**4.1.1 Basic scheme of current controlled PWM**

The main task of current controller in PWM VSI is to force the load current according to the reference current trajectory [6] by comparing to command phase currents with measured instantaneous values of phase currents, the current controller generates the switching states for the converter power devices in such a way that error current should be minimized. Hence current control implements two tasks, error compensation (decrease in current error) and modulation (determination of switching states).
