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Design of PWM Based Sliding Mode Voltage Controller for DC-DC

Converters Operating in Continuous Conduction Mode
Siew-Chong Tan, Y. M. Lai, and Chi K. Tse
Department of Electronic and Information Enginecring
Hong Kong Polytechnic University, Hunghom, Hong Kong
Tel: +852 2766 6199
Fax: +852 2362 8439
E-Mail: ensctan@eie.polyu.edu.hk
URL: http://chaos.eie.polyu.edu.hk

Keywords
Power converter, dc-dc converter, sliding mode control, pulse-width modulation, hysteresis modulation.

Abstract
This paper presents a simple approach to the design of fixed-frequency pulse-width-modulation based
sliding mode voltage controller for DC-DC converters operating in continuous conduction mode. The
design methodology is illustrated on the three basic DC-DC converters: buck, boost, and buck-boost
converters.

Introduction
Sliding mode (SM) controllers are well-known for their robustness and stability. The nature of the con-
troller is to ideally operate at infinite and varyinig switching frequency such that the controlled variables
can track a certain reference path to achieve steady-state operation [1]. However; variable switching fre-
quency is undesirable for power converters [2], [3]. A method of ensuring constant switching frequency
operation is to employ pulse-width-modulation (PWM) for the controller. This has been demonstrated
on a buck converter in [4], [5].
Hence, in this paper, we extend the work in [5] to a unified approach to the design of PWM based SM
voltage controller general for all DC-DC convefter types. Similar to [5], our aim is to present sim-
ple anid ready-to-use control equations for immediate implementation of the PWM based SM voltage
controller. Since the focus of the paper is on proposing the design methodology, computer simulations
suffice for the purpose of validating the designs. It is also worth mentioning that even though the dis-
cussion covers only the buck, boost, and buck-boost converters, the approach is commnon and applicable
to all other DC-DC converter types.

The Approach
Detailed discussions of SM control philosophy, equivalent control method, and theory behind the rela-
tionship of sliding mode control and duty ratio control arc found in [1], [6], and [7].

HI3E 2005 - .5dl ISBN 90-I71S08-1 R

De)si n of PwWM based Slding Mlode V oltage (Otrollerfor DC-DC Convercees Operatdig in CondtinuoLs CoadLtLoa Mod TAN Sicw-Oloag

System Modelling
D

xI

(a) SMVC buck converLer (b) SMVC boosL converter

0 L

V. L

Ky

(c) SMVC buLck-boost converer

Fig. 1; Schematic diagams of die PWM based PID SMVC converters.

The first step to the design of the SM controller is to develop the state space description of the con-
verter model in tenns of the desired control variables (i.e., voltage amilor current etc.). We consider all
conver-ters to be operating in continuous conduction mode (CCM). The controller is a PID SM voltage
mode controller. Figs. l(a)-l(c) show the schematic diagram of the three PITD sliding mode voltage
controlled (SMVC) DC-DC converters used in this paper. The notations C, L. and RL are the capac-
itance, inductance, and load resistance of the converters respectively; ic' it, and ij are the capacitor,
inductor; and load currents respectively; Vref, and 31ze are the reference, input, and sensed output
lj,

voltage respectively; and u 0 or 1 is the switching state of power switch SV. Here, the control
-

variables x may be expressed as

X = 2 d(V=fd (1)
LXVc
-.. -
dl111~d- )dt

wheM Xlp X2, and x% represents the voltage e-ro;; the voltage er-o- dynamics (or the rate of change
of voltage error), and the in-legral of ollhage error, respectively. The substitution of the converters'
behavioral models under CCM produces the following control variable descriptions: auck. Xboost, and
tuck-IO,t for buck, boost, and buck-boost converter, respectively.

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Vref -,3ll l'ref - 3Vo

XbUC.k -
KLC + f Al(t~gi\ Xboo,t - dvL + f Ay(vd adt ;
f xidt f x1dt

Xbuck-boost =
3 Y dt>
xLU7
(2)

Here v, I u is the inverse logic of u. Next, the time differentiation of the equations in (2) produce
-

the state space descriptions required for the controller design of the respective converter.
For buck converter:
[Al [0 I

Y2 I
[X2
-0 (3)
*3-
o
=[0 RL{ LC
[_s 0 ( L73i

For boost converter:

1
1 °0 [X 0

'~2 -~ 0 +
LC 1l1 U. (4)
I . o

For buck-boost:
[0 I1 Kr1]
[0
[i'il
[2t = O R1LC
1
° <21 + WLC UI
U (5)
[2'31 ~1 0 01 [0

Rearrangement of the state space descriptions (3), (4), and (5) into the standard form gives
=-Ax+Bv+D (6)
where v il or fl (depending on topology). Results are sumunarized in Table 1.

Controller Design
The SM controller has a switching function:
I whenS >O
"

f0 when S < O
(7)

where S is the instantaneous state variable's trajectory, alid is described as

S = ctIXI + E2X2 + (V3X3 = JTx- (8)

with JT = [a, a2 a3] and a1. a2, and a3 representing the control parameters termed as sliding
coefficients.

HiE 20i 5 - Dxdc ISBN 90-is71S=08- 1'.3

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Table 1: Matrix Descriptions of SMVC Buck, Boost, and Buck-boost Converters

Converter A B ID v

Buck
0 1 01 OO
OLC_ [tLC
tcRL it
0 0

Boost ~0O- 1 c 0° 0O
3Vo _ 3V
-
O f
_1 0 0] O [-1

013LCO7O
010RILC 0
~0 1
Buck-boost ° °
°
Table 2: Existence Conditions of SMVC Buck, Boost, and Buck-boost Converters
Buck 0 < -BL ( P-LC) ic + LC -1] (Vf - bV.) +tBV < BVi

Boost 0 < 3L (; - C1) ic - LCP' (Vrer-31W) < 3(T; - V)

Buck-boost (
0 < BL I - H C) ic - LC 3 (Vlef - ,V) < 3v.T

Derivation of existence conclitions

To ensure the existence' of SM operation, the local reachability condition
linll S S < 0. (9)
,s-o
must be satisfied. This can be expressed as

K50+ = jTAX + JTB,590+ + JTD < 0 (10)

=QJTAx0+:JTBl, 0- +-JTD > 0

An illustration is provided for the boost converter

tSaLisfanion of the existenice condition is one of Lhe [tree necessary condiLions for SM coniLrol operaLion to occur. IL

ensures that thc state trajcctory at locaions near the sliding surface will always bc diroctcd towards the sliding surface.
The other two necessary conditions are the hitting condition, which is satisfied by the switching funiction, and the stability
condition, wlicl is satisfied duough dic proper selection of sliding coefficicnts.

HEr 1005 - LSr ISBN 90-IsS7 S-=s- PA.

Dcsa ol'M hbe:d
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Example - Boost converter

* Case 1: S -+O+, S <0:
Substitution of Vs+O+ = u = O and the matrices in Table 1 into (10) gives
-WC + 3RC2
ic! <+
+a2RLC
-ai- as3(X7f - 31V.) < 0. (11)

* Case2:SO-,0S>O:
Substitution of vq30- -ua I and the matrices in Table t into (10) gives

XC
-al-cvi + a2R C2+ a3(¾Md
+LC -4VO)a-2 LC °L2)LC° > 0.
9 + ~LC
(12)

Finally, the combination of (11) and (12) gives the simplified existence condition

0 <3L (' ic - LC&3 (l, -3VW) <3(. - V). (13)

Similarly, the existence conditions of other converters can be derived using the same procedure. The re-
spective conditions are derived and shown in Table 3. Selection of sliding coefficients for the controller
of each converter must comply to the corresponding inequality.

Derivation of control equationsfbr PWM based SM controllers

The derivation of the PWM based SM controller can be summarized in two steps. Firstly, the equiv-
alent control signal usq, is formulated using the invariance conditions S 0O [t]. Here, equating
S JTAx +
= JTBv0,
+ D = 0 yields the equivalent control function
Veq LJTB] JT [Ax + D] (14)

Secondly, the equivalent control function is mapped onto the duty cycle function of the pulse-width
modulator (i.e. 0 < Ueq = D < 1) [5]. An illustration is provided for the boost converter.

Example - Boost converler

Since t. = V, we can derive the equivalent control function as
3L a, t c(3LC
Tl,q (a2 RLC) i(' (15)
Vi)
,'3 (V. VD &2/3 (V. - V)ID
=
.

where Ucq is continuous and 0 < Ttq < 1. Since ut I - ii, which also implies uq - I -fq, the
substitution of (15) into the inequality gives

(16)
0< ttoq-1- (V. I ) (a2 RLC) VL
(t23- -3
O- VI) (Vrf -,31V) < 1.

HI3E 2005 - D.-cdcl ISBN 90-I7Ss=s-s 1'.5

Din ofl'W'M ad SliSd Mod,Vapta kflDCC D cfl,iCofiu CoMuetio Mode TANSwami

Multiplication of the inequality by ;3(1, - V) gives

0 < -3L(C'2 RLC) i + LC (Ko f- 3V1) +f I (V - V) < ;3 (V. - ¾). (17)
Finally, the mapping of the equivalent control function onto the duty raao control, where 0 < V1 <
X,7,p, gives the following relationships for the control signal V, anid ramp signal 1rnp:
V,C =-BL (l CI)ic + LC"3(t2 (Vef-{3VO) +,;3 (VO-Vi)
1t2RLC} - (18)
and
T .lp = f3 (V.- ) (19)
for the practical implementation of the PWM based SM controller. The control equations required for
the implementation of the respective PWM based SMVC converters are tabulated in Table 3.

Table 3: Control Equations of PWM based SMVC Buck, Boost, and Back-boost Converters
Converter VK T amp

Buck -KpiiC + K,,2 (T ref- 31 ) + 11VO 3Vj

Boost -I%Iic + K1,2 (V14f - 3) ±+3(1.-Ti) 3 (V-Vi)

Buck-boost -KpliC + Kp2 (l4ef- ;1,)

+ ;31o31,o

* Kpi aiid Kp2 aie parameters calculated usinig KpI = BL - and K2 -=3 LC.

Simulation Results and Discussions

Table 4: Specification of Buck Converter
Description Rirameter Nominlal Value
Input voltage Vi 24 V
Capacitance C 150 /tF
Capacitor ESR r, 21 rmQ
Inductaiice L 22 pH
Inductor resistaiice l'L 0.12S
Switching frequency fs 200 kHz
Minimum load resistance RL(miln) 3Q
Maximanw load resistance RL(rnax) 12 Q
Desired output voltage V.'I 12 V

The derived PWM based conctollers' equations in Table II are verified through simulation. Tables IV,
V, and VI show the specification of the buck, boost, and buck-boost converters used in this section.

HIE 2005 - Di ISBN 90-I71S08-O 1'.6

DCsa ol'M be:cd
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Table 5: Specification of Boost Converter

Description Parameter Nominlal Value
Input voltage Vi 12V
Capacitance C lO )0 /jF
Capacitor ESR r, 36 mQ
Induetaunce L 50 jtH
Inductor resistaice IL 0.14 Q
Switching frequency fs 200 kHz
Minimum load resistance RL(niin) 48 Q
Maximnun load resistance RL(111,.) 192 Q
Desired output voltage Vd 48 V

Table 6: Specification of Buck-boost Converter

Description Paramneter Nominal Value
Input voltage Vi 24 V
Capacitance C 1000 F
Capacitor ESR rcc 36 iniQ
Inductance L 25 /IT
Iinductor resistance rL 0.12 Q2
Switch7ing frequency fs 200 kllz
Minimum load resistance (buck) RL( iiii) 6Q
Minimum load resistanice (boost) RL(mhi) 18 Q
Maximum load resistance (buck) RL(m,X) 12 Q
Maximum load resistance (boost) 11L(max) 60 Q
Desired output voltage (buck) Vod 12 V
Desired output voltage (boost) V.d 36 V

Buck Converter
Figs. 2(a) and 2(b) show the steady-state behavior of the PWM based SMVC buck converter operating
at nominal condition. Figs. 2(c) and 2(d) show respectively the graphs of DC output voltage against
4,1
different input voltages and operating load resistances. It can be observed that the line regulation
averages at -4.208 mVNV. It can also be concluded that voltage regulation of the converter is robust to
load changes, with the load regulation Jo averages at 0.73 mV/Q.

Boost Converter
Figs. 3(a)-3(d) illustrate the performance of the PWM based SMVC boost converter. The line regula-
tion dX°
averages at 64.25 mVNV. The load regulation averages at -0.92 mV/S.

Buck-boost Converter
Figs. 4(a)-4(f) illustrate the performance of the PWhM based SMVC buck-boost convelter. For step-
down operation, the line regulation ci averages at 12.67 mViV. Also, the load regulation dRL averages

at -12.67 mV/S2. For step-up operation, the line regulation / averages at 36.92 mVNV. Also, load
regulation (ddRL averages at -3.10 mV/Q.

HIEL 2005 - D sc ISBN 90-7WS=08-3

Dc:~iga of PwWM based Sliding Miocd V oltage COntrollerfor DC-DC Convcrccix Opcrtdn~g in Condatinoto CoadLLtcoa MdcxkIN TAN Sicw-Oloag
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9B 9.92 9.9B4 9.9B6 9.98B 9.99 9.992 9.994 9.996 9.99S 10 9.9B2 9.98 v.986 9.988 9.99 v.992 9.904 9.0* v.998 10
Time x la' T-irriexl

ci C ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~11.90 . ..............

&9 3 9.932 9.984 9.935 9.983 9.99 9.992 9.994 9.996 9.998 110 98 9 9.982M4 9.98S 9.988 9.99 9.992 9.994 9.996 9.998 10
Timo(s) nc0-D ir Z)7 r,

(a) VI, v;-atip, and ut (b) iLXaI4JV,

11.96, I I -qcklj

11.95 ......................................
11.91U ------------- ---------------------------- -----------------------

11.94 ............................... 11.91k ............. ............................ .......................

-
11.93 11.914

>:' ll.m .............. ......... ........ ........ >1 11.912 . ............

C)
;ff 11.91 11.910
::, 11.90

(. 11.89 ........... 11.9c6 ............................ .......................

1 1.88 ...............................
1.904 ------------- ---------------------------- -------------

11.87 ....................................................... 1159C

1 1 .86 ." 13
I nput VoitageyVI!) Load Resistance RL. Cf
(c) Line, variation (d) Load wanadon
Fig. 2: W input ramip 1,amp, generated gate putse and (b) iniductor current

iL anfd output volttage nominilal conditioni Vi

rippte 24 V mid RL
at 3 Qt mid thie graphs of DC output

vottage 1%, againist (c) input vottage V7i and (dt) load resistance RL for the PWM based SMYC buck converter.

Conclusion

A simple approach to the design of fixed-frequency PWM based SM voltage controller for all DC-DC
conver-ter types operating in continuous conduction mnode is presented. The design approach has been
imiplemented on the buck, boost, and buck-boost converters. It can be concluded from the results that

the PWM based SM voltage controllers are feasible for common DC-DC conversion purposes.

References

[1] V. ULkin, J. Guktner, and JLX. Shi , Slidinig Mode Control in- Elecuronechawnical Systemts. Londlon, U.K.:

Taylor and Francis, 1999.

[2] B.J. Cardoso, A.F Moreirat, B.R. Menezes, atnd R.C. Cortizo, "Anatyvsis of switchinig frequencyv reduction
medthods applied to slidiing mode conitrolled dc-dc converters,," in Proceedings., IEEE Applied Poiter Elec-

tronics Conjtrcnce antd Exrosition (APEC), pp. 403-410, Feb 1992.

12K 2005 - L)iv--;dc,-ii

Ellh I2're.xkn
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ISBN :90-75815-08-5
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it) . .
~~~~~~~~~~~~~~~~~~~48.21-

1.~~~8

Tim~o s) y1
4"R6 9.9ri2 9S 4 9.VSt 9.988 9.699 94E'2 9.994 9.993 9.9E' 10

(a) VI, v;-atip, and ut (b) iLXI4MdV,

49.0, 46.25

48.J
..........

.......... ----------

...............
--------------------------------------- ...................

>o
..........
480D5
47.E ------------ ..................... --------------------------

4E 100 ................... .. ...-

47,6 ........................................ .................... ...............

47 .95 2.2--- 2--

47,4

47.2' 14 15 16 17
47.90
40 W 60 70 80 90) 10 110 120 130~140 150 100 170 180 190 200
Input Voltage V, (') Lcoad Resistance F?L (.Q)

(c) Line variation (d) Load varitation

Fig. 3: Wavefonrms of (a) conitrol siginal I42, input ramp U17a1p. genierated gate pulse it and (b) iiiductor currenit
iL and output voltage rippte v;, at nomindial cond(ition Vji = 12 V and RL =
18 Q; and the graphs of DC output

xroltage V,,, ag,ainst (c) iniput voltage Vj and (d) load resistanice ThL for the PWM based SM-VC boost converter.

[3] P. Mattavellil, L. Rossetto, (G. Spiazti, anid P. Tenti, "Generalipur-pose sliding-mnode controller for dec/dc
conver-ter applicattionis," in IEEE Power Electronicis Specialists Confer-ence Recor-d (PESC), pp. 609--615,
June 1993.

[4] 'LM. Nguyeni and C.Q. Lee, "Indirect ii-npleniientattionis of sliding--niode control latw in buck-type coniverters
iin Proceedings, IEEE Applied Power Electr-onics Coqifer-ence and Expositioni (APEC), vol. 1, pp. 11I1- 1 15,
March 1996.

[5] S.C. Tani, Y.M. Lai, CILK. Tse, anid M.K.H. Cheuing, "'A pul se-width-modulation based sl iding miode controller
for buck converters"i, in IEEE Power E/ectronics Specia/lists Conf-erence Record (PESC 2004), pp. 3647-
3653, Junie 2004.

[6] H. Sira-Ramirez anid M. Itic, 'A geomietric approachi to the feedback control of switchi miode DC-to-DC

power suppliesj IEEE Tranisaction-s on Ciruiits an-d Systems, vol. 35 no. 10, pp. 129 1-1298, Oct. 1988.

[7] H. Sira-Ramirez, 'A geometric approach to pulse-widah niodutated conitrot in nolinear dynamicdat systems,"
IEEE Transactions on Auitomnatic Gontrof, vol. 34 no. 3, pp. 184-187, Feb. 1989.

12K
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Dc:~iga of PwWM based Sliding Miocd V oltage COntroller for DC-DC Convcrccix Opcrtdn~g in Condatinoto CoadLLtcoa MdcxkIN TAN Sicw-Oloag
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..........I..........I..........I--------- ...................

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Tirne C.;) x le
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12.lu

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(a.) V , andva (step-dowr) (b) 'i,4 and X%, (step-downi)

IIP-pn. I ?. I 1P.

1 2 .1 0 ........................... ...........................................................................

12.1 ------------------------------- ........ ....... .......

................................................................................................

..............
12.DS
121 12.04 .............. .......................................

ac~ ........

12.D2
...............................................

CL 12.DO . ...... .............

0 ..................................... ..........................
20

............................................................................................................-

..................................

II EC ii
Inp ut VoItage~Qj Load Resistance RL (a
(c) Line wiriation (step-down) (d) Load variation (step-down)
36.4i

36.3 -------------- ..................................................................... 36.0 -----------------------------------------------------------------------

36.02
3F3.2 .........................................................................

---------- .......... ..........

3M. ....................................... ......... .............................

------------------------------------

35.98
................... ------------------------------------

........................ ........................... ......... ..................... .......... ....................................

35.9E ......... .......... .......... .......... ..........

35.8 ...... ..... ......... ...... ..... ..... ...... ......... ..... ......

----------
35.7 ............
--------- .......... .......... ..........

35 -6 35.86,
Input Voltage V (V) Load Resi~arce (I

(e) Linie variaLion (sLep-up) (f) Load variationi (step-Lip)

Fig. 4: Waveforms of PWM based SMVC buck-boost coniverter in (a) and (b) at nonilnal
step-downi operation
condition VK, =12 V atnd 1Lk 6 Qt amid graphis of DC output voltage agatinst iniput voltage and toad resistance
for the PWM based SMIVC buck-boost converter operating in step-dowii oper-ationi (c) and (d), and operating in
step-up operationi (e) and (0).

12K
Ellh 2005 - L)iv--;dc,-ii
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