1

Sliding Mode control method for DC-DC converters

Rupesh Gupta Vivek Agarwal
Electrical Engineering Department Electrical Engineering Department
Indian Institute of Technology, Bombay Indian Institute of Technology, Bombay
Email: rupeshgupta@ee.iitb.ac.in Email: agarwal@ee.iitb.ac.in

Abstract - This report gives basic design aspects of sliding mode(SM) controllers applied for control of dc-dc converters. A brief
review of the origin of SM control is provided. Design steps are properly described and compared for direct utilization in the field
of power electronic converters. The performance of the SM controller with hysteresis control and equivalent duty ratio pulse width
modulation control are compared with that of linear control method using MATLAB. It can be shown that use of SM control can
lead to improved robustness proving wide range of operation. Steps for application of SM control in discontinuous conduction mode
are outlined. Application of SM control for higher order converters is reviewed.

I. I NTRODUCTION
Sliding mode control is a non linear robust control method
used for control of variable structure systems. The state
feedback control law is a discontinuous function of time, rather
it switches from one continuous structure to another depending
upon the present state. This method of control was introduced
in the mid 70’s but stayed just as a theoritical concept for
a long time. Many sliding surfaces and their appliations on
various converters of power electronics were studied. In sliding
mode control a sliding surface is definned at which the state
trajectories are directed in order to reach an equilibrium point
[17]. Moreover, sliding mode controller gives a high degree
of flexibility in the design parameters and is relatively easy
to implement as compared to other non linear controllers.
SM control can offer a good large signl hanling properties
if designed appropriately.
Although sliding mode control came into existence much
early, the actual implementation began after 2000 due to
the fact that control and systems engineers approached in a
more thoritical and mathematical way while power engineers
required practical solutions. Selection of sliding surface had
remain a difficult task and many researchers had approached in
different directions to come up with different properties of the
control. Still there is no perfect solution for the application of
sliding mode control method. Methods that were generalized
for basic power electronic converters face high complexities at
higher orders. One of the main practical drawback using slid-
ing mode control is requirement of more sensors to measure
states in order to make control more robust. Using hysteresis
strategy in sliding mode control is not practically possible and
viable in case of power electronic converters, due to limitation
on switch on and off time, excessive losses, EMI generation,
etc. By substituting hysteresis control with PWM control in
sliding mode control had gained a lot of interest in the field
of power electronics.
The earliest works in field of sliding mode control applica-
tion to power electronics DC-DC converters were performed
by Bilalovic in 1983 [1]. They worked on SMC for buck con-
verter. Further, Venkataramanan in 1987 continued the work
for the other basic second order DC-DC converter topologies
[2]. They proposed the idea for equivalent control method
relating the control to linear PWM control method. Huang in
1989 started experimenting the the SM control for Cuk con-
verter [3]. Follwing Huang, many works came along for higher
order converters by Malenasi, Oppenheimer, Mahdavi, Mat-
tavelli and Emadi.Calvante and Martinez introduced method
of locally stable SM controller for a bidirectional coupled
inductor Cuk converter [4]. Doneso Garcia and Shtesselin 1996
introduced current equalization and output voltage regulation
methods for the existing schemes. Castilla in 2000 proposed
sliding mode control schemes for quantum resonant converters.
In 1998, Shtessel, suggested dynamic sliding surface for better
stabilization and control of odular converters. Lopez in 1999-
2003 performed detailed analysis and design techniques for
parallel connected boost converters using sliding mode control
[5]. Bock in 2001 proposed a design for high pass filter for
sliding mode based bidirectional dc-dc converter. Fossas and
Pas in 2002 worked on reducing chattering issue introduced
while employing hysteresis based SM control strategy [6].
Escobar in 1999, performed experiments comparing linear
and non linear control methods for dc-dc boost power con-
verter [7]. Chiacchiarini in 1999, conducted experiments to
compare the performance of analog and digital SMCs for buck
converter. Ahmed in 2003, provided experimental evaluation
of dynamic performance of SM control buck converter [6].
In these experimental evaluations of SM control, the focus
has remained on performance rather than developing design
procedures.
II. S LIDING M ODE CONTROL
Sliding Mode control(SMC) is a non linear control that was
introduced to overcome the issues of linear averaged model
control used for dc-dc converters. Since DC-DC converters
are variable structure systems (VSS), they fit perfect to be
controlled using sliding mode controller. SMC requires de-
termination of a sliding surface that is a function of state
variables. Sliding surface could be considered as a reference
path such that the controlled state variables can be directed
toward the desired equilibrium [17]. A typical sliding surface
is given as:
 2

III. D ESIGN G UIDE

A. Hitting Condition
S = α1 x1 + α2 x2 + α3 x3 ... (1)
In order to determine the hitting condition, the difference
,where x1 , x2 , x3 , ... are state variables to be controlled and between the reference output voltage and actual output is
α1 , α2 , α3 , .... are the sliding coefficients. For a DC-DC con- sufficient. At initial stage the difference would be large and we
verter, the switch could be either on or off i.e. can take values can directly control the swiching state depending upon whether
1 or 0 respectively. Therefore it could be related to S as: the difference is positive or negative. During the reaching
phase αi (Vref − βVo ) plays a dominant role for calculation
of S.
1
u= (1 + sign(s)) (2)
2 B. Existence Condition
Sliding mode control comprises of two phases. Firstly it is Existence condition inspects the local reachability condition.
required to drive the state variable trajectory from any initial This condition is derived from lyapunov’s method of stability.
condition to converge to the sliding surface and this is referred By satisfying the existence condition, sliding coefficients are
as reaching phase. This is achieved satisfying the ’Hitting made to comply with the sliding mode existence. The existence
condition’. After hitting the sliding surface it is required for condition could be stated as:
the state trajectory to remain in the vicinity of the sliding
surface finally converging to the sliding surface at steady state.
This is known as steady state phase. ’Existance condition’ and lim S Ṡ < 0 (3)
S→ 0
’Stability condition’ has to be satisfied to ensure this operation.
From the switching equation it could be observed that at Considering maximum deviations in parameters and distur-
S = 0 there exists a discontinuity. This condition leads to a bances both in positive and negative direction, control bound-
non definned switching state. And hence the switch ocsillates aries can be determined and existence of the sliding mode
at a very frequency back and forth from on to off state. could be ensured.
This leads to deviation from the ideal condition of follow-
ing the sliding surface at the steady state. In practical this
C. Stability Condition
inherently high frequency switching leads to high switching
losses, EMI generation, filter design complexities, etc. This This is performed in order to meet the desired dynamics
issue is definned as chattering. Also there exist rise and fall of the controller. Equation describing the dynamics could
time for the devices to turn on/off which makes operation at be obtained setting S = 0. Sliding coefficients decides the
infinite switching frequency impossilble. Operating at such a dynamics i.e. the damping factor and the damped frequency.
frequency is neither possible nor feasible. Other parameters deciding the dynamics could be derived as
In order to avoid this condition quasi sliding mode control the combination of these two factors.
is generally employed which allows the switch to operate at
a reduced frequency.As a consequence of this the robustness IV. E XAMPLE - B UCK C ONVERTER
of the controller decreses. It is clear that as the switching
Analysing the converter operation during the respective
frequency tends more towards the ideal case the robusteness
switching state.
increases and vise versa. Two general strategies employed
During On state
for quasi sliding mode control are hysteresis modulation(HM)
control and pulse width modulation(PWM) control. diL
L = Vin − Vo (4)
Hysteresis modulation control employs introduction of a dt
hysteresis band to control the switching state in the steady dvc Vo
C = iL − (5)
state phase. Width of the band is adjusted to achieve desired dt RL
frequency. For a fixed band the switching frequency may vary
as the parameters vary. Therefore to have a constant frequency During Off state
operation adaptive HM control is used in which the width of
diL
the band varies as a function of system parameters. Adaptive L = −Vo (6)
dt
HM control being more controllable require more circuitary dvc Vo
and hence the cost and size increases. C = iL − (7)
dt RL
Pulse Width Modulation control scheme employs incorpo-
ration of a ramp signal of a constant frequeny that determines
the switching frequency for the system. Equivalent contol is A. Sliding surface with proportional term
utilized to determine the duty of the swich. It was observed Here, the output voltages is needed to be regulated. To
theoritically that for an ideal sliding control, as the frequency design such a controller, the moving average of the output
approches infinity ueq is equivalent to the duty cycle d control voltage is used. Hence the state variable for SMC could be
signal of a PWM controller. definned as: x1 = Vref − βVo .
 3

Sliding surface containing the state variable to be controlled X2

and using the convergence factor ’λ’ could be written as:

S = λ(x1 ) = λ(Vref − βVo ) (8)

And the existence condition for such a surface could be stated X1

using lyapunov’s function as: Vref

ẋ1 > 0 if Vref < βVo

or
ẋ1 < 0 if Vref > βVo
X2
Larger the convergence factor, faster the system will reach
its steady state. However, due to limits on the system
parameters such as duty cycle, it is not possible to increase
the convergence factor beyond a certain value.
Vref - BVi
X1
Selection of sliding surface with just proportional term
could gives satisfactory results but speed of response is slow
and depends largely on the disturbances [8].

B. Sliding surface with proportional and derivative terms

To provide a more robust and efficient control, a derivative
term is included in the sliding surface that speeds up the Fig. 1. (a) state tajetories for u = 0; (b) phase trajectories for u=1
response time. Let the state variables be definned as [11]:

x1 = Vref − βVo (9) 1) Hitting condition

dx1 dVo
x2 = = −β (10)
dt dt S = αx1 + x2 = Jx (17)
By KCL, iL = iC + iRL , where α,1 are slidding coefficients and α is thegradient
Hence, ic = C dV  of
dt could be written as:
o
the sliding line S = 0 in x1, x2 plane and J = α 1 and
 T
dVo x = x1 x2 .
C = iL − iR S = 0 line splits the phase plane in two regions as shown
dt (11)
uVi − Vo
Z
Vo in fig 2. Each of the region is specified by a switching state
= dt −
L RL to direct the phase trajectory toward the sliding line.
S < 0 at left side of the line and S > 0 at right side of the
Therefore, the state variables could be rewritten as: plane. Therefore, for any point A, lying in the region S > 0,
x1 = Vref − βVo (12) the switch is on. While for any point B lying in the region
  S < 0, the swich is off.
uVi − Vo
Z
β Vo
x2 = − dt (13) 1
C RL L u = (1 + sign(S))
2
Deriving the state space model for the definned variables.
2) Existence condition
x˙1 = x2 (14)
! Using Lynapunov’s criteria
β V˙o uVi − Vo
x˙2 = − dt lim S Ṡ < 0 (18)
C RL L S→ 0
(15)
x˙2 βuVi (Vref − x1 ) If S > 0 ⇒ Ṡ < 0 and if S < 0 ⇒ Ṡ > 0
=− − +
RL C LC LC Again this could be written as:
For S > 0, u = 1
Therefore,
1 1 V ref − βVi
  
x˙1 0 1
  
x1 0
 
0
 λ1 = Ṡ = (α − )x2 − x1 + < 0 (19)
= −1 −1 + −βVi u + Vref (16) RL C LC LC
x˙2 LC RL C x2 LC LC Similarly, for S < 0, u = 0
Thus the state trajectories could be plotted as: 1 1 V ref
λ2 = Ṡ = (α − )x2 − x1 + >0 (20)
RL C LC LC
 4

X2 X2 =0
1=0 2

X1
M
Vref
Vref - BVi
X1
Vref-BVi Vref
S=0

Fig. 2. combined state trajectory phase plot S=0

Case I: when α > RL1 C , slope of the lines λ1 = 0 and λ2 = 0 Fig. 4. Phasor plot for α < 1
RL C
is positive [Fig 3]. Line S = 0 intersects these two lines at
points M and N respectively. Regions corresponding to the
existence conditions are shaded defining the control action Here, x1 (t0 ) is the voltage error at time t0 .
of the SM controller. If any trajectory following the hitting
condition, hits line S = 0 in between points A and B, the Choice of sliding coeffcients are responsible for both con-
trajectory stays on the sliding surface. While if if hits outside trolling the dynamic response as well as the existence region.
this region then it leads to large overshoot. Case II: when Here, in the proposed sliding scheme larger value of α leads to
a good dynamic response whereas smaller value of α provides
X2 a larger existence region. Hence, a tradeoff is to be made for
=0
1
better performance.
Let α = RL1 C , hence the sliding surface S could be given as:
1 1 dVo
S= x1 + x2 = (Vref − βVo ) + (−β) (23)
=0 RL C RL C dt
2
M 1 −β
X1 ⇒S= (Vref − βVo ) + ic (24)
Vref-Bvi
RL C C
Vref

N Problems associated with control strategy-

Steady state voltage error would be non zero. This is due to
adopting of phase canonical form that makes the controller
proportional derivative(PD) type. Hence, in order to have a
S=0 zero steady state error an integral term has to be included as
a state variable.
1
Fig. 3. Phasor plot for α > RL C
In general, steady state error is small and this type of control
is sufficient. But in case of converters with RHP zeroes it is
α < RL1 C , slope of the lines λ1 = 0 and λ2 = 0 is negative advisable to include the integral term.
[Fig 4]. In this case the region between points M and N is
larger than the previous case. C. Sliding surface including integral term
Sliding mode exists on the portion of line S = 0, that is Let the state variables be definned as:
in contact with both the shaded regions corresponding to the
switching states. Here it is important to note that α is positive. x1 = Vref − βVo (25)
In case when α is chosen negative, M and N point coincides dx1 dVo
x2 = = −β (26)
and hence there exists only a single point over S = 0 line Zdt dt
where sliding could exist. x3 = x1 dt (27)
3) Stability Condition
In order to obtain desirable dynamic response, stability And sliding surface can now be defined as [9], [10]:
condition should be determined. In other words selection of
S = α1 x1 + α2 x2 + α3 x3 (28)
sliding coefficients should be performed so as to achieve
certain dynamic characterisics. For stability condition, State space model can be written as:
        
S = 0 ⇒ αx1 + ẋ1 = 0 (21) x˙1 0 1 0 x1 0 0
−1
−α(t−t0 )
x˙2  =  1
LC RL C 0 x2  +  −βV
LC
i
u+  VLC
ref 
(29)
x1 (t) = x1 (t0 )e (22)
x˙3 1 0 0 x3 0 0
 5

1) Existence Condition where A1 and A2 are constants that could be determined by

By the Lynapunov’s stability criteria, satisfying the initial conditions.
For ξ = 1, the bandwidth of the controller is given by:
lim S Ṡ < 0
S→ 0 r
ω 1 α3
fBW = = (40)
Now, for S > 0, Ṡ < 0 2π 2π α2
α3 α1 1 Therefore, sliding coefficients could be definned as,
⇒ LC (Vref − βVo )) − βL( − )ic + βVo < βVi
α2 α2 RL C
(30) α3 α1
= 4π 2 fBW
2
and = 4πfBW (41)
And for S < 0, Ṡ > 0 α2 α2
α3 α1 1 For an underdamped system, ξ < 1. Assuming the desired
⇒ LC (Vref −βVo ))−βL( − )ic +βVo > 0 (31)
α2 α2 RL C settling time be 5τ , where τ is the natural time constant given
In order to harden the design constraints i.e. bounds on as τ = 1/(ωn ξ).
the sliding coefficients, actual operating parameters have to α2 x2 + α1 x + α3 = 0 (42)
be absorbed in the inequalities. r
For S > 0, Ṡ < 0 considering ic at its negative peak value, 1 α1 α3
ξ= and ωn = sqrt (43)
2 2α2 α2
α1 Vi βVo + LC α
α2 (Vref − βVo )
3
1 r
⇒ < − + (32) 5 α2 α1 100
α2 L|ic | βL|ic | RL C Settling time: Ts = = 10 ⇒ = 2 (44)
ξωn α1 α2 Ts
and for S < 0, Ṡ > 0 considering ic at its positive peak value, Finally it could be stated that, the design of sliding coeffi-
α1 βVo + LC α
α2 (Vref − βVo )
3
1 cients depends on both the bandwidth of the desired frequency
⇒ < + (33) response and that of the existence condition.
α2 βL|ic | RL C
Critical value of Vi is given as:
! V. S LIDING M ODE C ONTROL S CHEMES
βVo + LC α
α2 (Vref − βVo )
3

Vilim = 2 (34) In the ideal SMC the state variables are controlled by
βL|ic | switching at infinite frequency in the steady state. To make
For Vi ≥ Vilim then, this practcally viable, reduced switching frequency operation
is performed. In this section hysteresis modulation technique
α1 βVo + LC α
α2 (Vref − βVo )
3
1 and pulse width modulation for SM control are discussed.
< + (35)
α2 βL|ic | RL C
otherwise if Vi < Vilim then, A. Hysteresis Modulation based controller
α3
α1 Vi βVo + LC α (Vref − βVo ) 1 Addition of hysteresis band increases the on and off state
< − 2
+ (36)
α2 L|ic | βL|ic | RL C in the steady state phase pulling it out from ideal infinite
switching frequency operation [11].
Depending upon the value of Vi one of the above two
Following the sliding mode control strategy used in PID
equations will be the governing equation for the existence of
control, the sliding surface S could be given as: S = α1 x1 +
sliding mode control for the selected sliding coefficients.
α2 x2 + α3 x3
2) Stability Condition
Equation relating the sliding coefficients to the dynamic u = 1 (on)
response of the system is given as: s=k

S = 0 ⇒ α1 x1 + α2 x2 + α3 x3 = 0 (37) f - t1
Z s=0
dx1 f + t2
α1 x1 + α2 + α3 x1 dt = 0 (38)
dt s = -k
The equation could be written in the form,
u = 0 (o
)
d2 x1 dx1
+ 2ξωn + ωn2 x1 = 0 (39) Fig. 5. Hysteresis band
dt2 dt
q
α3 √α1
where ωn = α2 and ξ = 2 α2 α3
Control law for the switch is definned as:

For a critically damped system ξ is 1, and therefore the 1
 if S > k
state variable could be written in the form as a solution of the u= 0 if S < −k

second order differential equation as: same as previous otherwise


x1 (t) = (A1 + A2 t)e−ωn t for t ≥ 0 where 2k is the width of the hysteresis band.
 6

1) Determination of switching frequency ẋ = f (x, u) can be expressed as,

Z t+d(x)∆ Z t+d(x)∆
2k −2k x(t + τ ) = x(t) + f (x(τ ))dτ + 0.dτ
∆t1 = and ∆t2 = (45)
∇Sf − ∇Sf + t t+∆

Xn
∂S dxi dS For an ideal model, frequency tends to ∞ i.e. ∆ → 0.
∇S.f = = = Ṡ (46) Hence,
i=1
∂x i dt dt
R t+d(x)∆
2k 2k −2k −2k x(t + τ ) − x(t) f (x(τ ))dτ
⇒ ∆t1 = = and ∆t2 = = (47) lim = lim t
Ṡu=0 λ 2 Ṡu=1 λ1 ∆→0 ∆ ∆→0 ∆
(48) dx
⇒ = f (x, d) (51)
dt
where λ1 and λ2 defines Ṡ for on and off state respectively.
Therefore, This equation defines the average PWM controlled system.
3) Implementation of PWM contoller
T = ∆t1 + ∆t2 (49) Pulse width modulation control technique involves a ramp
1 1 signal of a constant frequency that determines the switching
⇒ fs = = (50)
T ∆t1 + ∆t2 frequency.
where fs is the switching frequency. The value of fs could be
obtained as a function of hysteresis band (2k) for particular Equivalent signal ueq can be formulated using the invariance
values of sliding coefficients. condition i.e. Ṡ = 0. Replacing u by ueq gives an equivalent
In this strategy, switching frequency will depend upon the control input fot the switch. ueq should satisfy the condition
load as well as the input voltage. Hence adaptive control is that 0 < ueq < 1. Duty cycle could be now given as:
to be used to modify hysteresis band in order to maintain VC
constant switching frequency. For variation in input voltage, d= = ueq (52)
V̂ramp
feed forward adaptive technique and for variation in load side,
feedback adaptive technique is used [12]. VI. S IMULATION AND C OMPARISION
E XAMPLE - B UCK C ONVERTER
B. Pulse Width modulation based controller
Consider a DC/DC converter with an input of 48 volts,
This type of control requires establishment of relationship
Output is 20 volts. Nominal load is 10 Amperes. For con-
between two control techniques. Firstly, the discrete control
tinuous conduction, at nominal conditions Lmin = 0.145mH.
input ’u’ can be replaced by a smooth function known as
And assuming output ripple to be 2% of the output voltage,
equivalent control signal ’ueq ’ that can be formulated using
Cmin = 4.5µF . For the simulation purpose, considering
invariance condition by setting Ṡ = 0. Secondly, at a high
L = 0.5mH and C = 10µF .
switching frequency, the equivalent control is effectively a duty
cycle control.
1) Equivalent control A. Linear Average model control
Movement of a trajectory is a consequence of switching By state space averaging method, the transfer function of
action and is composed of two isolated components: a fast- the converter shown in Fig 3.1 is given as [13]:
moving (high-frequency) component and a slow-moving (low-
1920s + 9.619e9
frequency) component. Low frequency component stays along t.f.plant =
the sliding surface. Whereas high frequency component oscil- s2 + 10060s + 2.006e8
lates about the sliding surface. By, K-factor approach controller could be designed as:
Therefore, it is possible to relate the corresponding low 343.6s + 2.19e6
and high frequency components of the trajectory to a low t.f.controller =
s2 + 2.477e4 s
frequency continuous switching action ulow , where 0 <
ulow < 1, and to a high frequency discontinuous switching The model is analysed by varying the load and varying the
action uhigh , where uhigh = −ulow or 1 − ulow , and that supply voltage for the determination of the control range of
u = uhigh + ulow . the linear controller.
The motion of trajectory is solely defined by the low Fig.7 shows the output voltage regulation when load is
frequency component. This produces a trajectory equivalent varied. Simulation is performed for 0.05sec and load is 10Ω,
to that of an ideal model. Now, for an ideal sliding mode 20Ω and 25Ω for each one third time of the total simulation
control, in the steady state phase Ṡ = 0. time. It could be observed that as load increases above the
2) Duty ratio control nominal value settling time also increases. And if load is
The control input u is switched on and off once every more that 25Ω, it may not even settle and produce large
switching cycle. Duty ratio is normally a smooth function of oscillations about the reference level. Fig.8 shows the output
state vector x(t) denoted by d(x), 0 < d(x) < 1. Now, voltage regulation when supply voltage is varied from 25V to
( 48V to 65V for each one third of the total simulation time.
1 for t < τ < t + d(x)∆ The ouput voltage has very small ripple and hence a good
u=
0 for t + d(x)∆ < τ < t + ∆ reguation.
 7

Fig. 8. Output voltage with supply voltage variation

Fig. 6. Simulation model of Buck converter including parasitics with Linear

control

Fig. 7. Output voltage with load variation

Fig. 9. Simulation model of Buck converter including parasitics with PWM
based sliding control
B. Pulse width modulation based Sliding mode control
Using the sliding model described in section 2.2.3, assuming
critically damped system with bandwidth as 50KHz. Ramp and feedforward strategies have to be performed for fixed
frequency is kept at 20KHz. frequency operation. But both of the strategies could not be
The model is analysed by varying the load and varying the implemented simutaneously.
supply voltage for the determination of the control range of the
sliding mode non linear controller based on PWM technique.
Fig.10 shows the output voltage regulation when load is
varied. Simulation is performed for 0.05sec and load is 10Ω
20Ω and 60Ω for each one third time of the total simulation
time. It could be observed that the controller could regulate
the output voltage for large variations in the load. And hence
PWM based sliding mode controller have a wider control
range as compare to that of linear control techniques. Fig.11
shows the output voltage regulation when supply voltage is
varied from 25V to 48V to 65V for each one third of the
total simulation time. The ouput regulation for input supply
Fig. 10. Output voltage with load variation
variation is approximately similar to that of linear control.

C. Hysteresis modulation based Sliding mode control

Using the sliding model described in section 2.2.1, the HM
based sliding mode control for the buck converter could be
modelled as shown in Fig.3.7.
The model shown in Fig.12 is basically a PD-type control
and hence have a non zero steady state error. This model is
not an appropriate because the switching frequency varies as
the load or supply voltage vary. Variation in frequency may
lead to change in system parameters in practical scenerio. And
hence the control may even fail.Inclusion of adaptive feedback Fig. 11. Output voltage with supply voltage variation
 8

Using the ackerman’s formula or the invariance condition i.e.

Ṡ = 0, followed by putting u = ueq and satisfying the
inequality 0 < ueq < 1,
 
α1 1 α3
0 < −βL − iC + LC (Vref
α2 RL C α2
− βVo ) + βVo uLeq < βVi
(57)
uLeq can be determined as follows,
Applying the volt-second balance,
D
(Vi − Vo )DT + (−Vo )∆T = 0 ⇒ Vo = Vi (58)
D+∆
Where, D and ∆ are the on and off ratio period respectively
Fig. 12. Simulation model of Buck converter including parasitics with HM when inductor current is non zero. By the average inductor
based sliding control current in DCM,
2Lf
D2 + D∆ = (59)
VII. DC-DC CONVERTERS IN DISCONTINUOUS RL
CONDUCTION MODE
From equations(58) and (59), D and ∆ can be found out to
In discontinuous conduction mode, output load has a greater be:
influence on the system characteristics. In case of linear con- r
Vo 2Lf
r
2L
trol method, control region decreases hence feedback network D= and ∆ = (Vi − Vo ) (60)
Vi RL Vi RL T
needs to be altered for small variations in the operating condi- s
tions and applying adaptive feedback methods are seemingly (D + ∆)T Vi .2Lf
uLeq = = (61)
costly [14]. T (Vi − Vo )RL
Let the current through inductor in discontinuous conduc-
tion mode be represented as shown in fig 13. In order to Existence and stability conditions could be determined same
analyse DCM, concept of equivalent switching virtual element as that in the case of continuous conduction mode with
is utilized. introduction of uL term in the equations.

I L B. Boost converter
Inductor current and capacitor voltage could be given as:
diL 1
t
= (Vi u + (Vi − Vo )uB ) (62)
T
Z dt L Z
1 1
u u
VC = (iL ub − iR )dt = (iL (1 − u) − iR )dt (63)
u L
u L
C C
Vref − βVo
     
u B
u B x1 Vref − βVo
x2  =  d(Vref −βVo )  =  β (iR − iL (1 − u))
dt C
Fig. 13. Virtual switching states
R R
x3 (Vref − βVo )dt x1 dt
(64)
   
ẋ1 x2
A. Buck Converter ẋ2  = − x2 + β (Vo − Vi )uB (1 − u) (65)
CRL LC
ẋ3 x1
Inductor current and capacitor voltage could be given as:
Using the ackerman’s formula or the invariance condition i.e.
diL 1
= (Vi u − Vo uL ) (53) Ṡ = 0, followed by putting u = ueq and satisfying the
dt LZ
1 inequality 0 < ueq < 1,
VC = (iL − iR )dt (54)  
C α1 1 α3
0 < −βL − iC + LC (Vref − βVo )
Vref − βVo
     
x1 Vref − βVo α2 RL C α2 (66)
x2  =  d(Vref −βVo )  =  β (iR − iL ) (55) + β(Vo − Vi )uBeq < β(Vo − Vi )uBeq
R dt C R
x3 (Vref − βVo )dt x1 dt
    uBeq can be determined as follows,
ẋ1 x2 Applying the volt-second balance,
ẋ2  = − x2 − β (Vi u − Vo uL ) (56)
CRL LC
ẋ3 x1 D+∆
(Vi )DT + (Vi − Vo )∆T = 0 ⇒ Vo = Vi (67)
∆
 9

Where, D and ∆ are the on and off ratio period respectively VIII. H IGHER ORDER CONVERTERS
when inductor current is non zero. By the average inductor A. Introduction
current in DCM,
Increase in the order of system is related to increase in the
2Lf Vo2 number of energy storing elements. Higher order converters
D2 + D∆ = (68)
RL Vi2 are utilized in order to achieve certain characteristics that may
From equations (67) and (68), D and ∆ can be found out to not be possible with lower order converters on the expense of
be: additional circuit components and complex control circuitry.
s s Many control methods had been studied such as model
Vo (Vo − Vi )2Lf Vo 2Lf predictive control, passivity-based control, neural networks
D= and ∆ = (69)
V i2 RL (Vo − Vi )RL and state-space averaging, fuzzy logic and scaling factor,
At the boundary of CCM and DCM, ∆max = 1 − DCCM = nonlinear H-infinity control, one cycle control, particle swarm
Vi /Vo optimization, genetic algorithm, and optimum LQR controller,
s sliding mode control, etc. With these controllers, the perfor-
∆T Vo Vo 2L mance satisfactions such as fast response, stability, robustness,
uBeq = = (70)
∆max T Vi (Vo − Vi )RL T improvement of chaos behavior, and wide range of operating
points had been reported. Sliding mode controller seems to be
C. Buck-Boost converter a better candidate than the other non linear control methods
Inductor current and capacitor voltage could be given as: because of its relative ease of implementation, excellent robust
diL 1 and stability properties in handling large-signal perturbations
= (Vi u + (Vi − Vo )uB ) (71) and component’s uncertainty, and the ability to give highly
dt L
1
Z
1
Z consistent dynamic response.
VC = (iL ub − iR )dt = (iL (1 − u) − iR )dt (72) SM controllers proposed in the past for higher order con-
C C
  
Vref − βVo
   verters suffer the drawbacks of operating at variable frequency
x1 Vref − βVo
x2  =  d(Vref −βVo )  =  β (iR − iL (1 − u)) or giving slow dynamics. The need to operate at a constant fre-
R dt C R quency is important for practical power converters to prevent
x3 (Vref − βVo )dt x1 dt
excessive power losses and EMI noise generation, and also to
(73)
    simplify the design of input and output filters. Another issue
ẋ1 x2 regarding sliding mode control for higher order converters is
ẋ2  = − x2 + β Vo uB (1 − u) (74) the use of full order sliding mode control that requires sensing
CRL LC
ẋ3 x1 of all the state variables.
Using the ackerman’s formula or the invariance condition
i.e. Ṡ = 0, follwed by putting u = ueq and satisfying the B. Ćuk Converter
inequality 0 < ueq < 1, Ćuk converter has caught the interest of many power supply
designers with its well-studied advantages, which include
 
α1 1
0 < − βL − iC magnetic components integrability, smooth input and output
α2 RL C (75)
α3 currents, wide conversion ratio and full transformer utilisation
+ LC (Vref − βVo ) + βVo uBeq < βVo uBeq etc. Proper integration of magnetic components could lead
α2
uBeq can be determined as follows, to almost complete ripple free inductor current making it
Applying the volt-second balance, an excellant candidate for applications involving ripple free
current for longer lifespan [15].
D
(Vi )DT + (−Vo )∆T = 0 ⇒ Vo = Vi (76) Assuming continuous conduction modeof operation, the state
∆ space model for Ćuk converter could be expressed as,
Where, D and ∆ are the on and off ratio period respectively
when inductor current is non zero. By the average inductor diL1
L1 = Vi − (1 − u)vC1 (80)
current in DCM, dt
diL2
2Lf Vo2 L2 = uvC1 − vC2 (81)
D2 + D∆ = (77) dt
RL Vi2 dvC1
C1 = (1 − u)iL1 − uiL2 (82)
From equations (76) and (77), D and ∆ can be found out to dt
be: dvC2 vC2
C2 = iL2 − (83)
dt RL
s s
Vo (Vo − Vi )2Lf Vo 2Lf
D= 2
and ∆ = (78) Cuk converter is a non minimum phase converter,hence re-
V i RL (Vo − Vi )RL
quires current mode control technique.
At the boundary of CCM and DCM, ∆max = 1 − DCCM =
Vi /Vo
s C. Full Order sliding mode control
∆T Vo Vo 2L Full order sliding mode controller requires controlling of
uBeq = = (79)
∆max T Vi (Vo − Vi )RL T all the state variables and hence the order of such a control
 10

could be minimum of number of state variables or more than Using Lynapunov’s criteria for a positive definite system,
that depending upon dynamic performance desired. Hence this lims→0 S Ṡ < 0.
requires sensing of all the state parameters and also generation
−A3 iC2 + A1 (x1 + x2 ) + A2 x3 − βVi < 0 for S > 0 (90)
of the reference values corresponding to each variable being
controlled. This leads to a very complex situation in case of −A3 iC2 + A1 (x1 + x2 ) + A2 x3 − β(Vi − vC1 ) > 0 for S < 0
both analysing and then practical implementation. (91)
Corresponding minimum and maximum values of the pa-
rameters could be substituted to obtain the coefficients for
D. Reduced order sliding mode control
maximum control range.
For implementation of practical converter circuit, reduced 2) Stability Condition
order sliding mode control has to be used. Reduced state SM The stability condition can be achieved by obtaining the
current controller employs the output voltage error and the ideal sliding dynamics of the system, and then doing an
inductor current error as the controlled state variables. In analysis around the equilibrium point.
order to implement the controller as inner loop current outer Dynamic equations for the system using equivalent control
loop voltage control, reference inductor current is taken in could be written as-
proportional to the output voltage error. diL1
The sliding variables could be expressed as: L1 = Vi − (1 − ueq )vC1 (92)
dt
x1 = iRref − iL1 ; x2 = VrefR −
R βvo ; diL2
x3 = (x1 + x2 )dt; x4 = (x1 + x2 ) L2 = ueq vC1 − vC2 (93)
dt
dvC1
Here iref = K(Vref − βvo ). The integral terms x3 and x4 C1 = (1 − ueq )iL1 − ueq iL2 (94)
dt
are included to eliminate the steady state error. dvC2 vC2
Sliding surface could be definned as: C2 = iL2 − (95)
dt RL
S = α1 x1 + α2 x2 + α3 x3 + α4 x4 (84) Substituting value of ueq derived from the invariance equation
will represent the ideal sliding dynamics for the current
Dynamic equations describing the state space model for the controlled SM Cuk converter.
controller can be given as, At the equilibium point, Vo = Vref , IL = Iref ,VC1 =
  Vi + Vo , IL2 = Vo /RL and IL1 = Vo2 /(Vi RL ).
KβiC2 Vi − (1 − u)vC1 After expanding the ideal sliding dynamics around the
ẋ1 = − − (85)
C2 L1 steady state point, considering only the ac terms, i.e. the
βiC2 disturbances, we can obtain six equations,
ẋ2 = − (86)
C2
ẋ3 = (K + 1)(Vref − βvo ) − iL1 (87)
    
Z ĩL1 /dt a11 a12 a13 a14 a15 a16 ĩL1
 ṽC1 /dt  a21 a22 a23 a24 a25   ṽC1 
a26   
ẋ4 = (K + 1)(Vref − βvo ) − iL1 )dt (88)   
 ĩL2 /dt  a31 a32 a33 a34 a35 a36   ĩL2 
 
 ṽo /dt  = a41
   
a42 a43 a44 a45 a46 
 R ṽo 
 
Using the PWM technique for SM control, equivalent control R  
 ĩL1 /dt a51 a52 a53 a54 a55 a56  
R ĩL1

input could be determined by putting u = ueq in the equation R
ṽo /dt a61 a62 a63 a64 a65 a66 ṽo
Ṡ = 0.
R (96)
A3 iC2 + Vi − A1 (x1 + x2 ) − A2 (x1 + x2 )dt where
ueq = 1 −
vC1 −A1 −A3 A3 A1 K
(89) a11 = ; a12 = 0; a13 = ; a14 = − ;
  Gs L1 Gs L1 RL Gs L1 L1
where, A1 = αα3 L1 1 , A2 = αα4 L1 1 and A3 = βL C2
1
K + α2
α1 . −A2 −A2 K A1 Vo Vi
Employing 0 < ueq < 1 would allow to determination of a15 = ; a16 = ; a21 = + ;
Gs L1 L1 Vi RL C1 Gs C1 VC1
the ramp signal amplitude and also modulating signal for the −A3 Vo Vo
PWM control. a22 = 0; a23 = + ;
Vi RL C1 Gs C1 (Vi + Vo )
It could be observed that the control strategy requires 2 (A1 KRL Gs − A3 )Vo −A2 Vo
current and 3 voltage sensors which is the drawback of this a24 = 2C G ; a25 = ;
Vi RL 1 s Vi RL C1 Gs
method. Maintaining the switching frequency constant requires
employing of more sensors. A2 KVo −A1 1 −A3
a26 = ; a31 = ; a32 = ; a33 = ;
1) Existence condition Vi RL C1 Gs L2 L2 Gs L2
A3 A1 K −A2 −A2 K
Hitting condition could be easily determined from the initial a34 = − ; a35 = ; a36 = ;
operating point of the converter. Existence condition plays a RL Gs L2 L2 Gs L2 L2
1 −1
very important role in order to keep the system slide along a41 = 0; a42 = 0; a43 = ; a44 = ; a45 = 0; a46 = 0;
the surface chosen. Existence condition imposes boundaries C2 RL C2
on the selection of sliding coefficients and also determines the a51 = 1; a52 = 0; a53 = 0; a54 = 0; a55 = 0; a56 = 0;
range of control for the chosen coefficients. a61 = 0; a62 = 0; a63 = 1; a64 = 0; a65 = 0; a66 = 0;
 11

The characteristic equation could be given as |sI − A|.
Applying routh’s hervitz criteria will provide the equations
for the system to be stable.
IX. C ONCLUSION
Simultaion performed characterizes the control operation of
the SM controller. Although Linear method works in a good
region but SMC further enhances the control region.SMC has
been well studied for basic second oredr DC-DC topologies
and has proven to be a superior control starategy. One of
the major importance of SMC with respect to linear control
is that the contoller is designed in time domain and the
state trajectories could be easily estimated. Design seteps had
been described for direct implementation of sliding mode
control for power electronic applications. Another important
conclusion is that the existing design procedures for the
SMC are not feasible as the order of converter increases.
With increase in the order the complexity in determination
of sliding coefficients also increases. Although the number
of components are less and implementation is easy but the
computation in selection of sliding coefficients is a big deal.
Number of sensors required are more as compared to linear
control method. In order to reduce the number of sensors
observer based SMC’s had been evolved ,but observer based
system have to be deveoped using system equations and have
to run continuously to track system disturbances, which further
increases the complexity. Observer based SMC’s had been
used for parallel connected, half bridge, synchronous buck
boost, etc. topologies. Many new sliding surfaces had been
evolved but are still not practically employable specially in
the applications of power electronics.
[11] Siew-Chong Tan, Y.M. Lai, C.K. Tse and Martine K.H.Cheung., On the
Practical Design of a Sliding Mode Voltage Controlled Buck Converter.
IEEE Transactions on power electronics, Vol.20, No.2, March 2005,
pp:425-437.
[12] Siew-Chong Tan, Y.M. Lai, C.K. Tse and Martine K.H.Cheung., Adap-
tive Feedforward and Feedback Control Schemes for Sliding Mode
Controlled Power Converters. IEEE Transactions on power electronics,
Vol.21, No.1, January 2006, pp:182-192.
[13] H. Dean Venable, The K factor: A new mathematical tool for stability
analysis and synthesis ,Linear Technology, Reference reading #4.
[14] S.-C. Tan, Y.M. Lai, C.K. Tse and L. Martinez-Salamero., Special
family of PWM-based sliding-mode voltage controllers for basic DC–DC
converters in discontinuous conduction mode. IET Electr. Power Appl.,
Vol. 1, No. 1, January 2007, pp:64-74.
[15] S.-C. Tan and Y.M. Lai Constant-frequency reduced-state sliding mode
current controller for Ćuk converters IET Power Electronics, revised on
october9, 2007, doi: 10.1049/iet-pel:20070369, 2008, Vol. 1, No. 4, pp.
466–477.
[16] Yue Zhao, Wei Qiao and Daihyun Ha., A Sliding-Mode Duty-Ratio
Controller for DC/DC Buck Converters With Constant Power Loads
IEEE Transactions on industry applications, Vol. 50, No. 2, April 2004,
pp:1448-1458.
[17] Vadim Utkin, Jurgen Guldner and Jingxin Shi., Sliding Mode Control
in Electro-Mechanical Systems Second Edition, CRC Press, Taylor &
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