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Dynamic voltage restorer (DVR) is known as an effective device to mitigate voltage sags and swells. This paper presents a control method based on the input-output linearization applied to the DVR. The synthesis of the parameters is presented. A new compensation voltage control is also proposed. This control is based on the Clark-Concordia transformation and a robust PLL structure. Several simulation results are presented. This allows showing the performance of the control method based on the input-output linearization applied to the DVR and the effectiveness of the compensation voltage control.