high voltage direct current; Modular multilevel converter; phase-shift carrier-based pulse-width modulation Controllers; DC power transmission; HVDC power transmission; Modulation; Phase shift; Phase shifters; Pulse width modulation; Voltage control; Circulating current; High voltage direct current; Model-based controller; Modelling and controls; Modular multilevel converters; Modulation schemes; Numerical results; Switching sequence; Power converters