neglected. When developing overmodulation algorithm the
modulation index (MI) is used as a main characteristic of
space-vector PWM. This is effectively the ratio of the
magnitude of the voltage vector u to the maximum amplitude
of the voltage vector provided by the inverter (2/3)Vdc. Here the
modulation index for SVPWM inverters is defined as
uc uc
MI (1)
 2 3 Vdc u max Figure 1. Linear and over-modulation area in SVPWM.
where umax is the maximum amplitude of voltage reference
vector u* operating in the linear area (umax=(2/3)3) and uc is
the amplitude of the inverter input voltage referred as
compensated voltage. According to the modulation index, the
SVPWM range is divided into two regions, Linear Modulation
Area and Overmodulation Area described in the following
sections.

A. Linear Modulation Area (0

u*
Vdc/3, Linear MI).
Based on the principle of the space-vector modulation, the
space voltage vectors involve six effective vectors and two zero
vectors as shown in Fig. 2. Here Į is the phase angle of the
reference voltage vector, m is the sector number (m=1,2…6)
and ij is the angle between the voltage vectors u* and Vm given
by ij=[Į-(m-1)ʌ/3] (see Fig. 1 and Fig. 2). Considering for
simplicity that u* lies in first sector (m=1, ij=Į), then the
voltage reference vector u* is composed of time-average
components of two effective vectors adjacent to it and one zero
vector
T1 T2 T0
u * u1  u 2  u 0 V 1  V 2  V 0, 7 (2)
Ts Ts Ts
where Ts is the sampling period of the PWM and T1, T2 and T0 Figure 2. Operation in linear area and sector numbering.
are time intervals of applying voltage vectors V1, V2 and V0, 7
respectively (V0,7 implies the zero-voltage vectors V0 and V7).  u* 
These time intervals of T1, T2 and T0 are calculated as follows Ts 1  3Ts
 Vdc  3 
sin    sin  
 

*

 
u
T 1 3Ts sin   (3)  3 u* 
Vdc
*
3

Ts 1 
 Vdc
cos   
6 
 (5)
u
T 2 3T s sin (4)
Vdc In this mode of operation, the angle Į, the amplitude of the
compensated and actual voltage reference vectors (uc and u*
T 0 T s  T 1  T 2  respectively) are the same for each fundamental period.
Therefore both voltage vectors exactly coincide, that is u=u*,
when 0
u*
Vdc/3.

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 3rd IEEE International Symposium on Power Electronics for Distributed Generation Systems (PEDG) 2012

B. Overmodulation Area (Vdc/3 <u*

(2/3)Vdc, Non Linear
MI).
Operation in over-modulation mode occurs when the
magnitude of the reference space vector, u*, is greater than
Vdc/3 causing the end of the vector to be located outside of the
SVPWM hexagon (0.866<MI
1.0). Therefore, the trajectory of
the reference voltage vector intersects the hexagon at two
points for each sector (see Fig. 4). The intersection angle Ȗ is
given by

  Vdc 1 
  a cos  (6)
6  3 u*
! "
Operating in overmodulation area, the inverter cannot
generate the output voltage as large as the voltage reference
since the provided maximum output is limited up to the sides
of the hexagon. Therefore the amplitude of compensated
reference voltage uc might be different than the actual one of
Figure 3. Block diagram of SVPWM connected to VSI.
input reference voltage u* applied to SVPWM algorithm. As a
result the produced voltage waveform is not exactly sinusoidal
including terms of higher harmonics. To extend inverter output
voltage avoiding largely harmonic distortion of its waveform, it
is proposed a simple modification for the reference voltage
before its space vector modulation. The magnitude of the
compensated voltage |uc| is given by
Vdc
uc u0 g 0  0 ,  0  (8)
3
Here g0(ij0,Ȗ0) is a function of auxiliary variables ij0 and Ȗ0
defined analytically by

g  ,  
# cos     1  6    1
 6   $ 0 0

 
(9)
cos   0
0 0 0

6
where

0   0 , 

6
 0 
6 6   
1  sgn    1  6  0 (10)
 
Figure 4. Overmodulation using Auxiliary Correcting Function (red line).
and

0 e

c 1 6 
  (11)

Here c is a small positive number (0<c

0.05) used to improve
the smoothness of function uc. This function g0(ij0,Ȗ0) is called
#  6 0   
cos    1 6   1
Vdc    0 j  m 1  0 
e 3 
$
Auxiliary Correcting Function (ACF) and it includes a simple
adjustment of the compensated voltage applied on SVPWM
3 cos   0
6  
algorithm operating in the overmodulation area. (12)
Finally using (8) and (9), the compensated voltage uc could where
be expressed as a function of angular position ij0, Į0 and angle
Ȗ0 in complex form as follows  0 ( m  1) / 3  0 (13)

u0 u0 e ja0 In the proposed method the whole SVPWM area (linear and
overmodulation area) is considered as unique area and it is also
supposed that the compensated voltage vector uc is exactly the
same with the reference one u* in the linear area. On the

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 3rd IEEE International Symposium on Power Electronics for Distributed Generation Systems (PEDG) 2012

contrary the compensated voltage vector uc is different from ǹt u*=Vdc/3 the angle Ȗ becomes equal to ʌ/6, since any
the reference one u* in the overmodulation area with amplitude hexagon side is tangential to inscribed circle. As a result from
uc and phase angle displacement Į0 given by (8), (11) and (13) (10), (11) and (13), it will be Ȗ0=ʌ/6, ij0=ij and Į0=Į, that is
respectively. A unified general form referred to SVPWM from (11), (10)
compensated voltage is expressed by means of the following
formula 0 e

c 1 6 
  
6
1  V 
uc  1  sgn  dc  u*   u* and
2  ! 3 "
0  6 ,  lim 0
 '  6  

 1  sgn  u *  dc
V  u 

3 "  0  
 ! 6
 ' 6 
 6 6  

lim   0  1  sgn    1  6  0 

  
1  V   u* e j
 1  sgn  dc  u*
2  ! 3 "  This implies that the phase angle Į0 of the compensated
vector uc is continuous on the interval [0, 2ʌ] during the

 1  sgn  u *  dc
V   u e j 0  transition from linear to overmodulation area.
 (14)
 ! 3 "  0  In the same manner it could be proved as well that the
compensated voltage amplitude  uc  is a continuous function at
In the following section important properties of the unified u*=Vdc/3, since left-hand limit and right-hand limit are equal,
function uc(u*,Į0,Ȗ0) are discussed such as is its periodicity, that is
integrability and continuity over the entire space vector
modulation interval [0, (2/3)Vdc] and angle interval [0,2ʌ] lim uc
considering the variables Į0 and Ȗ0. u ' dc
* V 
! 3"

1 *   Vdc 
 u *   e j dc e j
III. ANALYSIS OF AUXILLIARY CORRECTING FUNCTION V
lim u 1  sgn ! "
For the compensated voltage analysis, it is useful to explore u* ' dc
V  2
  3 3
the continuity of the function uc over the entire interval of uc, ! 3"

[0, 2Vdc/3] and how its phase angle Į0 is affected. Another (15b)
important characteristic of this function to be investigated is its and
integrability on the interval [0, 2ʌ]. Also it is useful to explore
some important properties of the compensated voltage function lim uc
with respect to the intersection angle Ȗ.
u ' dc 
* V
! 3"

A. Continuity of uc over the interval [0, (2Vdc/3)] (entire

1   Vdc 
 u *   e j 0 dc e j
V
1  sgn !
modulation area). lim  u0
1) SVPWM Linear Modulation Area (0
u*<Vdc/3). u* ' dc
V  2
  3 " 3
! 3"
When the reference voltage vector lies into the linear area
(15c)
(u*%[0,Vdc/3]), then from (14) it results that uc satisfies the
following relation In addition for u =Vdc/3 it will be
*

j  m 1 3 
uc u * e j u * e (15a) uc
2

1 * j
 V
u e  u0 e j0 u * e j u0 e j 0 dc e j
3
since &u %[0,Vdc/3], it should be
*
(15d)
1
2

1  sgn Vdc 3  u*  1
  Therefore considering (15a)-(15d) it can be seen that the
unified function uc(u*,Į0,Ȗ0) is a piecewise continuous function
of u* over the entire space vector modulation interval [0,
and (2/3)Vdc].
3) SVPWM Overmodulation Area (Vdc/3 <u*
2Vdc/3).
1
2

1  sgn u *  Vdc

3  0 Once the reference voltage vector lies outside the linear
area (u*%[Vdc/3, 2Vdc/3]), then from (14) it results that uc
Obviously the compensated voltage vector is exactly the satisfies the following relation
same as the reference voltage (uc= u*). j  m 1 3 0 
uc u0 e j0 u0 e (15e)
2) SVPWM Limit Cycle at u  =Vdc/3. *

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 3rd IEEE International Symposium on Power Electronics for Distributed Generation Systems (PEDG) 2012

cos  2m  1    0 
since
 6 
1
2
1  sgn Vdc  
3  u*  0
cos  2m  1    0  2l  (17)
 6 
and
Substituting (17) into (8) and (9), it also results that
1
2  
1  sgn u *  Vdc 
3  1
 u 0  a 0 ,  0  u 0  a 0 ( 2 l ,  0  (18a)

Equation (15e) implies that the compensated voltage vector and

is different than the reference one (uc u*) in magnitude and j  a 0 ( 2 l 
phase. Therefore the transfer function of the correcting u c u 0  a0 ,  0  e ja0 u 0  a0 ( 2l ,  0  e or
algorithm is non linear considering u* as input. However
operating in overmodulation area this correcting function keeps
most of its linear characteristics from linear area.
4) Continuity and Integrability of uc on the interval
[0,2ʌ].
The entire angle interval [0, 2ʌ] consists of six angle
partitions [(m-1)ʌ/3, mʌ/3] characterized by their sector
number m (m=1,2…6). Since Į0=(m-1)ʌ/3+ij0, the function
uc(ij0,Ȗ0) could be rewritten as a function of the variables Į0
and Ȗ0. Exploring the continuity of function uc(Į0,Ȗ0) on the
angle interval [0, 2ʌ], it is interesting to see its behavior at the
limit points of the angle interval partitions [(m-1)ʌ/3, mʌ/3],
where Į0=(m-1)ʌ/3, (ij0=0) and Į0=mʌ/3, (ij0= ʌ/3) for
m=1,2…6. It is easy to be proved that the left and the right
limit of function uc(Į0,Ȗ0) are the equal at these limit points,
that is
lim u 
u c  a 0 ,  0  u c  a 0 ( 2 l ,  0  (18b)
where l%Z+.
Therefore the compensated voltage uc is a continuous-time
periodic function on the angle interval [0, 2ʌ] with varying
amplitude uc and time period T=1/f or angle period 2ʌ
(2ʌ=)Ȧdt over the time interval [-T, T]).
C. Properties of uc depending on the variable Ȗ.
1) Operating modes of uc at the limit points of Ȗ (Ȗ=ʌ/6
and Ȗ=0).
Considering (14) it results that uc is a linear function with
respect to Ȗ0, but it is non linear one with respect to angle ij0.
Also it can be seen that there are two limit points in the
overmodulation area for variable Ȗ: the case of the inscribed
0 ,  0  u  3,  0  cycle, Ȗ=ʌ/6, and the case of outscribed cycle, Ȗ=0. For

'  3   modulation indices greater than 0.866 but less than 1.0, the
actual compensated voltage vector moves along a trajectory

Vdc  #     $
cos   1 6   1
6   0
close to the side of the hexagon. It is moving slowly near the
vertices and accelerating as phase angle ij approaches the limit

 
of ʌ/6.
3 cos 
6 If Ȗ=ʌ/6, then from (11) and (12), it results Ȗ0=ʌ/6 and
uc=Vdc/3. In other words the compensated voltage vector
lim u  0 ,  0  u  0,  0  (16) traces the inscribed circle with radius Vdc/3. In this case using
'0
(10), it is also obvious that angle ij0 is equal to ij.
Here the points ij=(ʌ/3)-, ij=0+ are the right- and the left-hand If Ȗ=0, then from (11) and (10) it results Ȗ0=0 and angle ij0
end points of the angle ij at the angle limits of two adjacent is given by
sectors (Į0=(m-1)ʌ/3+ij0 and Į=(m-1)ʌ/3+ij).
Therefore function uc(Į0,Ȗ0) is continuous at any point of its 0 0 for 0

 /6
angle domain. According to the previous analysis, since
function uc(Į0,Ȗ0) is continuous on [0, 2ʌ], (uc: [0, 2ʌ] 'R), 0  / 3 for  / 6 *
 / 3
then it is also Riemann-integrable on [0, 2ʌ].
Also the magnitude of the compensated voltage is given by
Vdc 1 2Vdc
uc u0 (19)
B. Periodicity of uc on the interval [0,2ʌ].
Considering the common factor in both numerator and
6 
3 cos   0 3 
denominator of (12), cos(ʌ/6-ij0), it results that Equation (19) implies that when the reference voltage

 
approaches the outscribed hexagon circle (Ȗ=0), then the
cos   0 compensated voltage vector stays on each vertex of the
6 hexagon for ʌ/3 (Six Step SVPWM Operation). For modulation

 
indices close to 1.0, the actual compensated voltage vector
cos  m  1     0   m  1   remains at a vertex for a particular time corresponding to the
 3 6 3

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 3rd IEEE International Symposium on Power Electronics for Distributed Generation Systems (PEDG) 2012

angle interval [0, ʌ/6] of ij and then moves to the next adjacent
vertex staying there as long as ij satisfies ʌ/6<ij
ʌ/3. .
Furthermore it must be noted that for any Ȗ 0 the value of uc
Vdc  # 
cos      1 6   1
6 3 0   0     $
is decreasing for 0
ij0
ʌ/6 and it is increasing for ʌ/6
ij0
ʌ/3
with a minimum value of Vdc/3 at the point ij0= ʌ/6.
3 cos     0
6 3   
Essentially the auxiliary angle Ȗ0 controls the voltage vector
movement on the interval [(m-1)ʌ/3, mʌ/3] of an active sector
u0   3
 0 ,  0  (20c)

m adjusting the fundamental output voltage provided by the
inverter. It can be seen that the reference voltage vector u*
rotates at a higher speed than the compensated one uc for ij
close to zero or ʌ/3 (acceleration), while it rotates at a slower
speed for ij close to ʌ/6 (deceleration). The angular speed
difference between the voltage vectors u* and uc is affected by
the angle Ȗ0. In addition the choice of compensated voltage
magnitude uc defined by (12) enables the smooth transition of
SVPWM output from linear modulation mode to six-step one.
2) Symmetry of functions ij0 and uc on the interval [0,
ʌ/3]
An important property of function uc(ij0,Ȗ0) is that its phase
ij0 is symmetrical on the interval [0, ʌ/3] with respect to
variable ij, while its magnitude is also symmetrical on the same
interval, [0, ʌ/3], with respect to variable ij0. It can be easily
seen that the symmetry points are the same at the middle of the
interval, ij= ʌ/6 and ij0= ʌ/6 respectively. This means that
This symmetrical property of the compensated voltage and
its phase ensures smooth behavior and less harmonic distortion
in the overmodulation area
IV. SWITCHING TIMES MODIFICATION IN
OVERMODULATION AREA.
An extension of voltage vector u* beyond the hexagon
shown in Fig.4 normally negates the time of zero voltage
states, T0. During this operating mode the time T0 is setting to
zero and the switching times T1 and T2 are calculated in a
different way than in linear modulation area. Considering (6),
(7), (13) and (14), (1) the switching time intervals T1, T2 and the
switching time of zero voltage, T0, could be rewritten in a
similar way as in the case of linear modulation, that is
T 1 3T s
u0
V dc
sin   3 

0
2 MI
3

T s sin  
0
3 
ij0(Ȗ0, ij)=ij0(Ȗ0,ʌ/3-ij) and uc(ij0,Ȗ0)= uc(ʌ/3-ij0,Ȗ0). Equations (21)
(10) and (12 are used to explore the symmetry of ij0
u0 2 MI
considering the following two cases: T 2 3T s sin
0 T s sin
0 (22)
a. For 0
ij1<ʌ/6, then V dc 3
T 0 T s  T 1  T 2 
6

01   0 ,
1   0
1 (20a)

and
 Ts  3Ts
u0 
Vdc 
sin   0
3    sin 
0

 
b. for ʌ/6
ij2<ʌ/3, ij2= ʌ/3- ij1, then Ts 1 

3 u0
V
cos   0
6   

(23)

   
dc
6
02   0 , 2   0  3  1  2 1  6   0
 6 Using (8), (9) and (10), it is easy to be proved that T0 + 0, since
0
Ȗ0
ʌ/6 (Ȗ0 is positive) and cos(ʌ/6-ij0)
1, for any ij0 between
6   6  0 and ʌ/3 (&ij0%[0, ʌ/3]). To improve the efficiency of the
2 0   0 1   2 0   0 1  01 (20b)
 3 3  3 inverter output a time correcting algorithm is implemented as
follows
In the same manner it will be

#  $
T1

u  ,  
Vdc   
cos    1 6   1
 6 0   0
T1c
T1  T2
Ts (24)

cos   
0 0 0
3 T2
6 0
T2 c Ts (25)

V #  $
T1  T2
cos      1  6    1
dc 6   0 0
Toc 0
(26)
3 cos     
6 0 Here T1c, T2c and T0c are the new modified switching times
correspond to T1, T2 and T0 respectively when intersection
angle Ȗ is equal or lower than a particular limit Ȗc (Ȗ
Ȗc).

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 3rd IEEE International Symposium on Power Electronics for Distributed Generation Systems (PEDG) 2012

V. SIMULATTION RESULTS Total harmonic distortion (THD) and frequency response of

Parameters of the tested SM are listed in Table I. All the inverter line-to-line voltage Vab is shown in Fig. 7 and Fig. 8
experiments on the developed overmodulation algorithm are respectively. Modulation index and intersection angle Ȗ are
carried out using the Matlab/Simulink facility and a sliding shown in Fig. 9 (Linear and overmodulation mode).
mode observer (SMO) for SM speed estimation [14]. The
inverter frequency is 8kHz with 520V dc voltage of power
supply.
Inverter response of three line-to-line voltages (see Fig. 5)
and stator currents (see Fig. 6) are considered during sesnorless
speed control of SM at high speed (50 Hz, nominal speed).

Figure 7. Total Harmonic Distortion (THD) for step change of speed 0-

50*2ʌ rad/s (3000 rpm) without load .

Figure 5. Inverter output line-to-line voltages (Vab, Vbc and Vca) for step
change of speed 0-50*2ʌ rad/s (3000 rpm) without load. Figure 8. Frequency components of inverter voltage Vab at speed of 50*2ʌ
rad/s (3000 rpm) without load at t=8s.

Figure 6. 3-phase stator currents (ia, ib and ic) and their detailed description
during rotor acceleration (inverter output currents) for step change of speed 0-
50*2ʌ rad/s (3000 rpm) without load. Figure 9. Modulation index (MI) and intersection angle Ȗ of the reference
voltage (PMSM speed 50Hz).

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 3rd IEEE International Symposium on Power Electronics for Distributed Generation Systems (PEDG) 2012

Also Total harmonic distortion is shown in a speed grater VI. CONCLUSIONS

than base (55Hz) in Fig. 10. In addition modulation index (MI)
and intersection angle Ȗ are shown in Fig. 11. In this case the
inverter operates in linear, overmodulation and six step modes.
During the speed response overshoot the voltage controller
forces the inverter to be in six-step mode operation by means of
voltage correcting algorithm.
The developed SVPWM overmodulation method is
relatively simple applied in the overmodulation area without
the disadvantages of amplitude or phase angle discontinuities
based on an auxiliary correcting function. In addition the
presented correcting algorithm can unify the linear and
overmodulation area in a quite simple manner satisfying the
smooth transition from linear to overmodulation and finally to
six step operating mode. Using a compensated voltage function
with important properties such as continuity and symmetry,
higher order harmonics are reduced (almost eliminated) in
inverter output keeping largely its linear characteristics.

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