Abstract: Systems, methods, techniques and apparatuses of power converters are disclosed. One exemplary embodiment is a method of controlling and modulating a converter with a controller including forming a mathematical representation of the electrical system including the converter, providing reference values for controlled variables, calculating gradients of controlled variables based on the mathematical representation of the electrical system, determining possible switching sequences in the modulation period, the switching sequence defining the order in which the switches are switched, for each possible switching sequence, minimizing the error between the provided references and the corresponding controlled variables based on the calculated gradients by optimizing the switching time instants of the switching sequence, selecting the switching sequence with the smallest error, and applying the switching sequence with the corresponding switching times in the modulation period to modulate the controllable switches.

Abstract: A method of controlling and modulating a converter and a converter. The method includes forming a mathematical representation of the electrical system including the converter, providing reference values for controlled variables, calculating gradients of controlled variables based on the mathematical representation of the electrical system, determining possible switching sequences in the modulation period, the switching sequence defining the order in which the switches are switched, for each possible switching sequence, minimizing the error between the provided references and the corresponding controlled variables based on the calculated gradients by optimizing the switching time instants of the switching sequence, selecting the switching sequence with the smallest error, and applying the switching sequence with the corresponding switching times in the modulation period to modulate the controllable switches.