Measured reference results

Averaged model

Scenario	Controller	THD₂–₄₀ [%]	Steady RMSE [V]	Recovery [ms]
nominal	Cascaded PI	0.000	0.872	20.00
nominal	SMC	0.000	0.047	20.00
nominal	Adaptive SMC	0.000	0.047	20.00
nominal	MPC	0.000	0.018	20.00
load-step	Cascaded PI	0.000	2.383	20.00
load-step	SMC	0.000	1.116	20.00
load-step	Adaptive SMC	0.010	1.857	20.00
load-step	MPC	0.000	0.702	20.00
dc-sag	Cascaded PI	0.000	0.872	20.00
dc-sag	SMC	0.000	0.047	20.00
dc-sag	Adaptive SMC	0.000	0.047	20.00
dc-sag	MPC	0.000	0.018	20.00
noise	Cascaded PI	0.024	0.895	20.00
noise	SMC	0.027	0.147	20.00
noise	Adaptive SMC	0.025	0.146	20.00
noise	MPC	0.036	0.202	20.00
mismatch	Cascaded PI	0.000	1.136	20.00
mismatch	SMC	0.000	2.720	20.00
mismatch	Adaptive SMC	0.002	3.344	20.00
mismatch	MPC	0.000	1.571	20.00
delay	Cascaded PI	0.000	2.759	20.00
delay	SMC	0.000	1.404	20.00
delay	Adaptive SMC	0.003	1.889	20.00
delay	MPC	0.000	0.879	20.00
nonlinear	Cascaded PI	3.152	7.619	not settled
nonlinear	SMC	2.470	5.909	not settled
nonlinear	Adaptive SMC	1.627	3.872	20.00
nonlinear	MPC	1.058	2.510	20.00
combined	Cascaded PI	0.025	2.845	20.00
combined	SMC	0.031	0.333	20.00
combined	Adaptive SMC	0.032	0.719	20.00
combined	MPC	0.055	0.494	20.00

Scenario	Controller	THD₂–₄₀ [%]	Steady RMSE [V]	Recovery [ms]
nominal	Cascaded PI	0.002	0.812	20.00
nominal	SMC	0.004	0.076	20.00
nominal	Adaptive SMC	0.008	0.080	20.00
nominal	MPC	0.007	0.076	20.00
nonlinear	Cascaded PI	3.159	7.622	not settled
nonlinear	SMC	2.480	5.942	not settled
nonlinear	Adaptive SMC	1.619	3.847	20.00
nonlinear	MPC	1.061	2.516	20.00