Full Thesis

SAPIENTIA HUNGARIAN UNIVERSITY OF TRANSYLVANIA
FACULTY OF TECHNICAL AND HUMAN SCIENCES, TRGU-MURE

INTELLIGENT CONTROL SYSTEMS
Modelling and control of bounded

hybrid systems in power electronics
DISERTATION THESIS
Supervisor: Student:
Dr. Kutasi Dnes Nimrd, Fehr ron
lecturer
2017
SAPIENTIA ERDLYI MAGYAR TUDOMNYEGYETEM
MAROSVSRHELYI KAR
SZMTGPES IRNYTSI RENDSZEREK SZAK
Korltos hibrid rendszerek irnytsa

Teljestmnyelektronikai
alkalmazsokkal
MESTERI DISSZERTCI
Tmavezet: Vgzs hallgat:

Dr. Kutasi Dnes Nimrd, Fehr ron
Egyetemi adjunktus
2017
UNIVERSITATEA SAPIENTIA DIN CLUJ-NAPOCA
FACULTATEA DE TIINE TEHNICE I UMANISTE, TRGU-MURE
SPECIALIZAREA SISTEME DE CONTROL INTELIGENTE
Modelarea i reglarea sistemelor

hibride cu restricii, aplicaii n
electronica de putere
LUCRARE DE DISERTAIE
Coordonator tiinific: Absolvent:

.l.dr.ing. Dr. Kutasi Dnes Nimrd, Fehr ron
2017
UNIVERSITATEA SAPIENTIA din CLUJ-NAPOCA LUCRARE DE DISERTAIE
FACULTATEA DE TIINE TEHNICE I UMANISTE, Candidat (a) ing.-Fehr ron
Specializarea : Sisteme de control inteligente
Anul absolvirii : 2017
Coordonator tiinific Viza facultii

l.Dr.-ing. Kutasi Dnes Nimrd
a) Tema lucrrii de disertaie:
Modelarea i reglarea sistemelor hibride cu restricii, aplicaii n electronica de putere
b) Problemele principale tratate:

- Sisteme hibride, introducere teoretic
- Stabilitatea sistemelor hibride
- Modelarea convertoarelor electronice de putere folosind formalismul sistemelor hibride
- Convertorul DC-DC buck i boost, model hibrid, reglare pe baz de model
- Convertor rezonant de tensiune, model hibrid
- Reglarea pe baz de model (MPC) al convertorului rezonant.
c) Desene obligatorii:
- Structura unui sistem hibrid, automatul discret hibrid
- Schemele de principiu ale convertoarelor tratate
- Traiectorii de faz pentru convertoarele tratate
- Rezultate de simulri
d) Softuri obligatorii:
- Cod HYSDEL pentru sistemele hibride tratate
- Cod HYSDEL al modelelor convertoarelor tratate
- Program MPT pentru reglarea convertorului rezonant
e) Bibliografia recomandat:
[1] H. Afshang, F. Tahami, and H. Molla-Ahmadian. A novel hybrid modeling of dc-dc series resonant
converters. In IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society, pages
280286, Nov 2013. doi: 10.1109/IECON.2013.6699149.
[2] M. Salem, A. Jusoh, N. R. N. Idris, and I. Alhamrouni. Modeling and simulation of generalized state
space averaging for series resonant converter. In 2014 Australasian Universities Power Engineering
Conference (AUPEC), pages 15, Sept 2014. doi: 10.1109/AUPEC.2014.6966490.
[3] Francesco Borrelli, Alberto Bemporad, and Manfred Morari. Predictive control for linear and hybrid
systems. Cambridge February, 20:2011.
[4] R. Goebel, R.G. Sanfelice, and A.R. Teel. Hybrid Dynamical Systems: Modeling, Stability, and
Robustness. Princeton University Press, 2012. ISBN 9781400842636. URL:
https://books.google.ro/books?id=JwrOY03fuGQC.
f) Termene obligatorii de consultaii:

Sptmnal.
g) Locul i durata practicii :

Laboratorul 216, 2 ore/sptmn
Primit tema la data de: 10.06.2016
Termen de predare: 20.06.2017
Semntura director departament Semntura coordonatorului
Semntura candidatului
DECLARAIE,
Subsemnatul Fehr ron, absolvent al specializrii Sisteme de control inteligente
la Facultatea de tiine Tehnice i Umaniste Trgu Mure , Universitatea Sapientia din

Cluj-Napoca certific prin prezenta c am luat la cunotin de cele prezentate mai jos i c mi
asum, n acest context, originalitatea lucrrii mele de licen/disertaie cu
titlul: Modelarea i reglarea sistemelor hibride cu restricii, aplicaii n electronica de putere

coordonator tiinific: l.Dr.-ing. Kutasi Dnes Nimrd
prezentat n sesiunea iulie 2017
La elaborarea lucrrii de licen/disertaie, se consider plagiat una dintre urmtoarele aciuni:

reproducerea exact a cuvintelor unui alt autor, dintr-o alt lucrare, n limba romn
sau prin traducere dintr-o alt limb, dac se omit ghilimelele i referina precis;
redarea cu alte cuvinte, reformularea prin cuvinte proprii sau rezumarea ideilor din
alte lucrri dac nu se indic sursa bibliografic;
prezentarea unor date experimentale obinute sau a unor aplicaii realizate de ali autori
fr menionarea corect a acestor surse;
nsuirea total sau parial a unei lucrri n care regulile de mai sus sunt respectate,
dar care are alt autor.
Data _______________ Semntura ___________________
Not
Se recomand:
- plasarea ntre ghilimele a citatelor directe i indicarea referinei ntr-o list
corespunztoare la sfritul lucrrii;
- indicarea n text a reformulrii unei idei, opinii sau teorii i corespunztor n lista de
referine a sursei originale de la care s-a fcut preluarea;
- precizarea sursei de la care s-au preluat date experimentale, descrieri tehnice, figuri,
imagini, statistici, tabele etc.;
- precizarea referinelor poate fi omis dac se folosesc informaii sau teorii arhicunoscute,
a cror paternitate este unanim acceptat.
SAPIENTIA HUNGARIAN UNIVERSITY OF TRANSYLVANIA
Modelling and control of bounded

hybrid systems in power electronics
by
Feher Aron
A thesis submitted in partial fulfillment for the

degree of Master of Science
in the
Faculty of technical and human sciences
Department of electrical engineering
June 2017
Declaration of Authorship
I, Feher Aron, declare that this thesis titled, Modelling and control of bounded hybrid
systems in power electronics and the work presented in it are my own. I confirm that:
This work was done wholly or mainly while in candidature for a research degree
at this University.
Where any part of this thesis has previously been submitted for a degree or any
other qualification at this University or any other institution, this has been clearly
stated.
Where I have consulted the published work of others, this is always clearly at-
tributed.
Where I have quoted from the work of others, the source is always given. With
the exception of such quotations, this thesis is entirely my own work.
I have acknowledged all main sources of help.
Where the thesis is based on work done by myself jointly with others, I have made
clear exactly what was done by others and what I have contributed myself.
Signed:
Date:
i
Abstract
The purpose of this thesis was to create a model of the series resonant converter SRC
and to devise different control algorithms based on the model. The first steps we took
were to familiarise with the hybrid description language. We studied multiple hybrid
system forms (PWA, MLD, etc.) and various environments (in Matlab) which enabled
us to create and test the models. The next step was to discuss the different issues risen
with the modelling technique - the Zeno paradox, and the stability calculations. The
study of hybrid system stability was devised based on common and multiple Lyapunov
functions. Each part of the general hybrid modelling theory was supported with simple
examples like the bouncing ball system, or the two tanks system.
After the generalised theory, we discussed the modelling of simple DC-DC convert-
ers: Buck and Boost converter. Each model was tested in open loop and closed loop
(cascaded PI controller) and compared with the linear system (Simscape Power sys-
tems). In this part, we came to the conclusion that the hybrid description can be used to
model the DC-DC converters, and the controllers designed for the hybrid systems can
be applied to the continuous models.
In the last part of the thesis, we started the modelling of resonant converter circuits,
namely the SRC. Same as before, we tested the hybrid model in open loop and closed
loop forms. This time the control methods we used were PI controller, SMC, and MPC.
For the better understanding of the later mentioned controller we talked about the
optimal unconstrained and constrained optimal controller, the RHC. After generating
the online version of the MPC we created and tested the explicit version.
After examining and comparing the different controllers on the hybrid and linear
models we came to the conclusion that the MPC would give the best results of zero
steady state error, load and switch immunity if a long horizon is chosen, which is unob-
tainable in small microcontroller systems. The second best method was the SMC.
The next steps will be to test the devised control algorithms on a real system.
Kivonat
A tezis celja a soros rezonans konverter modellezese es szabalyozasi modszereinek

osszehasonltasa. A tezis elejen a hibrid modellezest tanulmanyoztuk, mint rendsz-
erelmeleti fogalom. Tobb lero nyelvet es modellt (textbfPWA, textbfMLD, stb.) fi-
gyelembe vettunk es osszehasonltottunk (Matlab alatt) - vegul a HySDeL mellett allapodtunk
meg. A kovetkezo lepes a modellezessel fellepo problemak lekezelese volt: Zeno
paradoxon es stabilitas. A stabilitas vizsgalatra tobb modszert is felvetettunk (kozos
es tobbszoros Lyapunov fuggveny alapu tanulmanyozas). Az altalanos hibrid mod-
ellezesnek minden reszet levezetesekkel es egyszeru, de jol ismert peldakkal tamasztottuk
ala (pattogo labda, vagy ket tartalyos rendszer).
Az altalanos elmelet utan az egyszeru aramiranytok modellezeset vegeztuk el: Buck

es Boost. Minden modellt leellenoriztunk nylt hurokban es szabalyozoval (kaszkad PI
szabalyozo strukturaval) es osszehasonltottuk a linearis modellekkel (Simscape Power
systems). A kserletek utan levonhattuk a kovetkeztetest, hogy a hibrid modellezes
alkalmazhato az aramiranytok lerasara, illetve az gy kapott modellek segtsegevel
megalkotott szabalyozok alkalmazhatok a valos rendszeren.
A tezis utolso feleben a soros rezonans konverter modellezeset vegeztuk el. A rend-
szert hasonloan a fentiekhez, leellenoriztuk nylt es zart hurokban. Ez esetben az alka-
lmazott szabalyozok PI, csuszo szabalyozo es MPC.
Az MPC ismertetese celjabol atneztuk a korlatlan es korlatos optimum szabalyozokat

es az RHC elvet. Az implicit MPC kigeneralasa utan leellenoriztuk az explicit szabalyozo
algoritmust.
Miutan megvizsgaltuk es osszehasonltottuk az emltett szabalyozokat, levontuk a

vegso kovetkeztetest: A modell prediktv szabalyozo rendelkezik a legjobb allandosult
allapotbeli hibaval, kivaloan ellenall rendszer parameter valtozasoknak, viszont hosszu
predikcios horizontot igenyel. Ez pedig sok memoriat lefoglal a mikrovezerloben, gy
a kovetkezo legjobb szabalyozasi modszer a csuszo szabalyozo.
A kutatas kovetkezo lepese a lert algoritmusok kiprobalasa valos rendszeren.

Extras
Scopul lucrarii este modelarea s, i simularea convertoarelor electronice de putere folosind

formalismul sistemelor hibride. In prima parte a lucrarii se studiaza sistemele hibride
din punct de vedere teoretic. Au fost ncercate mai multe limbaje de programare dez-
voltate pentru descrierea diferitelor modele hibride(PWA, MLD, etc) sub MATLAB, n
final am ales limbajul HysDEL. S-au studiat fenomenele specifice sistemelor hibride,
cum ar fi efectul Zeno sau stabilitatea sistemelor hibride. Pentru studierea stabilitat, ii am
abordat mai multe metode bazate pe funct, ia Lyapunov, cu funct, ie comuna sau funct, ii
multiple Lyapunov. Bazele teoretice ale modelarii sistemelor hibride sunt ilustrate cu
exemple bine cunoscute cum ar fi mingea saritoare sau modelarea sistemului format din
doua rezervoare.
Urmatorul capitol este dedicat modelarii convertoarelor simple DC-DC Buck s, i Boost.
Modelele hibride au fost verificate s, i validate comparativ cu modelele Simscape Power
Systems. Au fost efectuate simulari n bucla deschisa s, i bucla nchisa (regulatoare n
cascada tip PI). S-a concluzionat ca modelele hibride sunt adecvate pentru descrierea
convertoarelor studiate, regulatoarele dezvoltate sunt aplicabile n practica.
Ultimul capitol cont, ine modelarea convertorului DC-DC rezonant serie. Modelarea
hibrida al convertoarelor rezonante este mult mai dificil, deoarece sunt stari de comutat, ie
datorate invertorului dar sunt s, i stari de comutat, ie naturala datorita sarcinii rezonante.
S-a studiat modelul hibrid al convertorului, precum s, i regulatoare liniare tip PI s, i MPC
(predictiv bazat pe model) precum s, i reglator neliniar tip sliding. Regulatorul MPC
este un regulator optimal cu orizont finit cu restrict, ii, am studiat varianta explicita al
acestuia.
Comparat, ia diferitelor regulatoare a condus la concluzia, ca regulatorul MPC este

mai robust, eroare stat, ionara este cea mai mica, nsa orizontul de predict, ie trebuie sa fie
mare, astfel implementarea practica este dificila. Regulatorul sliding are performant, e
bune s, i este us, or de implementat.
Pasul urmator al cercetarii este realizarea practica al sistemului studiat teoretic.

Acknowledgements
I would first like to thank my thesis advisor Dr. Kutasi Denes Nimrod of the faculty of
technical and human sciences, department of electrical engineering at Sapientia Hun-
garian University of Transylvania. The door to Prof. Kutasis office was always open
whenever I ran into a trouble spot or had a question about my research or writing. He
consistently allowed this paper to be my work but steered me in the right the direction
whenever he thought I needed it.
I would also like to acknowledge Dr. David Laszlo and Dr. Kelemen Andras of the
faculty of technical and human sciences, department of electrical engineering at the
Sapientia Hungarian University of Transylvania. Without their passionate help, and
lectures parts of the research could not have been successfully conducted.
Finally, I must express my very profound gratitude to my parents for providing me

with unfailing support and continuous encouragement throughout my years of study
and through the process of researching and writing this thesis. This accomplishment
would not have been possible without them. Thank you.
Author
Feher Aron
v
Contents
Declaration of Authorship i
Abstract ii
Kivonat iii
Extras iv
Acknowledgements v
List of Figures ix
List of Tables xiii
Abbreviations xiv
Notation and background xvi
1 Introduction 1
2 Hybrid systems 6
2.1 Hybrid system structure . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1.1 Piecewise Affine systems . . . . . . . . . . . . . . . . . . . . . 7
2.1.2 Hybrid automaton . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1.3 Mixed Logic Dynamic systems . . . . . . . . . . . . . . . . . 9
2.2 Hybrid system models . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3 Zeno paradox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3 Stability of hybrid systems 19

3.1 Lyapunov stability analysis . . . . . . . . . . . . . . . . . . . . . . . . 19
3.1.1 Common Lyapunov function . . . . . . . . . . . . . . . . . . . 20
3.1.2 Multiple Lyapunov function . . . . . . . . . . . . . . . . . . . 21
3.1.3 Poincare-Bendixon map . . . . . . . . . . . . . . . . . . . . . 23
vi
Contents vii
4 Simple DC-DC converters as hybrid systems 25

4.1 Buck converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.1.1 Cascaded PI control of the buck converter . . . . . . . . . . . . 28
4.2 Boost converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2.1 Cascaded PI control of the boost converter . . . . . . . . . . . . 33
5 Resonant converters as hybrid systems 34

5.1 Theory of resonant converters . . . . . . . . . . . . . . . . . . . . . . 34
5.1.1 Resonant converter classification . . . . . . . . . . . . . . . . . 35
5.1.2 Topologies based on LC tank circuit structure . . . . . . . . . . 36
5.2 Modelling the resonant converter . . . . . . . . . . . . . . . . . . . . . 38
5.2.1 Equivalent circuit of the transformer . . . . . . . . . . . . . . . 39
5.2.2 Hybrid model of the resonant converter . . . . . . . . . . . . . 41
5.3 Closed-Loop control of resonant converters . . . . . . . . . . . . . . . 45
5.3.1 PI control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
5.3.2 Sliding mode controller . . . . . . . . . . . . . . . . . . . . . 46
6 Explicit MPC of the SRC 48

6.1 Overview of the MPC algorithm . . . . . . . . . . . . . . . . . . . . . 48
6.2 Explicit MPC applied to SRC . . . . . . . . . . . . . . . . . . . . . . 51
7 Results and conclusions 54

7.1 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
7.2 Conclusions and further development . . . . . . . . . . . . . . . . . . 54
A Hysdel codes - introduction 56

A.1 Bouncing Ball model . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
A.2 Generic MLD system . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
A.3 Two Tanks system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
A.3.1 One Tank model . . . . . . . . . . . . . . . . . . . . . . . . . 58
A.3.2 Coupled Tanks model . . . . . . . . . . . . . . . . . . . . . . 59
B Hysdel codes - simple DC-DC converters 61

B.1 Buck converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
B.2 Boost converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
C Hybrid description of the SRC in HYSDEL/MPT toolbox 65

C.1 SRC converter in CCM - HYSDEL . . . . . . . . . . . . . . . . . . . . 65
C.2 SRC converter in CCM - MPT . . . . . . . . . . . . . . . . . . . . . . 67
C.3 SRC converter in DCM - MPT . . . . . . . . . . . . . . . . . . . . . . 68
C.4 On-Line MPC generation . . . . . . . . . . . . . . . . . . . . . . . . . 69
C.5 Explicit MPC generation . . . . . . . . . . . . . . . . . . . . . . . . . 70
D Simulink models 71
Contents viii
D.1 SRC converter in Simulink/Simscape/Power systems . . . . . . . . . . 71

D.2 SRC converter hybrid model in Simulink . . . . . . . . . . . . . . . . . 72
Bibliography 73
List of Figures
1.1 Simple serial RLC circuit. . . . . . . . . . . . . . . . . . . . . . . . . 2

1.2 Widely used discretization methods, including the forward Euler, back-
ward Euler, midpoint, and bilinear transform method, in this order. . . . 3
1.3 Example of a finite state automaton with three states, and three inputs. . 5
1.4 Example of a petri net with four places and two transitions. . . . . . . . 5
2.1 The figure shows the PWA approximation of a non-linear system with
discontinuity, and the polyhedral partitioning of the approximated system 8
2.2 Hybrid automaton containing the FSM, event generator, mode selector
and the switched affine system. The green color is used for purely con-
tinuous blocks and signals, the blue color was used for purely discrete
events, while the grey color was used to show the transient. . . . . . . . 8
2.3 Bouncing ball representation, with the ball falling from h0 initial height,
and as the ball changes direction when contacting the ground. . . . . . . 12
2.4 States of the bouncing ball modelled as a hybrid system. The figure
illustrates the height(m), and velocity(m/s) in function of time(s). . . . . 13
2.5 The bouncing ball system design in Simulink R environment . . . . . . 13
2.6 Simulation of the bouncing ball system in HyEQ. . . . . . . . . . . . . 14
2.7 The states(V) of an unstable MLD system with a linear increasing input
in -1 V to 1 V range. . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.8 The behaviour of one tank with initial liquid content and no input, de-
signed in HYSDEL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.9 The behaviour of the two tanks system with non-zero initial condition
and zero input for 100 seconds. . . . . . . . . . . . . . . . . . . . . . . 16
2.10 The first figure shows the original bouncing ball system, while the sec-
ond figure shows the bouncing ball system extended with temporal reg-
ularization, with graphs. . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.11 Comparison of the Bouncing ball system with Zeno properties (sys-
tem1) with the temporal regularized version (system2). Both systems
have an initial condition of 10m, 15m/s. The non-Zeno system has a
temporal constant of 0.05s in which the system wont change states (the
jump doesnt occur). This behaviour can be observed on the velocity
diagram: the original system has an increasing switching rate, while the
regularized one is damped by the temporal constant . . . . . . . . . . . 18
ix
List of Figures x
3.1 The Lyapunov function candidates for the bouncing ball hybrid system.
V1 function has global asymptotic stability, while V2 and V3 functions
have both global and local asymptotic stability. . . . . . . . . . . . . . 21
3.2 Using two Lyapunov functions for stability analysis. Each function
must decrease only when the respective interval is active [1]. . . . . . . 22
3.3 System stability in state space. a) Oscillatory system at the margin of
stability central attractor. b) Stable node - sink type attractor. c) Stable
spiral containing oscillations and damping. d) Saddle point attractor
system with a single line of stability. e) Unstable node source type
attractor. f) Unstable spiral unstable oscillatory system . . . . . . . . 24
4.1 DC-DC converter in buck topology . . . . . . . . . . . . . . . . . . . . 26

4.2 The two operation stages of a buck converter in continuous mode. The
first image shows the converter with S1 on and S2 off, while the second
one with S1 off, S2 on. The switches are considered ideal components,
and the equivalent series resistance of the capacitor is neglected. . . . . 27
4.3 The operation of the buck converter. The buck converter is operating
in open-loop mode with a square wave input (1kHz, 50% duty cycle).
The upper diagram is showing the current while the lower diagram is
showing the voltage in function of time . . . . . . . . . . . . . . . . . 28
4.4 The limit cycle of the buck converter hybrid system. This plot is used
for Poincare map calculations after the design of the controller. From
this plot we can see the system is stable and has an attractor at 0.5168
A, 49.025 V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.5 The current loop of the buck converter with the inner controller. . . . . 30
4.6 The figure shows the operation of the controlled buck converter de-
signed with Simscape Power systems (in blue), and in HYSDEL/MPT
toolbox (orange). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.7 DC-DC converter in boost topology. . . . . . . . . . . . . . . . . . . . 31
4.8 The two operation stages of a boost converter in continuous mode. The
first image shows the converter with S1 on and S2 off, while the second
one with S1 off, S2 on. The switches are considered ideal components,
and the equivalent series resistance of the capacitor is neglected. . . . . 32
4.9 The operation of the boost converter. The boost converter is operating
in open-loop mode with a square wave input (1kHz, 50% duty cycle).
The upper diagram is showing the voltage while the lower diagram is
showing the current in function of time. . . . . . . . . . . . . . . . . . 32
4.10 The limit cycle of the boost converter hybrid system. This plot is used
for Poincare map calculations after the design of the controller. From
this plot we can see the system is stable and has an attractor at 23.8696A,
105.8841V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.11 The figure shows the operation of the controlled boost converter de-
signed with Simscape Power systems (in blue), and in HYSDEL/MPT
toolbox (orange). The input voltage is 10V. . . . . . . . . . . . . . . . 33
List of Figures xi
5.1 Conventional PWM switching (hard switching). The second plot shows
the drain current on a MOS-FET switching device, while the last plot
shows the drain-source voltage. . . . . . . . . . . . . . . . . . . . . . . 35
5.2 Switching with resonant technique (soft switching). The second plot
shows the drain current on a MOS-FET switching device, while the
last plot shows the drain-source voltage. . . . . . . . . . . . . . . . . . 35
5.3 Theoretical model and waveforms of the ZCS topology. When S is off,
the capacitor is charged up with a constant current source, so the voltage
rises linearly. When S is turned on, the energy stored in the capacitor
is transferred to the inductor, causing a sinusoidal current to flow in the
switch. During the negative half wave, the current flows through the
anti-paralleled diode, and so in this period there is no current through
or voltage across the switch; and it can be turned off without losses. . . 36
5.4 Theoretical model and waveforms of the ZVS topology. When S is
turned on, a linear current flows through the inductor. When the switch
turns off, the energy stored in the inductor is transferred to the capacitor.
The resulting voltage across the capacitor is sinusoidal. The negative
half-wave of the voltage is blocked by the anti-parallel diode. During
this period the current and the voltage on the switching device is zero,
so it can be turned on without losses. . . . . . . . . . . . . . . . . . . . 37
5.5 Ideal SRC circuit. The resonant tank and the output load acts as a volt-
age divider. The SRC can work with no load, but the output voltage
cannot be regulated. In ZVS mode the system the must operate above
resonance (negative slope), while at low line, the system operates closer
to resonance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.6 Ideal PRC converter. The load is parallel to the resonant capacitor.
Advantages: inherently short circuit protected, disadvantages: high cir-
culating currents even with no load. . . . . . . . . . . . . . . . . . . . 38
5.7 The LLC resonant converter can operate at resonance at nominal input
voltage, and at no load. Can be designed to operate over a wide range
of input voltage. ZVS and ZCS is achievable over the entire operating
range. The circulating currents are lower than the PRCs . . . . . . . . . 38
5.8 The phasor diagrams of an ideal transformer without core loss, purely
inductive windings (5.8a), and a real transformer with core loss, sec-
ondary load resistive winding, and leakage inductance (5.8b). . . . . . . 39
5.9 The primary side equivalent (5.9a) and approximate (5.9b) diagrams of
a real transformer, based on the phasor diagram. . . . . . . . . . . . . . 41
5.10 SRC circuit (5.10a) and primary side approximate (5.10b) circuit. . . . 42
5.11 The figure shows the SRC circuit in states 1-2-3 and 4-5-6 respectively. 43
5.12 The figures compare the operation of the SRC in CCM and DCM with
the Simscape Power Systems counterpart. . . . . . . . . . . . . . . . . 44
5.13 SRC controlled with PI controller. The operating point of the circuit
was 12V output voltage at 10 output load. We can see the slow com-
pensation of the integrator. . . . . . . . . . . . . . . . . . . . . . . . . 45
5.14 State plane trajectory of the SRC for steady state operation. . . . . . . . 46
List of Figures xii
5.15 State plane trajectory of the SRC with sliding mode controller. The
load is constant 100, the slope is p = 1. . . . . . . . . . . . . . . . . 46
5.16 The reference and load immunity testing of the SRC in different opera-
tion modes. We can see the quick response of the SMC to perturbations. 47
6.1 Receding horizon control theory. . . . . . . . . . . . . . . . . . . . . . 51

6.2 The figures show the reachable set of the SRC in the state space, for the
CCM, and DCM respectively. . . . . . . . . . . . . . . . . . . . . . . 52
6.3 MPC applied to the SRC. In this scenario the reference voltage is per-
turbed, while the load is constant. The output voltages correspond to a
controller with N = 3, 5, and 10 prediction and control horizons respec-
tively. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
6.4 MPC applied to the SRC. In this scenario the reference voltage is con-
stant, while the load is changed. The output voltages correspond to a
controller with N = 3, 5, and 10 prediction and control horizons respec-
tively. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
D.1 The SRC design in Simulink with the Simscape Power Systems Tool-
box. The model includes the power converter, the test signal - 10kHz,
50% duty cycle square wave, the sliding mode controller, and the gen-
erated explicit MPC. . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
D.2 The SRC PWA approximation in Simulink. The model includes the
power converter, the test signal - 10kHz, 50% duty cycle square wave,
the sliding mode controller, and the generated explicit MPC. . . . . . . 72
List of Tables
1.1 The table contains the common discretization methods. . . . . . . . . . 4
4.1 States of the S1 and S2 switches of the Buck converter. . . . . . . . . . 26
5.1 PWA partition of the SRC based on the input and states. . . . . . . . . 43
5.2 PWA partition of the SRC based on the input and states. . . . . . . . . 44
xiii
Abbreviations
CCM Continuous Current Mode
CT Continuous Time
DCM Discontinuous Current Mode
DEDS Discrete Event Dynamic System
DS Dynamic System
DT Dontinuous Time
EMI Electro Magnetic Iterference
FSM Finite State Machine
GUAS Globally Uniformly Asymptotically Stable
HS Hybrid System
LTI Linear Time Invariant
MLD Mixed Logical Dynamical
MOS-FET Metal Oxide Semiconductor - Field Effect Transistor
MPC Model Predictive Controler
MPLP Multi Parametric Linear Program
MPQP Multi Parametric Quadratc Program
PRC Parallel Resonant Converter

xiv
Abbreviations xv
PWA Piecewise Affine
PWM Pulse Width Modulation
QP Quadratic Program
RFI Radio Frequency Iterference
RHC Receding Horizon Controller
SMC Sliding Mode Controller
SRC Series Resonant Converter
ZCS Zero Current Switch
ZVS Zero Voltage Switch

Notation and background
n denotes n-dimentional Euclidean vector space, if n = 1 we will drop the superscript.
denotes the set of natural number.
denotes the ring of integers.
+ denotes the positive halfspace of the vector space
denotes the exclusion of the zero vector from the vector space
a, b denotes a set of natural numbers from a to b, also written as x |a x b for

a, b , where a < b
x denotes a column vector, ex.: x 2 represents a two dimensional vector which can
be written also as x = (x1 x2 )T , where x1 , x2 .
xT denotes the transpose of x vector.

kxk denotes the Euclidean norm in n askxk = x1 + x2 + ... + xn .
x denotes the first order derivative of x with respect to time, in other words x = dx
dt
.
P f
f denotes the gradient of f , which can be given as i xi ei , where ei are the orthogonal
unit vectors.
ha, bi denotes the inner product between a, b vectors, also known as scalar product.
In denotes an n n identity matrix.
0m,n denotes an m n null matrix.
x A is a shorthand for x belongs to a set A.

xvi
Notation and background xvii
C A is a shorthand for set C is a subset of A.
A B is a shorthand for union of set A and B.
A B is a shorthand for Cartesian product of set A and B
[a, b] denotes the closed interval from a to b [a, b] = x |a x b, for a, b ,

where a < b.
[a, b) denotes the right-open interval from a to b, [a, b) = x |a x < b, for a, b ,

where a < b.
f(x):AB is a shorthand for a function mapping every element x A to an element

f(x) B.
is a shorthand for for all.
is a shorthand for there exists.
is a shorthand for and.
is a shorthand for or.
is a shorthand for not.
denotes infinity.
Chapter 1
Introduction
These days nearly every time/response critical process is controlled with an embed-
ded system. The high demands to achieve reliable performance in complex systems
have necessitated the development of new control methods. To control a process, the
properties of the said process must be known. In control theory, these properties are
described as transfer functions, state space models, etc. Based on the known proper-
ties, systems can be categorised in input-output systems or input-state-output systems.
These systems can also be categorised based on the time behaviour: continuous time
and discrete time systems. Similarly to time, a systems event set can be continuous
or discrete. Some systems are too complex to describe them with only continuous or
discrete methods. These systems will be described with hybrid methods.
Continuous Time models views variables as having values for an infinitely short
amount of time. Between any two values in time there are infinitely many other points.
The CT models are used to describe Continuous LTI systems. Describing such systems
are done with the use of differential equations in the time domain, or linear algebraic
equations in s domain. For example, we have the series RLC circuit shown in Figure
1.1. With Kirchhoffs laws, we can write the equations (Eq. 1.1) describing the circuit.
1
Chapter1 - Introduction 2
Figure 1.1: Simple serial RLC circuit.

E(t) = uR (t) + uL (t) + uC (t)

uR (t) = RiL (t)

(1.1)

diL (t)
uL (t) =

dt
1 t

Z
uc (t) = C 0 iL ()d

If the input of the system is E, and the output is uC , we can write the differential
equation describing the system (Eq. 1.2), or with the use of the Laplace operator, we
get the transfer function of the system (Eq. 1.3).
R 1 1
uC (t) + uC (t) + uC (t) = E(t) (1.2)
L LC LC
1
E(s)
H(s) = = LC
(1.3)
Uc (S ) s2 + RL s + 1
LC
If the model requires internal variables, states, a state space model must be defined.
Let the first state be the inductor current iL , and the second state is the capacitor voltage
uC , with the same input and output as before, the state space model shown in Eq. 1.4
can be defined, where x is the state vector consisting of the aforementioned states.

R 1 1
L L

x(t) = x(t) + L u(t)

1 0 0 (1.4)

C

=

y(t) 0 1 x(t)

Discrete Time systems view variables as distinct points in time. Between two vari-
ables in time, there are no other variables. DT systems are described with difference
equations in time domain, or linear algebraic equations in z domain. DT systems are
generated after sampling (or discretization) of continuous LTI systems. Such methods
are the Impulse Invariant method, or Forward-Euler, Backward-Euler, Midpoint and Bi-
linear transformation approximation methods shown in Figure 1.2. Each transformation
from s domain to z domain can be seen in Table 1.1, where T s is the sampling period,
and a is one of the systems pole.
Figure 1.2: Widely used discretization methods, including the forward Euler, backward
Euler, midpoint, and bilinear transform method, in this order.
The series RLC system shown in Figure 1.1 can be described with a discrete transfer
function or discrete state space model in function of the sampling period used. After
using the Forward Euler method, the transfer function can be seen in Eq 1.5, and the
state space model in Eq 1.6.
aT s
Impulse invarant method s + a = 1ez
Forward Euler method s = z1
Ts
Backward Euler method s = z1
Tsz
Midpoint transform method s = Tz1
sz
0.5
Bilinear transform method s = T2(z1)

s (z+1)
Table 1.1: The table contains the common discretization methods.
Ts
H(z) = LC
(1.5)
z2 + ( RTL s 2)z + 1 RT s
L
+ Ts
LC

RT s Ts T s
1

x[k + 1] = x[k] + L u[k]

L L

T s

C
1 0 (1.6)

=

y[k] 0 1 x[k]

Discrete Event dynamic systems are discrete state and event-driven systems, where
the state evolution only depends on the occurrence of asynchronous discrete events. A
water boiler can be described as a DEDS with its ON/OFF states, similarly a micropro-
cessor is a DEDS with a finite number of states. Such systems can be described with
Automata theory [2] (as an example a simple automaton can be seen in Figure 1.3),
Petri nets [3] (example in Figure 1.4), or Markov chain [4].
The term Hybrid Systems is relatively young in System theory. Systems which
belong to this category cannot be categorised as fully continuous, nor fully discrete
systems. From this definition we can conclude that hybrid systems are a mix of both,
combining real-time behaviour and discrete events. Often these systems have an ana-
logue continuous-time process, some discrete stimuli, and discrete controller. In this
paper, the problem of modelling, stability and implementation of the control scheme of
hybrid systems is approached.
Figure 1.3: Example of a finite state automaton with three states, and three inputs.
Figure 1.4: Example of a petri net with four places and two transitions.
Chapter 2
Hybrid systems
Research in the area of HS was motivated by applications in the field of automotive

control, power electronics, air traffic management, etc. Numerous methods were pro-
posed for modelling, analysing and controlling such systems [5], but many questions
remain unanswered, mainly because the HS in question in addition to being non-linear,
are not smooth.
In this part we will talk about the structure of HSs, methods of describing such sys-
tems, analysing and removing a phenomenon named Zeno paradox.
2.1 Hybrid system structure
To deepen the understanding of HSs, we need to use a formalism. Hybrid DS are

treated as classic DS translated to the continuous space with oversimplified or neglected
discrete behaviour which is prone to significant errors. Automatons or transition sys-
tems are used mainly in computational science with modular and parallel composition
support. The continuous action is oversimplified or neglected. With the aforementioned
two descriptions, we can create the hybrid system description.
A polytope is a bounded intersection of a finite set of half-spaces, also defined as

a finite region of n-dimensional space enclosed by a finite number of hyperplanes [6].
6
Chapter2 - Hybrid systems 7
A polyhedron is a 3-dimensional generalization of the polytope. An n-dimensional

polytope or polyhedron mathematically can be defined as shown in Eq 2.1, where Ae is
an m n matrix, Be is an n-vector defining the equation constraints, A is a p n matrix,
B is a vector defining the inequality constraints.
P = x|x n , Ae x = Be , Ax B

(2.1)
2.1.1 Piecewise Affine systems
A PWA system forms a particular class of non-linear systems, where each state and
output map are piecewise affine, or linear on each polyhedral partition of the state-input
polytope. PWA systems can be used for the description of different non-linear phenom-
ena containing change in dynamics due to physical limits, signal bounds, thresholds.
The PWA systems are described [7] with the equation system shown in Eq 2.2, where
Pi are convex polyhedra defined as in Eq 2.1 in the input and state space without over-
lapping interiors. x n , y p , u m are the state, output and input vectors
respectively with m, n, p . Ai nn , Bi nm , Ci pn , Di pm are the
system matrices, while f n , g p are constant vectors for i discrete states.
i i

x(t) = Ai x(t) + Bi u(t) + f i

T
, x u Pi , i = 1, k

(2.2)
= + +

y(t) C x(t) D u(t) g

i i
i
In Figure 2.1 we can see how a PWA system approximation can solve the problems
of non-linearity and discontinuity, and the input-state space of the same system defined
by the polyhedral partitions.
Figure 2.1: The figure shows the PWA approximation of a non-linear system with
discontinuity, and the polyhedral partitioning of the approximated system
Figure 2.2: Hybrid automaton containing the FSM, event generator, mode selector and
the switched affine system. The green color is used for purely continuous blocks and
signals, the blue color was used for purely discrete events, while the grey color was
used to show the transient.
2.1.2 Hybrid automaton
The hybrid automaton approach combines two types of behaviour. The discrete
changes are described as transitions, continuous changes are described as locations
given by differential equations and constraints given by inequalities. A generalised hy-
brid automaton can be seen in Figure 2.2, where ub {0, 1}mb is the binary input vector,
xb {0, 1}nb is the binary state vector e {0, 1}ne is the event variable vector, xc nc is
the continuous state vector, uc mc is the continuous input vector, and i 1, s, s
is the current mode of the affine system.
The switched affine system can be written as a sum of multiple differential/difference

equation and if-else conditional statement pairs, as shown in Eq 2.3. The event gener-
ator contains the linear threshold conditions over time, continuous states and inputs, as
shown in Eq 2.4. The FSM evolves based on a Boolean state function, as shown in Eq
2.5. The mode selector activates a specific affine system based on a Boolean function
of binary states, inputs, and event variables.

Al xc (t) + Bl uc (t) + f l , i f i[k] = 1

Xs
zl (t) = , =

x c (t) zi (t) (2.3)
0, otherwise

l=1
ei = 1 Hi (xc (t) uc (t))T Wi (2.4)
xb [k + 1] = e (xb [k] ub [k]) (2.5)
2.1.3 Mixed Logic Dynamic systems
The MLD systems are the computation oriented form of hybrid systems suitable
for controller synthesis, and are written as in Eq 2.6, where x nc {1, 0}nb , u
mc {1, 0}mb , and y pc {1, 0} pb are the new concatenated state, input and output
vectors, while {1, 0}rb , and z rr are auxiliary variable vectors.

x[k + 1] = A1 x[k] + B1 u[k] + B2 [k] + B3 z[k]

y[k] = C1 x[k] + D1 u[k] + D2 [k] + D3 z[k] (2.6)

E2 [k] + E3 z[k] E4 x[k] + E1 u[k] + E5

2.2 Hybrid system models
Modelling and simulating hybrid systems can be very time-consuming, this is why
auxiliary languages and toolboxes were made to ease the design process. In MATLAB
we can use the HYSDEL toolbox with the MPT and Yalmip toolboxes [8]. HYSDEL
allows the modelling of hybrid systems described by the interconnections of linear dy-
namic systems, automata, conditional and propositional logic rules. Once this model is
created, it is transformed into a MLD form which can be used for optimisations, sta-
bility, safety verifications, and control. In HYSDEL 3.0 new language elements were
imported. The use of vectors and matrices, interchangeable conditional branches. The
compilation of systems is entirely replaced with a Yalmip module. HYSDEL 3.0 lan-
guage description: A HYSDEL file starts with SYSTEM, and consists of two parts, IN-
TERFACE and IMPLEMENTATION. In the INTERFACE part, the user can declare the
INPUT, STATE, OUTPUT variables in scalar/vector form, parameters and subsystems.
In the IMPLEMENTATION part one can use AUX for auxiliary variables, CONTINU-
OUS for REAL state update equations, AUTOMATA for BOOL state update equations,
AD for the modification of the digital variables based on the analog variables, DA for
the modification of the analog variables based on the digital ones, MUST for speci-
fying input/output/state constraints, and OUTPUT to select variables for output.After
compilation, an m-file is generated containing the MLD structure. This structure can
be used for simulation and control inside MATLAB. In HYSDEL 3.0 a prewritten s-
function block helps the simulation/control in the Simulink environment after importing
the HYSDEL file.
Another option for simulation/modelling is the Hybrid Equations Toolbox v2.02. The
toolbox can simulate individual and interconnected hybrid systems consisting of flow
map, flow set, jump map, jump set, and specific integrator system [9]. In this environ-
ment, we consider a hybrid system in the n m state-input vector space defined
by:
The C n m system flow set.
The f : n m n flow map.

The D n m jump set.
The g : n m n jump map.
Which can be written as = (C, f, D, g) with the properties shown in EQ 2.7.

= ,

x f (x, u) x u C

, x n , u m

: (2.7)

+
x = g(x, u) , x u D

The flow map defines the continuous behaviour of the system on the flow set, while
the jump map defines the discrete dynamics on the jump set.
To test the capabilities of the above mentioned two toolboxes, we used some standard
systems and modelled them to compare the results with the available data.
The first example is the bouncing ball system. We have a ball at a given height. The
ball is dropped vertically with zero initial velocity when the ball is in contact with the
earth only a fraction of the kinetic energy is conserved (Figure 2.3). In this system the
T
state variables are the height and the velocity of the ball x = h v . The equations
describing the system in the falling and rising state are shown in Eq 2.8, where h, and v
are the height and velocity, while g is the gravitational constant, h0 , and v0 are the initial
conditions of the states.

1 2
h(t) = h0 + v(t)t 2 gt

(2.8)
v(t) = v0 + gt

In order to write the system into HYSDEL, the equations must be discretized. The
discrete equations, after using the forward Euler method, are as shown in Eq 2.8, so the
state space model is in x = Ax + f form with T s sampling period. When the ball collides
with the ground, the model changes to Eq 2.10, where k is the elastic coefficient of the
ball.
Figure 2.3: Bouncing ball representation, with the ball falling from h0 initial height,
and as the ball changes direction when contacting the ground.

1 2
h[n + 1] = h[n] T s v[n] 2 gT s

(2.9)
v[n + 1] = v[n] gT s

h[n + 1] = h[n] T s v[n]

(2.10)
v[n + 1] = (1 k)v[n]

After writing the system description in HYSDEL (Appendix A.1), and compiling it
in MATLAB, the model was simulated for 150s with T s = 0.05s, k = 0.4, g = 9.81 sm2
T
parameters, and x0 = 10 0 initial conditions. The behaviour can be seen in Figure
2.4.
The same bouncing ball system can be written in HyEQ with the parameters shown
in Eq 2.11. The Simulink R component can be seen in Figure 2.5, and the simulation in
Figure 2.6.
Figure 2.4: States of the bouncing ball modelled as a hybrid system. The figure illus-
trates the height(m), and velocity(m/s) in function of time(s).
Figure 2.5: The bouncing ball system design in Simulink R environment

x2

f (x) = ,

C := x 2 |x1 0

g

(2.11)

0

g(x) = , D := x |x1 0, x2 0

kx2
The second example is the modelling of the MLD system given in Eq 2.12 with
[k] = sgn(x1 [k]), and y = x. From
the MLD system the PWA system can be written as
0.4 0.6928 0.4 0.6928 0

shown in Eq 2.13, where A1 = , A2 = , B = ,
0.6928 0.4

0.6928 0.4

1

C = I2 with i {1, 2} as the function, which can be translated to HYSDEL language
T
(Appendix A.2). After compilation and simulation with x0 = 0 0 initial condition
Figure 2.6: Simulation of the bouncing ball system in HyEQ.
Figure 2.7: The states(V) of an unstable MLD system with a linear increasing input in
-1 V to 1 V range.
and a linear input sweep from 1 to 1 the behaviour can be seen in Figure 2.7.

x1 [k + 1] = 0.4x1 [k] + 0.6928x2 [k][k] 0.6928x2 [k][k]

(2.12)
x2 [k + 1] = 0.6298x2 [k][k] + 0.6298[k] + 0.4x2 [k] + u[k]

x[k + 1] = Ai x[k] + Bx[k]

(2.13)
y[k] = Cx[k]

The last example is the coupled two tanks system. To study the behaviour of the
mentioned system, first, a single tank must be modelled. The system has a cylindrical
water tank with h height, At base area, and an opening with Ao area at the bottom. If the
pump has a k p volume yield, the system can be described with Eq 2.14, when the pump
is in off state, and with Eq 2.15, when the pump is on with u supply voltage.
1 p
h[k + 1] = h[k] 2gh[k]Ao T s (2.14)
At
1 1 p
h[k + 1] = h[k] + k p T s u[k] 2gh[k]Ao T s (2.15)
At At
Unfortunately, the HYSDEL file can only contain linear expressions of the state vari-
ables, so the square root needs to be linearised. With the help of Curve Fitting Tool
inside MATLAB we can easily generate the approximated value of the square root
2gh[k] 0.3546h[k] + 11.79. With this approximation, the (Appendix A.3) HYS-
p
DEL model was created, and the behaviour can be seen in Figure 2.8. After designing
one tank, the two tanks system can be designed by copying the tank and altering the
input. In this case we have a tank with h1 , Ao1 , At1 dimensions, u input from the pump,
and another tank with h2 , Ao2 , At2 dimensions, u input from the pump, and the output
from the first tank. The difference equations are shown in Eq 2.16 when the pump is
turned off, and in Eq 2.17, when the pump is supplied with u voltage. The model of
the coupled two tanks system can be seen in Appendix A.4, and the behaviour in Figure
2.9.

1 p
h1 [k + 1] = h1 [k]

2gh1 [k]Ao1 T s

At1
(2.16)

1 p 1 p
h2 [k + 1] = h2 [k] 2gh2 [k]Ao2 T s +

2gh1 [k]Ao1 T s
At2 At1

1 p 1
h1 [k + 1] = h1 [k] 2gh1 [k]Ao1 T s +

k p T s u[k]

At1 At1
(2.17)

1 p 1 p 1
h2 [k + 1] = h2 [k] 2gh2 [k]Ao2 T s + 2gh1 [k]Ao1 T s +

k p T s u[k]
At2 At1 At2
Figure 2.8: The behaviour of one tank with initial liquid content and no input, designed
in HYSDEL.
Figure 2.9: The behaviour of the two tanks system with non-zero initial condition and
zero input for 100 seconds.
2.3 Zeno paradox
The system response is called Zeno if it includes an infinite amount of discrete steps
in a finite number of time steps. This effect can be seen in the example of the bouncing
ball. An elasticity parameter reduces the energy of the ball (thus the speed). Since this
parameter is a fraction, the speed never becomes zero, just infinitely small. Likewise,
the distance travelled by the ball becomes infinitely small. The discrete state change
occurs every time the ball collides with the ground, but the distance travelled is infinitely
small, the state change becomes infinitely dense.
This effect is caused by modelling over-abstraction, and can create simulation stalls
at the limit time, and controller problems (the controller can cheat and satisfy safety
specifications by preventing time from diverging).
The Zeno paradox can be compensated with regularisation. The regularisation in-
volves the modification of the original Zeno automaton by adding parameters that force
the execution to be non-Zeno. The temporal regularisation [10], [11] imposes a lower
bound on the amount of time that passes between progressive discrete state changes.
As the regularisation time tends to zero, the system should tend to the original automa-
ton. This Extension can be seen in Figure 2.10 applied to the bouncing ball system, the
results are shown in Figure 2.11.
Figure 2.10: The first figure shows the original bouncing ball system, while the second
figure shows the bouncing ball system extended with temporal regularization, with
graphs.
Another extension of the Zeno automata is the state regularisation, continuation by

averaging and continuation by Filipov solution [12].
Figure 2.11: Comparison of the Bouncing ball system with Zeno properties (system1)
with the temporal regularized version (system2). Both systems have an initial condition
of 10m, 15m/s. The non-Zeno system has a temporal constant of 0.05s in which the
system wont change states (the jump doesnt occur). This behaviour can be observed
on the velocity diagram: the original system has an increasing switching rate, while
the regularized one is damped by the temporal constant
Chapter 3
Stability of hybrid systems
One significant problem in modelling hybrid systems is the stability of the system.
One desired property of a hybrid system is asymptotic stability. An asymptotically
stable system converges towards a predefined state from every initial state in the state
space. This stability grants robustness to temporary external disturbances.
3.1 Lyapunov stability analysis
The stability of hybrid systems can be studied with multiple methods, but the general
approach is based on the classical Lyapunov theory. The basic Lyapunov stability theory
states that if a system has an energy function and the function is decreasing, then the
system is asymptotically stable. If an x = f (x) system is given, which has an equi-
librium point in x = 0, we can consider a function V : n Lyapunov function
candidate if and only if the following conditions are true:
1. lim V(x) =
x
2. V(x) = 0 if and only if x = 0.
3. V(x) 0, x n+ .
19
Chapter3 - Stability analysis 20
0, x , 0 the system is
If the upper mentioned conditions are fulfilled, and V(x)
> 0, x , 0, the system is asymptotically
Lyapunov stable. If we can prove that V(x)
stable [13].
Several attempts have been made to apply modified versions to stability analysis of
hybrid systems, but two main routes are usually taken: Common Lyapunov function
[14] and Multiple Lyapunov functions approach.
3.1.1 Common Lyapunov function
The method is based on finding a Lyapunov function common to all locations. The
difficulty lies in finding such common functions there are many stable hybrid systems
without common Lyapunov function. A function V : dom(V) is a Lyapunov
function candidate for H = {F, C, G, D} hybrid system if and only if C D g(D)
dom(V) and V is continuously differentiable on an open set containing C, which is the
closure of C.
A function f : + + is positive definite if f (s) > 0 for s + , and f (0) = 0.
Let H = {F, C, G, D} be a hybrid system, and A n be closed. If V is a Lya-

punov function candidate for H, and 1 , 2 K and continuous function which is
positive definite, such as that:

1 (absxA ) V(x) 2 ( xA ), x C D G(D) (3.1)

hV(x), f i ( xA ), x C, f F(x) (3.2)

V(g) V(x ( xA ), x D, g G(x) (3.3)
Then A is uniformly and globally pre-asymptotically stable for H [15].
For example, let us consider the bouncing ball system with the form given in Eq 2.11.
Let the Lyapunov candidate function be V1 (x) = 12 x22 +gx1 , which satisfies the 3.1 criteria
2
with 1 (s) = min{ s4 , gs
},
2
and 2 (s) = 21 s22 + gs. V also satisfies the hV1 (x), f i = 0, and
Figure 3.1: The Lyapunov function candidates for the bouncing ball hybrid system. V1
function has global asymptotic stability, while V2 and V3 functions have both global
and local asymptotic stability.
V1 (g(x)) V1 (x) = 12 (1 k2 )(x22 + x12 ), because x1 = 0, so the inequality 3.3 is satisfied

with (s) = 12 (1 k2 )s2 , however the 3.2 inequality is not satisfied, so small modifica-
tions to the candidate function must be made. In particular the function candidates 3.4,
3.5 satisfy all three of the above mentioned conditions, where is a sufficiently small
1k2
positive number, while = (1+k2 )
. All of the Lyapunov function candidates are shown
in Figure 3.1.
0.5
V2 (x) = (V1 (x) + V1 (x) )3 (3.4)
V3 (x) = (1 + arctan(x2 ))V1 (x) (3.5)
If all smooth sub-models share a positive definite radially unbounded common Lya-
punov function, the system is GUAS.
3.1.2 Multiple Lyapunov function
Finding a global Lyapunov function candidate for hybrid systems can be difficult,
sometimes there is no such function. This approach is based on the constructions of
separate Lyapunov functions for each continuous subsystem. In this method, it is re-
quired that the value of the Lyapunov function does not increase every time the same
Figure 3.2: Using two Lyapunov functions for stability analysis. Each function must
decrease only when the respective interval is active [1].
subsystem is visited. To solve the problem, the construction of piecewise linear Lya-
punov functions or piecewise quadratic Lyapunov functions is needed.
For a system to be globally asymptotically stable, each Lyapunov function candidate

must be positive and decreasing, but only on the active interval, as shown in Figure 3.2.
The GUAS criteria are met only if the Lyapunov function is continuous.

5 4

For example, let a hybrid system be described in Eq 3.6, with A1 = , and
1 2

2 4

A2 = .
20 2

A x(t), i f 1 0 x(t) 0

1

x(t) =

(3.6)
1 0 x(t) > 0

A
2

x(t), i f
There are no common common Lyapunov function candidates, but lets consider two
separate function candidates in the form of Vi (x) = xT Pi x, with i {1, 2}, where P1 =

1 0 10 0

, and P2 = .
0 3 0 3
Vi is Lyapunov function for the hybrid system. Since lim V(x) = lim = V(x) =
x1 %0 x1 &0
V(0, x2 ) = 3x32 , Vi is continuous. Vi is negative definite, so the hybrid system is GUAS.
3.1.3 Poincare-Bendixon map
Many questions in the field of stability analysis remain open mainly because, in addi-
tion to the nonlinearity, the hybrid system are not smooth. This is the main reason why
many modern analytic methods fail, and only the qualitative analysis is viable. Many
hybrid systems exhibit periodic behaviour. Discrete events, like saturation, can trap the
evolving system states within a constrained region of the state space, which results in
a stable limit set although the continuous dynamics are unstable. The limit cycles can
be stable (attractor type), unstable (repelling type), or non-stable (saddle type) - Figure
3.3.The stability of periodic behaviour is determined by the Floquet multipliers ( the
generalisation of the eigenvalues at an equilibrium point). A periodic solution corre-
sponds to a fixed point of a Poincare map [5], [16]. The Floquet multipliers are the
eigenvalues of the Poincare map linearized about the fixed point.
As seen before, a deterministic hybrid system can be described by a model consisting

of differential, switched algebraic equations, which contain continuous dynamic states,
discrete dynamic states, algebraic states and parameters. The model can show complex
behaviour, from hysteresis and non-windup limits. A Poincare map actually samples
the flow of a periodic system once every period. If the limit cycle is stable, oscilla-
tions approach the limit cycle over time, which in the Poincare map can be seen as an
approach to a fixed point. A non-stable limit cycle results in diverging Poincare map.
Figure 3.3: System stability in state space. a) Oscillatory system at the margin of
stability central attractor. b) Stable node - sink type attractor. c) Stable spiral
containing oscillations and damping. d) Saddle point attractor system with a single
line of stability. e) Unstable node source type attractor. f) Unstable spiral unstable
oscillatory system
Chapter 4
Simple DC-DC converters as hybrid

systems
Electronic switch-mode DC-DC converters transform one voltage level to another

by storing the input energy temporarily, then releasing that energy on the output at a
different voltage level. The storage may be in the magnetic field (with inductors or
transformers) and electric field (capacitors).
The study of switched-mode power supplies is an important field in engineering be-

cause contrary to linear regulators the size is decreased and the efficiency is increased.
In this section, we will study the behaviour of the simple DC-DC converters: buck
and boost.
4.1 Buck converter
The easiest way to reduce the DC voltage is to use linear regulators (such as 78xx),
but linear regulators waste energy by dissipating the excess power as heat and do not
yield current step up. In the other hand, Buck converters can be efficient (>95%) in
conversion.
25
Chapter1 - Simple DC-DC converters 26
i
R
i
C
Figure 4.1: DC-DC converter in buck topology
State S1 S2
1 Off Off
2 Off On
3 On Off
4 On On
Table 4.1: States of the S1 and S2 switches of the Buck converter.
In the Buck topology, we have two switching devices: S1 is a transistor which can be
bipolar, MOS-FET, IGBT, etc., and S2 is a diode (in the case of a synchronous converter,
both S1 and S2 are transistors) (Fig.4.1). From the state of the switching devices, four
system states can be deduced, as shown in Table 4.1, but the 4th state in which both
switches are open is not feasible so that we wont use it.
Based on the behaviour of the inductor current, the buck converter can operate in con-
tinuous mode or CCM(if the current is increasing and decreasing), and discontinuous
mode or DCM(when the current can be zero).
In this study, we will focus on the continuous operation of the converter. In state three
we can write the equation 4.1 system based on Figure 4.2, where the state variables are
the inductor current and the capacitor voltage. After substitution and regularisation, the
state space model can be written for the system as shown in Eq 4.2.

diL (t)
+ RL iL (t) + uC (t) = uin

L
dt

uC (t) + uR (t) = 0 (4.1)

i (t) = i (t) + i (t)

L C R

RL 1 uin

x(t) = 1 x(t) + L

L
L

1

C
RC 0 (4.2)

y(t) = I2 x(t)

Figure 4.2: The two operation stages of a buck converter in continuous mode. The first
image shows the converter with S1 on and S2 off, while the second one with S1 off, S2
on. The switches are considered ideal components, and the equivalent series resistance
of the capacitor is neglected.
The second state can be written similarly. The only difference in the equation will be
the zero input voltage. The state space equations can be seen in Eq 4.3.

RL 1

L L

0

= x(t) +

x(t)
1 1

RC 0 (4.3)

C

y(t) = I2 x(t)

The hybrid model of the buck converter was created in HYSDEL based on the dis-
crete version of the above mentioned PWA system (Appendix B.1) and was simu-
lated with the Multi-Parametric Toolbox, with L = 100H, RL = 1, C = 4700F,
Uin = 100V,R = 100 simulation parameters. The input was a square wave signal with
Figure 4.3: The operation of the buck converter. The buck converter is operating in
open-loop mode with a square wave input (1kHz, 50% duty cycle). The upper diagram
is showing the current while the lower diagram is showing the voltage in function of
time
1kHz frequency and 50% duty cycle. The behaviour of the open loop system can be
seen in Figure 4.3, and Figure 4.4 .
4.1.1 Cascaded PI control of the buck converter
To compare the hybrid system with the real design, a closed loop system was created
with a cascaded PI controller. The controllers were tuned based the average model(Eq
4.4) of the buck converter and applied to both the real system ( modelled in Sim Power
Systems), and the PWA approximation. From the average model, the control of the
buck converter can be decomposed to an outer voltage loop, and an inner current loop
[17].
Figure 4.4: The limit cycle of the buck converter hybrid system. This plot is used for
Poincare map calculations after the design of the controller. From this plot we can see
the system is stable and has an attractor at 0.5168 A, 49.025 V.

diL (t)
+ RL iL (t) + uC (t) = d(t)uin

L
dt

uC (t) + uR (t) = 0 (4.4)

i (t) = i (t) + i (t)

L C R
First we assume the inner current loop is perfectly controlled system with unity gain,
we can design the PI controller (Eq. 4.6) for the voltage loop, which has the inductor
current as input, and the capacitor voltage as output - shown in equation 4.5. The
closed loop transfer function becomes equation 4.7, from where the undamped natural
q
k
frequency becomes 1 = T1pC1 , and the damping ratio can be calculated from 21 1 =
1+Rk p1
RC
. We want the system to be critically damped (1 = 1). Let the integration time
constant be equal with the time constant of the voltage loop (T 1 = RC), the proportional
gain can be calculated as k p1 = R1 .
uC
i
L
i
r(
t)
Figure 4.5: The current loop of the buck converter with the inner controller.
UC (s) R
Hv (s) = = (4.5)
IL (s) RCs + 1
!
1
HPI1 (s) = k p1 1+ (4.6)
T1 s
Hv (s)HPI1 (s) Rk p1 (T 1 s + 1)
H01 (s) = = =
1 + Hv (s)HPI1 (s) T 1 s (RCs + 1) + Rk p1 (T 1 s + 1)
Rk p1 (T 1 s + 1) (4.7)
=
T 1 RCs2 + T 1 1 + Rk p1 s + Rk p1
The undamped natural frequency of the regulated voltage loop becomes 1 = 1

RC
.
From the voltage loop, the output is taken as reference for the inductor current. A block
design of the current loop can be seen in Fig 4.5. If the voltage loop is well regulated,
the PI controller can eliminate the disturbances contributed by the voltage feedback. A
strict requirement is the secondary loop dynamics must be at least four times faster than
the primary loop dynamics. Similarly to the voltage loop, the current loop controller
can be tuned by choosing the damping ratio to 1. T 2 = 2
N1
, k p2 = 2NL1
ui n
. The simulation
of the controlled buck converter can be seen in Figure 4.6.
Figure 4.6: The figure shows the operation of the controlled buck converter designed
with Simscape Power systems (in blue), and in HYSDEL/MPT toolbox (orange).
Figure 4.7: DC-DC converter in boost topology.
4.2 Boost converter
The Boost converter is used to increase the input voltage. Similarly to the buck
converter, the boost converter contains two switches. The operation mode is shown in
Figure 4.7.
If we study the behaviour of the continuous mode boost converter, two states must be
considered, as shown in Figure 4.8. When S1 is conducting, and S2 is off, we can write
the Equations 4.8. When S1 is off, and S2 is on, the 4.1 equation can be written.

diL (t)
+ RL iL (t) = uin

L

dt

(4.8)

duC (t)
uC (t) + RC dt = 0

Figure 4.8: The two operation stages of a boost converter in continuous mode. The
first image shows the converter with S1 on and S2 off, while the second one with S1
off, S2 on. The switches are considered ideal components, and the equivalent series
resistance of the capacitor is neglected.
Figure 4.9: The operation of the boost converter. The boost converter is operating in
open-loop mode with a square wave input (1kHz, 50% duty cycle). The upper diagram
is showing the voltage while the lower diagram is showing the current in function of
time.
The hybrid boost converter was designed and compiled in HYSDEL(Appendix B.2)
based on the discrete form of the PWA system, with the following simulation parame-
ters: L = 470H, RL = 1, C = 270F, Uin = 100V, and the load resistance R = 100.
The system had a 1kHz square wave with 50% duty cycle as input signal. The open loop
behaviour of the boost converter can be seen in Figure 4.9, 4.10.
Figure 4.10: The limit cycle of the boost converter hybrid system. This plot is used for
Poincare map calculations after the design of the controller. From this plot we can see
the system is stable and has an attractor at 23.8696A, 105.8841V.
Figure 4.11: The figure shows the operation of the controlled boost converter designed
with Simscape Power systems (in blue), and in HYSDEL/MPT toolbox (orange). The
input voltage is 10V.
4.2.1 Cascaded PI control of the boost converter
To compare the hybrid boost system with the real design, a closed loop system was
created with a cascaded PI controller. The controllers were tuned the same way as the
buck converter. The simulation of the boost converter with a cascaded PI controller can
be seen in Figure 4.11.
Chapter 5
Resonant converters as hybrid systems
A resonant power converter is a power conditioning system which uses a resonant LC

circuit in the conversion process. The operation mode is the same for all converters: a
square voltage or current pulse is generated by the power switches, which is applied to
the resonant tank (LC circuit). While the energy circulates in the resonant circuit, some
or all of it is tapped off to supply the output [18].
5.1 Theory of resonant converters
Increasing the working frequency, the L and C components become smaller, which
leads to smaller, and cost-effective system design. The downside to utilising high fre-
quencies are the power losses due to parasitic capacitance and leakage inductance, stress
on the switching semiconductors, the increase of EMI and RFI(Figure 5.1).
A resonant mode converter offers the benefits while sidestepping many of the high-
frequency disadvantages. The advantages are: zero current switching, low component
stress, low EMI (Figure 5.2). The disadvantages are new technology learning curve,
greater complexity (as will be shown).
34
Chapter5 - Resonant Converter 35
Figure 5.1: Conventional PWM switching (hard switching). The second plot shows
the drain current on a MOS-FET switching device, while the last plot shows the drain-
source voltage.
Figure 5.2: Switching with resonant technique (soft switching). The second plot shows
the drain current on a MOS-FET switching device, while the last plot shows the drain-
source voltage.
5.1.1 Resonant converter classification
Based on the switching methods, resonant converters can be classified into two cat-
egories based on the soft switching techniques employed. ZVS and ZCS. The ZCS
configuration consists of a switching device in series with the resonant inductor and
the resonant capacitor connected in parallel. Energy is supplied by a current source. If
output transformer is used, its parasitic inductance can be used as resonant inductance.
However, the value is unknown; the resonant frequency wont be fixed - Figure 5.3. The
Figure 5.3: Theoretical model and waveforms of the ZCS topology. When S is off,
the capacitor is charged up with a constant current source, so the voltage rises linearly.
When S is turned on, the energy stored in the capacitor is transferred to the inductor,
causing a sinusoidal current to flow in the switch. During the negative half wave, the
current flows through the anti-paralleled diode, and so in this period there is no current
through or voltage across the switch; and it can be turned off without losses.
ZVS configuration consists of a switching device in parallel with a diode and the reso-
nant capacitor, and the resonant inductor connected in series with this configuration. A
voltage source is connected in conjunction with the system which supplies the energy -
Figure 5.4.
5.1.2 Topologies based on LC tank circuit structure
Resonant converters can be categorised by the configuration of the LC tank used in

the circuit. There are two basic configurations: series and parallel configurations, and
combined ones based on the ones above.
For a SRC the resonant tank is composed of an inductor and capacitor in a serial
configuration. The SRC name comes from the fact that the resonant tank is in series
with the output load (Figure 5.5).
Figure 5.4: Theoretical model and waveforms of the ZVS topology. When S is turned
on, a linear current flows through the inductor. When the switch turns off, the energy
stored in the inductor is transferred to the capacitor. The resulting voltage across the
capacitor is sinusoidal. The negative half-wave of the voltage is blocked by the anti-
parallel diode. During this period the current and the voltage on the switching device
is zero, so it can be turned on without losses.
Figure 5.5: Ideal SRC circuit. The resonant tank and the output load acts as a voltage
divider. The SRC can work with no load, but the output voltage cannot be regulated.
In ZVS mode the system the must operate above resonance (negative slope), while at
low line, the system operates closer to resonance.
For a PRC the resonant tank is similar to the SRC, but the output load is in parallel
with the resonant capacitor (Figure 5.6).
Combined converter topologies: The combined topologies are used to stack the ad-
vantages of the series and parallel configurations while compensating the disadvantages.
One such converter is the series-parallel LLC converter (SPLLC): The SPLLC converter
Figure 5.6: Ideal PRC converter. The load is parallel to the resonant capacitor. Advan-
tages: inherently short circuit protected, disadvantages: high circulating currents even
with no load.
Figure 5.7: The LLC resonant converter can operate at resonance at nominal input
voltage, and at no load. Can be designed to operate over a wide range of input voltage.
ZVS and ZCS is achievable over the entire operating range. The circulating currents
are lower than the PRCs
has a serial LC tank with another inductor parallel to the load. Another typical converter
topology is the LCC which has a capacitor in parallel with the load (Figure 5.7).
5.2 Modelling the resonant converter
In this section, we well present the modelling steps of the SRC circuit and the open
loop simulation of the model. One advantage of the resonant converter over the buck or
boost topology is its galvanic isolation with a transformer, but this transformer increases
the modelling difficulty, so the first step we took was to model a real transformer, after
which the converter can be modelled also.
5.2.1 Equivalent circuit of the transformer
In order to derive the equivalent circuit of a real transformer, first lets consider an
ideal transformer (a transformer is considered ideal, if the windings are purely inductive,
the winding resistance is zero, the core is loss free, the leakage reactance is zero, and the
power transfer efficiency is 100%). If an alternating voltage V 1 is applied to the primary
winding, a counter self-electromotive force E 1 is induced in the primary winding which
is in 180 phase opposition with the supply voltage. An I current is drawn to create the
required magnetic flux which develops E1 . As the primary winding is purely inductive,
the current drawn has a 90 phase lag. Since the flux is linked with the secondary coil,
another electromotive force E 2 is induced which is in phase with E 1 . the output voltage
of the transformer V 2 is the same as E 2 since the secondary winding is considered ideal
(Figure 5.8a).
(a) Phasor diagram of the ideal transformer. (b) Phasor diagram of the real transformer.
Figure 5.8: The phasor diagrams of an ideal transformer without core loss, purely in-
ductive windings (5.8a), and a real transformer with core loss, secondary load resistive
winding, and leakage inductance (5.8b).
A real transformer has core losses. When a voltage source is applied to the primary
winding, the supplied current will have two components: a reactive current I which
generates the magnetic flux , and an active one in phase with the source voltage, I w
which is consumed to compensate for core loss. If the supplied current is I 0 , then
I0 = Iw + I.
When we connect a load to the secondary winding, a load current I 2 will start to flow
through the load and winding, which is solely dependent on the characteristics of the
load. As the load current is flowing through the secondary winding, a self MMF will
be produced. This MMF generates an extra current on the primary side I 02 , which will
be compensated from the supplied current, so the flux remains unchanged. The new
primary current with a secondary load will be I 1 = I 0 + I 02 .
If the resistance of the windings can not be neglected, a voltage drop will appear
in the windings. This voltage drop will be proportional to the current flow through the
winding and the winding resistance, so V 1 = E 1 +I 1 R1 , where V 1 is the supplied voltage,
which will not be equal to the induced emf on the primary E 1 . Similarly V 2 = E 2 I 2 R2
on the secondary side.
If we consider the leakage reactance of the windings (X 1 , X 2 ), a voltage drop per-

pendicular to the current and proportional to the reactance will apear on each side:
V 1 = E 1 + I 1 R1 + I 1 X 1 , and V 1 = E 1 I 1 R1 I 1 X 1 , where X 1 = jL1 , and X 2 = jL2 .
The above mentioned vector equalities can be seen on Figure 5.8b.
After we derived the phasor diagram of the real transformer, we can create the equiv-
alent circuit as well. Let the transformation ratio be k = N1
N2
= E1
E2
. The total current
supplied to the primary is I 1 , and the voltage is dropped by I 1 R1 + X 1 I 1 , which can be
interpreted as an R1 valued resistor in series with the L1 valued leakage inductance.
The primary current has three components summed (magnetization current I , load
current I 02 , and core loss current I w ) which can be interpreted as parallel paths. I 0 is
known as excitation branch, which contains the parallel combination of a resistance R0
(core loss), and inductance L0 (magnetization). If we know the transformation ratio, the
load component can be calculated as I 02 = kI 2 , so the voltage drop can be written as:
E 1 = kE 2 = kZ 2 I 2 = kZ 2 kI 02 = k2 Z 2 I 02 , which means the secondary load, core resistance,
and leakage inductance can be transferred to the primary side as L20 = k2 L2 , R02 = k2 R2 ,
and C 0 = C
k2
, which can be seen in Figure 5.9a.
R1 L1 R
2 L
2
I
1 I
0 I
2
Iw I
V1 R0 L0 2C
V R
L
(a) Primary side equivalent diagram of a transformerwith a capacitive and resistive load.
R1+R
2 L1+L
2
I
V1 C R
L
(b) Approximate diagram of a transformer, with the magnetization and core loss currents ne-
glected.
Figure 5.9: The primary side equivalent (5.9a) and approximate (5.9b) diagrams of a
real transformer, based on the phasor diagram.
Since I 0 is very small, an approximate model can be created by neglecting the parallel
impedance on the primary side. We can simplify this (Figure 5.9b) model by summing
the remaining series components (primary resistance with secondary resistance, primary
leakage inductance with secondary leakage inductance). From now on the approximate
model of the transformer will be used to study the behaviour of the resonant converter.
5.2.2 Hybrid model of the resonant converter
In this section of the paper, we will use the SRC as a reference and create a model
based on the switching principles of the transistors and diodes. Many description meth-
ods were successfully used to model resonant converters, for example, discrete time
model created with sampling the converters outputs [19], continuous time model based
on averaging methods [20], or with the describing function [21]. The models are non-
linear. Hence it is common to create a small signal linearization of the model around the
operating point. The problem with linearised models is the invariance to perturbation -
input fluctuation and load changes can not be revealed. For this cause, we have chosen
the hybrid modelling as a description technique of the resonant converter.
Let us consider a dc-dc SRC as shown in Figure 5.10a. The circuit can be redrawn
as shown in Figure 5.10b based on the approximate circuit of the transformer. Based
on the controlled switches and the sign of the tank inductor current six operation modes
can be distinguished as shown in Table 5.1 based on [22].
S1 S2 D1 D2
Cp T
E C
S3 S4 D3 D4 R
(a) DC-DC series resonant converter circuit with four controlled switches S 1,4 -full bridge in-
verter, a rectifier block D1,4 , and low-pass filter.
(b) DC-DC series resonant converter circuit with primary side approximate representation of the
transformer.
Figure 5.10: SRC circuit (5.10a) and primary side approximate (5.10b) circuit.
Since the controlled switches are operated symmetrically, its enough to note the state
of one switch pair, for example, S 1 = OnS 3 = O f f . If both of the switches were open
in one branch, a short circuit would occur, which generates an infeasible system.
T
Let the state vector of the system be x(t) = iL uC uC f . The state space model of
the system can be written in the same way as in the case of the simple converters. The
Partition S 1, S 4 state condition

1 On iL > 0
2 On iL < 0
3 On iL = 0, E uC f < uC < E + uC f
4 Off iL < 0
5 Off iL > 0
6 Off iL = 0, E uC f < uC < E + uC f
Table 5.1: PWA partition of the SRC based on the input and states.
u
C Rl
i
L
C L
E u
Cf Cf R
E
Figure 5.11: The figure shows the SRC circuit in states 1-2-3 and 4-5-6 respectively.
PWA system description is shown in Equation 5.1, where the parameters can be seen in
Table 5.2.

x(t) = Ai x(t) + f i

(5.1)
i = R(u(t), x(t))

If we want to design discrete controllers for the converter, the system must be dis-
cretized with an appropriate sampling time (Nyquist-Shannon sampling theorem, see
[23]) to represent the continuous time changes in the system correctly. The sampling
period must be at least half the time of the fastest time constant in the system. The fre-
quency of the control signal can be chosen arbitrarily so that we wont consider it before
the sampling time. On the other hand, the converter has a resonant tank, which has its
natural frequency of fn = 1

2 LC
, which can be calculated or measured after choosing
the tank components. In this thesis we set the sampling period to be T s = 1
10 fn
.
Let us consider the upper mentioned DC-DC SRC system with L = 14.7H, C =
560nF, RL = 0, C f = 1mF, E = 48V parameters. The load resistance will be 1 to
i Ai f R
R Ei
LL L1 L1 L
if u(t) = 1 x1 (t) > 0
1
0 0

1 C 0
1
0 C1f R 0

CRf
L1 1
E
LL L L
if u(t) = 1 x1 (t) < 0
1 0 0

2 C 0
1 0 C1f R
0
C f E
0 0 0 L
if u(t) = 1 x1 (t) = 0

0 0 0

3 0
0 0 C1f R 0
R
L1 L1
E
LL L
if u(t) = 0 x1 (t) < 0
1
4 C 0 0 0

1
0 C1f R 0

CRf
L1 1
E
LL L L
if u(t) = 0 x1 (t) > 0
1
0 0

5 C 0
1
Cf 0 C1f R 0

E
0 0 0 L
if u(t) = 0 x1 (t) = 0

0 0 0

6 0
0 0 1
CfR
0
Table 5.2: PWA partition of the SRC based on the input and states.
Figure 5.12: The figures compare the operation of the SRC in CCM and DCM with
the Simscape Power Systems counterpart.
test the CCM operation and 100 to test the DCM operation. The natural frequency of
the system is fn = 55.471MHz, so the sampling time will be T s = 1.8s.
Based on Table 5.2, and the above mentioned sampling criteria, we devised the hybrid
model of the SRC in hysdel/MPT toolbox C.1, and C.2 for the CCM operation, and for
the DCM operation C.3. The operation of the models compared to the Power Systems
design can be seen in Figure 5.12 with an input square wave with 10kHz, and 50% duty
cycle.
Figure 5.13: SRC controlled with PI controller. The operating point of the circuit
was 12V output voltage at 10 output load. We can see the slow compensation of the
integrator.
5.3 Closed-Loop control of resonant converters
In this section, we present the designed control algorithms applied and tested on the
continuous and hybrid system. We started with a conventional PI controller, then tested
an SMC design. After developing and testing an MPC design, we compared the results
of the standard control algorithms with load disturbances and the new algorithm and
devised a satisfactory parametrisation of the algorithm mentioned above.
5.3.1 PI control
To create and tune a PI controller we need to create a linear system. The first step
is to write the state space model (shown in Table 5.2), and devise the average state
space model. A linear approximation can be achieved by employing the Fourier series
expansion of the non-linear terms and keeping the fundamental components [24]. For
the linear model, we created a simple PI controller loop which was tuned similarly to
the simple power converters. The behaviour or the system can be seen in Figure 5.13,
from where we can conclude, the PI controller can be used for a given operating point.
Since the system is non-linear, every disturbance in load must be compensated.
Figure 5.14: State plane trajectory of the SRC for steady state operation.
Figure 5.15: State plane trajectory of the SRC with sliding mode controller. The load
is constant 100, the slope is p = 1.
5.3.2 Sliding mode controller
To increase the immunity against load disturbances, the simple PI controller must be
extended. An adequate control algorithm is the SMC, which will be created by studying
the limit cycle of the SRC in state space. Figure 5.14 shows the steady state operation
of the converter in the x1 x2 plane. We can see the x1 = px2 line matches the two
controlled switching points in the trajectory, where p is the slope of the line.
By defining the sliding surface as s = x1 px2 , and the binary control output as u =
sign(s) the current of the resonant tank can be directly controlled. In Figure 5.15 we
can see the operation of the hybrid system with the p slope set to 1.
If we use a PI controller to generate the reference current (in this case the reference
slope), we can create a controller with better immunity to disturbances than the PI con-
troller alone. In Figure 5.14 we can see the results of the SMC with PI controller as
slope generator.
(a) Converter in CCM with load change. (c) Converter in DCM with load change.
(b) Converter in CCM with reference change. (d) Converter in DCM with reference change.
Figure 5.16: The reference and load immunity testing of the SRC in different operation
modes. We can see the quick response of the SMC to perturbations.
In Figure 5.16a the system operates in CCM with 12V reference voltage, and the con-
stant load is replaced with a step function with amplitude of 3, and 1. The output
has overshooting spikes, but the response is quick, and the steady-state error is null. If
the same system has a constant 3 load, but the reference voltage is replaced with a step
function of 10V and 12V amplitude (Figure 5.16b). The same conclusion can be taken
as before. In DCM operation, the output voltage ripple is increased, but the steady-
state error of null is still maintained. The settling time of the controller increased in
this mode. In Figure 5.16c the load perturbation is shown (to a composite step function
of 100, 50, and 25 amplitude), while Figure 5.16d shows the system response to
reference perturbation.
Chapter 6
Explicit MPC of the SRC
In this chapter, we will discuss the peak of control theory so far, the MPC. To fully
understand the properties, pros and cons of the control algorithm we will start from the
Optimal control, and work our way to the MPC. We will devise an MPC algorithm for
our PWA system, generate the explicit version and compare to the results in Chapter 5.
6.1 Overview of the MPC algorithm
To understand the MPC algorithm, we must look at the Optimal Control algorithm,
which finds the control law for a given system such that a predefined criterion is achieved.
Let us consider the linear state space model shown in Equation 6.1, with the finite hori-
zon quadratic cost function shown in Equation 6.2, where t f is the terminal time, N, Q,
R, and S are positive definite weight matrices with appropriate dimensions. The Linear
quadratic problem is stated as: minimise the cost functional subject to the first-order
dynamics constraints and the initial condition [25].

x(t) = Ax(t) + Bu(t) = f (x(t), u(t))

(6.1)
y(t) = Cx(t) + Du(t)

48
Chapter6 - Model Predictive Control 49
Z tf
1 1
J = xT (t f )N f x(t f ) + (xT (t)Q(t)x(t) + uT (t)R(t)u(t) + xT (t)S (t)u(t))dt =
2 2 t0
Z tf (6.2)
= (x(t f ), t f ) + L(x(t), u(t), t)dt
t0
The solution of the upper mentioned quadratic program can be found with the help
of the Hamilton-Jacobi-Bellman equation (Equation 6.3) [26], where the minimization
can be written as in Equation system 6.4.
H = L(x(t), u(t), t) + (t) f (x(t), u(t)) (6.3)
H

x(t) =

= H

x(t) (6.4)

H

0 = u(t)

If we define hard constraints besides the weight matrices (state and output constraints,
state and output change constraints), we get the constrained optimal control problem.
This problem can be formulated as in Equation 6.5, for the 6.1 linear state space sys-
tem, with 6.2 quadratic cost function. The QPs can be formulated and solved for both
continuous and discrete time systems.

u(t) [umin ; umax ]

y(t) ymin ; ymax

minu Js.t. (6.5)
u(t) umin ; umax

y(t) ymin ; ymax

The MPC is a particular case of constrained optimal control which predicts the opti-
mal control signal for a given system for a given horizon. The MPC algorithm consists
of different terms which are as follows [27]:
Prediction horizon : N p , the number of samples in the future the MPC controller
predicts the plant output.
Control horizon : Nc , the number of samples within the prediction horizon where the
controller can affect the action.
Cost function : J, the control objective which is minimised with respect to the control
output.
Prediction model : The linear dynamic process model which can be used directly to
compute the control vector.
Constraints : Constraints are used to define limitations or boundaries to variables and

variable deviations.
An infinite horizon sub-optimal controller can be designed by repeatedly solving fi-

nite time optimal control problems in receding horizon fashion. At each sampling in-
terval starting from the current state an open loop optimal control is solved as showed
in Figure 6.1. The resulting controller is referred to as RHC. An RHC where the finite-
time optimal control law is computed by solving the optimization problem on-line is
called MPC [28].
Solving on-line the MPQP at each time sample is a computation-heavy operation.

For this cause was the explicit version of the MPC developed. The first step is to spec-
ify the boundary of the state space. After the state space is bounded, an optimisation
algorithm recursively partitions the state space in a set of polyhedra, each one corre-
sponding to a unique optimal solution, affine in the state variable. This process is called
MPQP or MPLP in the case of quadratic, respectively linear program. After the opti-
misation, the control algorithm is a set of state feed-back control with offsets used in a
look-up table manner [29].
Figure 6.1: Receding horizon control theory.
6.2 Explicit MPC applied to SRC
The state boundaries of the hybrid SRC were deduced with a step function as an input
signal.The HYSDEL PWA model was imported to MPT toolbox and was transformed
to MLD model, with the boundaries attached to the states, and input. The on-line MPC
was generated by solving the Multi Integer MPQP C.4. For reference tracking, we
used linear cost function, because the quadratic one failed to translate to S-function.
The explicit version of the controller was generated with the help of the MPT toolbox,
and the generated control algorithm was optimised by concatenating polyhedrons with
the same control signal C.5.
In Figure 6.2 shows the reachability set of the converter in the two operation modes.
A series of test were made with the designed controller. Because the simulation was
resource heavy, we simulated the closed loop system long enough to reach an arbitrarily
steady output voltage. Hence the following Figures are given in function of samples,
not time. In Figure 6.3 the closed loop system is tested with a constant load of 3,
while the reference voltage is changed from 10V to 12V (The converter parameters are
Figure 6.2: The figures show the reachable set of the SRC in the state space, for the
CCM, and DCM respectively.
Figure 6.3: MPC applied to the SRC. In this scenario the reference voltage is per-
turbed, while the load is constant. The output voltages correspond to a controller with
N = 3, 5, and 10 prediction and control horizons respectively.
the same as in the last chapter). We can see, that steady state error is 0 in every case, but
the overshoot is present. In Figure 6.4 the reference voltage is kept at a constant 10V
while the load is changed. We can see, that the transient overshoot is present, but the
controller shows an immunity to load changes.
We can see that by increasing the prediction horizon, the overshoot decreases, and
the response time of the controller increases. If we want to create a response as fast as
Figure 6.4: MPC applied to the SRC. In this scenario the reference voltage is constant,
while the load is changed. The output voltages correspond to a controller with N = 3,
5, and 10 prediction and control horizons respectively.
the SMC, the horizon of the MPC should be f s T S MC = 1.8e6

1e3
= 1800, which would
require an infeasible generation time, and memory.
From these test two conclusions can be made: The model predictive controller is
ideal to track the reference voltage, and to create immunity to parameter perturbations,
but not very adequate for fast transient response, and control without overshoot.
Chapter 7
Results and conclusions
7.1 Results
In this research weve studied the novel modelling technique named hybrid mod-
elling, which incorporates continuous or discrete time, continuous event design and
discrete event design, to create a more precise representation of the described system.
We tested more than one tool incorporated in Matlab, which best suited our needs. We
studied the stability analysis of hybrid systems.
With the hybrid modelling technique, we successfully created a precise representa-

tion of Buck, Boost and SRC circuits, which were tested and compared against the
continuous models ( Simscape/Power systems).
With the help of the hybrid models, we created a controller structure of basic PID,
SMC, and MPC, which were successfully tested both on the hybrid systems and the
continuous models.
7.2 Conclusions and further development
From the resulting diagrams, we can conclude that the PID and SMC algorithms
were well designed and robust. Theyve shown a fast response to parameter variations
54
Appendices 55
and reference changes. The MPC algorithm had the most invariant steady state error,
which means the controller was immune to the PWA systems switching noises. The
MPC algorithm also showed the best performance based on load variations, but the
worst performance based on reference changes.
The performance of the MPC algorithm can be further improved by tightening the
state and reference thresholds, increasing the control and prediction horizon, and al-
tering the cost function. While these improvements would be doable in simulation,
the optimisation of the polyhedral partitions and the generation of the explicit controller
would require a massive amount of processing power, and the resulting controller would
need a lot of memory on the control platform.
The next stage of this research contains the design and creation of a SRC with active
power factor compensation, state measurement capabilities, and a SoC controller to
implement the control mentioned above algorithms.
Appendix A
Hysdel codes - introduction
A.1 Bouncing Ball model

SYSTEM balls {
INTERFACE {
PARAMETER {
REAL g=9.81 , Ts =0.05 , k =0.4;
REAL A1_11 =1, A1_12 =Ts , A1_21 =0, A1_22 =1;
REAL A2_11 =1, A2_12 =-Ts , A2_21 =0, A2_22 =k -1;
REAL B1_1 = -0.5* Ts*Ts*g, B1_2=-Ts*g;
REAL B2_1 =0, B2_2 =0;
}
STATE {
REAL x1 [-10, 10];
REAL x2 [ -100 , 100];
}
OUTPUT {
REAL y1 , y2;
}
}
IMPLEMENTATION {
AUX{
REAL z1 , z2;
BOOL negative ;
}
AD{
negative = x1 <= 0;
}
DA{
z1 = {IF negative THEN A2_11 *x1 + A2_12 *x2 + B2_1
56
Appendices 57
ELSE A1_11 *x1 + A1_12 *x2 + B1_1 };

z2 = {IF negative THEN A2_21 *x1 + A2_22 *x2 + B2_2
ELSE A1_21 *x1 + A1_22 *x2 + B1_2 };
}
CONTINUOUS {
x1 = z1;
x2 = z2;
}
OUTPUT {
y1 = x1;
y2 = x2;
}
}
}
Listing A.1: HYSDEL model of the discrete bouncing ball system.
A.2 Generic MLD system

SYSTEM balls {
INTERFACE {
PARAMETER {
REAL A1_11 , A1_12 , A1_21 , A1_22 ;
REAL A2_11 , A2_12 , A2_21 , A2_22 ;
REAL B1_1 , B1_2;
}
STATE {
REAL x1 [ -10 ,10];
REAL x2 [ -10 ,10];
}
INPUT {
REAL u [ -1 ,1];
}
OUTPUT {
REAL y1 , y2;
}
}
IMPLEMENTATION {
AUX{
REAL z1 , z2;
BOOL th;
}
AD{
th = x1 >= 0;
Appendices 58
}
DA{
z1 = {IF th THEN A1_11 *x1 + A1_12 *x2 + B1_1*u
ELSE A2_11 *x1 + A2_12 *x2 + B1_1*u};
z2 = {IF th THEN A1_21 *x1 + A1_22 *x2 + B1_2*u
ELSE A2_21 *x1 + A2_22 *x2 + B1_2*u};
}
CONTINUOUS {
x1 = z1;
x2 = z2;
}
OUTPUT {
y1 = x1;
y2 = x2;
}
}
}
Listing A.2: HYSDEL model of the MLD system.
A.3 Two Tanks system
A.3.1 One Tank model

SYSTEM oneTank {
INTERFACE {
INPUT {
REAL u [0 ,5];
}
STATE {
REAL h [0 ,20e -2];
}
PARAMETER {
REAL g, kp , at , ao , Ts;
}
OUTPUT {
REAL y;
}
}
IMPLEMENTATION {
AUX{
REAL x;
Appendices 59
BOOL th;
}
AD{
th = u > 0;
}
DA{
x = { IF th THEN h + (1/ at )* kp*u*Ts - (1/ at )*(0.3546 * h + 11.79)* ao*Ts
ELSE h - (1/ at )*(0.3546 * h + 11.79)* ao*Ts };
}
CONTINUOUS {
h = x;
}
OUTPUT {
y = (1/ at )*(7.927* h +0.5278)* ao*Ts ;
}
}
}
Listing A.3: HYSDEL model of the system with one tank.
A.3.2 Coupled Tanks model
SYSTEM tanks {
INTERFACE {
INPUT {
REAL u [0 ,5];
}
OUTPUT {
REAL y1 , y2;
}
STATE {
REAL h1 [0 ,20e -2];
REAL h2 [0 ,20e -2];
}
PARAMETER {
REAL g, kp , at1 , ao1 , at2 , ao2 , Ts;
}
}
IMPLEMENTATION {
AUX{
REAL x1;
REAL x2;
BOOL th;
}
AD{
Appendices 60
th = u > 0;
}
DA{
x1 = {IF th THEN h1 + (1/ at1 )* kp*u*Ts - (1/ at1 )*( 0.3546 * h1 + 11.79)* ao1*Ts
ELSE h1 - (1/ at1 )*( 0.3546 * h1 + 11.79)* ao1*Ts };
x2 = {IF th THEN h2 + (1/ at2 )* kp*u*Ts - (1/ at2 )*( 0.3546 * h2 + 11.79)* ao2*Ts + (1/ at1 )*(
ELSE h2 - (1/ at2 )*( 0.3546 * h2 + 11.79)* ao2*Ts + (1/ at1 )*( 0.3546 * h1 + 11.79)* ao1*T
}
CONTINUOUS {
h1 = x1;
h2 = x1;
}
OUTPUT {
y1 = x1;
y2 = x2;
}
}
}
Listing A.4: HYSDEL model of the system with two coupled tanks.
Appendix B
Hysdel codes - simple DC-DC

converters
B.1 Buck converter

SYSTEM buck{
INTERFACE {
PARAMETER {
REAL A1_11 , A1_12 , A1_21 , A1_22 ;
REAL B1_1 , B1_2;
}
STATE {
REAL x1 [-20, 20];
REAL x2 [0, 100];
}
OUTPUT {
REAL y1 , y2;
}
INPUT {
BOOL u;
}
}
IMPLEMENTATION {
AUX{
REAL bz1 , bz2 , az1 , az2 , az3;
BOOL current ;
}
AD{
current = x1 == 0;
61
Appendices 62
}
DA{
bz1 = {IF u THEN B1_1 ELSE 0};
bz2 = {IF u THEN B1_2 ELSE 0};
az1 = {IF u | current THEN A1_11 ELSE 0};

}
CONTINUOUS {
x1 = az1*x1 + az2*x2 + bz1;
x2 = az3*x1 + A1_22 *x2 + bz2;
}
OUTPUT {
y1 = x1;
y2 = x2;
}
}
}
Listing B.1: HYSDEL model of the Buck converter.
B.2 Boost converter

SYSTEM boost {
INTERFACE {
PARAMETER {
REAL A1_11 , A1_12 , A1_21 , A1_22 ;
REAL A2_11 , A2_12 , A2_21 , A2_22 ;
REAL A3_11 , A3_12 , A3_21 , A3_22 ;
REAL B1_1 , B1_2;
REAL B2_1 , B2_2;
REAL B3_1 , B3_2;
}
STATE {
REAL x1 [-50, 50];
REAL x2 [0, 120];
}
OUTPUT {
REAL y1 , y2;
}
INPUT {
BOOL u;
}
Appendices 63
}
IMPLEMENTATION {
AUX{
REAL az11 , az1_11 , az2_11 , az12 , az1_12 , az2_12 ;
REAL az21 , az1_21 , az2_21 , az22 , az1_22 , az2_22 ;
REAL bz1 , bz11 , bz12;
REAL bz2 , bz21 , bz22;
BOOL current ;
}
AD{
current = x1 == 0;
}
DA{
az11 = {IF u == 1 THEN A1_11 ELSE 0};
az1_11 = = {IF u == 0 && current THEN A2_11 ELSE 0};
az12 = {IF u == 1 THEN A1_12 ELSE 0};

az21 = {IF u == 1 THEN A1_21 ELSE 0};

az22 = {IF u == 1 THEN A1_22 ELSE 0};

bz1 = {IF u == 1 THEN B1_1 ELSE 0};

bz11 = = {IF u == 0 && current THEN B2_1 ELSE 0};
bz2 = {IF u == 1 THEN B1_2 ELSE 0};

}
CONTINUOUS {
x1 = (az11 + az1_11 + az2_11 )* x1 + (az12 + az1_12 + az2_12 )* x2 + bz1 +
x2 = (az21 + az1_21 + az2_21 )* x1 + (az22 + az1_22 + az2_22 )* x2 + bz2 +
}
OUTPUT {
y1 = x1;
y2 = x2;
}
}
}
Appendices 64
Listing B.2: HYSDEL model of the buck converter.

Appendix C
Hybrid description of the SRC in

HYSDEL/MPT toolbox
C.1 SRC converter in CCM - HYSDEL

SYSTEM sCCM {
INTERFACE {
INPUT {
BOOL u;
}
STATE {
REAL x1 [-20, 20];
REAL x2 [ -150 , 150];
REAL x3 [0, 30];
}
OUTPUT {
REAL y1;
REAL y2;
REAL y3;
}
PARAMETER {
REAL a11 = 0.8095 , a12 = -0.1146 , a21 = 3.007 , a22 = 0.8096 , a33 = 0.9993;
REAL a13_1 = -0.1145 , a13_2 = 0.1145;
REAL a23_1 = -0.1904 , a23_2 = 0.1904;
REAL a31_1 = 0.001684 , a31_2 = -0.001684;
REAL a32_1 = -0.0001064 , a32_2 = 0.0001064;
REAL b1_1 = 5.499 , b1_2 = -5.499;
REAL b2_1 = 9.14 , b2_2 = -9.14;
REAL b3_1 = 0.005117 , b3_2 = -0.005117;
65
Appendices 66
}
}
IMPLEMENTATION {
AUX{
BOOL signX1 , auxBool ;
REAL a13 , a23 , a31 , a32 , b1 , b2 , b3;
}
AD{
signX1 = x1 >= 0;
}
LOGIC {
auxBool = (u & signX1 ) | (u & signX1 );
}
DA{
a13 = {IF signX1 THEN a13_1 *x3 ELSE a13_2 *x3 };
b1 = {IF u THEN b1_1 ELSE b1_2 };
b2 = {IF u THEN b2_1 ELSE b2_2 };
b3 = {IF auxBool THEN b3_1 ELSE b3_2 };
}
CONTINUOUS {
x1 = a11*x1 + a12*x2 + a13 + b1;
x2 = a21*x1 + a22*x2 + a23 + b2;
x3 = a31 + a32 + a33*x3 + b3;
}
MUST{
x1 >= -50;
x1 <= 50;
x2 >= -200;
x2 <= 200;
x3 >= 0;
x3 <= 50;
}
OUTPUT {
y1 = x1;
y2 = x2;
y3 = x3;
}
}
}
Listing C.1: HYSDEL model of the SRC in CCM.

Appendices 67
C.2 SRC converter in CCM - MPT

R = 3;
L = 14.7e -6;
C = 560e -9;
Cf = 1e -3;
E = 48;
A1 = [0 -1/L -1/L; 1/C 0 0; 1/ Cf 0 -1/R/Cf ];

f1 = [E/L 0 0] ;
A2 = [0 -1/L 1/L; 1/C 0 0; -1/Cf 0 -1/R/Cf ];
f2 = f1;
A3 = [0 -1/L 1/L; 1/C 0 0; -1/Cf 0 -1/R/Cf ];
f3 = [-E/L 0 0] ;
A4 = [0 -1/L -1/L; 1/C 0 0; 1/ Cf 0 -1/R/Cf ];
f4 = f3;
C = [0 0 1];
B = [0 0 0] ;
D = 0;
T = 1.8e -6;
sys1 = ss(A1 ,f1 ,C,D);

sys1d = c2d(sys1 ,T);
sys1 = LTISystem (A, sys1d .A, B, B, C, sys1d .C, f, sys1d .B, D, sys1d .D, Ts , T);
sys2 = ss(A2 ,f2 ,C,D);

sys3 = ss(A3 ,f3 ,C,D);

sys4 = ss(A4 ,f4 ,C,D);

sys1.u.with(binary );
sys1. setDomain (xu , Polyhedron (Ae , [0 0 0 1],be , 1, A, [-1 0 0 0], b, 0 ));

sys2. setDomain (xu , Polyhedron (Ae , [0 0 0 1],be , 1, A, [1 0 0 0], b, 0 ));
sys3. setDomain (xu , Polyhedron (Ae , [0 0 0 1],be , -1, A, [1 0 0 0], b, 0 ));
sys4. setDomain (xu , Polyhedron (Ae , [0 0 0 1],be , -1, A, [-1 0 0 0], b, 0 ));
Appendices 68
pwa = PWASystem ([ sys1 sys2 sys3 sys4 ]);
Listing C.2: MPT design of the SRC in CCM mode
C.3 SRC converter in DCM - MPT

clear all;
close all;
clc;
R = 100;
%R = 3;
L = 14.7e -6;
C = 560e -9;
Cf = 1e -3;
E = 48;
A1 = [0 -1/L -1/L; 1/C 0 0; 1/ Cf 0 -1/R/Cf ];

f1 = [E/L 0 0] ;
A2 = [0 -1/L 1/L; 1/C 0 0; -1/Cf 0 -1/R/Cf ];
f2 = f1;
A3 = [0 -1/L 1/L; 1/C 0 0; -1/Cf 0 -1/R/Cf ];
f3 = [-E/L 0 0] ;
A4 = [0 -1/L -1/L; 1/C 0 0; 1/ Cf 0 -1/R/Cf ];
f4 = f3;
A5 = [0 0 0; 0 0 0; 0 0 -1/R/Cf ];
f5 = [0 0 0] ;
A6 = [0 0 0; 0 0 0; 0 0 -1/R/Cf ];
f6 = [0 0 0] ;
C = [0 0 1];
B = [0 0 0] ;
D = 0;
T = 1.8e -6;
sys1 = ss(A1 ,f1 ,C,D);

sys2 = ss(A2 ,f2 ,C,D);

Appendices 69
sys3 = ss(A3 ,f3 ,C,D);

sys4 = ss(A4 ,f4 ,C,D);

sys5 = ss(A5 ,f5 ,C,D);

sys6 = ss(A6 ,f6 ,C,D);

sys1. setDomain (xu , Polyhedron (Ae , [0 0 0 1],be , 1, A, [-1 0 0 0], b, 0 ));

sys2. setDomain (xu , Polyhedron (Ae , [0 0 0 1],be , 1, A, [1 0 0 0], b, 0 ));
sys3. setDomain (xu , Polyhedron (Ae , [0 0 0 1],be , -1, A, [1 0 0 0], b, 0 ));
sys4. setDomain (xu , Polyhedron (Ae , [0 0 0 1],be , -1, A, [-1 0 0 0], b, 0 ));
sys4. setDomain (xu , Polyhedron (Ae , [0 0 0 1],be , 1, Ae , [1 0 0 0], be , 0 ));
sys4. setDomain (xu , Polyhedron (Ae , [0 0 0 1],be , -1, Ae , [1 0 0 0], be , 0 ));
pwa = PWASystem ([ sys1 sys2 sys3 sys4 sys5 sys6 ]);
Listing C.3: MPT design of the SRC in DCM mode
C.4 On-Line MPC generation

pwa.x.min = [ -250; -1500; 0];
pwa.x.max = [250; 1500; 100];
pwa.y.min = 0;
pwa.y.max = 100;
pwa.u.min = -1;
pwa.u.max = 1;
Appendices 70
pwa.y.with(reference );
pwa.y. reference = free ;
pwa.y. penalty = OneNormFunction (3);
N = 3;
onl_ctrl = MPCController (pwa ,N);
Listing C.4: on-line MPC design for the SRC
C.5 Explicit MPC generation

exp_ctrl = onl_ctrl . toExplicit ();
exp_ctrl . optimizer = exp_ctrl . optimizer .min(obj )
dir_name = rtw_explicitMPCdcm ;
file_name = EMPCcontroller ;
exp_ctrl . exportToC (file_name , dir_name );
p = [pwd ,filesep ,dir_name , filesep ];

str = sprintf ("%s% s_sfunc .c" "%s%s.c",p,file_name ,p, file_name );
mex ([ -LargeArrayDims -I,dir_name ],[p,file_name ,_sfunc .c],[p,file_name ,.c]);
str = sprintf ("%s% s_sfunc .c" "%s%s.c",p,file_name ,p, file_name );
Listing C.5: explicit MPC generation for Simulink model

Appendix D
Simulink models
D.1 SRC converter in Simulink/Simscape/Power systems
[iL]
From
[uC]
Continuous From1
Scope
powergui
[u0]
powData
From2
To Workspace
[uC]
Goto1
[iL]
From5
XY Graph
v
Voltage Measurement [uC]

+
-
[iL]
Goto From6
D
D
g
Mosfet2 Mosfet3 Diode Diode2

+ [u0]
v
-
m
m
S
Voltage Measurement1Goto2
[d] > 0 i
+ +
- +
Duty Cycle In
+
Compare
Current Measurement
To Zero L
C
DC Voltage Source Cf R
< 0
Compare
To Zero1
D
D
g
Mosfet Mosfet1 Diode1 Diode3

m
m
S
[iL] [uC]
From3 From4
Constant7
[u0]
From7
1
Sign Subtract
Product Manual Switch
Discrete PID Controller Reference DCM: 40V - 100R
Manual Switch1
Goto3 Manual Switch2 PI(s) 25 CCM: 25V 10R
Pulse
[d] Gain3 Generator
Constant2
Scope1
[iL] [uC] [u0]

From8 From9 From10
S-Function
Selector
EMPCcontroller_sfunc
Figure D.1: The SRC design in Simulink with the Simscape Power Systems Toolbox.
The model includes the power converter, the test signal - 10kHz, 50% duty cycle square
wave, the sliding mode controller, and the generated explicit MPC.
71
Appendices 72
D.2 SRC converter hybrid model in Simulink
[iL] [iL]
Goto Inductor Current From
[uC]
[uC]
A(x) From1
Goto Capacitor Voltage
Scope
x Unit Delay
iL [u0]
[u0]
From2
Hybrid A Goto Output Voltage
XY Graph
iL
hybSim1
f
To Workspace
[d] duty From Inductor Current [iL] [uC] From Capacitor Voltage
From duty Hybrid B

[u0]
From Output Voltage
Sign Subtract Discrete PID Controller Reference

Product
Manual Switch1
PI(z) 40
Goto duty Manual Switch2 Manual Switch

Pulse
[d] Gain3 Generator
2 Scope3
1 Constant2 1 Constant1
0.1
Gain1
From3
Controller
[iL]
Selector From4
[uC]
EMPCcontroller_sfunc
From Output Voltage1
[u0]
Figure D.2: The SRC PWA approximation in Simulink. The model includes the power
converter, the test signal - 10kHz, 50% duty cycle square wave, the sliding mode con-
troller, and the generated explicit MPC.
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SAPIENTIA HUNGARIAN UNIVERSITY OF TRANSYLVANIA

FACULTY OF TECHNICAL AND HUMAN SCIENCES, TRGU-MURE

Modelling and control of bounded

Korltos hibrid rendszerek irnytsa

Tmavezet: Vgzs hallgat:

Modelarea i reglarea sistemelor

Coordonator tiinific: Absolvent:

Coordonator tiinific Viza facultii

b) Problemele principale tratate:

f) Termene obligatorii de consultaii:

g) Locul i durata practicii :

Subsemnatul Fehr ron, absolvent al specializrii Sisteme de control inteligente

la Facultatea de tiine Tehnice i Umaniste Trgu Mure , Universitatea Sapientia din

titlul: Modelarea i reglarea sistemelor hibride cu restricii, aplicaii n electronica de putere

La elaborarea lucrrii de licen/disertaie, se consider plagiat una dintre urmtoarele aciuni:

Data _______________ Semntura ___________________

Modelling and control of bounded

A thesis submitted in partial fulfillment for the

I have acknowledged all main sources of help.

A tezis celja a soros rezonans konverter modellezese es szabalyozasi modszereinek

Az altalanos elmelet utan az egyszeru aramiranytok modellezeset vegeztuk el: Buck

Az MPC ismertetese celjabol atneztuk a korlatlan es korlatos optimum szabalyozokat

Miutan megvizsgaltuk es osszehasonltottuk az emltett szabalyozokat, levontuk a

A kutatas kovetkezo lepese a lert algoritmusok kiprobalasa valos rendszeren.

Scopul lucrarii este modelarea s, i simularea convertoarelor electronice de putere folosind

Comparat, ia diferitelor regulatoare a condus la concluzia, ca regulatorul MPC este

Pasul urmator al cercetarii este realizarea practica al sistemului studiat teoretic.

Finally, I must express my very profound gratitude to my parents for providing me

List of Tables xiii

Notation and background xvi

3 Stability of hybrid systems 19

4 Simple DC-DC converters as hybrid systems 25

5 Resonant converters as hybrid systems 34

6 Explicit MPC of the SRC 48

7 Results and conclusions 54

A Hysdel codes - introduction 56

B Hysdel codes - simple DC-DC converters 61

C Hybrid description of the SRC in HYSDEL/MPT toolbox 65

D.1 SRC converter in Simulink/Simscape/Power systems . . . . . . . . . . 71

1.1 Simple serial RLC circuit. . . . . . . . . . . . . . . . . . . . . . . . . 2

4.1 DC-DC converter in buck topology . . . . . . . . . . . . . . . . . . . . 26

6.1 Receding horizon control theory. . . . . . . . . . . . . . . . . . . . . . 51

1.1 The table contains the common discretization methods. . . . . . . . . . 4

4.1 States of the S1 and S2 switches of the Buck converter. . . . . . . . . . 26

CCM Continuous Current Mode

DCM Discontinuous Current Mode

DEDS Discrete Event Dynamic System

EMI Electro Magnetic Iterference

FSM Finite State Machine

GUAS Globally Uniformly Asymptotically Stable

LTI Linear Time Invariant

MLD Mixed Logical Dynamical

MOS-FET Metal Oxide Semiconductor - Field Effect Transistor

MPC Model Predictive Controler

MPLP Multi Parametric Linear Program

MPQP Multi Parametric Quadratc Program

PRC Parallel Resonant Converter

PWA Piecewise Affine

PWM Pulse Width Modulation

RFI Radio Frequency Iterference

RHC Receding Horizon Controller

SMC Sliding Mode Controller

SRC Series Resonant Converter

ZCS Zero Current Switch

Data _ Semntura _____