Electric power transmission -- Direct current -- Equipment and supplies : Design, control and application of modular multilevel converters for HVDC transmission systems / Kamran Sharifabadi Research & Technology, Statoil ASA, Norway, Lennart Harnefors, ABB Corporate Research, Sweden Hans-Peter Nee School of Electrical Engineering, KTH Royal Institute of Technology, Sweden, Staffan Norrga, School of Electrical Engineering, KTH Royal Institute of Technology, Sweden, Remus Teodorescu, Department of Energy Technology, Aalborg University, Denmark