This paper presents a control for universal active filters derived from the current-shaping control strategy previously employed for shunt active filters. It operates with a reduced number of sensors, using only two AC and one DC real time measurements. The proposed solution has natural mitigation capability for nonlinear loads, which can be further improved with a quasi-resonant scheme. The resulting nonlinear energy flow tracking is designed using a robust control framework, with guaranteed stability and optimal performance for a predefined range of operation. Experimental results are presented using a 1kVA prototype.