Spiazzi

Modeling approaches for switching converters
1/72
Modeling approaches for switching
converters
by
Giorgio Spiazzi
University of Padova ITALY
Dept. of Information Engineering DEI
2/72
Switching cell average model in continuous conduction Switching cell average model in continuous conduction
mode (CCM) mode (CCM)
Switching cell average model in discontinuous Switching cell average model in discontinuous
conduction mode (DCM): first conduction mode (DCM): first- -order model order model
PWM converters PWM converters
Summary of the presentation
3/72
Basic DC-DC Converter topologies: 2order
u
g
+
u
o
+
-
D
S L
i
s
i
L
i
D
R
o
Buck
Buck
u
g
+
u
o
+
-
D
S
L
i
L
i
D
i
S
R
o
Boost
Boost
u
g
+
u
o
+
-
D
S
L
i
s
i
D
i
L
R
o
Buck
Buck
-
-
Boost
Boost
4/72
Basic DC-DC Converter topologies: 4order
u
g
+
u
o
+
-
D
S
L
1
i
1
i
2
R
o
+
u
C
C
o
L
2
C
1
-
u
S
+
u
D
+
-
Cuk
Cuk
u
g
+
u
o
+
-
D
S
L
1
i
1
i
D
R
o
+
u
C
C
o
L
2
C
1
-
u
S
+
u
D
+
-
i
2
SEPIC
SEPIC
5/72
i
D
i
D
i
L
i
o
i
S
i
L
i
S
i
g
U
g
+U
o
U
o
U
g
U
on
+ U
off
U
o
U
o
-U
g
U
o
U
off
U
g
U
g
U
g
-U
o
U
on
Buck-boost Boost Buck
a p
c
n
D
S
L
+
-
U
on
i
s
+
-
U
off
i
D
i
L
Commutation Cell for 2order converters
2
2
order converters can be

order converters can be
described by a unique
described by a unique
commutation cell:
commutation cell:
6/72
Averaging
( ) ( )
=
t
T t
s
s
d x
T
1
t x
Moving average:
Example: instantaneous and average inductor Example: instantaneous and average inductor
current in transient condition current in transient condition
2.8 2.9 3 3.1 [ms]
5
6
7
8
9
10
11
[A]
i
L
i
L
7/72
Average model: CCM
Switching frequency ripples are neglected
Only low-frequency dynamic is investigated
( ) ( )
( )
( )
( ) ( )
(

= = =

S
S L L
t i
T t i
L
S
t
T t
L
S
L
T
T t i t i
L di
T
L
d u
T
1
t u
L
S L S
Example: inductors
Example: inductors ( )
( )
dt
t di
L t u
L
L
=
8/72
Average model: CCM
( ) ( )
( )
( )
( ) ( ) ( ) ( ) t z , t y with d , t f z , y , t d , t f t
z
y
t
t
= = = = =

( ) ( )
( )
( )
( ) ( )
( )
( ) ( )
( )
dt
t d
t , t f
dt
t d
t , t f d
dt
, t df
dt
t d
t
t
( )
( )
dt
t i d
L t u
L
L
=
( )
( ) ? d i
T
1
dt
d
dt
t i d
t
T t
L
S
L
S
=
(
(
( ) ( ) ( )
S
S L L L
T
T t i t i
dt
t i d
=
9/72
Averaging approximation
t
t
dT
s
i
L
(t)
(1-d)T
s
U
on
-U
off
u
L
(t)
L
U
m
on
1
=
L
U
m
off
2
=
i
L
(T
s
)
i
L
(0)
L
u
( ) ( ) ( )
s
off
s L s L
T d 1
L
U
dT i T i =
( ) ( )
s
on
L s L
dT
L
U
0 i dT i + =
( ) ( ) ( )
( )
s
L
L
s
off
s
on
L s L
T
L
u
0 i
T d 1
L
U
dT
L
U
0 i T i
+ =
+ =
Non steady
Non steady
-
-
state
state
inductor current
inductor current
waveform:
waveform:
10/72
Averaging
Reactive element voltage

Reactive element voltage
-
-
current relations
current relations
remain valid also for average quantities;
remain valid also for average quantities;
for inductors, the current variation in a switching

for inductors, the current variation in a switching
period can be calculated by integrating their
period can be calculated by integrating their
average voltage;
average voltage;
for capacitors, the voltage variation in a

for capacitors, the voltage variation in a
switching period can be calculated by integrating
switching period can be calculated by integrating
their average current.
their average current.
11/72
Continuous conduction mode - CCM
( )
S off S on
T d 1 U dT U =
d
d 1
U
U
off
on

=
At steady At steady- -state: state:
t
t
dT
s
T
s
t
t
i
L
(t)
i
s
(t)
i
d
(t)
(1-d)T
s
U
on
-U
off
u
L
(t)
L
U
m
on
1
=
L
U
m
off
2
=
( ) d 1 i i
L D
=
d i i
L S
=
L
i
0 u
L
=
Buck:
d M =
Boost:
d 1
1
M
=
Buck-Boost:
d 1
d
M
=
( ) d 1
Lf 2
U
d
Lf 2
U
2
i
i
S
off
S
on
Lpp
lim L
= =
=
Boundary CCM Boundary CCM- -DCM: DCM:
12/72
Switching cell average model: CCM
( )
( )
D S
off on D
off on S
u
d
d
u
u u d u
u u d u

=
+ =
+
=
D S
L D
L S
i
d
d
i
i d i
i d i
=
=
a p
c
n
D
S
L
+
-
u
on
i
S
+
-
u
off
i
D
i
L
d=1-d = complement of duty-cycle
D
S
i
S
i
D
u
D
-
+
-
u
S
+
Non linear components Non linear components
Average switch and diode voltages and currents: Average switch and diode voltages and currents:
13/72
+
- +
-
d:d
D
u
S
i
D
i
S
u
D
S
i
S
i
D
u
D
-
+
-
u
S
+
( )
( )
D S
off on D
off on S
u
d
d
u
u u d u
u u d u

=
+ =
+
=
D S
L D
L S
i
d
d
i
i d i
i d i
=
=
+
+
D
u
d
d
S
i
d
d
S
u
D
i
-
+
-
D
u
S
i
d=1-d = complement of duty-cycle
14/72
The non-linear components (switch and diode)
are replaced by controlled voltage and current
generators representing the relations between
average voltage and currents;
These controlled voltage and current generators
can be substituted by an ideal transformer with a
suitable equivalent turn ratio.
15/72
Buck average model: CCM
D g S g D
u
d
d
u u u u

= =
g D
u d u =
( )
S L D S
i i
d
d
i
d
d
i
=
L S
i d i =
+
+
-
d:d
L
R
o
+
-
+
-
D
u
S
i
D
i
S
u
L
i
o
u
g
u
C
u
g
+
u
o
+
-
D
S L
i
S
i
L
i
D
R
o u
g
16/72
Buck average model (alternative approach): CCM
D
S
i
g
i
L
u
g u
D
+
-
+
-
Switching
Switching
cell
cell
Independent variables: Independent variables: u u
g g
, , i i
L L
Dependent variables: Dependent variables: u u
D D
, , i i
g g
u
g
+
u
o
+
-
D
S L
i
S
i
L
i
D
R
o
17/72
Buck average model (alternative approach): CCM
D
S
i
g
i
L
u
g u
D
+
-
+
-
+
-
+
-
1:d
g
u
L
i
g
i
D
u
Averaging Averaging
+
+ L
i d
g
u d
g
u
L
i
-
+
-
D
u
g
i
18/72
Buck average model: CCM
= =
= =
o
o
L C
C
o g L
L
R
u
i i
dt
u d
C
u u d u
dt
i d
L
L
C
L
i d
g
u d
o
u g
u
R
o
L
i
+
+
-
+
-
19/72
Boost average model: CCM
+
+
-
d:d
L
R
o
+
-
+
-
D
u
S
i
D
i
S
u
L
i
o
u
g
u
C
S o D o S
u
d
d
u u u u
= =
o S
u d u

=
( )
D L S D
i i
d
d
i
d
d
i
=
L D
i d i

=
u
g
+
u
o
+
-
D
S
L
i
L
i
D
i
S
R
o
20/72
Boost average model (alternative approach): CCM
Switching
Switching
cell
cell
Independent variables: Independent variables: u u
o o
, , i i
L L
Dependent variables: Dependent variables: u u
S S
, , i i
D D
D
S
i
L
i
D
u
S u
o
+
-
+
-
u
g
+
u
o
+
-
D
S
L
i
L
i
D
i
S
R
o
21/72
Boost average model (alternative approach): CCM
+
+
L
i d
o
u d
o
u
L
i
-
D
S
i
L
i
D
u
S u
o
+
-
+
-
+
-
+
-
d:1
o
u
L
i
D
i
S
u
22/72
Boost average model: CCM
= =
= =
o
o
L C
C
o g L
L
R
u
i d i
dt
u d
C
u d u u
dt
i d
L
L
C
L
i
o
u d
o
u g
u
R
o
L
i d
+
+
-
+
-
d:1
23/72
Buck-Boost average model: CCM
( )
o g D
u u d u + =
( )
D L S D
i i
d
d
i
d
d
i
=
L D
i d i

=
( )
o g S
u u d u +
=
L S
i d i =
u
g
+
u
o
+
-
D
S
L
i
S
i
D
i
L
R
o
+
+
-
d:d
L
R
o
+
-
+
-
D
u
S
i
D
i
S
u
L
i
o
u
g
u
C
o D o D S g
u u
d
1
u u u u = + =
24/72
Buck-Boost average model: CCM
+
+
-
d:d
L
R
o
+
-
+
-
D
u
S
i
D
i
S
u
L
i
o
u
g
u
C
( )
o g D
u u d u + =
= =
= = =
o
o
L C
C
o g o D L
L
R
u
i d i
dt
u d
C
u d u d u u u
dt
i d
L
+
+
-
L
R
o
+
+
S
i L
i
o
u
g
u
C
L
i d
L
i d
g
u d
o
u d
D
i
25/72
Buck-Boost equivalent average model: CCM
+
+
-
L
R
o
+
+
S
i L
i
o
u
g
u
C
L
i d
L
i d
g
u d
o
u d
D
i
+
+
-
L
R
o
+
S
i L
i
o
u
g
u
C
D
i
1:d d:1
}
{
Boost Boost
Buck Buck
26/72
Cuk average model: CCM
D
S
i
S
i
D
u
D
-
+
-
u
S
+
D S
C D
C S
u
d
d
u
u d u
u d u

=
=
( )
( )
D S
2 1 D
2 1 S
i
d
d
i
i i d i
i i d i
=
+ =
u
g
+
u
o
+
-
D
S
L
1
i
1
i
2
R
o
+
u
C
C
o
L
2
C
1
-
u
S
+
u
D
+
-
Switching cell
Switching cell
27/72
+
+
-
R
o
+
1
i
o
u
g
u
2
i
d:d
L
1
C
o
L
2
C
1
C
u
-
+
+
-
S
u
D
u
=
=
=
o
o
2
o
o
2 1
C
1
o C
2
2
C g
1
1
R
u
i
dt
u d
C
i d i d
dt
u d
C
u u d
dt
i d
L
u d u
dt
i d
L
28/72
+
+
-
R
o
+
1
i
o
u g
u
2
i
L
1
C
o
C
1
C
u d
L
2 +
1
i d
C
u d
+
C
u
2
i d
+
+
-
R
o
+
1
i
o
u
g
u
2
i
L
1
C
o
C
1
L
2
1
i d
C
u
2
i d
d:1 1:d
}
{
Boost Boost
Buck Buck
29/72
SEPIC average model: CCM
D
S
i
s
i
D
u
D
-
+
-
u
S
+
( )
( )
D S
o C D
o C S
u
d
d
u
u u d u
u u d u

=
+ =
+
=
( )
( )
D S
2 1 D
2 1 S
i
d
d
i
i i d i
i i d i
=
+ =
u
g
+
u
o
+
-
D
S
L
1
i
1
i
D
R
o
+
u
C
C
o
L
2
C
1
-
u
S
+
u
D
+
-
i
2
Switching cell
Switching cell
30/72
+
+
-
R
o
+
1
i
o
u
g
u
2
i
d:d
L
1
C
o
L
2
C
1
C
u
D
i
-
+
+
-
S
u
D
u
( )
( )
=
+
=
o
o
2 1
o
o
2 1
C
1
o C
2
2
o C g
1
1
R
u
i i d
dt
u d
C
i d i d
dt
u d
C
u d u d
dt
i d
L
u u d u
dt
i d
L
31/72
+
+
-
R
o
+
1
i
o
u
g
u
2
i
L
1
C
o
L
2
C
1 C
u
D
i
+ +
+
+
C
u d
o
u d
1
i d
C
u d
o
u d
2
i d
1
i d
2
i d
Alternative approach
32/72
Model perturbation
Generic voltage or current:
Generic voltage or current: x X x + =
Y x y X XY y x + +
X x <<
Small
Small
-
-
signal approximation:
signal approximation:
Examples:
( )( )
L L L L L L
I d
D DI i
I d
D i d + + + + =
( )( )
g g g g g g
U d
u D DU u U d
D u d + + + + =
Product of variables:
Product of variables:
33/72
General switching cell: DC and small-signal model
+
- +
-
d:d
D
u
S
i
D
i
S
u
( ) ( )
D D D S S S
U d
u U D U d
u U D +
+ +
( )
D D
D S
S S
u U
D
D
D
U U
d
u U +
\
|
+
+ +
{
S
u
{
D
u
a p
c
n
D
S
L
+
-
u
on
i
S
+
-
u
off
i
D
i
L
At steady
At steady
-
-
state:
state:
0 u
L
=
= =
= =
off D D
on S S
U U u
U U u
D D
U
D
D
1
D
U
U
U
1
D
U
D
U U
S S
S
D S D S
=
|
\
|
+ =
|
|
\
|
+ =
+
34/72
General switching cell: DC and small-signal model
+
- +
-
d:d
D
u
S
i
D
i
S
u
( ) ( )
D D D S S S
I d
I D I d
I D + + +
+
-
+
-
D:D
D
u
S
i
D
i
S
u
+
d
D D
U
S
D D
I
D
( )
|
\
|
+
+
+
D
I I
d
I
D
D
i
I
D S
S S D D
{
D
i
{
S
i
35/72
Buck switching cell: DC and small-signal model
+ =
+ =
d
U u D u
d
I i D i
g g D
L L g
+
-
+
-
1:d
g
u
L
i
g
i
D
u
d
U
g
+
-
+
-
1:D
D
u
g
i
L
i
g
u
+
d
I
L
Perturbation and linearization:
36/72
Buck DC and small-signal model
L
C
o
u g
u
R
o
L
i
+
+
-
d
U
g
1:D
+
d
I
L
g
i
( )
( )
( )
2
o
2
o
g
o
ud
s
Q
s
1
U
s D
s U
s G
+
= =
L
C
R Q
LC
1
o o
= =
Duty
Duty
-
-
cycle to output voltage transfer function:
37/72
Boost switching cell: DC and small-signal model
=
d
U u D u
d
I i D i
o o S
L L D
d
U
o
+
-
+
-
D:1
o
u
L
i
D
i
S
u
+
d
I
L
+
-
+
-
d:1
o
u
L
i
D
i
S
u
38/72
Boost DC and small-signal model
Duty
Duty
-
-
L
C
o
u
g
u
R
o
D
i
+
+
-
+
d
U
o
D:1
L
i
d
I
L
( )
2 2 2
o
2
o
2
g ud
LCM s M
R
L
s 1
M
R
L
s 1
M U s G
+ +
=
RHP zero
39/72
Boost small-signal model: CCM
1
0
t
Normalized output voltage response to a
Normalized output voltage response to a
duty
duty
-
-
cycle step change:
cycle step change:
The output voltage initially
The output voltage initially
moves in the wrong direction
moves in the wrong direction
40/72
Buck-Boost DC and small-signal model
+
-
+
-
D:D
D
u
S
i
D
i
S
u
+
d
D D
U
S
D D
I
D
+
+
-
L
R
o
L
i
o
u
g
u
C
41/72
Buck-Boost DC and small-signal model
Duty
Duty
-
-
RHP zero
( ) ( )
( )
( ) ( )
2
2
2
o
o
2
g ud
M 1 LC s M 1
R
L
s 1
M 1 M
R
L
s 1
M 1 U s G
+ + + +
+
+ =
+
+
-
L
R
o
S
i L
i
o
u
g
u
C
D
i
+
d
U
o
D:1
d
I
L
d
U
g
1:D
+
d
I
L
42/72
Cuk DC and small-signal model
D:D
1
i
2
i
+
d
D D
U
S
D D
I
D
+
+
-
R
o
+
o
u
g
u
L
1
C
o
C
1
L
2
C
u
+
+
-
R
o
+
1
i
o
u
g
u
2
i
d:d
L
1
C
o
L
2
C
1
C
u
-
+
+
-
S
u
D
u
43/72
Cuk DC and small-signal model
+
+
-
R
o
o
u
g
u
+
d
U
C
D:1
d
I
1
d
U
C
1:D
+
d
I
2
C
u
+
C
1
1
i
2
i
L
1
C
o
L
2
44/72
SEPIC DC and small-signal model
D:D
+
d
D D
U
S
D D
I
D
1
i
+
g
u
L
1
+
-
R
o
o
u
C
o
+
C
1
C
u
2
i
L
2
45/72
Discontinuous conduction mode - DCM
t
t
dT
s
T
s
t
t
i
L
(t)
i
s
(t)
i
d
(t)
(dT
s
U
on
-U
off
u
L
(t)
L
U
m
on
1
=
L
U
m
off
2
=
D
i
S
i
L
i
S off S on
T d u dT u

=
d
d
u
u
off
on

=
( )
|
|
\
|
+ =
+ =
off
on
on
S
2
Lpk
L
u
u
1 u
Lf 2
d
d d
2
i
i
off
2
on
S
2
Lpk
D
u
u
Lf 2
d
d
2
i
i =
=
on
S
2
Lpk
S
u
Lf 2
d
d
2
i
i = =
At steady-state:
0 u
L
=
46/72
Discontinuous conduction mode - DCM
Buck: Buck:
|
\
|
= = 1
M
1
U
Lf 2
d
i I
g
S
2
L o
2
oN
d
I
1
1
M
+
=
Boost: Boost:
|
\
|
= =
1 M
1
U
Lf 2
d
i I
g
S
2
D o
oN
2
I
d
1 M + =
M
1
U
Lf 2
d
i I
g
S
2
D o
= =
oN
2
I
d
M =
Buck Buck- -
Boost: Boost:
s
g
N
N
o
oN
Lf 2
U
I ,
I
I
I = =
t
t
dT
s
T
s
t
t
i
L
(t)
i
s
(t)
i
d
(t)
(dT
s
U
on
-U
off
u
L
(t)
L
U
m
on
1
=
L
U
m
off
2
=
D
i
S
i
L
i
47/72
The inductor current is always zero at the

The inductor current is always zero at the
beginning of each switching period;
beginning of each switching period;
this loss of the memory effect justifies the

this loss of the memory effect justifies the
statement that the inductor current is no more a
statement that the inductor current is no more a
state variable;
state variable;
switch and diode are replaced by non linear

switch and diode are replaced by non linear
controlled current generators
controlled current generators
First order average models - DCM
48/72
First order average models - DCM
a p
c
n
D
S
L
+
-
i
s
+
-
i
D
i
L
a p
c
D
i
S
i
L
i
on
u off
u
Inductor average voltage is always Inductor average voltage is always
zero in a switching period! zero in a switching period! (?) (?)
t
t
dT
s
T
s
t
t
i
L
(t)
i
s
(t)
i
d
(t)
(dT
s
U
on
-U
off
u
L
(t)
L
U
m
on
1
=
L
U
m
off
2
=
D
i
S
i
L
i
49/72
Buck average model: DCM
u
L
L
C
D
S
+
-
u
g
u
o
+
-
I
o
+
-
R
o
C
L
i o
u
g
u
o
i
g
i
50/72
Buck small-signal model: DCM
d
k u g u g d
d
f
u
u
f
u
u
f
i
i o r g i o
o
g
g
g
+ + =
=
d
k u g u g d
d
h
u
u
h
u
u
h
i
o o o g f o
o
g
g
L
+ =
=
( ) ( ) d , u , u h
u
u
u u
Lf 2
d
i
o g
o
g
o g
S
2
L
=
|
|
\
|
=
( ) ( ) d , u , u f u u
Lf 2
d
i i
o g o g
S
2
S g
= = =
{
Average
Average
quantities:
quantities:
{
Perturbation:
Perturbation:
51/72
Buck small-signal model: DCM
C
L
i o
u
g
u
o
i
S
i
C
g
u
L
i
o
u
d
k
o
d
k
i
o r
u g
g f
u g
o
g
i
g
S
i
o
R
First order model
First order model
52/72
Boost small-signal model: DCM
C
D
i o
u
g
u
o
i
L
i
C
g
u
D
i
o
u
d
k
o
d
k
i
o r
u g
g f
u g
o
g
i
g
L
i
o
R
|
|
\
|
=
g o
o
g
S
2
L
u u
u
u
Lf 2
d
i
g o
2
g
S
2
D
u u
u
Lf 2
d
i
=
53/72
Buck-Boost small-signal model: DCM
C
D
i o
u
g
u
o
i
S
i
C
g
u
D
i
o
u
d
k
o
d
k
i
o r
u g
g f
u g
o
g
i
g
S
i
o
R
o
2
g
S
2
D
u
u
Lf 2
d
i =
g
S
2
S
u
Lf 2
d
i =
54/72
Full order average models: DCM
t
t=0
t
t
t
t
t
DT
s
DT
s
L
i
L L
i
i +
s
T d
s
T d

i
( ) t i
L
t
S
t
D
S S
t
t +
D D
t
t +
t
S
t
D
t
T
s
t
( ) { } ( )
s
e 1
T d
L
u u
dt e i dt e t i
s I
s
s
T D s
s
off on
T D
0
st
0
st
L L L

+
=
= = =

L
( ) { } ( )
s
T d
s
T d
0
st
0
st
S S
T d
s
e 1
dt e
dt e t t
s D
s
s
= =
= =
L
( )
( )
( )
( )
|
|
\
|
+
= =

s
T D s
s
off on
L
id
T D s
e 1
Lf
D u u
s D
s I
s G
s
Impulsive perturbation: Impulsive perturbation:
Response to impulsive perturbation: Response to impulsive perturbation:
55/72
t
t=0
t
t
t
t
t
DT
s
DT
s
L
i
L L
i
i +
s
T d
s
T d

i
( ) t i
L
t
S
t
D
S S
t
t +
D D
t
t +
t
S
t
D
t
T
s
t
First order First order Pad Pad
approximation: approximation:
|
|
|
|
\
|

2
T D s
1
2
T D s
1
e
s
s
T D s
s
( )
( )
|
|
|
|
\
|
2
T D s
1
1
Lf
D u u
s G
s
s
off on
id
D
f
f
D
f 2
s
p
s
p
=
( )
( )
( )
( )
|
|
\
|
+
= =

s
T D s
s
off on
L
id
T D s
e 1
Lf
D u u
s D
s I
s G
s
56/72
t
t=0
t
t
t
t
t
DT
s
DT
s
L
i
L L
i
i +
s
T d
s
T d

i
( ) t i
L
t
S
t
D
S S
t
t +
D D
t
t +
t
S
t
D
t
T
s
t
Overall d Overall d perturbation: perturbation:
d
u
u
1 d
u
i L
T d
off
on
off
s
|
|
\
|
+ =

=

d
u
u
d
off
on
=

=
WRONG!
( )
s s s D
T D t T d
) t ( T d

+ =
Dirac function Dirac function
( ) { } ( ) ( )
s
T D s
off
on
D
e s D
u
u
1 s D
s D
|
|
\
|
+ + = =
L
57/72
t
t=0
t
t
t
t
t
DT
s
DT
s
L
i
L L
i
i +
s
T d
s
T d

i
( ) t i
L
t
S
t
D
S S
t
t +
D D
t
t +
t
S
t
D
t
T
s
t
Inductor current perturbation: Inductor current perturbation:
( )
( )
s
T D s
off
on
e
u
u
1 1
s D
s D

|
|
\
|
+ + =
off on
L
u d
u d
dt
i
d
L

=
( ) ( ) ( )
off on L
u s D
u s D
s I
sL

=
( )
( )
( )
( )
|
|
\
|
+
= =

s
T D s
s
off on
L
id
T D s
e 1
Lf
D u u
s D
s I
s G
s
58/72
a
p c
n
D
S
L
i
L
a
p c
n
L
i
L
i
a
i
p
a
p c
n
L
i
L
i
a
u
D
+
The switch is replaced by a The switch is replaced by a
controlled current generator controlled current generator
while the diode is replaced by a while the diode is replaced by a
controlled voltage generator controlled voltage generator
59/72
( )
+ =
d i
2
1
i
d d i
2
1
i
Lp a
Lp L
d d
d
i i
L a
+
=
( ) ( ) d d 1 u d u u u
off off on D

+ + =
( ) d
u d
i Lf 2
d d d d
Lf 2
u
i
on
L s
s
on
L
=
+ =
t 0
i
Lp
i
L
t
T
s
0
dT
s
(d+d)T
s
u
D
off on
u u +
off
u
i
a
a
p c
n
L
i
L
i
a
u
D
+
60/72
Example: boost in DCM
a
p c
n
L
i
L
i
a
u
D
+
( )( ) d d 1 u u d u u
g o o D

+ =
d
u d
i Lf 2
d
g
L s
=
( )( ) [ ]
L
d u
i
d
f 2
u
u
1
d d 1 u u d u u u
L
1
dt
i d
o
L
s
g
o
g o o o g
L
+
|
|
\
|
=
=
+ + =
o
o
s
g
2
L
o
o
a L
o
CR
u
LCf 2
u d
C
i
R
u
i i
C
1
dt
u d
=
|
|
\
|
=
( )
( )( )
( )
+
=
+ +
+ +
+
|
|
\
|
+
=
o
o o
s
g
2
L L
o
o o
L L
s
g
o o
L
CR
u U
LCf 2
U d
D
C
i
I
dt
u d
L
d
D u U
i
I
d
D
f 2
U
u U
1
dt
i
d
Duty Duty- -cycle perturbation: cycle perturbation:
61/72
( )
=
+ =
o
o
s
g L
o
o
o
s o
L
L
CR
u
d
LCf
DU
C
i
dt
u d
u
DR
Mf 2
d
L
U 2
i
M 1
D
f 2
dt
i
d
( )
( )
( ) ( ) ( )
|
|
\
|
+
|
|
\
|
+
|
|
\
|
+
|
|
\
|
+ +
|
\
|

= =
pAF pBF
z
B
o
s s
o
2
s
s
g
o
ud
s
1
s
1
s
1
K
C DR
1 M 2 f 2
D
1 M f 2
C R
1
s s
s
D
f 2
LCf
DU
s D
s U
s G
|
\
|
=
1 M
1 M 2
C R
1
o
pHF
Small Small- -signal linear model: signal linear model:
( )
D
1 M f 2
s
pLF
=
D
f 2
s
z
=
( )
k
1 M M
1 M 2
U 2
K
g
B
=
The same as first order model: The same as first order model:
62/72
a) Full order model
b) First order model
10
-1
[dB]
-60
-20
-30
-40
-50
( )
( )
dB
ud
ud
0 G
j G
a)
b)
10
-2
10
-3
10
-4
-10
10
0
[deg]
-180
-30
-60
-90
-120
( ) j G
ud
a)
b)
-150
10
-1
s
f
f
10
-2
10
-3
10
-4
10
0
s
f
f
Control
Control
-
-
to
to
-
-
output transfer function
output transfer function
63/72
State-Space averaging (SSA): CCM
Interval Interval dT dT
s s
: :
=
+ =
x C y
u B x A x
1
1 1
&
State, input and output State, input and output
variable vector: variable vector:
(
=
C
L
u
i
x
(
=
o
g
i
u
u
=
off
on
t t 0
t t 1
) t ( q
( ) ( ) [ ]
( )
+ = + =
+ + = + + + =
q G x C q x C C x C y
q F u B x A q u B B x A A u B x A x
2 2 1 2
2 2 2 1 2 1 2 2
&
Switching function: Switching function:
+ =
+ + =
q G x C y
q F u B x A x
2
2 2
&
Applying moving Applying moving
average operator: average operator:
x x
&
&
=
=
+ =
x C y
u B x A x
2
2 2
&
Interval (1 Interval (1- -d)T d)T
s s
: :
(
=
g
o
i
u
y
64/72
Hp: linear ripple approximation Hp: linear ripple approximation
= + =
+ = + + =
x C d G x C y
u B x A d F u B x A x
2
2 2
&
d F q F q F = =
t
i
L
t
T
s
0
dT
s
t
q
qi
L
L
i
L L
i q qi =
d q =
? q G ?, q F = =
t
u
C
t
T
s
0
dT
s
t
q
qu
C
C
u
C C
u q qu =
d q =
Hp: small ripple approximation Hp: small ripple approximation
( ) d 1 A d A A
2 1
+ = ( ) d 1 B d B B
2 1
+ =
d G q G q G = =
( ) d 1 C d C C
2 1
+ =
65/72
Steady Steady- -state solution: state solution:
=
=
=
+ =

x C y
u B A x
x C y
u B x A 0
1
( ) ( ) [ ]
( )
+ = + =
+ + = + + + =
d
G x C d
X C C x C y
d
F u B x A d
U B B X A A u B x A x
2 1
2 1 2 1
&
Small Small- -signal linear model: signal linear model:
( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
+ =
+ =

s D
G s X
C s Y
s D
F s U
B A sI s X
1
66/72
Example: boost converter in CCM
(
=
C
L
u
i
x
g
u u =
o
u y =
Interval Interval dT dT
s s
: : Interval (1 Interval (1- -d)T d)T
s s
: :
=
+ =
x C y
u B x A x
1
1 1
&
=
+ =
x C y
u B x A x
2
2 2
&
67/72
( )
(
(
(
(
=
C r R
1
0
0
L
r
A
C
L
1
( )
( ) ( ) (
(
(
(
+
+
=
C r R
1
C r R
R
L r R
R
L
R // r r
A
C C
C
C L
2
(
+
=
C
1
r R
R
0 C
(
+
=
C
C 2
r R
R
r // R C
(
(
= =
0
L
1
B B
2 1
Steady Steady- -state state
solution: solution:
g
1
U B A x 0 x

= =
&
= =
(

=
(
=
R
R D U
U Y
R D
1
R
U
U
I
X
g
o
g
C
L
( ) R // r D D r R D R
C L
2
+ +
( ) R // r D D r R D
R D
D
1
U
U
M
C L
2
2
g
o
+ +
= =
Voltage conversion ratio: Voltage conversion ratio:
68/72
Small
Small
-
-
signal linear model:
signal linear model:
( )
( )
( ) ( )
( )
( )
( )
d
C r R
R
L r R
r R D R
R
U
u
0
L
1
u
i
C r R
1
C r R
R D
L r R
R D
L
R // r D r
u
i
C
C
C
g
g
C
L
C C
C
C L
C
L
(
(
(
(
+
+
+
(
(
+
(
(
(
(
(
=
(
&
&
( ) d
R
R || r
U
u
i
r R
R
R || r D y
C
g
C
L
C
C
=
69/72
State-Space averaging (SSA): DCM
Applying moving Applying moving
average operator: average operator:
x x
&
&
=
t
i
Lp
i
L
d
1
T
s
d
2
T
s
d
3
T
s
L
U
on
L
U
off
t
t
t
1
1
1
q
1
q
2
q
3
( ) u B q x A q t x
3
1 k
k k
3
1 k
k k
|
|
\
|
+
|
|
\
|
=

= =
&
u B d x A d x
3
1 k
k k
3
1 k
k k
|
|
\
|
+
|
|
\
|

= =
&
Why?
State variable vector: State variable vector:
(
=
C
L
u
i
x
70/72
Example: Example: i i
L L
q q
1 1
t
i
Lp
i
L
d
1
T
s
d
2
T
s
d
3
T
s
L
U
on
L
U
off
t
1
q
1
i
L
q
1
L
i
1 L 1 L
q i q i
( )
2 1
Lpk
L
d d
2
i
i + =
2 1
2 L
2 1
2
L 2
Lpk
D L 2
d d
1
q i
d d
d
i d
2
i
i i q
+
=
+
= = =
2 1
1 L
2 1
1
L 1
Lpk
S L 1
d d
1
q i
d d
d
i d
2
i
i i q
+
=
+
= = =
Hp: linear ripple approximation Hp: linear ripple approximation
Corrective term Corrective term
71/72
u B d x M A d x
3
1 k
k k
3
1 k
k k
|
|
\
|
+
|
|
\
|
=

= =
&
3 , 2 , 1 i u d u q u q
C i C i C i
= = =
Hp: small ripple approximation Hp: small ripple approximation
(
(
+
=
1 0
0
d d
1
M
2 1
M is the correction matrix M is the correction matrix
( ) u B q x A q t x
3
1 k
k k
3
1 k
k k
|
|
\
|
+
|
|
\
|
=

= =
&
72/72
If d If d
3 3
= 0, i.e. in CCM, we have: = 0, i.e. in CCM, we have:
u B d x M A d x
3
1 k
k k
3
1 k
k k
|
|
\
|
+
|
|
\
|
=

= =
&
(
(
+
=
1 0
0
d d
1
M
2 1
1
on
L s
2
d
u
i Lf 2
d
=
2 1 3
d d 1 d =
(
=
1 0
0 1
M
u B d x A d x
2
1 k
k k
2
1 k
k k
|
|
\
|
+
|
|
\
|
=

= =
&

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