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In this paper, a robust control scheme with an outer Hinfin voltage control loop and an inner current control loop is designed and implemented on a medium-voltage (MV)-level dynamic voltage restorer (DVR) system. Through a simple selection of weighting functions, the synthesized Hinfin controller would exhibit significant gains in the vicinity of positive- and negative-sequence fundamental frequencies, and therefore, it would be able to regulate both positive- and negative-sequence components effectively, with explicit robustness in the face of system parameter variations. A detailed discussion of Hinfin controller weighting function selection, inner current loop tuning, and system disturbance rejection capability is presented. Finally, the designed control scheme is extensively tested on a laboratory 10-kV MV-level DVR system with varying voltage sag (balanced and unbalanced) and loading (linear/nonlinear load and induction motor load) conditions. It is shown that the proposed control scheme is effective in both balanced and unbalanced sag compensation and load disturbance rejection, as its robustness is explicitly specified.