5.1 Inherent fractal structure of multilevel inverter5.2 SVPWM algorithm using the fractal approach5.2.1 Three-phase (a, b, c) to two-phase (d, q) transformation5.2.2 Location of the reference voltage vector5.2.3 Determination of nearest three voltage vectors5.2.4 Triangularization algorithm5.2.5 Comparison of the reference vector with the centroid5.2.6 Calculation of switching times5.2.7 Concept of virtual zero5.3 Algorithm implementation for the three-level inverter5.3.1 Determination of switching vectors5.3.2 Determination of centroid5.3.3 Determination of switching times5.3.4 Determination of optimized switching sequence5.4 Implementation of the algorithm for the five-level inverter5.4.1 Determination of switching vectors5.4.2 Determination of centroids5.4.3 Determination of switching times5.4.4 Determination of optimized switching sequence5.5 Results and discussions5.6 Conclusions