This work is focused on the control of low-frequency-switching single-phase four-quadrant pulse width modulation (PWM) converters used in grid-connected modern power electronics applications. The switching frequency is chosen to be lower than that used in industrial applications in order to use the designed control system in high-power applications such as railway electrical traction systems. The control system is designed under three main headings: grid synchronization, input current control, and voltage control, where grid synchronization is achieved by a single-phase phase-locked loop (PLL). The current loop is designed by using a proportional-resonant (PR) controller, and the classical proportional-integral (PI) controller is employed in the voltage control loop. The parameters of the PI controller are determined by using the coefficient diagram method (CDM). The control system is modelled as a discrete-time system to get the response closest to the actual system and to be easily implemented on the TMS320F28335 DSP platform. The performance of designed control system is tested on a 30-kW single-phase PWM converter test set-up, and experimental results show that bidirectional power flow, sinusoidal input current, power factor correction, and constant output voltage are achieved. This study is aimed to be a guide for the designers, from the selection of converter passive elements to controller design and experimental verification.