MAT EC Web of Conferences 16, 0 60 0 4 (2014)

DOI: 10.1051/matecconf/ 201 4 16 0 60 0 4


C Owned by the authors, published by EDP Sciences, 2014

Analysis and control design of two cascaded boost converter

A. Moutabir1, A. Abouloifa2, E. Abdelmounim1, M. Aboulfatah1 , R. Majdoul1 and A. Touati1
1
L.A.S.T.I, University HASSAN 1er, Faculty of sciences and technology of Settat, Morocco
2
L.T.I, University HASSAN II, Faculty of Sciences Ben M’sik Casablanca, Morocco

Abstract. This work aims to study a cascade of two BOOST converters. First, a non- linear model of the
whole controlled system is developed. Then, a robust non-linear controller of currents is synthesized using a
backstepping design technique. A formal analysis based on Lyapunov stability and average theory is developed
to describe the control currents loops performances. A classical PI controller is used for the voltages loops. The
study of the stability of the system will also be discussed. Simulated results are displayed to validate the
feasibility and the effectiveness of the proposed strategy.

1 Introduction A control strategy is developed that simultaneously deals

with the two cascaded boost. The control strategy is
The DC / DC converters have become an essential featured by its multi-loops nature. First, the two current
component of industrial and military applications over loops are designed using the backstepping technique [4 ].
the past decades. Thanks to their efficiency increasingly Then, two others loops are designed to regulate the output
high, their size, their weight and reduced cost, they have voltage and the voltage between the two boost converters
replaced conventional linear power supplies, even at low using the classical PI regulator.
power levels [1]. Additional actions are designed to dominate the
disturbing effects while preserving the closed-loop
Obtaining a high voltage is needed in some system stability. It will be formally proved that the robust
applications which the input supply is low such as multi-loop controller thus obtained stabilizes (globally
photovoltaic panel or fuel cell. and asymptotically) the controlled system and ensures
quite interesting tracking properties [5].
The problem can be handled either by using a simple These theoretical results are obtained making
step-up converter with high duty cycle or by using judicious use of adequate control theory tools including
cascaded converters. The use of a single stage in averaging theory and Lyapunov stability [6] . The paper
performing this conversion ratio will imply working with is organized as follows: the system under study (i.e. the
high duty cycles and therefore will increase the losses DC-DC cascaded boost converter) is modeled and given a
and reduce the voltage conversion ratio. Moreover, the state space representation in Section2; the controllers
use of an individual power converter with a high duty design and the closed-loop system analysis are dealt with
cycle to obtain high voltage conversion ratios has some in Section3; the controller performances are illustrated
design limitations due to the finite commutation times of through numerical simulations in Section4.
the power devices and the size of the passive elements. If
galvanic isolation is not required, the cascade connection
of two boost converters can be a good alternative to 2 Modeling the two cascaded boost
obtain high voltage step-up ratios. converter

Some previous works have presented a studies of The circuit in figure 1 consists of two cascaded Boost
cascaded converters, such as combination of an converter. The boost converters are according to the
interleaved converter and inverter three levels [2], and a known pulse wide modulation (PWM) principle.
comparison between static and dynamic performances of
a Z-source converter and dual-stage boost converter [3].
In this article, a study of two cascaded boost converter
will be presented.

This is an Open Access article distributed under the terms of the Creative Commons Attribution License 3.0, which permits unrestricted use,
distribution, and reproduction in any medium, provided the original work is properly cited.
Article available at http://www.matec-conferences.org or http://dx.doi.org/10.1051/matecconf/20141606004
 MATEC Web of Conferences

1     1    
 =  and  = 
0     0    

2.2 Averaged model

This model is defined as follows:

1 − !
̇ = −  + (2)
 
1 − ! 1
Fig. 1. Two cascaded boost converter. ̇  =  − " (2)
 
1 1 − !
The used parameter values of the present converter are ̇ " =  − # (2)
depicted in Table 1.  
1 − ! 1
Table 1. The used parameter values for the converter. ̇ # = " −  (2)
  #

Prameter Value In the above model,  ,  , " # are denoted respectively

the averages currents and voltages  ,  ,  ,  and
 = 35 (! , ! ) represents the averages duties ratio function
Inductors
 = 100 ( ,  ).
 = 4
Capacitors
 = 600
2.3 Equilibrium points
Frequency 10 
The equilibrium point can be obtained by forcing the time
derivative of the state variables of the reduced order
Input voltage = 12 model to be null.

Load resistor  = 10 -  :

⎧  = (./78 )9(./98 )9 ; (3)
⎪
⎪ - = : 8
Swiches IGBT (3)
./7
̇ = 0 ⟹ :
⎨ "- = (3)
;(./78 )(./98 )9
⎪
⎪ - 
 = (3)
⎩ # <./78 >(./98 )
2.1 Switched model
The equilibrium point is noted:
By applying standard Kirchhof Voltage Law (KVL) and
Kirchhof Current Laws (KCL) to the circuit depicted in ? - = (- - "- #- ) (3@)
Figure 1, the two cascaded Boost converter can be
represented by the following differential equations: From the equilibrium point, the output power is equal to
the input power and that the input voltage in a boost
 converter is less than its output voltage
 = − (1 −  )  (1)

 
 = (1 −  ) −  (1)
 2.4 Stability analysis

 =  − (1 −  )  (1) In order to study the stability of the system, the non-

  linear model (2a)-(2d) is linearized around the

 = (1 −  ) − (1) equilibrium point ? - given by (3e). The stability of the
  linearized system can be studied by using the Jacobian
Where: matrix A and evaluating it at the equilibrium point ? - .
This matrix can be expressed as follows:
-  and  are respectively the currents in inductors 
and  ,
-  denotes the voltage in capacitor  and  is the
output voltage.
-  and  are denoted the duties ratio functions.

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B  () = (0,0083 " + 7800  − 69000 − 2481010T )10T

A= C D = D-
B
? = ?-
(.H78 ) 3 Control design
0 − 0 0
I7

⎛(.H8) − 0 ⎞
⎜ J7
7
0 J7
⎟ 3.1 Control objectives
A= ⎜ ⎟
⎜ (.H98 )⎟
 0 − There are four operational control objectives:
⎜ 0 I9 ⎟
I9
(.H98 ) 
0 0 − (i) Current regulation: the input current 
⎝ J9 ;J9 ⎠
(respectively the current " in inductor  )
The local stability analysis of the system can be carried must track ,as closely as possible, a given
out by using the characteristic polynomial equation: reference signal ∗ ( respectively "∗ ).
p(s)= det(A − sI) = 0 of the linearized system, where I is (ii) Controlling the voltage  making it track a
the unitary matrix. given reference signal ∗ .
(iii) Regulating the output voltage # to a reference
Using Routh-Hurwitz criterion, four conditions for value #∗ .
stability are obtained. (iv) Ensure the global stability of the system.

If we consider the choice equilibrium point:

? - = (7,5 18 5 30)P
D = (1/3 0,4)P

p(s) can be written in the following form:

det(R − A) =  # + 166,7 " + 3174. 10"   + 546,2. 10T 

+ 39,7. 10 = 0

The roots are located in the left plane and hence, the
system is asymptotically stable.

We have:

VW7 VW7 Z98

VH7 VH9 I7 0
⎛ VW9 VW9 ⎞ ⎛Z 8 0⎞
7
⎜VH VH9 ⎟ ⎜J7 ⎟
B = ⎜ VW7 VWX ⎟
= ⎜ 8
⎟
X ⎜ ZY ⎟
⎜VH7 VH9 ⎟ ⎜0 I9 ⎟ Fig. 2. Regulators based structure.
VWY VWY ZX8
0
⎝VH7 VH9 ⎠ ⎝ J9 ⎠
As shown in figure 2 we define two current loops ( inner
V\ V\ V\ V\ loop) and two voltage loops ( outer loop).
C = [VZ VZ9 VZX VZY
] = (0 0 0 1)
7
^ = #
3.2 Inner loop
The transfer function defined by:
Consider the tracking errors  and " defined by:
.
 () =  (R − A) _ + `
  ( − ∗ )
= [ ]=c f (4)
"  (" − "∗ )
We can justify that the system is a non- minimum phase
because it contains some zeros dynamics
Its derivative is given by:
The output is given by:
̇  (̇ − ̇∗ )
̇ = c f = c   f (5)
 ()  () ̇
"  (̇ " − ̇ "∗ )
a() = D () + D ()
det(R − A)  det(R − A)  Consider the quadratic Lyapunov function:
1 P
Then: = (6)
2
 () = −(5860 + 122.45)10

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Its derivative is done: 3.3 Outer loop

̇ =  ( ̇P + P
̇) = ̇
  + ̇
" " (7) The aim is now to design a tuning laws for the ∗ and "∗ .


To get a stabilizing control laws, the time-derivative ̇ 3.3.1 Relationship between ∗ and 
must be a negative definite function of  and " . Then
̇ is chosen :
The first step in designing such a loop is to establish the
relation between ∗ (control input current) and the output
̇ =− 
− 
˂0 (8) voltage  .
  " "

Where  and " are the constants positives parameters Using the equation (2b) and replacing ! by (15) and  ,
synthesis of the controllers. " by the relations deduced for (4), we obtain:
n n
This choice implies that: 2  ̇  = 2(   + −  ̇∗ ) [ 7 + ∗ ] − 2 [ X + "∗ ]
I7 I9
(17)

̇
 =−   (9) If we consider: ^ =  then: ^̇  = 2 ̇ 

̇ =−
" " " (10)
 "
 ^̇  = 2(   + −  ̇∗ ) c + ∗ f − 2 c + "∗ f
We replace ̇ and "̇ in (4), we obtain:  
Finally:
−   =  (̇ − ̇∗ ) (11)
 : n7 {7 I7 | n7
− " " =  (̇ " − ̇ "∗ ) (12) ^̇  = ∗ + ∗ − (∗  ) − ̇∗ + ?(, ) (18)
J7 J7 J7 |} J7

Substituting ̇ and ̇ " respectively by the relationships With:

of the expressions (2a) and (2c), then:  {7 : nX
?(, ) = [−2~^ "∗ + 
+ − ~^ ] (19)
J7 I7  I7  I9
−   = − (1 − ! ) −  ̇∗

− " " =  − (1 − ! )# −  ̇ "∗
Proposition 2. Consider the system described by (2a)
Then the control laws to satisfy a stabilization are defined and (2b) together with the control law (15). Under the
by: same assumptions as in Proposition 1, one has the
following properties:
 ̇∗ −   − (i) The output voltage  varies, in response to the
⎧! = 1 + (15) reference , according to the equation (17).

∗
⎨! = 1 +  ̇ " − " " − 
(16) (ii) The squared voltage ^ =  varies, in
⎩  # response to the reference, according to the
equation (18) with (19).
The properties of these control laws are summarized in
the proposition 1.

Proposition1. Consider the system composed of the 3.3.2 Controller PI design

currents equations (2a) and (2c), and the control laws
(15) and (16) where  > 0 i " > 0 are arbitrarily
Note that the model (18) can be seen as an integrator
chosen by the user. If the references ∗ and "∗ and their
disturbed by the signal p (t). The development of the
first time derivatives are available, then one has the
controller is based on the following average model:
following properties:
^̇ = €̅∗ + k̅ () (20)
- The current loop undergoes the equations (9) and :
(10) with (5). As  i " j@ klm@, these with: € =
J7
equations are exponentially stables.
The system (20) can be stabilized using a simple PI
- The input current and the current in inductor tends corrector whose transfer function is given by:
to their references. {
() = ‚ + ƒ9.


The first derivative of the reference ∗ must be available

(Proposition 1), the low pass filter is adopted, then:

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 3.3.3 Relationship between "∗ and # :

∗ = „ ∗
‚ (^ − ^ ) +  †(^∗ − ^ )‡ (21)
+
Then: Proceed by the same approach that paragraph 3.3.2, we
 obtain:
∗ = < ‚  +   > (22)
+

 = ^∗ − ^
With:
 = ∫   2 2
"
^̇# = „( " " +  −  ̇ "∗ ) c + "∗ f − ^# ‡
The block diagram of the controlled system is shown in   
Figure 3.
′
"∗ = „ ∗
‚# (^# − ^# ) + # †(^#∗ − ^# )‡
 + ′


∗ = ( ‚  +   )
+

 = ^∗ − ^
With:
 = ∫  

Fig. 3. Voltage equivalent loop.

In the closed loop, the output signal y depends on the 4 Simulations

reference and the disturbance signal p (t) using the
following equation: In order to verify the theoretical results predicted in
Sections 2 and 3, the two cascaded boost converter has
a () = ()a∗ () + ‰()‹() (23) been simulated by using SIMPOWER of Matlab-
Simulink software with the set of parameter values
With: depicted in Tables 1 and 2.
(  + ‚ )
() = (24) Table 2. Parameter values for the simulations.
" +   + ‚  + 

( + ) Parameters Values

‰() = " 
(25)
 +  + ‚  + 
, " 200
Using Routh-Hurwitz criterion, the conditions for
stability are given by: Ri@“j”: , # 4

>0 ‹jlkljli”: ‚ , ‚# 2
Π >0
‚  >  l• ”@j: , ′ 3

The transfer function F(s) shows that the regulator Ri” m”!@: 18
@@j@i@: ∗ –
guarantees perfect tracking lim}→‘ (^∗ − ^ ) = 0 and i” m”!@: 36
G(s) guarantees a disturbance rejection because it Ri” m”!@: 30
@@j@i@: #∗ –
contains a derivative effect. i” m”!@: 60
The parameters values chosen are depicted in Table 2.

The BODE diagram in figure 4 shows the frequency The converter has been simulated to check the previous
behavior of F (s). stability conditions.

The figures 5-6 and 7-8 present respectively the forms of

currents and voltages. We observe that the tracking is
satisfied and the stability is guaranteed.

The forms of the errors are showed in figures 9 and 10.

Fig. 4. Bode diagram of F(s).

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Fig. 5. Input current. Fig. 9. Tracking error #.

Fig. 10. Tracking error  .

Fig. 6. Inductor  current.

5 Conclusion
In some applications, high conversion ratios are needed.
Different techniques and converter topologies can be
obtained to handle this problem. In this paper, the two
cascaded boost converter has been studied for his
potential use in this kind of applications. It has been
analyzed theoretically and by numerical simulations
using Matlab software. The dynamical models and
stability analysis of this system has been presented. The
Fig. 7. Capacitor  voltage. controller design have been studied also. The results of
simulations have been satisfied.

References
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PWM DC-DC power converter .Int. J. E 65, 205
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Davat.New non linear control strategy for DC/DC
converter E.C.M 51, 56 (2010)
3. A. Elaroudi, R. Haroun, A. Cid-Pastor, A. Kouzou,
L. Martinez-Salamero.,Z-source and dual-stage
boost comparison Energie Procedia 42, 587 (2013)
Fig. 8. Output voltage.
4. J. Alvarez-Ramirez, G. Espinosa-Perez, D. Noriega-
Pineda. Banaszak Backstepping approach.IEEE., 190
(2001)
5. A. Elmaguiri, F. Giri, A. Abouloifa, F.Z. Chaoui.
Robust control , Elsevier (2010)
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