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This paper presents a linear current control scheme for single-phase active power filters. The approach is based on an outer voltage loop, an inner current loop, and a resonant selective harmonic compensator. The design of the control parameters is carried out using conventional linear techniques (analysis of loop gain and other disturbance-rejection transfer functions). The performance of the proposed controller is evaluated and compared with two reference controllers: a basic control and an advanced repetitive control. In comparison with these controllers, the proposed control scheme provides additional attenuation to the harmonics coming from the load current, the grid voltage, and the reference signal, resulting in a grid current with lower harmonic distortion. Experimental results are reported in order to validate this paper.