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Analysis of Duty Cycle to Output Voltage Transfer Functions of`Cuk -like Class
DC-DC Converters

Conference Paper · July 2015

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 1

Analysis of Duty Cycle to Output Voltage Transfer

Functions of C̀uk-like Class DC-DC Converters
J. M. Valls, PhD student at Universidad Pública de Navarra

Abstract— This paper describes and compares the Transfer As Fig. 1 shows, while the C̀uk and SEPIC converters
Functions of duty cycle to output voltage (Gvd (s)) for the four have a boost input stage, the Zeta and X converters have
order C̀uk-like class DC-DC converters in continuous conduc-
a buck-boost input stage. At the same time the C̀uk and
tion mode (CCM). The circuit average method has been applied
to obtain the small signal models and transfer functions. As Zeta converters have a buck output stage and the SEPIC
a result of this work it has been found that on one hand the and X converters have a buck-boost output stage.
C̀uk and Zeta pair, which have both a buck type output stage,
have the same Gvd (s) transfer function. On the other hand, the
SEPIC and X pair, which have a buck-boost type output stage, II. Dynamic Model Of the converters
have the same Gvd (s) transfer function too. The conclusion is
that transfer function entirely depends on the converters output The circuit average method is used in this paper to
stage topology. obtain the dynamic and low signal models [5] [6]. With
Index Terms—Boost, Buck, C̀uk, DC-DC power convert- this method the active switch is replaced by a current
ers, SEPIC, Zeta, X. source and the passive switch by a voltage source. The
value of the current source is the average current through
I. Introduction the active switch and the value of the voltage source is
the average voltage drop across the passive switch along a
T HE C̀uk-like class DC-DC converters are composed by
the C̀uk converter [1], the SEPIC converter [2], the
Zeta converter [3] and the X converter [4]. These four
switching period.

order converters are shown in Fig. 1. All of them have Four state space variables have been chosen: the current
only one active switch and one passive switch, have a by- through the input inductor (iL1 ), the voltage drop across
pass capacitor between the input and the output stages, the bypass capacitor (vC1 ), the current through the output
and finally have an inductor in the input and the output inductor (iL2 ) and the output voltage (vo ).
stages. The voltage polarity at the output of the C̀uk and A. Dynamic Model of the C̀uk converter
X converters is reversed regarding the voltage polarity at
the input side. Fig. 2 shows the result of the circuit average method
applied to the C̀uk converter.

vC1
iL1 iL2

SEPIC L1 L2
C1
e C2 vo
i(t) d(t) v(t) d(t) vC2

C̀uk
Fig. 2. Circuit average of C̀uk converter

The equation (1a) gives the current source and the equa-
tion (1b) gives the voltage source expressions of the average
Zeta
model.

( )
i(t) d(t) = iL1 (t) + iL2 (t) d(t) (1a)
v(t) d(t) = vC1 (t) d(t) (1b)
X

The differential equation system (2) describes the dy-

Fig. 1. Relationship on C̀uk class DC-DC converters namic model of the C̀uk converter:

Josep M. Valls i Martı́ is a research and development engineer

at Electrificaciones Lumen, S.A.L. and PhD student at UPNA,
Pol. Ind. Mugazuri B-7, 31600 Burlada (Navarra), Spain, email:
[email protected] .
2

vC 1 iL2

 di∗L1 (t) L2

 L1 = e∗ (t) − (1 − d∗ (t)) vC
∗ (t) iL1 C1



 dt 1 i(t) d(t)



 dv ∗ (t) e L1 vo

 C1
(1 − d∗ (t)) i∗L1 (t) − d∗ (t) i∗L2 (t) C2

 C1 =
dt
∗ (t) (2) v(t) d(t) vC2

 di


L2 ∗ (t) d∗ (t) − v ∗ (t)
 L2

= vC o


dt 1
Fig. 4. Circuit average of Zeta converter



 dvo∗ (t) vo∗ (t)

 i∗L2 (t) −
 C2 dt =
R
The differential equation system (6) describes the dy-
namic model of the Zeta converter:
B. Dynamic Model of the SEPIC converter

 di∗L1 (t)
Fig. 3 shows the result of the circuit average method 
 L1 = e∗ (t) d∗ (t) + (1 − d∗ (t)) vC
∗ (t)


applied to the SEPIC converter. 
 dt 1



 dv ∗ (t)

 C1
i∗L2 (t) d∗ (t) − (1 − d∗ (t)) i∗L1 (t)
vC1 v(t) d(t) 
 C1 =
dt
iL1 (6)

 di∗L2 (t)

 L2 = (e∗ (t) − vC
∗ (t)) d∗ (t) − v ∗ (t)
L1 
 o
C1 iL2 

dt 1



 dvo∗ (t) vo∗ (t)
C2 
 i∗L2 (t) −
e L2 vo  C2 dt =
R
i(t) d(t) vC2

Fig. 3. Circuit average of SEPIC converter

D. Dynamic Model of the X converter
Fig. 5 shows the result of the circuit average method
applied to the X converter.
The equation (3a) gives the current source and the equa-
tion (3b) gives the voltage source expressions of the average vC1
model.
iL1 C iL2
( ) i(t) d(t) 1 v(t) d(t)
i(t) d(t) = iL1 (t) + iL2 (t) d(t) (3a)
e L1 L2 C2 vo
v(t) d(t) = (vo (t) + vC1 (t)) d(t) (3b)
vC 2

The differential equation system (4) describes the dy- Fig. 5. Circuit Average of X converter
namic model of the SEPIC converter:

 The equation (7a) gives the current source and the equa-
 di∗L1 (t)

 L1 = ∗ (t) + v ∗ (t))
e∗ (t) − (1 − d∗ (t)) (vC tion (7b) gives the voltage source expressions of the average

 o

 dt 1

 model.

 dv ∗ (t)

 C 1
(1 − d∗ (t)) i∗L1 (t) − d∗ (t) i∗L2 (t)

 C1 = ( )
dt
(4) i(t) d(t) = iL1 (t) + iL2 (t) d(t) (7a)

 di∗L2 (t)

 L2 = d∗ (t)) vC
∗ (t) − (1 − d∗ (t)) v ∗ (t) v(t) d(t) = (e(t) − vC1 (t) + vo (t)) d(t) (7b)

 o


dt 1



 dvo∗ (t) vo∗ (t)

 C2 = (1 − d∗ (t)) (i∗L1 (t) + i∗L2 (t)) −
 dt R The differential equation system (8) describes the dy-
namic model of the X converter:

 di∗L1 (t)
C. Dynamic Model of the Zeta converter 
 L1 = D eb(t) + (1 − D) v
bC1 (t) − (1 − D) v
bo (t)+



 dt
Fig. 4 shows the result of the circuit average method 


 b
+(E − VC1 + Vo ) d(t)
applied to the Zeta converter. 


 ∗ (t)

 dvC
The equation (5a) gives the current source and the equa- 
 1
i∗L2 (t) d∗ (t) − (1 − d∗ (t)) i∗L1 (t)
 C1 dt
=
tion (5b) gives the voltage source expressions of the average (8)

 di∗L2 (t)
model. 
 e∗ (t) d∗ (t) − vC
∗ (t) d∗ (t)−


L2 =

 dt 1


( ) 
 −(1 − d∗ (t)) vo∗ (t)


i(t) d(t) = iL1 (t) + iL2 (t) d(t) (5a) 
 dvo∗ (t) vo∗ (t)


v(t) d(t) = (e(t) − vC1 (t)) d(t) (5b) 
 C2 dt = −(1 − d∗ (t)) (i∗L1 (t) + i∗L2 (t)) −
R
Valls: GVD TRANSFER FUNCTION 3

III. Small Signal Model of the converters


The small signal models are obtained by linearizing [7]  dbiL1 (t) b

 L1 = D eb(t) + (1 − D) v
bC1 (t) + (E + Vo ) d(t)
the (2), (4), (6) and (8) non-linear differential equation 
 dt


systems. 


 db
vC1 (t)


 C1 = D biL2 (t) − (1 − D)biL1 (t)+

 dt

To obtain the linear equation systems, it has been taken b
+(Ii + Io ) d(t) (11)
into account, that the average input and output currents 


 dbiL2 (t)

 D eb − D v
bC1 (t) − v b
bo (t) + (E + Vo ) d(t)
are equal to the current through the input (Ii = IL1 ) and 
 L2 =

 dt
output (Io = IL2 ) inductors respectively. 


 db
v o (t) −1

 bo (t) + biL2 (t)
 C2 dt =
R
v

A. Small Signal Model of the C̀uk converter

The C̀uk small signal average state-space model is given D. Small Signal Model of the X converter
by the equation system (9), note that the average voltage
drop across the bypass capacitor in the C̀uk converter is The X small signal average state-space model is given
VC1 = E + Vo : by the equation system (12), note that the average volt-
age drop across the bypass capacitor in the X converter is
 VC1 = 0:
 dbiL1 (t) b

 L1 = eb(t) − (1 − D) v
bC1 (t) + (E + Vo ) d(t)




dt 


 db
vC1 (t) 
 dbiL1 (t)

 (1 − D)biL1 (t) − D biL2 (t)− 
 L1 = eb(t) − (1 − D) v
bC1 (t) − (1 − D) v
bo (t)+

 C1 = 
 dt

 dt 

 
 b
b 
 +(E + Vo ) d(t)
− (Ii + Io ) d(t) (9) 


 
 vC1 (t)
db

 dbiL2 (t) 
 D biL2 (t) − (1 − D)biL1 (t)+

 bC1 (t) D − v b
bo (t) + VC1 d(t) 

C1 =

 L2 = v 
 dt

 dt 


 
 b

 db
vo (t) −1  +(Ii + Io ) d(t)

 bo (t) + biL2 (t)
 C2 dt = v
dbiL2 (t) (12)
R 
 bC1 (t) − (1 − D) v
D eb(t) − D v bo (t)+


L2 =

 dt



 b

 +(E + Vo ) d(t)


B. Small Signal Model of the SEPIC converter 
 db
vo (t)


 C2 = (1 − D)biL1 (t) + (1 − D)biL2 (t)−

 dt
The SEPIC small signal average state-space model is 


 1

 − b
bo (t) − (Ii + Io ) d(t)
v
given by the equation system (10), note that the average R
voltage drop across the bypass capacitor in the SEPIC con-
verter is VC1 = E:

 IV. Duty Cycle to Output Voltage Transfer


 dbiL1 (t)

 L1 = bC1 (t) − (1 − D) v
eb(t) − (1 − D) v bo (t)+ Function

 dt



 b The duty cycle to output voltage Gvd (s) transfer func-

 +(E + Vo ) d(t)

 tions of the four converters are obtained [8] by applying

 db
vC1 (t)

 (1 − D)biL1 (t) − D biL2 (t)−


C1 = the Laplace transform method to the differential equation

 dt

 systems (9), (10), (11) and (12). Two different transfer

 b
−(Ii + Io ) d(t)

functions are obtained, one for the pair C̀uk-Zeta and
 dbiL2 (t) (10)

 L2 = bC1 (t) − (1 − D) v
Dv bo (t)+ other for the pair SEPIC-X.

 dt



 b

 +(E + Vo ) d(t)






db
vo (t)
(1 − D)biL1 (t) + (1 − D)biL2 (t)−
A. C̀uk and Zeta Transfer Function
 C2
 =

 dt

 The duty cycle to output voltage (Gvd (s)) transfer func-

 1

 − b
bo (t) − (Ii + Io ) d(t)
v
R tion for the converters C̀uk and Zeta is:
vo (s) N um(s)
Gvd (s) = = (13)
d(s) Den(s)
C. Small Signal Model of the Zeta converter
The Zeta small signal average state-space model is given Where N um(s) (14) and Den(s) (15) are:
by the equation system (11), note that the average voltage
drop across the bypass capacitor in the Zeta converter is N um(s) = (C1 L1 (E + Vo ))s2 − (DL1 (Ii + Io ))s+
VC1 = −Vo : +(D′ )(E + Vo )
(14)
4

In order to analyze the influence of the value of the

C1 L1 L2 3
components in the location of poles and zeros, each value
Den(s) = (C1 C2 L1 L2 )s4 + s + is modified, while remaining constant the rest of them.
R
+(C2 L1 D 2 + C2 L2 (D′ )2 + C1 L1 )s2 +
(15) Two values of duty cycle are chosen, one for the step
( )
L1 D 2 L2 D′2
+ + s + D ′2 down (D = 0.4) and other for the step up (D = 0.6)
R R
operation mode of the converters, because it has a great
influence in the dynamic behavior of the converters.

B. SEPIC and X Transfer Function

A. Variations on Duty Cycle
The duty cycle to output voltage (Gvd (s)) transfer func-
tion for the converters SEPIC and X is: The seven following values have been used to study the
influence of the duty cycle:
vo (s) N um1(s)
Gvd (s) = = (16)
d(s) Den1(s) D = [0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8]

Where N um1(s) (17) and Den1(s) (18) are: Cuk-Zeta Influence of D on Pole-Zero locations
N um1(s) = −(C1 L1 L2 (Ii + Io ))s3 + 400000

+(C1 (L1 + L2 )D′ (E + Vo ))s2 − (17) 300000

−(L1 D(Ii + Io ))s + D′ (E + Vo )
200000

C 1 L1 L2 3
Den1(s) = (C1 C2 L1 L2 )s4 + s + 100000
R
Imaginary Axis

+(C2 L1 D2 + C1 L1 D′2 + C1 L2 D′2 )s2 +

( ) 0 D = 0.8
L1 D 2 L2 D′2 (18)
+(C2 L2 D′2 )s2 + + s+
R R -100000
+D′2
-200000

-300000
C. Comparison of Transfer Functions
Several differences are found between the C̀uk-Zeta pair -400000
and the SEPIC-X pair transfer functions. The first one is -50000 0 50000 100000 150000 200000
Real Axis
the order of the numerator, while the C̀uk-Zeta pair is a
Fig. 6. Zero - Pole map of C̀uk-Zeta Transfer Functions
second order function in the SEPIC-X pair is a third order
function. The second difference is that in the denominator
only the second order term is different between each pair SEPIC-X Influence of D on Pole-Zero locations
of converters. 400000

The coefficients of the polynomial of the numerator 300000

which depend on current appear as a sum of input and
output currents, and the coefficients which depend on the 200000

voltage appear as a sum of input and output voltages. This

feature is logical because the current through the active 100000
Imaginary Axis

switch is the sum of the currents through the inductors.

Hence, the voltage drop across the passive switch is the 0

sum of input and output voltages for all converters. D = 0.2

-100000

V. Zero - Pole Analysis of Gvd (s) Transfer

-200000
Function
The following initial values have been applied to the -300000
transfer functions:
-400000
-5e+06 0 5e+06 1e+07 1.5e+07
E = 10V L1 = 5µH C1 = 1µF Real Axis
R = 10Ω L2 = 5µH C2 = 100µF
Fig. 7. Zero - Pole map of SEPIC-X Transfer Functions
Valls: GVD TRANSFER FUNCTION 5

Fig. 6 shows that all zeros and poles for the pair Fig. 9 shows that the real zero in the pair SEPIC-X
C̀uk-Zeta are complex conjugate, the zeros are on the doesn’t depends on the value of bypass capacitor.
right half plane while the poles are close to the real axis
Zoom on SEPIC-X Pole-Zero locations
in the negative half plane. And Fig. 7 shows that the real 500000
zero in the pair SEPIC-X is more positive than the others.
D = 0.4 D = 0.6
450000
B. Variations on Capacity of Bypass Capacitor
The eleven following values have been used to study the
influence of the bypass capacitor C1 , where D = 0.4 and 400000

Imaginary Axis
the same values where D = 0.6:
C1 = [0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5] µF
350000
Cuk-Zeta Influence of C1 on Pole-Zero locations
600000

300000

400000

250000
200000
-5000 0 5000 10000 15000 20000
Imaginary Axis

Real Axis
Fig. 10. Zoom on complex conjugate zeros of SEPIC-X Transfer
0 D = 0.4 D = 0.6 Functions
Fig. 10 shows that the complex conjugate zeros are
-200000 negative while the converter is in step down mode and
positive while the converter is in step up mode.
-400000
C. Variations on Inductance of Inductors
-600000
The eighteen following values have been used to study
-20000 0 20000 40000 60000 80000 100000 the influence of the inductance, where D = 0.4 (l) and the
Real Axis same values where D = 0.6 (m):
Fig. 8. Zero - Pole map of C̀uk-Zeta Transfer Functions
L1 , L2 = [5, 5]µH L 1 , L2 = [5, 25]µH L1 , L 2 = [10, 10]µH
SEPIC-X Influence of C1 on Pole-Zero locations L1 , L2 = [10, 20]µH L 1 , L2 = [15, 15]µH L1 , L 2 = [20, 10]µH
L1 , L2 = [20, 20]µH L 1 , L2 = [25, 5]µH L1 , L 2 = [25, 25]µH
600000

Cuk-Zeta Influence of L1 and L2 on Pole-Zero locations

400000 400000

300000
200000
Imaginary Axis

200000
D = 0.6 D = 0.4
0
100000
Imaginary Axis

-200000 0 D = 0.4 D = 0.6

-100000
-400000

-200000

-600000
-1e+06 0 1e+06 2e+06 3e+06 4e+06 -300000
Real Axis
Fig. 9. Pole - Zero map of SEPIC-X Transfer Functions -400000
-10000 0 10000 20000 30000 40000 50000
Fig. 8 shows that the position of the zeros for the Real Axis
pair C̀uk-Zeta are closer to the origin while the bypass Fig. 11. Zero - Pole map of C̀uk-Zeta Transfer Functions
capacitor value increases.
6

Fig. 11 shows that the abscissa of the zeros only depends Bode Diagram of V2d Ideal components (red) Erickson (blue)
on duty cycle while the ordinate depends on inductance 80
value for the pair C̀uk-Zeta. 60

Magnitude [dBV]
40

SEPIC-X Influence of L1 and L2 on Pole-Zero locations 20

400000 0

-20
300000
-40
101 102 103 104 105
200000
0
100000 -100
Imaginary Axis

Phase [deg]
-200
0 -300

-400
-100000
-500

-600
-200000 1 2 3 4 5
10 10 10 10 10
Frequency [Hz]
-300000
Fig. 13. Bode Diagram of Erickson Model with and without loss
resistance of inductors
-400000
-1e+06 0 1e+06 2e+06 3e+06 4e+06
Real Axis
Fig. 12. Zero - Pole map of SEPIC-X Transfer Functions sense is better than other methods like space state average.

All these plants have Gvd (s) inverse unstable transfer

As Fig. 12 the real zero in the pair SEPIC-X depends functions or in others words they are non minimum-phase
on the value of the inductance. because have one or more zeros in the right half plane.

VI. Validation of the Model The poles are always negative near to the imaginary
To validate the model of these converters, the author axis therefore the system is open loop stable.
has applied the values of the SEPIC example on page 430
of ”Fundamentals of Power Electronics” [7] by Erickson, References
and has plotted the Bode diagram. The book’s model [1] S.Cuk and R. D.Middlebrook, “A new optimum topology switch-
includes the loss resistances of inductors, but those are ing dc-to-dc converter,” in Proc. PESC’77. IEEE, 1977, pp. 160–
179.
not included in the model of this paper. When these [2] R. P. Massey and E. C. Snyder, “High voltage single-ended dc-dc
resistances are included, both models reach the same converter,” in Proc. PESC’77. IEEE, 1977, pp. 156–159.
result, one by the formula and the other by simulation. [3] M.K. Kazimierczuk and J.J. Jozwik, “Optimal topologies of res-
onant dc/dc converters,” Transactions on Aerospace and Elec-
tronic Systems, vol. 25, no. 3, pp. 363 – 372, May 1989.
As Fig. 13 shows the result, the Magnitude is nearly [4] J. M. Valls, “Analysis and synthesis of a new converter to com-
the same, but the phase changes over 1kHz because two plete the class of ćuk, sepic and zeta converters,” in Proc. SAAEI
2014, Tangier, Morocco, Jun 2014, vol. PCT2-1.
complex conjugate zeros have negative real part, but in [5] E. van Dijk J.N. Spruijt D.M. O’Sullivan and J.B. Klaassens,
the ideal model all zeros have positive real part. “Pwm-switch modeling of dc-dc converters,” IEEE Transactions
on Power Electronics, vol. 10, no. 6, pp. 659–665, Nov 1995.
[6] V. Vorperian, “Simplified analysis of pwm converters using model
VII. Conclusions of pwm switch. part i: Continuous conduction mode,” IEEE
Transactions on Aerospace and Electronic Systems, vol. 26, no.
It has been demonstrated that the structure of duty 3, pp. 490 – 496, May 1990.
cycle to output voltage Gvd (s) transfer function is deter- [7] R. W. Erickson and D. Maksimović, Fundamentals of Power
Electronics, Kluwer Academic Publishers, second edition edition,
mined by the output stage topology. So, as the C̀uk and 2001.
Zeta converters, have buck output stage, have identical [8] A. Hassanzadeh M. Monfared S. Golestan and R. Dowlatabadi,
transfer function with two zeros and four poles in the “Small signal averaged model of dc choppers for control studies,”
in Proc. International Conference on Electrical Engineering and
denominator. This also occurs with the SEPIC and Informatics, 2011. IEEE, Jul 2011, pp. 1–4.
X converters with the buck-boost output stage, have
identical transfer function with three zeros and four poles
in the denominator.

The use of circuit average method to found the dynamic

model of the converters simplifies the analysis and in this

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