According to the mathematical model of voltage source converter based high voltage direct current（VSC-HVDC）and port-controlled Hamiltonian with dissipation（PCHD）equation，the PCHD model for VSC in three-phase frame is developed，and the PCHD model of VSC in dq rotating frame is derived with its rigorous passivity proved.A desired energy function is built and used as Lyapunov function by assigning the link matrix and damping matrix.The influence of the equivalent resistance of the VSC dc side on the system is eliminated by assigning the injecting damping matrix.The interconnection and damping assignment passivity-based（IDA-PB）controller is designed according to the expected equilibrium point，the state variable and the IDA-PB control principle.VSC-HVDC and its control system are simulated under different operating conditions using software PSCAD/EMTDC，the results showing that the control strategy proposed has good performance and strong dynamic-or static-state robustness.