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V. D. Yurkevich
Novosibirsk State Technical University, Novosibirsk, 630092, Russia, e-mail: yurkev@ac.cs.nstu.ru
Abstract The problem of output regulation with guaranteed transient performances for buck-boost converter
with inverting topology is discussed. The fast dynamical
controller with the relative highest derivative of output
signal in feedback loop is used. Consequently, two-timescale motions are induced in the closed-loop system. Stability conditions imposed on the fast and slow modes and
sufficiently large mode separation rate can ensure that the
full-order closed-loop system achieves the desired properties in such a way that the output transient performances
are desired and insensitive to external disturbances and
parameter variations in the system. The existence of stable
limit cycle in the fast motion subsystem gives the robustness
of the output transient performances in the presence
of external disturbance and parameter uncertainty. The
describing function method is used to analyze the existence
and parameters of stable limit cycle.
I. INTRODUCTION
There is a broad set of references devoted to analysis
and design of switching buck, boost, or buck-boost
converters. In the most of references the derivation of the
converter circuit topology is discussed really [1], [3][6],
[15], rather than methods of switching controller design.
The subject matter of this paper is the guaranteed
cost control for buck-boost converter with inverting
topology under uncertainties of parameters and external
disturbances represented by varying value of a load
resistance. Hence, optimization techniques can not be
applied for the discussed control problem solution. As
far as nonsmooth nonlinearities are inherent property of
such power converters, then the control system design
methodology based on sliding modes [2], [8], [9] is
widely used for this purpose in presence of uncertainties.
The control system with the highest derivative in
feedback [11], [12] applied to a buck-boost converter is
discussed in this paper as well as peculiarities caused
by fast oscillations in the system. Note that the analysis
of fast oscillations by the describing function method
in the control systems with the highest derivative and
differentiator in feedback was discussed in [10]. In the
recent paper the modified control law structure [13], [14]
in the form of the fast dynamical controller with the
highest derivative of output signal in feedback loop is
used. The proposed control law structure allows us to
include the integral action in the control loop without
increasing the controllers order.
Fig. 1.
where VCd is the reference value (reference input) of voltage drop VC across a capacitor. Moreover, the controlled
transients VC (t) VCd should have desired transient
performance indices. These performance indices should
be insensitive to parameter variations of the buck-boost
converter and external disturbance represented by varying
value of the resistor R = R(t).
In the paper a two-step approach will be used: an inner
controller of the current IL through the inductor with
inductance L is desined such that
lim IL (t) = ILd ,
(4)
x 1 =
(5)
x 2
(6)
where u
is the continuous control variable. Let u
(0, 1).
Hence, the system (5)(6) describes an average behavior
of the system (1)(2).
First, assume that
x1 (t) = r1 = const,
t [0, )
(7)
E + x2
x2
u
.
L
L
(8)
Denote u
r1 = u
(t) x1 (t) = r1 as the solution of (8).
Hence, we obtain
u
r1 =
x2
,
E + x2
x2 = E
u
r1
.
1u
r1
(9)
Since u
r1 (0, 1), we obtain x2 (0, ). Then the
system (5)(6), having dimension 2, degenerates into the
system
x1 = r1 = const,
1
x2
1
x 2 =
1
x2 +
r1 ,
RC
C
E + x2
(10)
eF = F (x1 , r1 ) x1 ,
(13)
(1)
= k1 {T11 [r1 x1 ] x1 }
(14)
L
r1 x 1 x 2
= k1
,
(15)
+
T1
L
where x1 , x2 are the frozen parameters during the transients in (15) and Tf ms = 1 /[d0 + k1 (E + x2 )/L]1/3 is
the time constant of the fast-motion subsystem.
Assume that the control law parameters
1 , d2 , d1 , d0 , k1 have been selected such that the
FMS (15) is stable as well as time-scale decomposition
is maintained in the closed-loop system. Then, letting
0 in (15), we obtain the steady state (more
precisely, quasi-steady state) of the FMS (15), where
u
(t) = u
s (t) and
k1 L
r1 x 1 x 2
s
.
(16)
u
=
+
d0 L + k1 (E + x2 )
T1
L
Substitution of (16) into (5)(6) yields the slow-motion
subsystem (SMS) given by
d0 L
r1 x1 x2
r1 x1
+
x 1 =
(17)
T1
d0 L+k1 (E + x2 )
T1
L
1
x1
x 2 =
x2 +
RC
C
k1 L
r1 x1 x2
1
. (18)
+
d0 L+k1 (E +x2 )
T1
L
The behavior of x1 in the SMS (17)(18) approximates
to (12) if d0 = 1 and k1 . If d0 = 0 then, (17)
is the same as (12) and by that the integral action is
incorporated in the control loop. Note that if d0 = 0
then, by letting x1 = r1 in (17)(18), we obtain the
degenerated system (10).
By linearization of (10) at the equilibrium point xs2 we
obtain z = aint z , where
2r1
1
i,
h
aint =
p
RC
C 1 + 1 + 4r R/E
1
(2)
(1)
31 u1 + d2 21 u1 + d1 1 u1 + d0 u1
(19)
(1)
From (1) and (19), we get the block diagram of the FMS
shown in Fig. 2, where
D(1 s) = 31 s3 + d2 21 s2 + d1 1 s + d0 .
X
u(t) = u0 +
{bk sin(kt) + ck cos(kt)}
(21)
k=1
A
where A |u01 | and y = sin1 (x) denotes the inverse
sine of x. Therefore, the sinusoid plus bias describing
function of the discussed nonlinear element has the gain
for the bias u0 /u 01 and the gain for the sinusoid
s
0 2
2
u
Gn (j, A) =
(22)
1 1 .
A
A
+ sin
= 0.
(23)
2
A
E + x2
The 1st order harmonic balance equation for the FMS
shown in Fig. 2 yields
s
0 2
2k1 (E + x2 )
u
(24)
1 1 = 0.
1+
LAD(j1 )
A
From (24) we obtain
where
m2 A4 A2 + [u 01 ]2 = 0,
m=
(d2 d1 d0 )L
.
2k1 (E + x2 )
d1 /1 ,
(25)
(26)
A
k1 d 1
given that is sufficiently large. Note that and
eosc 0 as 1 0. Hence, an acceptable level of
ripple for the output voltage Vout can easily be provided
by selection of 1 .
Take T1 = 0.02 s, 1 = 0.002 s, k1 = 0.001, d0 = 0,
d1 = 16, and d2 = 5. From (25) we get 2000
eosc
2
x1 (t)
r1 (t)
1.5
1
0.5
0
0.5
45
40
35
30
25
20
15
10
5
0
x2 (t)
1.2
1
0.8
0.6
0.4
0.2
0
x2 =
1
[r2 x2 ].
T2
(27)
(1)
0.04
u1 (t)
0.03
0.02
0.01
0
0.01
0
2 r1 = k2 {T21 [r2 x2 ] x2 }
(28)
and designed similar to (14). Hence, from the closedloop system given by (10), (28), where the two-timescale motions are induced as 2 0, we obtain the
fast-motion subsystem (FMS) given by
k2 E
r2 x 2 k 2 x 2
(1)
2 r1 +
,
r1 = k 2
+
C(E + x2 )
T2
C
the presence of unknown external disturbances. The discussed fast dynamical controller with the relative highest
derivative in feedback produces slow-fast decomposition
in the closed-loop system. It has been shown that if a
sufficient time-scale separation between the fast and slow
modes and stability of FMS are provided by selection
of controller parameters, then SMS equation has the
desired form, and, thus, we have the desired transient
performance indices of the current IL and the voltage
Vout in the closed-loop system.
REFERENCES
[1] B. Bryant and M.K. Kazimierezuk, Derivation of the buckboost PWM DC-DC converter circuit topology, in Proc. of the
IEEE Int. Symp. on Circuits and Systems, vol. 5, pp. V 841V
844, 2002.
[2] F. B. Cunha and D. J. Pagano, Limitations in the control of a
DC-DC boost converter, in Proc. of 15th IFAC World Congress,
Barcelona, Spain, 2002.
[3] R. Giral, E. Arango, J. Calvente, and L. Martinez-Salamero,
Inherent DCM operation of the asymmetrical interleaved dual
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Industrial Electronics Society, IECON 02, 5-8 Nov. 2002, vol. 1,
pp. 129134, 2002.
[4] Jianping Xu, An analytical technique for the analysis of switching DC-DC converters, in Proc. of the IEEE Int. Symp. on
Circuits and Systems, vol. 2, pp. 12121215, 1991.
[5] D. Maksimovic and S. Cuk, Switching converters with wide
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[7] I.P. Paltov, Transients performance and compensator design for
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[8] Y.B. Shtessel, A.S.I. Zinober, and I.A. Shkolnikov, Boost and
buck-boost power converters control via sliding modes using
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[9] H. Sira-Ramirez, Sliding modes, passivity, and flatness, in
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[10] A. Suvorov, Synthesis of control systems based on the method
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99, 1991.
[11] A.S. Vostrikov, On the synthesis of control units of dynamic
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[12] A.S. Vostrikov, Synthesis of nonlinear systems by means of
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[13] V.D. Yurkevich, Design of two-time-scale nonlinear timevarying control systems, Series: Analysis and Design of Nonlinear Systems, St.-Petersburg: Nauka, 2000, 287 p.
[14] V.D. Yurkevich, Design of nonlinear control systems with the
highest derivative in feedback, Series on Stability, Vibration and
Control of Systems, Series A - Vol. 16, World Scientific, 2004,
352 p.
[15] G.S. Zinoviev, Fundamentals of power electronics: textbook,
Novosibirsk, Novosibirsk State Technical University, 2002,
664 p.
5
4
3
2
1
0
1
5
4
3
2
1
0
1
x1 (t)
55
50
45
x2 (t)
r2 (t)
40
35
1.2
1
0.8
0.6
0.4
0.2
0
0
200
180
160
140
120
100
80
60
40
R(t)