I. Introduction
Increasing demand for High-Voltage Direct Current (HVDC) transmission has brought attention to Voltage Source based Converters (VSC). With the development of controllable and self-commutated semiconductor devices such as IGBT, IEGT, GTO, IGCT, and GCT, VSCs have become superior for transmitting bulk power over long distances [1]. Compared with existing VSC topologies (two-level, Neutral Point Clamped (NPC), and multilevel floating capacitor), Modular Multilevel Converter (MMC), [2], is considered as a breakthrough technology with its scalability, modularity, good power quality, and redundancy features.