This paper proposes a novel control for voltage source inverters connected to the grid. Thecontrol scheme is based on the droop method, and it uses some estimated variables from thegrid such as the voltage and the frequency, and the magnitude and angle of the gridimpedance. Hence, the inverter is able to inject independently active and reactive power to thegrid. The controller provides a proper dynamics decoupled from the grid impedance. Simulation results are provided in order to show the feasibility of the control proposed.