A reproducible engineering benchmark for a 400 V DC → 230 Vrms, 50 Hz inverter. Model an LC-filtered H-bridge, apply electrical disturbances, and compare cascaded PI, sliding-mode, adaptive sliding-mode and constrained model-predictive control using measured simulation results.

Quick start · Results · Model · Controller derivations · Protocol · فارسی

What you can investigate

• Two plant fidelities: a fast averaged inverter and event-resolved unipolar SPWM.
• Four controllers: cascaded PI, boundary-layer SMC, adaptive-gain SMC and a 16-step constrained QP MPC using OSQP.
• Eight scenarios: load step, DC sag, sensor noise, L/C mismatch, actuator delay, dynamic diode-bridge load, combined disturbances and nominal operation.
• Transparent metrics: coherent THD, tracking RMSE, fundamental/RMS voltage, cycle-based recovery, saturation, peak current and solver diagnostics.
• Reproducible experiments: seeded noise, configurations, raw waveforms, dependency versions and a hash of the simulation source.
• Extensible software: installable package, CLI, Streamlit explorer, notebook, independent numerical checks and cross-platform CI.

This is a simulation-based digital-twin foundation. Physical hardware calibration and validation are future work. See the model scope before interpreting the results as evidence about a physical inverter.

Quick start

Requires Python 3.11 or newer.

git clone https://github.com/mohammmad357/PowerControlLab.git
cd PowerControlLab
python -m venv .venv

Activate the environment: .venv\Scripts\activate on Windows, or source .venv/bin/activate on macOS/Linux. Then:

python -m pip install -e ".[dev,dashboard]"
python main.py --controller smc --load nonlinear

The command prints computed metrics and writes metrics.json, run.json, waveforms.npz, traces.png and a benchmark CSV under results/.

# Compare four controllers on the load step
powercontrollab --controller all --scenario load-step

# Run the full 32-case averaged benchmark
powercontrollab --controller all --scenario all

# Resolve switching ripple with exact PWM transition times
powercontrollab --controller smc --mode switching

# Change nominal engineering parameters (SI units)
powercontrollab --controller mpc --inductance 0.0025 --capacitance 0.000025

# Explore experiments in a local dashboard
streamlit run dashboard/app.py

Use a fresh --output directory to preserve different experiments; rerunning the same output path replaces that run's artifacts. --no-plots and --no-raw produce compact metric-only experiments. Run powercontrollab --help for all options.

Measured results

These numbers are generated by python scripts/reproduce.py, using fixed gains, 400 V DC, 230 Vrms/50 Hz, 20 kHz control, a 5 µs integration step and seed 7. The table uses the averaged plant and the final five complete cycles, [140,240) ms. THD includes orders 2–40. Switching ripple is evaluated separately.

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
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

Recovery means one-cycle RMS tracking error stays within 2% of requested RMS voltage through the end of the run. Its origin is the event or the end of startup; the minimum measurable value is one cycle (20 ms). “Not settled” is an explicit outcome. No controller ordering is hard-coded. These tunings and experiments do not establish universal superiority. See the complete protocol.

All 40 averaged/switching results · Averaged CSV · Switching CSV · Numerical convergence

Load step, nonlinear load and switching detail

The engineering model

flowchart LR
    DC[400 V DC] --> HB[H-bridge]
    HB --> L[2 mH + 0.15 ohm]
    L --> OUT[Output voltage]
    OUT --> LOAD[Resistive or diode-bridge RC load]
    OUT --> C[20 uF shunt capacitor]
    REF[230 Vrms / 50 Hz reference] --> CTRL[PI / SMC / Adaptive SMC / MPC]
    OUT --> SENSE[Sampled voltage and current sensing]
    SENSE --> CTRL
    CTRL --> DELAY[Duty limit + optional delay]
    DELAY --> PWM[Averaged bridge / unipolar SPWM]
    PWM --> HB

Loading

The states follow

$$L\frac{di_L}{dt}=u_{bridge}-v_o-r_Li_L,\qquad C\frac{dv_o}{dt}=i_L-i_{load}.$$

The nonlinear load adds a third state for a diode-bridge DC capacitor. Splitting at switching edges prevents duty quantization on the integration grid. Controllers receive the same observations; mismatch scenarios retain nominal controller parameters.

Read the plant equations and controller laws with gain units for the assumptions behind every result. The topology is consistent with voltage-source LC inverter practice described by Texas Instruments; this project uses independently chosen parameters and controller implementations.

Python API

from powercontrollab import PlantConfig, SimulationConfig, simulate
from powercontrollab.analysis import compute_metrics

plant = PlantConfig(inductance=2e-3, capacitance=20e-6)
experiment = SimulationConfig(scenario="dc-sag", seed=7)
result = simulate("mpc", plant=plant, config=experiment)
print(compute_metrics(result))
# result.time, result.voltage, result.current, result.modulation, ...

The demo notebook covers a nominal comparison, a disturbed run and harmonic analysis. Install python -m pip install -e ".[notebook]" to use it locally.

Verification and reproducibility

python -m pytest
python -m ruff check .
python -m ruff format --check .
python scripts/reproduce.py
python scripts/validate_numerics.py

Tests check energy balance, RK4 against a matrix exponential, exact PWM averages, known-harmonic THD, MPC against an independent optimizer, anti-windup, solver failure, deterministic noise, actuator delay, convergence, CLI exports and the dashboard. CI also builds the Python distribution.

For the Python 3.13 reference numerical dependency versions, install python -m pip install -r requirements-repro.txt after the project. Each run records a source hash and library versions in run.json. CPU timings depend on the machine.

Repository guide

src/powercontrollab/
  models/          H-bridge, LC state space and loads
  controllers/     PI, SMC, adaptive SMC, constrained MPC
  modulation/      Unipolar SPWM with exact edge times
  analysis/        Coherent FFT, THD and tracking metrics
  simulation.py    Sampled-data simulation and disturbances
  cli.py           Single runs and benchmark matrices
dashboard/         Optional Streamlit explorer
notebooks/         Worked engineering demo
scripts/           Reproduction and refinement studies
artifacts/         Computed reference metrics and figures
docs/              Equations, control laws and protocol
tests/             Physics, numerical and integration checks

Extend the lab

See CONTRIBUTING.md for extension contracts. Research directions include parameter identification, current-constrained MPC, delay compensation and hardware validation. Report issues with the command, configuration and seed. Released under MIT; cite the version and commit using CITATION.cff.