International Journal of Applied Power Engineering (IJAPE)

Vol. 14, No. 2, June 2025, pp. 255~263

ISSN: 2252-8792, DOI: 10.11591/ijape.v14.i2.pp255-263  255

Integral backstepping control design for enhanced stability and

dynamic performance of VSC-HVDC systems

Chaimaa Lakhdairi1, Aziza Benaboud1,2, Hicham Bahri1, Mohamed Talea1

1
Laboratory of Information Processing, Faculty of Sciences Ben M’Sick, University Hassan II, Casablanca, Morocco
2
Department of Energy, Royal Navy School, Casablanca, Morocco

Article Info ABSTRACT

Article history: The increasing demand for efficient and reliable high-voltage direct current
(HVDC) transmission systems has underscored the necessity for advanced
Received Jul 11, 2024 control strategies to augment system performance. This article presents the
Revised Oct 17, 2024 design and implementation of an integral backstepping control approach
Accepted Oct 23, 2024 customized for voltage source converter (VSC)-based HVDC systems. The
proposed methodology primarily concentrates on tackling the inherent
nonlinearities, uncertainties, and disturbances that typically impede the
Keywords: stability and efficiency of VSC-HVDC systems. By incorporating integral
action into the backstepping control framework, two key objectives are
High voltage direct current accomplished: i) precise regulation of the direct voltage at the rectifier
Integral control station and accurate control of the active power at the inverter station, and
Lyapunov theory ii) effective power factor correction (PFC) at both stations within the HVDC
Nonlinear control system. These objectives contribute to robust tracking performance,
Voltage source converter enhanced dynamic stability, and improved overall system efficiency.
The theoretical design has been verified through extensive numerical
simulations conducted in the MATLAB/Simulink environment, showcasing
the efficacy of the proposed control strategy in ensuring stability and
performance under varying conditions.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Chaimaa Lakhdairi
Laboratory of Information Processing, Faculty of Sciences Ben M’Sick, University Hassan II
Casablanca, Morocco
Email: [email protected]

1. INTRODUCTION
High-voltage direct current (HVDC) technology has become an indispensable component of
contemporary electrical power transmission systems [1]. It plays a critical role in facilitating the efficient
transmission of electricity over substantial distances, thereby significantly mitigating transmission losses and
enabling the seamless integration of renewable energy sources into the primary grid [2]. In comparison to
traditional alternating current (AC) transmission systems, HVDC offers a multitude of advantages in the context
of long-distance power transmission [3]. Specifically, HVDC systems possess the ability to transmit greater
power using the same conductor size as AC systems, resulting in reduced transmission losses [4]. This
characteristic renders HVDC systems particularly well-suited for the transportation of electricity from remote
renewable energy sources. Furthermore, HVDC systems facilitate the interconnection of asynchronous grids
operating at varying frequencies, permitting the exchange of electricity between different countries and regions.
This capability serves to enhance the reliability and efficiency of the overall power system [5].
The stability and dynamic performance of voltage source converter (VSC)-HVDC systems play a
crucial role in guaranteeing dependable and effective power transmission [6], [7]. However, the integration of
VSC-HVDC systems into power grids presents numerous challenges. These challenges encompass the necessity

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256  ISSN: 2252-8792

for robust control strategies that can ensure stable operation under various operating conditions, inaccuracies in
tracking desired output variables such as direct current (DC) voltage [8] which can have an impact on the
overall stability of the grid and the quality of power [9], and slow responses to disturbances [10]. All of these
factors have the potential to compromise grid stability and power quality.
Several control strategies have been proposed for VSC-HVDC systems in order to ensure stable
operation and improve dynamic performance. These strategies include proportional-integral-derivative (PID)
controllers [11], model predictive control (MPC) [12], and sliding mode control (SMC) [13], [14]. PID
controllers are commonly used due to their simplicity and ease of implementation, but they may not be capable of
handling complex dynamics and disturbances. On the other hand, MPC and SMC are more advanced control
strategies that can handle complex dynamics and disturbances, but their utilization requires a comprehensive
understanding of the system dynamics and may require significant computational resources. Additionally,
adaptive [15] and observer control [16] methods have been explored to address the variability and uncertainties in
system parameters. Additionally, fault ride-through (FRT) techniques to manage faults and guarantee system
stability [17]. The fuzzy logic methodology is utilized in [18] to assess the performance and precision of the
proportional-derivative (PD) control approach. This approach is employed to improve system responses and
performance, as well as to enable DC power recovery, specifically in the context of severe faults. Moreover,
damping controllers are implemented to mitigate oscillation risks and enhance small signal stability [19]. Another
very serious problem that can arise when connecting such a converter to the grid is the synchronization between
voltages. This issue is discussed in [20] and resolved by using a PI-based phase-locked loop (PLL) and 24-sector
control. Despite these advancements, there still exists a significant gap in achieving optimal performance under a
wide range of operating conditions, highlighting the need for innovative control approaches.
This paper presents a hybrid technique, which incorporates an integral backstepping control design
approach, aiming to address the inherent limitations of VSC-HVDC systems and enhance their stability and
dynamic performance. Backstepping is a well-established nonlinear control technique that enables the
systematic design of control laws. This approach involves the consideration of a sequence of virtual control
signals and the design of feedback controllers to guide the actual system states towards the desired trajectories.
The main contribution of this research is the integration of integral action into the backstepping framework. This
integration addresses steady-state errors that may occur in conventional backstepping controllers, ensuring
accurate tracking of reference signals. The proposed methodology for controller design provides a systematic
and robust approach to achieve superior stability and dynamic performance in VSC-HVDC systems.
The remaining sections of this paper are structured as follows: Section 2 presents the control design of
VSC-HVDC. Section 3 provides practical simulations and results to validate the theoretical analysis. Finally,
section 4 concludes the paper by summarizing the key findings and contributions, and highlighting the main
insights and implications of the study.

2. METHOD
2.1. System description and modeling
In this section, we will explore the description and modeling of an HVDC system, focusing
specifically on the dynamics of the voltage source converter (VSC). Figure 1 illustrates a two-level VSC-
HVDC transmission system, which includes an AC grid connected to a converter through a phase reactor.
This system comprises two converters: one functioning as a rectifier and the other as an inverter. These
converters are interconnected via a lengthy HVDC cable.

Figure 1. VSC-HVDC transmission system

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Int J Appl Power Eng ISSN: 2252-8792  257

2.1.1. Mathematical model

The d-q transformation is employed in order to streamline the analysis and control of the dynamics
of the VSC-HVDC system [21]. The model of the rectifier station (VSC 1) in the rotating d-q reference frame
is expressed as (1) and (2).
𝑑𝑖1𝑑 𝑅1 𝑑 𝑞 1 𝑑 1
=− 𝑖 + 𝑤1 𝑖1 + 𝑉 − 𝑈1𝑑 (1)
𝑑𝑡 𝐿1 1 𝐿1 𝑔1 𝐿1

𝑞
𝑑𝑖1 𝑅1 𝑞 1 𝑞 1 𝑞
=− 𝑖 − 𝑤1 𝑖1𝑑 + 𝑉 − 𝑈1 (2)
𝑑𝑡 𝐿1 1 𝐿1 𝑔1 𝐿1

The mathematical representation of the inverter station (VSC 2) in the d-q reference frame is as (3) and (4).
𝑑𝑖2𝑑 𝑅2 𝑑 𝑞 1 𝑑 1
=− 𝑖 + 𝑤2 𝑖2 + 𝑉 − 𝑈2𝑑 (3)
𝑑𝑡 𝐿 2 2 𝐿2 𝑔2 𝐿2

𝑞
𝑑𝑖2 𝑅2 𝑞 1 𝑞 1 𝑞
=− 𝑖 − 𝑤2 𝑖2𝑑 + 𝑉 − 𝑈2 (4)
𝑑𝑡 𝐿2 2 𝐿2 𝑔2 𝐿2

The equivalent electrical model of the HVDC cable and its mathematical representation is described by:
𝑑 .𝑖 𝑑
𝑑𝑉𝑑𝑐1 𝑉𝑔1 1 𝑖𝐿
= − (5)
𝑑𝑡 𝐶.𝑉𝑑𝑐1 𝐶

𝑑𝑉𝑑𝑐2 𝑖𝑖𝑛𝑣 𝑖𝐿
=− + (6)
𝑑𝑡 𝐶 𝐶

𝑑𝑖𝐿 𝑅𝐿 𝑉𝑑𝑐1 𝑉𝑑𝑐2

= − 𝑖 − + (7)
𝑑𝑡 𝐿𝐿 𝐿 𝐿𝐿 𝐿𝐿

𝑞 𝑞
𝑈𝑘𝑑 , 𝑈𝑘 , and 𝑉𝑔𝑘
𝑑
, 𝑉𝑔𝑘 are the VSC input voltage in the Park transform and the AC network voltage (k=1.2),
𝑑 𝑞
respectively. 𝑖𝑘 and 𝑖𝑘 are the AC network currents in the Park transform (k=1.2). C is the equivalent
capacitor of the DC link, while 𝑅𝑘 and 𝐿𝑘 are the resistance and inductance of the phase reactor, respectively
(k=1.2). 𝑅𝐿 and 𝐿𝐿 are the resistance and inductance of the DC line, respectively. Considering that the
𝑞
reference of the system dq0 is chosen so that its d axis is in phase with the voltage 𝑈𝑔 , 𝑈𝑔 = 0.

2.1.2. Average model

The instantaneous model provides a detailed representation of the system's behavior at every instant.
However, this approach is not conducive to directly designing a control law. For that purpose, the common
approach is to resort to average models, where the average values of the variables replace their instantaneous
𝑞 𝑞
values in the model. The state variables are defined as follows: [𝑉𝑑𝑐1 , 𝑖1𝑑 , 𝑖1 , 𝑖2𝑑 , 𝑖2 ] = [𝑥1 , 𝑥2 , 𝑥3 , 𝑥4 , 𝑥5 ].
The average representation of the system, obtained from the system model, is described by (8)-(12).
𝑑
𝑉𝑔1 1
𝑥̇1 = 𝑥2 − 𝑖𝐿 (8)
𝐶.𝑥1 𝐶

𝑅 𝑑 1 1
𝑥̇ 2 = − 𝑥2 + 𝑤1 𝑥3 + 𝑉𝑔1 − 𝑈1𝑑 (9)
𝐿 𝐿 𝐿

𝑅 1 𝑞
𝑥̇ 3 = − 𝑥3 − 𝑤1 𝑥2 − 𝑈1 (10)
𝐿 𝐿

𝑅 𝑑 1 1
𝑥̇ 4 = − 𝑥4 + 𝑤2 𝑥5 − 𝑉𝑔2 + 𝑈2𝑑 (11)
𝐿 𝐿 𝐿

𝑅 1 𝑞
𝑥̇ 5 = − 𝑥5 − 𝑤2 𝑥4 + 𝑈2 (12)
𝐿 𝐿

2.2. Controller design

In this paper, our objective is to develop a nonlinear control strategy based on backstepping control
for VSC-HVDC transmission systems. This approach aims to simultaneously achieve the following two
control objectives: i) controlling the DC voltage to track its reference and the active power at station 2 and
ii) ensuring a sinusoidal grid current that is in phase with the grid voltage by strategically addressing reactive
power at both stations. By addressing these objectives, the proposed nonlinear control strategy is expected to
provide a more effective and efficient solution for VSC-HVDC transmission systems, improving their overall
performance and stability.
Integral backstepping control design for enhanced stability and dynamic … (Chaimaa Lakhdairi)
258  ISSN: 2252-8792

2.2.1. Integral backstepping control

Integral backstepping control is a highly effective nonlinear control technique that combines the
backstepping method with integral action in order to attain robust tracking performance and eliminate steady-
state errors [22], [23]. The fundamental concept behind this technique is to augment the plant dynamics
with an integral state, which increases the vector relative degree and necessitates additional backstepping
steps [24]. This method employs Lyapunov-based design principles to guarantee system stability and
performance, while also displaying remarkable ability in handling uncertainties, disturbances, and parameter
variations within systems. Consequently, it can be classified as a versatile and reliable control approach.

2.2.2. The rectifier station control

The rectifier station serves a pivotal function within the VSC-HVDC system, facilitating stable
operation through the simultaneous management of DC voltage and reactive power. Its primary objective is
to maintain alignment with the reference value of the DC voltage VDC, thereby ensuring the desired stability
of the system across varying operational conditions. Furthermore, the control of the rectifier station enhances
overall power quality by correcting the power factor, a critical component for the efficient transmission of
electrical energy.
a) DC voltage control
To implement the backstepping strategy for controlling DC voltage, follow these steps while
utilizing (8)-(12).
˗ Step 1: First, we take into consideration the tracking error 𝜀1 = 𝑥1 − 𝑥1𝑟𝑒𝑓 , (with 𝑥1𝑟𝑒𝑓 = 𝑉dc𝑟𝑒𝑓 and its
derivative, which remains constant, equals zero). The derivative of 𝜀1 is given by (13).
𝑑
𝑉𝑔1 1
𝜀1̇ = 𝑥̇1 − 𝑥̇1𝑟𝑒𝑓 = 𝑥2 − 𝑖𝐿 − 𝑥̇1𝑟𝑒𝑓 (13)
𝐶.𝑥1 𝐶

In (13), the term 𝑥2 is identified as a virtual control signal. Assuming this to be the actual control signal
temporarily, we proceed to consider the Lyapunov function candidate.
1
𝑉1 = 𝜀1 2 ⇒ 𝑉1̇ = 𝜀1 𝜀1̇ (14)
2

The time derivative of 𝑉1 can be transformed into a negative definite function of 𝜀1 , as:
𝑑
𝑉𝑔1 1
𝑉1̇ = 𝜀1 ( 𝑥2 − 𝑖𝐿 − 𝑥̇1𝑟𝑒𝑓 ) = −𝑘1 𝜀1 2 (15)
𝐶.𝑥1 𝐶

by defining 𝑥2 = δ1 where:
𝐶.𝑥1 1
δ1 = 𝑑 ( 𝑖𝐿 − 𝑘1 𝜀1 ) (16)
𝑉𝑔1 𝐶

𝑘1 represents a positive design parameter. Since the actual control input is not δ1 . We define a new
tracking error:

𝜀2 = 𝑥2 − δ1 (17)

˗ Step 2: Stabilizing the system (𝜀1 , 𝜀2 ). It follows from (17) that the derivative of 𝜀2 is (18).
𝑅 1 𝑑 1
𝜀2̇ = 𝑥̇ 2 − δ̇1 = − 𝑥2 + 𝑤1 𝑥3 + 𝑉𝑔1 − 𝑈1𝑑 − δ̇1 (18)
𝐿 𝐿 𝐿

1
The positive Lyapunov function 𝑉2 is used. We utilize the positive Lyapunov function 𝑉2 = 𝑉1 + 𝜀3 2 +
2
1
𝒻1 𝜓1 2 . The time derivative of 𝑉2 can be made a negative definite function of 𝜀2 . It is expressed as (19).
2

𝑉2̇ = 𝑉1̇ + 𝜀2 𝜀̇2 + 𝒻1 𝜓1 𝜀2 = −𝑘2 𝜀2 2 (19)

Where 𝜓1 is the integral term of 𝜀2 as 𝜓1 = ∫ 𝜀2 . In (18), δ1 is the actual control input for the VSC1
station. To stabilize the system (𝜀1 , 𝜀2 ). We suggest the following control law:
𝑑
𝑉𝑔1 𝑅1 1 𝑑
𝑈1𝑑 = 𝐿1 [𝑘2 𝜀2 + 𝜀 − 𝑥2 + 𝑤1 𝑥3 + 𝑉 − δ̇1 + 𝒻1 𝜓1 ] (20)
𝐶.𝑥1 1 𝐿1 𝐿1 𝑔1

where 𝑘2 , 𝒻1 are any positive design parameters.

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Int J Appl Power Eng ISSN: 2252-8792  259

b) Reactive power control

The objective of this subsection is to ensure that the reactive power follows a specified reference
signal. To achieve this, we introduce a new tracking error 𝜀3 = 𝑥3 − 𝑥3ref , (with 𝑥3𝑟𝑒𝑓 = 𝑄1𝑟𝑒𝑓 ). The
derivative of 𝜀3 is defined as (21).
𝑅1 1 𝑞
𝜀3̇ = 𝑥̇ 3 − 𝑥̇ 3ref = − 𝑥3 − 𝑤1 𝑥2 − 𝑈1 − 𝑥̇ 3ref (21)
𝐿1 𝐿1

1 1
We utilize the positive Lyapunov function 𝑉3 = 𝜀3 2 + 𝒻2 𝜓2 2 . The time derivative of 𝑉3 can be made a
2 2
negative definite function of 𝜀3 . It is expressed as (22).

𝑉3̇ = 𝜀3 𝜀̇3 + 𝒻2 𝜓2 𝜀3 = −𝑘3 𝜀3 2 (22)

Where 𝜓2 is the quantity that is obtained by integrating 𝜀3 , as expressed in the equation 𝜓2 = ∫ 𝜀3 .

Therefore, by employing the derivatives of (21) and (22), we can establish the input control low.
𝑞 𝑅1 1 𝑞
𝑈1 = 𝐿1 [𝑘3 𝜀3 − 𝑥3 − 𝑤1 𝑥2 − 𝑈1 − 𝑥̇ 3ref + 𝒻2 𝜓2 ] (23)
𝐿1 𝐿1

Where 𝑘3 , 𝒻2 are any positive design parameters.

2.2.3. The inverter station control

The inverter station is responsible for regulating both active and reactive power within the system.
By meticulously tracking their respective reference values, it guarantees precise power delivery to the
interconnected AC grid or load. This control strategy not only optimizes the efficiency of power transmission
but also contributes to grid stability by responding adeptly to dynamic system requirements.
a) Active power control
To implement the backstepping strategy for active power control and track its reference value, we
follow these steps. We define a tracking error 𝜀4 = 𝑥4 − 𝑥4ref , (with 𝑥4𝑟𝑒𝑓 = 𝑃2𝑟𝑒𝑓 ). Whose derivative is
expressed as (24).
𝑅2 1 𝑑 1
𝜀̇4 = 𝑥̇ 4 − 𝑥̇ 4ref = − 𝑥4 + 𝑤2 𝑥5 − 𝑉 + 𝑈2𝑑 − 𝑥̇ 4ref (24)
𝐿2 𝐿2 𝑔2 𝐿2

1 1
The positive Lyapunov function 𝑉4 = 𝜀4 2 + 𝒻3 𝜓3 2 is used. The time derivative of 𝑉4 can be formulated as
2 2
a negative definite function of 𝜀4 , presented as (25).

𝑉4̇ = 𝜀4 𝜀̇4 + 𝒻3 𝜓3 𝜀4 = −𝑘4 𝜀4 2 (25)

Where 𝜓3 is the quantity obtained by integrating 𝜀4 , as 𝜓3 = ∫ 𝜀4 . By utilizing the derivatives of (24) and (25),
we suggest the following control law:
𝑅2 1 𝑑
𝑈2𝑑 = 𝐿2 [−𝑘4 𝜀4 + 𝑥4 − 𝑤2 𝑥5 + 𝑉 + 𝑥̇ 4ref − 𝒻3 𝜓3 ] (26)
𝐿2 𝐿2 𝑔2

𝑘4 , 𝒻3 represents a positive design parameter.

b) Reactive power control
In this section, the objective is to ensure that the reactive power aligns with a specified reference signal.
We define a tracking error 𝜀5 = 𝑥5 − 𝑥5ref , (with 𝑥5𝑟𝑒𝑓 = 𝑄2𝑟𝑒𝑓 ). Whose time derivative is expressed as (27).
𝑅2 1 𝑞
𝜀̇5 = 𝑥̇ 5 − 𝑥̇ 5ref = − 𝑥5 − 𝑤2 𝑥4 + 𝑈2 − 𝑥̇ 5ref (27)
𝐿2 𝐿2

1 1
We employ the positive Lyapunov function 𝑉5 = 𝜀5 2 + 𝒻4 𝜓4 2 . It is time derivative 𝑉5 is made a negative
2 2
definite function and its derivative is given by (28).

𝑉5̇ = 𝜀5 𝜀̇5 + 𝒻4 𝜓4 𝜀5 = −𝑘5 𝜀5 2 (28)

Where 𝜓3 is the quantity obtained by integrating 𝜀5 , as 𝜓4 = ∫ 𝜀5 . Hence, by using the derivatives of (27)
and (28). Then we get the control law of the inverter station as (29).

𝑞 𝑅2
𝑈2 = 𝐿2 [−𝑘5 𝜀5 + 𝑥5 + 𝑤2 𝑥4 + 𝑥̇ 5ref − 𝒻4 𝜓4 ] (29)
𝐿2

Integral backstepping control design for enhanced stability and dynamic … (Chaimaa Lakhdairi)
260  ISSN: 2252-8792

𝑘5 , 𝒻4 denotes a positive design parameter.

Based on the LaSalle-Yoshizawa theorem, 𝜀1 , 𝜀2 , 𝜀3 , 𝜀4 , and 𝜀5 are bounded and converge to zero as
t approaches infinity. Since 𝜀1 = 𝑥1 − 𝑥1ref , 𝜀3 = 𝑥3 − 𝑥3ref , 𝜀4 = 𝑥4 − 𝑥4ref , 𝜀5 = 𝑥5 − 𝑥5ref , and
(𝑥1 , 𝑥3 , 𝑥4 , 𝑥5 ) are also bounded and converge to the desired equilibrium point 𝑥1ref the boundedness of 𝑥2
follows the boundedness of δ1 . From 𝜀2 = 𝑥2 − δ1, shows that regulating 𝑥1 will imply the regulation of 𝑥2 .
𝑞 𝑞
Additionally, according to (20), (23), (26), and (29), the control rules 𝑈1𝑑 , 𝑈1 , 𝑈2𝑑 , and 𝑈2 are also bounded.

3. RESULTS AND DISCUSSION

To validate the performance of the suggested controller, the complete control system depicted in
Figure 1 is implemented via the MATLAB/Simulink software. The system and control parameters are
intricately described in Table 1. The active and reactive power reference values are established as 70 MW
and 0 Var, respectively. Additionally, the 𝑉dcref value is set to 300 kV.

Table 1. System and control parameters

Parameter Value
System parameters AC voltage 200 kV
DC voltage 300 kV
Frequency: 𝑓1 in grid 1, 𝑓2 in grid 2 50 Hz, 60 Hz
Inductance 40 mH
Resistance 0.4 Ω
Capacitance 160 μF
Length of transmission line 200 Km
Cable inductance, resistance, and capacitance 0.06 mH/Km, 7 mΩ/Km, 0.3 μF/Km
Controller parameters 𝑘1 , 𝑘2 , 𝑘3 , 𝑘4 , 𝑘5 , 𝑘6 , 𝑘7 1000, 2000, 1500, 3000, 4000, 2000, 5000

3.1. Standard results

In this case, the performance evaluation is conducted under normal conditions. A rigorous analysis of
the controller performance, as illustrated in Figures 2 and 3, highlights the robustness and efficiency of the
system. The DC voltage tracks its reference with high accuracy, providing a quick dynamic response.
Additionally, the nonlinear backstepping controller was shown to be able to maintain exceptional steady-state
behavior, as depicted in Figure 2(a). Simultaneously, the active power demonstrates a commendable ability to
quickly converge toward its maximum reference following a short transition period, as established in Figure 2(b).

(a) (b)

Figure 2. The DC voltage tracks and power fluctuations at two stations:

(a) DC voltages at station 1 and (b) active power at station 2

The source voltage remains synchronized with the grid current in Figure 3. This discovery validates
a fundamental element of the system's coherence and stability in an asynchronous VSC-HVDC system
operating between grid 1 with a frequency of 50 Hz and grid 2 with a frequency of 60 Hz. This
synchronization denotes the achievement of unity power factor correction (PFC), which plays a crucial role
in enhancing system efficiency and optimization. These results demonstrate the effectiveness and robustness
of the proposed control strategy for achieving high-performance VSC-HVDC systems.

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Int J Appl Power Eng ISSN: 2252-8792  261

3.2. Validation of resilience

HVDC transmission systems are susceptible to disturbances that can affect their behavior. To assess
the robustness of the control system, tests were conducted to evaluate its performance under a simulated
disturbance scenario. The DC voltage undergoes a rapid decline of 50% from its initial value in 0.3 seconds
and subsequently restores its original value within 0.5 seconds.
Figure 4 depicts the achieved performances of the proposed controller when subjected to
disturbances. With the proposed control, the DC voltage and active power quickly reach their maximum
reference values after a short transient period during the disturbance. In contrast, the PI controller exhibits
significant deviations from the reference value, accompanied by pronounced oscillations and overshooting of
the designated reference point [25]. The inclusion of integral parameters enables faster recovery to the
setpoint in cases of line break failures compared to conventional backstepping control. By effectively
ensuring system stability and performance in the face of various challenges, the proposed controller
establishes itself as a robust and reliable solution for regulating HVDC transmission systems, thereby
offering significant advantages over conventional methods.

(a) (b)

Figure 3. Voltage and current in phase a of (a) grid 1 and (b) grid 2

(a) (b)

Figure 4. Robustness of (a) DC voltages at station 1 and (b) active power at station 2

4. CONCLUSION
This paper examines VSC-HVDC system control using an integral backstepping method for two
converter stations linked via a DC network. This approach takes into account variations in system parameters
and enhances dynamic behavior. Simulation results demonstrate that the adopted control strategy
significantly improves system performance compared to conventional PI control. It also successfully
achieves our control objectives in both stations, even in the presence of disturbances and potential defects
arising from the complexity of the power transmission system and unmeasurable random disturbances. In
future research, our objective is to incorporate renewable energy sources into multi-terminal direct current
(MTDC) systems through the exploration of novel control methods, aiming to optimize their utilization and
enhance the reliability of HVDC systems in light of the evolving grid conditions and challenges.

Integral backstepping control design for enhanced stability and dynamic … (Chaimaa Lakhdairi)
262  ISSN: 2252-8792

FUNDING INFORMATION
The authors declare that no funding was received for this research.

AUTHOR CONTRIBUTIONS STATEMENT

This journal uses the Contributor Roles Taxonomy (CRediT) to recognize individual author
contributions, reduce authorship disputes, and facilitate collaboration.

Name of Author C M So Va Fo I R D O E Vi Su P Fu
Chaimaa Lakhdairi ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
Aziza Benaboud ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
Hicham Bahri ✓ ✓ ✓ ✓ ✓
Mohamed Talea ✓ ✓ ✓ ✓ ✓ ✓

C : Conceptualization I : Investigation Vi : Visualization

M : Methodology R : Resources Su : Supervision
So : Software D : Data Curation P : Project administration
Va : Validation O : Writing - Original Draft Fu : Funding acquisition
Fo : Formal analysis E : Writing - Review & Editing

CONFLICT OF INTEREST STATEMENT

The authors declare that they have no known competing financial interests or personal relationships
that could have appeared to influence the work reported in this paper.

DATA AVAILABILITY
Data availability is not applicable to this paper as no new data were created or analyzed in this study.

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BIOGRAPHIES OF AUTHORS

Chaimaa Lakhdairi received the master’s degree in Information Treatment from

Hassan II University of Casablanca, Morocco. She is currently pursuing the Ph.D. degree in
Electrical Engineering, Power Electronics, Transmission Energy, and Automatic Control with the
Hassan II University of Casablanca, Morocco. Her research interests include power converters,
adaptive control, nonlinear control, and energy systems control. She can be contacted at email:
[email protected].

Aziza Benaboud is a full professor at Royal Navy School, and a member of the
Information Treatment Laboratory at the Faculty of Sciences Ben M’sik, University Hassan II,
Casablanca, Morocco. She received a Ph.D. in Electrical Engineering from the Swiss Federal
Institute of Technology (EPFL), Lausanne, Switzerland in 2007. Aziza Benaboud's research
focuses on power electronics and applications such as high efficiency frequency converters for
high power generators and HVDC transmission systems. Her current scientific activities are
dedicated to green and renewable energy, like sunlight and solar tracking system. She has authored
two books and has published several papers and patents. She has also given several invited talks at
international conferences and universities. She can be contacted at email:
[email protected].

Hicham Bahri received a master's degree in Automatic at Science and Techniques

Faculty, from University Hassan I, in Settat, Morocco in 2014. In 2019, he received his Ph.D. in
“Elaboration of an advanced control strategy of three phase grid connected photovoltaic system” in
the Laboratory of System Analysis and Information Processing from University Hassan I. He is
currently a professor in Physics Department at Faculty of Science Ben M’Sik, University Hassan II
Casablanca, Morocco. His research in Information Treatment Laboratory consists in the control of
the linear and nonlinear systems with use of the advanced controller and he is an expert in IT
development. He can be contacted at email: [email protected].

Mohamed Talea received his Ph.D. degree in Physics in collaboration with Poitiers
University, France in 2001. He obtained a doctorate of high graduate studies degree from Hassan II
University, Morocco, in 1994. Currently, he is a professor in the Department of Physics at Hassan
II University, Morocco, and he is the director of the Information Treatment Laboratory. He can be
contacted at email: [email protected].

Integral backstepping control design for enhanced stability and dynamic … (Chaimaa Lakhdairi)