The increase in electricity demand, the incorporation of renewable energies, or * , reference input current, d-axis; i 1q , input current, qaxis; i 2 , output current; i 2d , output current, d-axis; i 2d *, reference output current, d-axis; i 2q , output current, q-axis; i 2q *, reference output current, qaxis; IGBT, insulated gate bipolar transistor; MVDC, medium voltage direct current; P 2 , output active power; P 2 * , reference output active power; P ns , nominal active power VSC2; P nsh , nominal active power VSC1; P s , controlled active power; PWM, pulse width modulation; Q 1 , input reactive power; Q 2 , output reactive power; Q 2 * , reference output reactive power; Q s , controlled reactive power; R L1 , resistance AC line 1; R L2 , resistance AC line 2; R s , coupling resistance VSC2; R sh , coupling resistance VSC1; rt s , transformation relation VSC2; rt sh , transformation relation VSC1; UPFC, unified power flow converter; v 1 , input voltage; v 2 , output voltage; v c , injected series voltage; v cd , series voltage, d-axis; v cd * , reference series voltage, d-axis; v cq , series voltage, q-axis; v cq * , reference series voltage, q-axis; V cs , nominal voltage VSC2; V csh , nominal voltage VSC1; v dc , direct voltage; VSC, voltage sourced converter; VSC1, voltage sourced converter 1; VSC2, voltage sourced converter 2; X L1 , reactance AC line 1; X L2 , reactance AC line 2; X s , coupling reactance VSC2; X sh , coupling reactance VSC1; Θ 1 , phase angle bus 1; Θ 2 , phase angle bus 2.