C

1
C
1
L
1
R
1
V
dc
b) averaged boost converter.
V
dc
L
1
a) averaged buck converter.
R
1
Avg switch
p
a c
Avg switch
p
a
c
Chapter 6
Dynamic analysis
of switching converters
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 2
Overview
Continuous-Time Linear Models
Switching converter analysis using classical control
techniques
Averaged switching converter models
Review of negative feedback using classical-control
techniques
Feedback compensation
State-space representation of switching converters
Input EMI filters
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 3
Overview
Discrete-time models
Continuous-time and discrete-time domains

Continuous-time state-space model

Discrete-time model of the switching
converter

Design of a discrete control system with
complete state feedback
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 4
Dynamic analysis
Dynamic or small-signal analysis of the switching
converter enables designers to predict the dynamic
performance of the switching converter to reduce
prototyping cost and design cycle time

Dynamic analysis can be either numerical or
analytical
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 5
Dynamic analysis
Switching converters are non-linear time-variant
circuits

Nevertheless, it is possible to derive a continuous
time-invariant linear model to represent a switching
converter

Continuous-time models are easier to handle, but
not very accurate

Since a switching converter is a sampled system, a
discrete model gives a higher level of accuracy
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 6
Linear model of a switching
converter
PWM Switch LPF
Load
V
ref
V
o
Load
V
ref
V
o
k
Z
Z
L
(a)
(b)
L
o ref
o L
Z
V kV
Z Z
=
+
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 7
PWM modulator model
V
ref
ref v
^
D
^
d
T
Vp
Sensitivity of the duty cycle with respect to v
ref

Voltage-mode control
ref
p
V
D
V
=
1
ref ref
ref p
D
d v v
V V
= =
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 8
PWM modulator model
T d
^
) (
^
0 i
L
) (
^
0 i
L
r
r
T d D ) (
^
+
T D
Variation of the duty cycle due to a perturbation in the inductor current
Current- mode control
1 L L P
di V I I
dt L D

= =
1
( )
P
L
I I L
D
V

=
^ ^ ^ ^
p L c
L c p
d d d
d i v I
i v I
c c c
= + +
c c c
d c
V V
r
L

=
^ ^
( ) L i r d T =
^ ^
( )
L
d c
L
d i
V V T
=

^
( )
L
d c
d L
V V T
i
c
=

c
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 9
PWM modulator model
i
L
T d
^
T D
r
r
1
I
p
DT
AI
T d D ) (
^
+
Variation of the duty cycle due to a perturbation in the output voltage
Current- mode control
1
( )
d c
r V V L =
^
' [ ( )] c
d c
r V V v L = +
1
r I DT = A
^
' ( ) r I D d T = A +
1
^ ^
( )
'
( ) [ ( )]
d c
c
d c
V V L r I DT
r
I D d T V V v L
A
= =
A + +
^
^
^
c
c
d c
v
d D
V V v
(
(
=
(


^ ^
c
d c
D
d v
V V
(
=
(

d c
d D
V V
v
(
c
=
(

c

Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 10
PWM modulator model
i
L
^
T d
d D ) (
^
+ T D
r
I
p
+
p
I
p

p
T
Variation of the duty cycle due to a perturbation on the peak current
Current- mode control
^
^
p I
d T
r
=
d c
V V
r
L

=
^
^
p
d c
I L
d
T V V
=

^
^
1
d c
p
d L
T V V
I
c
=

c
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 11
Averaged switching converter
models
v
1
i
1
(passive)
(common)
p
D 1
(active)
c
a i
c
Three-terminal averaged-switch model
Averaged-switch model for voltage-mode control
1
ap
V
v d
D
=
1 c
i I d =
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 12
Averaged switching converter
models
C
1
C
1
L
1
R
1
V
dc
b) averaged boost converter.
V
dc
L
1
a) averaged buck converter.
R
1
Avg switch
p
a c
Avg switch
p
a
c
Examples of switching converters with an averaged switch
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 13
Averaged switching converter
models
c
I
1
g
o
p
I
3
a
I
2
g
i
Small-signal averaged-switch model for the discontinuous mode
,
1 2 ,
2 2 ,
3 2 ,
a
i
ac
a
p
ac
ac
p
p
o
cp
I
g
V
I
I d
D
I
I v
V
I
I d
D
I
g
V
=
=
=
=
=
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 14
Averaged switching converter
models
POWER
STAGE
MODEL
d
F
m
K
r
V
off
R
i
H
e
(s)
K
f
V
on
+
-
^
^
V
c
^
V
g
^
+ +
+
I
L
^
V
o
^
^
Small-signal model for current-mode control
2
2
( ) 1
e
n z n
s s
H s
Q e e
= + +
2
z
Q
t

=
n
s
T
t
e =
2
1 ,
2
(1 )
,
2
1
.
( )
s i
f
s i
r
m
n c s
DT R D
k
L
D T R
k
L
and
F
S S T

| |
=
|
\ .

=
=
+
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 15
Output filter model
sL
o
V (s)
sC
o
1
o
-
R
o s
V (s)
+
-
+
Output filter of a switching converter
o
o
s
o
o o
o
1
//
R
sC
V (s) = (s) .
V
1
+ //
sL R
s
C
| |
|
\ .
o o o
2
s
o o o o
1
(s)
V C L
= .
s 1
(s)
V
+ +
s
C C R L
2
o
2 2
o o
H(s) = ,
+ 2 s +
s
e
,
e e
o
o
1
=
C
2R
L
,
o
o o
1
= .
C L
e
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 16
Output filter model
0.01 0.1 1 10 100
-50
-40
-30
-20
-10
0
10
20
30
f / f
o
M
a
g
n
i
t
u
d
e

R
e
s
p
o
n
s
e

(
d
B
)
>
o
o
o
L
R
C
1
2
o
o
o
L
R
C
=
o
o
o
L
R
C
<
Magnitude response of the output filter for several values of the
output resistance R
o

2
2 2
20log ( ) 10log 1 4
o o
G
e e
e ,
e e
| |
| |
| | | |
|
| = +
| |
| |
| \ . \ .
\ .
\ .
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 17
Output filter model
0.01 0.1 1 10 100
-180
-160
-140
-120
-100
-80
-60
-40
-20
0
f / f
o
P
h
a
s
e

R
e
s
p
o
n
s
e

(
d
e
g
r
e
e
)
>
o
o
o
L
R
C
1
2
o
o
o
L
R
C
=
o
o
o
L
R
C
<
Phase response of the output filter for several values of the output
resistance R
o

1
2
2
( ) tan
1
o
o
e
,
e
e
e
e

| |
|
|
u =
|
| |
|

|
|
\ .
\ .
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 18
Output filter model
R
esr
sL
o
-
+ +
-
s
V (s)
sC
o
1
V (s)
o
R
o
Output filter with a capacitor Resr
o esr esr o
o o esr o o 2
o o esr
o o esr o o esr o o
1
s+
R R C R
H(s) = .
+
C L R R R ( + )
L R R
+ s+
s
( + ) ( + )
C C L R R L R R
e
1
2 R
ESR
sr o
f
C t
=
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 19
Output filter model
0.001 0.01 0.1 1 10 100 1000
-100
-80
-60
-40
-20
0
20
f / f
o
M
a
g
n
i
t
u
d
e

R
e
s
p
o
n
s
e

(
d
B
)
f
o
f
esr
>
o
o
o
L
R
C
1
2
o
o
o
L
R
C
=
o
o
o
L
R
C
<
Magnitude response of
an output filter with a
capacitor having a R
esr

for several values of
the output resistance
R
o

2
2 2
2 2
20log ( ) 10log(1 ) 10log 1 4
o o
G
e e
e e t ,
e e
| |
| |
| | | |
|
| = + +
| |
|
|
|
\ . \ .
\ .
\ .
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 20
Output filter model
0.001 0.01 0.1 1 10 100 1000
-180
-160
-140
-120
-100
-80
-60
-40
-20
0
f / f
o
P
h
a
s
e

R
e
s
p
o
n
s
e

(
d
e
g
r
e
e
)
f
o
f
esr
>
o
o
o
L
R
C
o
o
o
L
R
C
<
1
2
o
o
o
L
R
C
=
Phase response of an output filter with a capacitor having a R
esr

for several values of the output resistance R
o

1
2
2
tan
tan
1
-1 o
LC
esr
o
f
f f
= - .
f
f
f
,
u

| |
|
| |
|
|
|
| |
\ .
|

|
|
\ .
\ .
e
( R )
o
o
o o o sr
R
L C R
e =
+
e
R
2
o o
o sr
o
L
C
R
e
,
| |
= +
|
\ .
e
R
o sr
C t =
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 21
Example 6.4
The boost converter shown in Figure 2.10 has the
following parameters: V
in
= 10 V, V
o
= 20 V, f
s
= 1
kHz, L = 10 mH, C = 100 F and R
L
= 20 . The
reference voltage is 5 V. The converter operates in
the continuous-conduction mode under the voltage-
mode. Using (a) the averaged-switch model,
calculate the output-to-control transfer function, and
(b) Matlab to draw the Bode plot of the transfer
function found in (a) .
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 22
Example 6.4
R
20
L
10mH
0
common
active
I
c
D
C
100uF
passive
1
ap
V
d
D

I
c
d
o v

i
1
i
2
i
1
-i
2
+ v
1
-
+ v
2
-
Small-signal model of the boost converter
(a)
The nominal duty cycle can be calculated as

0
d
0
d
d
0
V
V
1 D
V
V
D 1
D 1
1
V
V
= =

=
for the given input and output voltages, we have D=0.5.
0 ap
0
0
0 C
V V
R
V
D) (1 D)I (1 I
=
= =
( )
( )
( ) ( )
(

+
=
.
.
1
D 1 R
L
s
D 1
LC
s D 1
sLI 1 - D V
d
v
2 2
2
2
C ap 0
( )
LC
D 1

M

=
( ) D 1 2R
1
C
L

=
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 23
Example 6.4
P
c
d 1
V
v
.
.
=

D
V
1
V
C P
=
ref
P
V
V 10
D
V = =
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 24
Example 6.4
Bode Diagram
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
M
a
g
n
i
t
u
d
e

(
d
B
)
-100
-50
0
50
10
-
1 10
0
10
1
10
2
10
3
-270
-225
-180
-135
-90
-45
0
Bode plot of the small-signal transfer function of the boost converter
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 25
Small-signal models of switching
converters
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 26
Small-signal models of switching
converters
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 27
Small-signal models of switching
converters
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 28
Small-signal models of switching
converters
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 29
Small-signal models of switching
converters
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 30
Small-signal models of switching
converters
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 31
Small-signal models of switching
converters
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 32
Small-signal models of switching
converters
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 33
Review of negative feedback
A (s)
V
o
(s)
V
ref
+

Block diagram representation for a closed-loop system

=

+ =

Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 35
Relative stability
20
0
-20
-40
-60
-80
-50
-100
-150
-200
-250
Gain margin =8dB
Phase margin = 40
-180
0.2 1.0
f
1 f' 10 20
P
h
a
s
e

A
n
g
l
e
M
a
g
n
i
t
u
d
e

(
d
B
)
Definitions of gain and phase margins
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 36
Relative stability
0
-45
-90
-135
-180
-225
-270
-60dB /decade
-40dB/decade
Gain
margin
Phase
margin
Phase
|
-20dB /decade
Magnitude
20 log |T
L
( je)|
0 f
p1
f
p2
f
p3
e
p
f
p
e
g
f
g
Loop gain of a system with three poles
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 37
Closed-loop switching
converter
PWM Switch LPF
Load
V
o
(s)

V
ref
Compensation
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 38
Feedback network

t
t
t
1/ f
s
2 / f
s
Q
s
ON Q
s
ON
V
e
Q
st
ON
1 / f
s
2 / f
s
CLOCK
Sawtooth
PWM
V
s
_
C
c
L
1
-
V
cc
+
-
.
Sawtooth
signal
CLOCK
Z
2
_
D
fw
V
ref
R
c
C
2
Comparator
+
Base Drive
Circuitry
Q
st
PWM out
Error
Amplifier
+
-
.
.
.
R
L
V
e
Q
s
R
1
R
2
V
a
Z
1
(a)
(b)
V
sp
R
1
+ R
2
R
2
V
a
=
2
1 2
'
a o
R
V V
R R
=
+
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 39
Error amplifier compensation
networks
C
1
V
fb
R
1
V
error
8
-
+
.
C
2
R
2
V
ref
PI Compensation network
2
2 1
1 2
1 2
1 1
+
R
sC sC
H(s) = .
1 1
+ +
R R
sC sC
| | | |
| |
\ . \ .
| |
|
\ .
2 1
1 1 2 2 1 2
1 +
sR C
H(s) = .
( + + )
sR C C sR C C
p
2 2
1
= f
2
C R
t
z
2 1
1
= f
2
C R
t
tan
-1 1
lead
z
f
=
f
u
| |
|
\ .
1
tan
-1
lag
p
f
= .
f
u
| |
|
|
\ .
The total phase lag
1
tan tan
o -1 -1 1
z p
f f
= - + .
270
f f
u
| |
| |
|
|
|
\ .
\ .
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 40
Error amplifier compensation
networks
0.001
0.01
0.1 1 10 100 1000 10000
-30
-10
0
10
30
50
70
f (kHz)
M
a
g
n
i
t
u
d
e

r
e
s
p
o
n
s
e

(
d
B
)
fz = 854.3 fp = 21,832
Frequency response of the PI compensation network
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 41
Error amplifier compensation
networks
0.001 0.01 0.1 1 10 100 1000 10000
-90
-80
-70
-60
-50
-40
-30
-20
f (kHz)
P
h
a
s
e

r
e
s
p
o
n
s
e

(
d
e
g
r
e
e
s
)
Phase response of the PI compensation network
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 42
Error amplifier compensation
networks
C
2
R
1
8
+
-
.
C
3
C
1
R
2
V
ref
V
fb
R
3
V
error
PID Compensation network
2 1 3 1 3
2
2 1 1 3 1 2 1 2 3
(1+ j ) (1+ j ( + ) )
C C R R R
H(j ) = .
- + j ( + ) + j
C C C C C R R R R
e e
e
e e
e
1 p
3 3
1
= f
2
C R
t
2
1 2
p
2 1 2
( + )
C C
= f
2
C C R
t
1 z
2 1
1
= f
2
C R
t
2 z
1 3 3
1
= f
2 ( + )
C R R
t
2
1
1
R
=
K
R
2 1 3
2
1 3
( + )
R R R
=
K
R R
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 43
Error amplifier compensation
networks
K
1
K
2
f
z1
f
z2
f
p1
f
p2
f
M
a
g
n
i
t
u
d
e
r
e
s
p
o
n
c
e

(
d
B
)
Part of interest
- 20dB / decade
+ 20dB / decade
- 20dB / decade
Magnitude response of the PID compensation network
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 44
Error amplifier compensation
networks
0.01 0.1
1 10 100 1000 10000
-15
-10
-5
0
5
10
15
20
f (kHz)
M
a
g
n
i
t
u
d
e

r
e
s
p
o
n
s
e

(
d
B
)
f
z1
f
z2
f
p1
f
p2
Magnitude response of the PID compensation network
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 45
Error amplifier compensation
networks
0.001 0.01 0.1 1 10 100 1000 10000
-100
-80
-60
-40
-20
0
20
40
60
f (kHz)
P
h
a
s
e

r
e
s
p
o
n
s
e

(
d
e
g
r
e
e
s
)
f
z1
f
z2
f
p1
f
p2
Phase response of the PID compensation network
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 46
Error amplifier compensation
networks
M
a
g
n
i
t
u
d
e
r
e
s
p
o
n
c
e

(
d
B
)
Region of interest
K
1
K
2
f
f
zd
f
pd
- 20dB / decade
- 20dB / decade
+ 20dB / decade
Asymptotic approximated magnitude response of the PID
compensation network
2 1 3 1 3
1 1
=
2 2 ( + )
C C R R R
t t
2 1 3 1 3
= ( + ) .
C C R R R
tan
-1 1
zd
zd
f
= 2
f
u
| |
|
\ .
1 2
3 2 3 1 2
1 ( + )
C C
=
2 2
C C C R R
t t
3 1 2
3
2 1 2
C C R
= .
C
+
C C R
1
tan
-1
pd
pd
f
= 2 .
f
u
| |
|
|
\ .
1
tan tan
o -1 -1 1
zd pd
f f
= - 2 + 2 .
270
f f
u
| |
| |
|
|
|
\ .
\ .
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 47
Compensation in a buck converter
with output capacitor ESR
Currente
Driver
+
-
R
3
100K
R
4
100K
R
esr
0.5
Q
s
R
L
R
2
Z
2
R
1
C
o
100uF
V
s
12V
V
ref
+
-
Error
Amplifier
V
e
Comparator
L
o
100uH
Output Filter
D
fw
Pulse-Width Modulator
Z
1
Sawtooth
Oscillator
average output voltage: 5 V
input voltage: 12 V
load resistance R
L
= 5

Design the compensation
to shape the closed-loop
magnitude response of the
switching converter to
achieve a -20 dB/decade
roll-off rate at the unity-
gain crossover frequency
with a sufficient phase
margin for stability
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 48
Compensation in a buck converter
with output capacitor ESR
f
1
, is chosen to be one-fifth of the switching
frequency
4
3 4
R
+
R R
log
10
20 [ ( 2.5 / 5) ] = - 6 dB
log
s p
10
20 [ ( / ) ]
V V
6 6
e
5
( R ) (100 10 )(100 10 )(5 0.5)
1.517
2 2
o
o o o sr
o
R
L C R x x
f kHz
t t

+ +
= = =
-6
1
= = 3.18 kHz
2 (0.5)100x
10
t
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 49
Compensation in a buck converter
with output capacitor ESR
0.1 1 10 100 1000
-60
-40
-20
0
20
40
f (kHz)
M
a
g
n
i
t
u
d
e

R
e
s
p
o
n
s
e

(
d
B
)
- 20dB / decade
- 40dB / decade
- 20dB / decade
f
1
G
H
J
K L
M
N
O
E
F
A B
C
D
- 20dB / decade
Open loop
gain GH(s)
Compensation
network
Magnitude response of the buck converter
open-loop (ABCD)
closed-loop (JKLMNO)
error amplifier EFGH
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 50
Compensation in a buck converter
with output capacitor ESR
1
2
2
tan 70.1
tan
1
-1 o
LC
esr
o
f
f f
= - .
f
f
f
,
u

| |
|
| |
|
=
|
|
| |
\ .
|

|
|
\ .
\ .
315 70.1 244.9
ea
= = .
u

64.9
tan tan
-1 -1
z p
5 5
- = .
f f
| |
| |
|
|
|
\ .
\ .
64.9
tan tan
-1 -1
1
f" - " = .
f
| |
|
\ .
774
1
2
z
1
= = pF
C
2 f
R
t
38
2
2
p
1
= = pF .
C
2 f
R
t
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 51
Compensation in a buck converter
with no output capacitor ESR
1
tan tan
-1 -1 o o o 1
zd pd
f f
2 - 2 = - = .
270 135 135
f f
| |
| |
|
|
|
\ .
\ .
"
tan tan
-1 -1 o
1
2 f" - = .
135
f
(
| |
( |
\ .

3
3
pd
1
= = 0.16 F .
C
2 f
R

t
1 3 3
1
2
( + )
C R R
= = 0.13 F .
C
R

3
1 3
2
2
3
1 3
2
R
C C
R
= = 5.29 nF .
C
R
[ - ]
C C
R
1
( ) 360* *
delay
phase delay t f =
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 52
Compensation in a buck converter
with no output capacitor ESR
0.1 1 10 100 1000
-50
-30
-10
0
10
30
50
f (kHz)
M
a
g
n
i
t
u
d
e

r
e
s
p
o
n
s
e

(
d
B
)
+ 20dB / decade
- 20dB / decade
- 20dB / decade
- 40dB / decade - 40dB / decade
H
I
J
K
L
A
B
C
D
E
F
G
f
1
Magnitude response of the buck converter
open-loop ABC
closed-loop HIJKL
error amplifier DEFG
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 53
Linear model of a voltage
regulator including external
perturbances

o
V
DC
I
o Switching
converter
V
ref
v
DC
^
v
ref
^
ref DC o
o ref DC o
V V i
v G v G v G i = + +
0 0
0 0
DC DC
ref
o o
v v
o
o
V
ref
ref
i i
v v
G
v
v
= =
= =
c
= =
c
0
0
0
0
ref
ref
DC
o
o
v
v
o
o
V
DC
DC
i
i
v v
G
v
v
=
=
=
=
c
= =
c
audio susceptibility
output impedance
0
0
0
0
ref
ref
o
DC
DC
v
v
o
o
i o
o
o
v
v
V v
G Z
I
i
=
=
=
=
c
= = =
c
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 54
Output impedance and stability

V
o
k
Z
(a)
(b)
Load
V
ref
V
o
k
Z
Z
L
Z
oo
(s)

V
ref
Z
L
Z
of
Z
o
Output impedance
1
oo
of
Z
Z
A |
=
+
1 1 1
of o L
Z Z Z
= +
1
1 1
o
of L
Z
Z Z

| |
=
|
|
\ .
1
1 1
o
of L
Z
Z Z

| |
=
|
|
\ .
1 A |
of oo
Z Z
of L
Z Z
of o
Z Z ~
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 55
State-space representation of
switching converters
+
2 1
x u C
x
-
R
L
1
Review of Linear System Analysis
A simple second-order low-pass circuit
1
1 2
u L x x
-
= +
1
1 dx
x =
dt
-
1 2
2 x
x = C x +
R
- -
2
2 dx
x =
dt
-
1
2 1 x u
x = - +
L L
-
2
1 2
-
x x
x = + .
C RC
-
x = A x + B u
- 1
2
x
x = ,
x
(
(

0 1
-
L
A = ,
1 1
-
C RC
(
(
(
(
(

1
u = [ ] ,
u
1
B = .
L
0
(
(
(

Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 56
State-space representation of
switching converters
Review of Linear System Analysis
A simple second-order low-pass circuit
s X(s) = A X(s) + B U(s)
-1
X(s) = (s I - A B U(s) )
1
2
2
1 1
1 s+ -
RC L
U(s) L
1 s
0
(s)
X
C
= .
s 1
(s)
X
+ +
s
RC LC
(
(
(
(
(
(
(

( (

(

1
2
1
1 1
(s + )
(s)
X
L RC
=
s 1
(s)
U
( + + )
s
RC LC
2
2
1
1
(s)
X
LC
= .
s 1
(s)
U
( + + )
s
RC LC
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 57
State-Space Averaging

approximates the switching converter as a
continuous linear system

requires that the effective output filter corner
frequency to be much smaller than the
switching frequency
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 58
State-Space Averaging

Step 1: Identify switched models over a switching cycle. Draw
the linear switched circuit model for each state of the switching
converter (e.g., currents through inductors and voltages across
capacitors).
Step 2: Identify state variables of the switching converter. Write
state equations for each switched circuit model using Kirchoff's
voltage and current laws.
Step 3: Perform state-space averaging using the duty cycle as a
weighting factor and combine state equations into a single
averaged state equation. The state-space averaged equation is
Procedures for state-space averaging
1 2
1 2
x = [ Ad +A (1- d)] x + [ B d + B (1- d)] u .
-
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 59
State-Space Averaging

Step 4: Perturb the averaged state equation
to yield steady-state (DC) and dynamic (AC)
terms and eliminate the product of any AC
terms.

Step 5: Draw the linearized equivalent circuit
model.

Step 6: Perform hybrid modeling using a DC
transformer, if desired.
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 60
State-Space Averaged Model for an
Ideal Buck Converter
x
1
Q
s
1
2
L
-
x
u
R
+
C D
fw
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 61
State-Space Averaged Model for an
Ideal Buck Converter
2
x
C
1
1
x
2
L
R
x
x L
-
+
1
(b) (1-d)T interval
-
u
+
(a) dT interval
C R
1
1 2
u L x x
-
= +
2
1
2 x
x = C x +
R
-
1
2
0 = L x + x
-
2
1
2 x
x = C x +
R
-
1
2
1
1
2
0 1
1 -
x x L
= + [ ]
L u
1 1
x
x 0 -
C RC
-
-
(
(
(
(
(
(
(
(
(
(
(
(


(

1
2
1
1
2
0 1
-
0
x x L
= + [ ]
u
1 1 0
x
x -
C RC
-
-
(
(
(
( (
(
(
( (
(
(

(

Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 62
State-Space Averaged Model for an
Ideal Buck Converter
0 1 0 1
- -
L L
A = d + (1- d)
1 1 1 1
- -
C RC C RC
( (
( (
( (
( (
( (

0 1
-
L
A = .
1 1
-
C RC
(
(
(
(
(

1 d
0
B = d + (1- d) = .
L L
0
0 0
( (
(
( (
(
( (


1
2
1
1
2
0 1
d -
x x L
= + [ ] .
L u
1 1
x
x 0 -
C RC
-
-
(
(
(
(
(
(
(
(
(
(
(
(


(

Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 63
A nonlinear continuous equivalent
circuit of the ideal buck converter
L
x u d
1
C
1
-
x
+
2
R
1
2
1
d
x
x = - +
u
L L
-
2
1 2
1 1
x = x - x .
C RC
-
1
1 2
u d = L x + x
-
2
1
2 x
x = C x + .
R
-
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 64
A linear equivalent circuit of the
ideal buck converter
1
R C
+
+
-
du
^
2
x Du
L
10 1
-
x
1
1 10
x = x + x , 2
2 20
x = x + x ,
1
1 10
u = u + u ,

d = D + d .
( ) ( )
( )
1
2
20 10 1
1 1 d x
x x D d u u
dt L L
= + + + +
( ) ( )
2
1 2
10 20
1 1 d x
x x x x
dt C RC
= + +
( )
( )
1 2 1
20 10 10
1 1
x x Du x Du d u
L L
-
= + + + +
2

20 2
10 1
1 1
x x
x = ( - ) + ( - ) .
x x
C R C R
-
20 10
1
0 = (- + )
x Du
L
20
10
x
= D .
u
2 1
10

( )
1
1
dx
= x Du du
dt L
+ +
2

1
1 10
dx
x = D + d - L .
u u
dt
20
10
1
x
0 = ( - )
x
C R
20
10
x
= .
x
R
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 65
A linear equivalent circuit of the
ideal buck converter
1
R C
+
+
-
du
^
2
x Du
L
10 1
-
x
2

2
1
d x 1
x
= ( - )
x
dt C R
2

2
1
d x
x
= C + .
x
dt R
2 1 1
20 10 10

( ) x + x = - L x + D u +u + d u .
-
1
2

1 10
x = + d - L x
Du u
-
2
20
1 2
10
x +x
x + x = C x +
R
-
2
2
1
x
x = C x + .
R
-
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 66
A source-reflected linearized
equivalent circuit of the ideal buck
converter
+
-
u
1
__
2
__
D
-
L
2
1
Dx
-
x
2
D C
D
+
+
R 2
D
__ d u
10
^
D
_
1
1 10

2
2
d L
x
u + u = + x D
D D
D
-
( )
2
2
2
2
1
x x D
Dx D C
D D R
-
= +
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 67
A linearized equivalent circuit of
the ideal buck converter using a DC
transformer
L
1 : D
u x
+
-
du
+
R
1
1
C
^
10
x
-
2
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 68
State-space averaged model for the
discontinuous-mode buck converter
C
2
C
-
2
+
L x
C
R
+
1
R x
2
(a) d T interval
(b) d T interval
x
2
1
-
u
1
x
1
x
+
L
-
R
L
1
(c) (1 - d - d ) T interval
2
( ) 1 2 3
1 2 1 2
1 A A d A d A d d = + +
( ) 1 2 3
1 2 1 2
1 B B d B d B d d = + +
1 x = 0
-
2
2 x
C x + = 0 .
R
-
3
0 0
A
1
0 -
RC
(
(
=
(

3
0
= .
B
0
(
(

Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 69
State-space averaged model for the
discontinuous-mode buck converter
1 2
1 2
0 ( + )
d d
-
L
A =
+ 1
d d
-
C RC
(
(
(
(
(

1 d
B = .
L
0
(
(
(

1
2
1 2
1
1
1
1 2 2
0 ( + )
d d
-
d
x x L
= +
L u
+ 1
d d x
x 0 -
C RC
-
-
(
(
(
(
(
(
(
(
(
(
(
(


(

Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 70
A nonlinear continuous equivalent
circuit for the discontinuous-mode
buck converter
+
R C
1
d u
+
-
x
-
2
x
1
1
2 1
(d +d ) x
2 1 2
(d +d ) x
1
1
1 2 1
2 1
( + )
d d d
x = - +
x u
L L
-
( )
1 1 1 2 2
u d d d x = +
2
1 2 2
1
( + )
d d x
x = - .
x
C RC
-
1 1
(0) ( ) 0 x x T = =
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 71
A nonlinear continuous equivalent
circuit for the discontinuous-mode
buck converter
( )
1 1 1 2 2
u d d d x = +
2
1 2 2
1
( + )
d d x
x = - .
x
C RC
-
1
1 1 2
s
d
= ( - )
x u x
2Lf


1 1 2 10 1 20 2
1 1 2
( + )( + ) = ( + + + )( + ) ,
u u x x D D D
d d d
2

1 2 20 2 1 2
10 1
( + + + ) d x ( + )
D D x x d d
= ( + ) - ,
x x
dt C RC

1
1
10 1 10 1 20 2
s
( + )
D
d
+ = ( + - - ) .
x x u u x x
2Lf
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 72
A linearized equivalent circuit
for the discontinuous-mode
buck converter
+
R
-
2
x
C
r
1
r
2
1
u
^
j d
^
1 1 1 2
g x
^
g u
2 1
^
^
2 1
j d
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 73
State-Space Averaged Model for a
Buck Converter with a Capacitor
ESR
R
y
x
L x
-
2
+
u
1
+
-
C
1
Q
s
R
esr
D
fw
2
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 74
Switched models for the buck
converter with a R
esr
C
L
1
C
R
esr
x
+
R
L
R
-
+
(a) dT interval
1
u
1
-
(b) (1-d) T interval
R
esr
x
2
y
2
y
x
+
-
2
x
+
-
2
1 2
1 2 e
R
sr
u = L x x + C x
- -
+
2
2
2
1
esr
x + C x
R
x = C x +
R
-
-
1
2
esr
1 esr esr
1
2
esr esr
- R -R
R
1
L( + R) L( + R)
x R R x
= + [ ] .
L u
R -1
x
x 0
C( + R) C( + R)
R R
-
-
(
(
( (
(
(
( (
(
(
( (



(

1 2
2 esr
0 = L x +x + C x .
R
- -
2
2
2
1
esr
x + C x
R
x = C x +
R
-
-
e
e e 1
2
e e
R
R R
R R
sr
1 sr sr
1
2
sr sr
-R -R
L( + R) L( + R) 0
x x
= + [ ] .
u
0 R -1
x
x
C( + R) C( + R)
-
-
(
( (
( (
( (
( (
(
(


(

Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 75
Switched models for the buck
converter with a R
esr
1 2 1 2
(1 )
esr
esr esr
esr esr
- R -R
R
L( + R) L( + R)
R R
A= A d A d A A = .
R -1
C( + R) C( + R)
R R
(
(
(
+ = =
(
(

1 2
(1 )
d
B = B d B d = .
L
0
(
(
+
(

1
2
esr
1 esr esr
1
2
esr esr
- R -R
R
d
L( + R) L( + R)
x R R x
= + [ ]
L u
R -1
x
x 0
C( + R) C( + R)
R R
-
-
(
(
( (
(
(
( (
(
(
( (



(

Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 76
A nonlinear continuous
equivalent circuit for the buck
converter with a R
esr
u d
C
1
x
x
R
1
+
-
-
2
y
2
R
esr
+
L
1
esr
1 2 1
esr esr
- R R d
R
x = - +
x x u
L( + R) L( + R) L
R R
-
2
2
1
esr esr
R
x
x = - .
x
C( + R) C( + R)
R R
-
1
esr
1 1 2
esr esr
R R
R
d = L x + +
u x x
( + R) ( + R)
R R
-
1
1
2
d = L x + y
u
-
esr 1 2 2
esr 1
2
esr esr esr
R R R
x x x R
= + = ( //R) + y
x R
( + R) ( + R) ( + R)
R R R
2
2
esr 2
1
( + C x )
x R
= C x + .
x
R
-
-
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 77
A linearized continuous
equivalent circuit for the buck
converter with a R
esr
du
^
C x
Du
1
L
1
R
10
2
-
+
-
y
+
2
-
+
R
esr
x
1


esr 10 1 20 2 10 1
esr esr
dx - R( + ) R( + ) (D+d)( + )
x x x x u u R
= - +
dt L( +R) L( +R) L
R R
2
10 1 20 2
esr esr
dx R( + ) ( + )
x x x x
= - .
dt C( + R) C( + R)
R R
The DC terms are
esr 10
10 20
esr esr
- R R D
u R
0 = - +
x x
L( + R) L( + R) L
R R
20
10
esr esr
R
x
0 = - .
x
C( + R) C( + R)
R R
The AC terms are
1

esr 1 10
+ 1 2
esr esr
dx - R R D d
u u R
= - +
x x
dt L( + R) L( + R) L L
R R
2

2
1
esr esr
dx R
x
= - .
x
dt C( + R) C( + R)
R R
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 78
A linearized equivalent circuit
using DC transformer with a
turns-ratio of D
^
x
2
y
-
1 : D
u
+
L
1
+
-
x
2
C
du
-
1
+
R
R
esr
1
1 1

2
esr 1 10 1
2
esr
R
x
+ d = L x + ( //R) + = L x + y
Du u x R
( + R)
R
- -
2
1 2
esr esr
R 1
C x = - .
x x
+ R + R
R R
-
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 79
State-Space Averaged Model for
an Ideal Boost Converter
C
x
u
D
fw
R Q
s
+
x
2
-
2
1
L
u
1
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 80
State-Space Averaged Model
for an Ideal Boost Converter
+
L
C
-
C
L
R
(b) (1-d) T interval
R
+
-
(a) dT interval
u
1
u
1
1
x
1
x
x
2
x
2
2
u
2
u
1
1
= L x
u
-
2
2
2
x
= C x +
u
R
-
1
2
1 1
2 2
1 0
0 0
x u x L
= + .
0 1
0 1 -
x u
x
RC
C
-
-
(
(
(
(
( (
(
(
(
( (
(
(
(


(

1
1 2
= L x +
u x
-
2
2
1 2
x
+ = C x +
x u
R
-
1
2
1 1
2 2
0 1 1 o
-
x u x L L
= + .
1 1 0 1
x u
x -
C RC C
-
-
( (
(
( (
( (
(
( (
( (
(
( (

( (

Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 81
State-Space Averaged Model for
an Ideal Boost Converter
1 2
(1 )
0 1
0 0 -
L
A = A d A d = d + (1- d)
0 1
1 1 -
-
RC
C RC
(
(
(
(
+ (
(
(

(

0 -(1- d)
L
A = .
(1- d) 1
-
C RC
(
(
(
(
(

1 2
(1 )
1 0 1 0
L L
B = B d B d = d + (1- d)
0 1 0 1
C C
( (
( (
+ ( (
( (
( (

1 0
L
B = .
0 1
C
(
(
(
(
(

1
2
1 1
2 2
0 -(1- d) 1 0
x u x L L
= +
(1- d) 1 0 1
x u
x -
C RC C
-
-
( (
(
( (
( (
(
( (
( (
(
( (

( (

1
2
2 1
1 2 2
-(1- d)
x u
x L L
= + .
(1- d)
x x u
x -
C RC C
-
-
( (
(
( (
(
( (
(
( (

( (

Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 82
Nonlinear continuous
equivalent circuit of the ideal
boost converter
L ___
1- d
-
C ___ u
1- d
x
(1- d)
x
2
1
___
+
R
2
1- d
u
1- d
___ 1
1
2
1
-(1- d) 1
x
x = +
u
L L
-
1
1
2
L
u
= x +
x
(1- d) (1- d)
-
2
1 2 2
(1- d)
x x u
x = - +
C RC C
-
2
2 2
1
C
u x
+ = x + .
x
(1- d) (1- d) R(1- d)
-
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 83
Linearized equivalent circuit of
the ideal boost converter
1


20 2 10 1
d x -(1- D- d) 1
= ( + ) + ( + )
x x u u
dt L L
2


10 1 20 2 2
d x (1- D- d) 1 1
= ( + ) - ( + ) + ,
x x x x u
dt C RC C
1
20 10

2 20
d x -(1- D) d 1 D 1
= + + u x u
x x
dt L L L L L

+
2


1 10 2 2 10 20
d x (1- D) d 1 1 (1- D) 1
= - - + + - .
x x x u x x
dt C C RC C C RC
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 84
Linearized equivalent circuit of
the ideal boost converter
DC solutions
10
20
(1- D)
u
0 = - +
x
L L
1
10 20
(1- D)
0 = - .
x x
C RC
20
10
1
x
=
(1- D)
u
20
10
x
R
=
x
(1- D)
10
10
2
u
= ,
x
R(1- D)
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 85
Linearized equivalent circuit
of the ideal boost converter
AC solutions
1


2 20 1
d x
L = - (1- D) + d +
x x u
dt
2

2
1 10 2
d x
x
C = (1- D) - d - + .
x x u
dt R
small-signal averaged state-space equation
20
1
10 2
(1 )
1 0
0
(1 ) 1
0 1
x D
u
L L
x x d
L
D x
u
L RC C
-
( (
(
( ( (
(
= + + ( ( (
(

( ( (



( (

Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 86
Linearized equivalent circuit of
the ideal boost converter
___
x d
1
^
L ___
10
1-D
-
1-D
2
C
1-D
___
2
u
+
x
1
1-D
+ -
x
___
u
____
(1-D) R
1-D
20
^
x d
____
1-D
1

20
2 1
L d 1
x
x = - + +
x u
(1- D) (1- D) (1- D)
-
2

10
1 2 2
C d 1 1
x
x = - - + .
x x u
(1- D) (1- D) R(1- D) (1- D)
-
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 87
Source-reflected linearized
equivalent circuit for the ideal
boost converter
L
+
-
(1-D)
1-D
____
+ -
C
^
2 10
1-D
___
u
2
____
x d
1
u
20
x d
^
x
1
R(1-D)
2
x (1-D)
2
1

2 20 1
L x = - (1- D) + d + .
x x u
-
2
2

10 2
1
2 2
x (1- D) C d
x u
[ x (1- D)] = - - + ,
x
(1- D) (1- D) (1- D R(1- D ) )
-
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 88
Load-reflected linearized
circuit for the ideal boost
converter
+
R
2
1
-
C x
x (1-D)
+
-
1-D
___
u
1
1-D
____
20
^
x d
____
(1-D)
L
2
10
x d
^
u
2
2

2
1 10 2
x
C x = (1- D) - - d + .
x x u
R
-
1

1 20
2
2
L d
u x
x (1- D) = - + + .
x
(1- D) (1- D) (1- D)
-
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 89
DC transformer equivalent
circuit for the ideal boost
converter
^
+
-
(1-D) : 1
u
-
x C
2
x d
+
R
L
10 2 1
u
x
1
x d
20
^
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 90
Switching Converter Transfer
Functions
Source-to-State Transfer Functions
0 0 x A x B u Ed
-
= + +
0 1 2
= [ D + (1- D)]
A A A
0 1 2
= [ D + (1- D)]
B B B
1 2 1 2 0 0
E = ( - ) + ( - ) .
x u A A B B

0 0
sX(s) = X(s) + U(s) + Ed(s)
A B

0 0
(sI - )X(s) = U(s) + E d(s)
A B

-1 -1
0
0 0
X(s) = U(s) + E d(s) .
(s I - ) (s I - )
B
A A
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 91
Switching Converter Transfer
Functions
Source-to-State Transfer Functions
linearized control law

T
T
d(s) = (s)X(s) + (s)U(s)
Q
F
T
-1 T
0 0
X(s)=(sI - ( U(s)+E[ (s)X(s)+ (s)U(s)]) )
Q
A B F
T
-1 T
0 0
X(s) = [ sI - - E (s) [ + E (s)]U(s) . ]
Q
A F B
T
-1 T
0 0
X(s)
= [ sI - - E (s) ( + E (s)) ]
Q
A F B
U(s)
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 92
Switching Converter Transfer
Functions
BUCK CONVERTER
1
2

10
1
1
2
0 1
D -
u
x x L
= + [ ] + d .
L L u
1 1
x
x 0 0 -
C RC
-
-
(
( (
(
(
(
( (
(
(
(
( (
(
(


(

0
0 1
-
L
=
A
1 1
-
C RC
(
(
(
(
(

0
D
=
L
B
0
(
(
(

10 u
E = .
L
0
(
(
(

2 e R
P P
(s) [1 + H(s)] (s) - H(s) (s)
V V X
d(s) = =
V V

2
P
H(s) (s)
X
d(s) = - .
V
T
P
(s) = 0 -H(s)
F
V
(
(
(

| |
T
(s) = 0 0 .
Q
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 93
Switching Converter Transfer
Functions
BUCK CONVERTER
-1
10
1
P
1
2
s 1 H(s)
u
+ D
(s)
X L
LV
= [ (s)]
L U
(s)
1 1 X
0
- s+
C RC
(
(
(
(
(
(
(
(
(

(

10
P
1
1
10 2
2
P
1 H(s) 1
u
s+ -( + ) D
RC L
LV
[ (s)] L U
1 s
0
(s)
X
C
= .
s 1 H(s)
(s) u
X
+ + +
s
RC LC
LCV
(
(
(
(
(
(
(

(
(

(

1
10 2
1
P
D 1
[s+ ]
(s)
X
L RC
=
s 1 H(s)
u (s)
U
+ + +
S
RC LC
LCV
2
10 2
1
P
D
(s)
X
LC
= .
s 1 H(s)
u (s)
U
+ + +
S
RC LC
LCV
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 94
Switching Converter Transfer
Functions
BOOST CONVERTER
1
2

20
1 1
10 2 2
0 -(1- D) 1 0
x
x u x L L L
= + + d .
(1- D) 1 0 1
x x u
x - -
C RC C C
-
-
( ( (
(
( ( (
( (
(
( ( (
( (
(
( ( (

( ( (

0
0 -(1- D)
L
=
A
(1- D) 1
-
C RC
(
(
(
(
(

0
1 0
L
=
B
0 1
C
(
(
(
(
(

20
10
x
L
E = .
x
-
C
(
(
(
(
(

-1
20
1 1 P
2 10 2
P
s (1- D) H(s)
x 1 o
+
(s) (s) L U X LV L
= .
o 1 (s) -(1- D) 1 H(s) (s)
x U X
(s+ ) -
C C RC
CV
(
(
(
(
( (
(
(
( (
(
(
(
(


-1
20
1 1 P
2 10 2
P
s (1- D) H(s)
x 1 o
+
(s) (s) L U X LV L
= .
o 1 (s) -(1- D) 1 H(s) (s)
x U X
(s+ ) -
C C RC
CV
(
(
(
(
( (
(
(
( (
(
(
(
(


Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 95
Switching Converter Transfer
Functions
BOOST CONVERTER
10
1 P
10
1
2
20 2 P
P
1 1 H(s)
x
[s+ - ]
(s) L RC X CV
= .
H(s)R
x (s)
U
s[1- ]
(1- D H(S)(1- D) )
x V
+ + +
s
RC LC
LCV
10
2
1 P
2
2 10 10 2
2 2
P P
-(1- D) H(s)
u
[1+ ]
LC (s) (1- D)
X V
= .
(s) s H(s) (1- D H(s) ) U u u
+ [1- ] + [1+ ]
s
RC LC (1- D (1- D ) )
V V
2
2
1 10 10 2
2 2
P P
1- D
(s)
X
LC
= .
(s) s H(s) (1- D H(s) ) U u u
+ [1- ] + [1+ ]
s
RC LC (1- D (1- D ) )
V V
2
2
2 10 10 2
2 2
P P
s
(s)
X
C
= .
(s) s H(s) (1- D H(s) ) U u u
+ [1- ] + [1+ ]
s
RC LC (1- D (1- D ) )
V V
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
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Power switching converters Dynamic analysis of switching converters 96
Complete state feedback
This technique allows us to calculate the
gains of the feedback vector required to place
the closed-loop poles at a desired location

All the states of the converter are sensed and
multiplied by a feedback gain
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 97
Design of a control system with
complete state feedback
x A x B u
-
= +
control strategy
u F x = ,
( ) x A BF x
-
=
closed-loop poles
det[ ] 0 s I A BF + =
The closed-loop poles can be arbitrarily placed by choosing the
elements of F
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 98
Design of a control system with
complete state feedback
Pole selection
Feedback gains
( ) F PLACE A B P = , ,
One way of choosing the closed-loop poles is to select an i
th

order low-pass Bessel filter for the transfer function, where i is
the order of the system that is being designed
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 99
Design of a control system with
complete state feedback
A buck converter designed to operate in the
continuous conduction mode has the following
parameters: R = 4 , L = 1.330 mH, C = 94 F, Vs =
42 V, and Va = 12 V.

Calculate (a) the open-loop poles, (b) the feedback
gains to locate the closed loop poles at P = 1000 * {-
0.3298 + 0.10i -0.3298 - 0.10i}, (c) the closed loop
system matrix ACL.
Example
Time (sec.)
A
m
p
l i t u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
x 10
-3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
From: U(1)
T
o
: Y
( 1
)

Power switching converters Dynamic analysis of switching converters 100
Design of a control system with
complete state feedback
Solution
1
0 1
1 ; 1
1 1
0
L
L
A B
C RC