This paper deals with the protection of critical loads from voltage related power quality issues using Dynamic Voltage Restorer (DVR). A generalized control algorithm based on Instantaneous Space Phasor (ISP) and dual P-Q theory has been proposed to generate the instantaneous reference voltages to compensate the load voltages with direct power flow control. The proposed algorithm adapts energy optimized series voltage compensation, which results in a reduction of energy storage requirement. The proposed DVR control scheme can support the load from voltage related power quality issues irrespective of the load current profile. Each leg of the three-phase three-leg split capacitor inverter is used to inject series compensation voltage in respective phases of the system. Model-based computer simulation studies and real-time experimental results validate the effectiveness of the proposed control algorithm.