I am currently stuck at getting a faithful measurement on the inverter current. I tried ACS712 yesterday but it's performance is just too low for such an application in terms of noise and speed.

I have ordered LEM sensors HX 10 and LTS 6-NP and hopefully they should do the trick.

Now could someone help me in terms of the following:

1) Let us say that I use an RL load R=4ohm and L=10mH which means Time constant L/R = 2.5ms (if I am not wrong). How do I decide PWM frequency?

2) I read that the sampling frequency for such current control loops is very high (about 30kHz) but I don't understand as wouldn't the PWM frequency be 12-16kHz max?

3) Am I right that sampling and calculations are done every PWM cycle? So where does this 30kHz come from?

4) So what should be my sampling frequency? Should it be the same as my PWM frequency?

5) What should be the cut-off frequency of the Anti Aliasing Filter and it's order and allowable phase lag in case of higher order filters?