I. Introduction
The cascaded multilevel converter (CMC) has been widely employed in applications as static synchronous compensators and motor drivers [1]– [7]. Since the CMC topology can reduce the voltage of an individual dc source, it is also suitable for an energy storage system (ESS). Meanwhile, its modular structure allows the usage of low-cost switching devices with low electromagnetic interference, low total harmonic distortion at low frequency, and high fault-tolerant capability [8]– [13]. Moreover, high energy efficiency is achieved via its transformerless single-stage configuration. These merits make the CMC suitable for medium- and high-voltage applications. The CMC can be classified into symmetric and asymmetric [14]. The latter uses unequal dc voltage sources to create more output voltage levels with the same number of power devices [15], [16].