International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 12, No. 4, December 2021, pp. 2393~2402

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v12.i4.pp2393-2402  2393

Optimal tuning of proportional-integral controller using system

identification for two-phase boost converter for low-voltage
applications

M. A. N. Amran1, A. A. Bakar2, M. H. A. Jalil3, A. F. H. A. Gani4, and E. Pathan5

1-4Faculty of Electrical and Electronic Engineering, University Tun Hussein Onn Malaysia, Malaysia
5 Department of Electronic Engineering, Quaid-E-Awam University of Engineering, Science & Technology Nawabshah,
Sindh, Pakistan

Article Info ABSTRACT

Article history: This paper presents modeling and hardware implementations of a two-phase
DC-DC boost converter by using the system identification approach. The main
Received Jun 25, 2021 objective of this research was to study new methods to obtain the values of the
Revised Sep 12, 2021 constants for the proportional-integral (PI) controller. Existing methods are
Accepted Sep 20, 2021 time-consuming, since the values of the constants for the PI controller need to
be calculated. The system identification approach for the closed-loop boost
converter saves more time. To model a two-phase boost converter using the
Keywords: system identification approach, input duty cycle and output voltage are
collected in the time domain data. In this study, the transfer function (TF)
DC-DC converter model, the autoregressive moving average with exogenous (ARMAX) model
System identification and the output-error (OE) model were used to generate a mathematical model.
Two-level boost converter To perform the closed-loop analysis, constants Kp and Ki were obtained based
on the generated mathematical model from the system identification approach.
The result from the experiment shows that the percentages of overshoot for the
TF, ARMAX and OE models were 19%, 25.36% and 24.6%, respectively. The
output voltage ripples obtained for all three models were less than 5% of output
voltage
This is an open access article under the CC BY-SA license.

Corresponding Author:
A. A. Bakar
Department of Electrical Engineering
Faculty of Electrical and Electronic Engineering, University Tun Hussein Onn Malaysia
Parit Raja, Batu Pahat, Johor, Malaysia
Email: [email protected]

1. INTRODUCTION
Boost converters are used in many applications, such as personal electronic equipment [1], [2],
automobiles [3], [4], communications [5], [6] and enterprise systems, also known as enterprise planning
systems (ERPs). Boost converters are also widely applied in PV cells [7]-[10] and wind power systems [11]-
[13]. However, conventional boost converters have shortcomings, such as high current ripples on the switch
and output diode, difficulty of distinguishing between switching voltage stress and output voltage, and
inevitable high losses during switching [14], [15]. Multiple studies in power electronics have successfully
demonstrated effective methods to improve boost converters’ performance with high efficiency for better
output, such as using multiphase DC-DC boost converters or interleaving methods [16]-[19].
Multiphase technology with the interleaved boost converter topology has attracted the attention of
many researchers in recent years. This method implements phase-shifted pulse-width modulation (PWM)
signals to control the metal-oxide-semiconductor field-effect transistors (MOSFETs) and is often used in

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2394  ISSN: 2088-8694

designs that require parallel components [17]. This article focused on the two-phase DC-DC boost converter,
in which the PWM signals of the two-phase boost converter are assigned as a 180-degree phase shift at each
level to turn on and off the MOSFETs. An N-level boost converter presents a unique characteristic compared
with the traditional boost converter topology for its ability to reduce input current ripple, output current ripple
and switching stress and to increase load transients [20]-[23].
Adequate information is needed during the process of developing boost converters in order to ensure
reliability, effectiveness and robustness of the system. In this study, to obtain the analysis results of the
values of constant gains Kp, Ki and Kd in real time, the design simulation of the controller was done, as it was
impractical to obtain the constants through physical testing. The most popular methods for adjusting the
proportional-integral-derivative controller are the Ziegler-Nichols and the Cohen-Coon tuning methods [24].
However, these methods provide less information about the internal system. The insufficient detailed
description of the open-loop system of the two-phase boost converter will lead to an inaccurate design of the
controller. In addition, designing hardware in simulation can be time-consuming. To address these issues, the
mathematical modeling technique, which comprised the integrated process of formulating sets of equations,
was utilized to describe and design the suitable controller for the two-phase boost converter in low-voltage
applications.
Basically, there are two ways to design the mathematical model: using the first-principle model via
physical laws [25] and using the empirical model via system identification [26]. System identification is a
powerful tool for constructing mathematical models based on input and output data. The signal can be
measured in the time or frequency domain, depending on the measured data. In general, there are a few steps
that must be followed to implement the system identification technique. First, input and output data are
collected from the hardware or simulation. Next, a model structure is chosen. The next step is model
estimation, in which the most suitable model order for actual measurement is selected, and finally the model
is evaluated [27].
This article focused on the transfer function (TF) model, the autoregressive moving average of
exogenous (ARMAX) model and the output-error (OE) model to design a mathematical model. Then, the
generated mathematical model from the system identification approach was used to design the controller. The
values of constants Kp and Ki of the proportional-integral (PI) controller can be tuned by using the auto-
tuning method. This method used less time when building the controller, as the values of constants Kp and Ki
were tuned according to the mathematical model generated by the system identification method. After
successfully obtaining the values of constants Kp and Ki, the values were tested in the developed hardware.

2. OPERATION OF TWO-PHASE BOOST CONVERTER

The circuit configuration of the proposed two-phase boost converter is shown in Figure 1. The
circuit consisted of two diodes, two switches, two inductors, one capacitor and one resistor. The diodes,
switches and inductors were connected in parallel. The operating modes of two-phase boost converter is
shown in Table 1.

Figure 1. Circuit configuration of two-phase boost converter simulated using MATLAB/Simulink

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  2395

Table 1. Operating modes of two-phase boost converter

Time Mosfets, S Diodes, D
t0-t1 S1 closed, S2 opened Diode D1 in reverse bias, while D2 in forward bias
t1-t2 S1 opened, S2 closed Diode D2 in reverse bias, while D1 in forward bias

 Proportional-integral-derivative algorithm
A proportional-integral-derivative (PID) controller consists of three main components, namely, P, I
and D components. A PID controller basically calculates the system’s error continuously based on the
setpoint value and adjusts the system to provide improvements based on these three components. The P
component represents the ratio of the current value of the set value to the process variable error. Component I
represent the past error value of the set value of the process variable and integrates it over time to construct
the new value of I. Finally, the D component provides the trend to be used to estimate the future error of the
set value of the process variable. Even though the PID controller consists of these three main components,
each individual component does not necessarily need to be implemented when designing a controller. P, I, D,
PI, PD or ID components can also be used, depending on the desired output feedback. The block diagram of a
PID controller is shown in Figure 2.

P 𝐾𝑝 𝑒(𝑡)

𝑡
u(t) ෍ I 𝐾𝑖 ‫׬‬−𝑡 𝑒(𝑡)𝑑𝑡 ෍ Process y(t)

𝑑𝑒(𝑡)
D 𝐾𝑑
𝑑𝑡

Figure 2. Proportional-integral-derivative controller’s block diagram

The PID components will determine the error between the desired set value or reference value and
the process variable. Although it can be said that the PID controller is the most traditionally used controller,
researchers are still studying to improve its performance and the controls’ effects. Two well-known PID
tuning methods are the Ziegler-Nichols tuning method and the Cohen-Coon tuning method. Table 2 shows
the adjustment rules of the Ziegler-Nichols technology and the Cohen-Coon technology. The value of
constant K represents the process gain, t represents time constant, and θ represents time delay.

Table 2. PID tuning formulas; (a) Ziegler-Nichols and (b) Cohen-Coon

Controller Kp Ti Td
P 𝑡 - -
𝐾𝜃
PI 0.9𝑡 𝜃 -
𝐾𝜃 0.3
PID 1.2𝑡 2𝜃 2𝜃
𝐾𝜃
(a)

Controller Kp Ti Td
P 𝑡 𝜃 - -
(1 + )
𝐾𝜃 3𝑡
PI 0.9𝑡 𝜃 𝜃 -
(0.9 + ) 30 + 3 ( )
𝐾𝜃 12𝑡 𝜃( 𝑡 )
𝜃
9 + 20 ( )
𝑡
PID 𝑡 4 𝜃 𝜃
( + ) 32 + 4
𝐾𝜃 3 4𝑡 𝜃( 𝑡 ) 𝜃( )
𝜃 𝜃
13 + 8 11 + 2
𝑡 𝑡
(b)

Optimal tuning of proportional-integral controller using system identification ... (M. A. N. Amran)
2396  ISSN: 2088-8694

Due to advancements in control design, the PID controller can now be adjusted using auto-tuning
methods, where the controller is converted into a mathematical model [28]. In the non-linear adjustment
process, the Ziegler-Nichols tuning cannot be adjusted due to excessive amplitude modulation and poor load
adjustment rate and cannot provide an acceptable response to changes in the setpoint. However, this problem
can be addressed by using the automatic adjustment method.

3. ANALYSIS OF TWO-PHASE BOOST CONVERTER

A few steps needed to be followed in order to analyze the closed-loop two-phase boost converter.
To summarize the steps to perform this setup configuration, Figure 3 and Table 3 show the block diagram of
the experiment and the parameters used in the experiment, respectively. Input voltage of 15 V to 40 V was
supplied to the two-phase boost converter. The load used in this experiment was the programmable AC-DC
electronic load from Chroma model 63804. A voltage divider was used to decrease the output voltage of the
two-phase boost converter. This was due to the permissible voltage read in the digital signal processing and
control engineering (dSPACE) software of only 0-15 V. After that, dSPACE would send the information on
the measured voltage to the computer’s MATLAB/RTI software. The workflow in MATLAB/Simulink will
be explained in the next subsection. After being processed by MATLAB/Simulink, the data were sent to the
Quartus II software to generate the switching signals for the closed-loop system. A field-programmable gate
array (FPGA) would receive the switching signals, which then were used to operate the gate driver. Finally,
the gate driver would drive the MOSFETs to perform the turn-on and turn-off operations.

Input Voltage Two-phase DC/DC boost

Load
converter

Voltage divider
Gate driver

PWM generator ADC

Set point/
References PI controller

Figure 3. Block diagram of experiment

Table 3. Parameters used in experiment

Parameter Value
Input voltage 15–40 V
Output voltage 45–60 V
Output power 50–200 W
Switching frequency 100 kHz
Capacitor 470 µF
Inductor 220 µF

3.1. MATLAB/Simulink closed-loop design for two-phase boost converter

The closed-loop design of the two-phase boost converter was programmed by using the
MATLAB/Simulink software. Data collection of the measured voltage from dSPACE was obtained from the
console, which was linked to MATLAB/Simulink. Figure 4 illustrates the closed-loop program for the two-
phase boost converter.

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Figure 4. MATLAB/Simulink’s closed-loop program for two-phase boost converter by using dSPACE
DS1103

The value of the voltage was measured, while the console monitored the dSPACE data during the
process of sending the data to the multiplexer (MUX ADC). To increase the input’s value, the input data
were set to a gain of 10. To make sure that the input measurement factor was the same as the experiment’s
voltage, the input test voltage was multiplied by 10.95. The input value was compared with the setpoint value
so that the PI controller followed the setpoint. The output of the PI controller was set to double and
multiplied by a constant using the rounding function block. Next, the input was converted from integer to bit.
After converting, 8 bits of the 32-bit digital output were synchronized using the Quartus II software for the
Altera DE2-70 board.

3.2. Quartus II design for interleaved switching signal

In order to drive the MOSFETs, the gate voltage needed to be increased. Accordingly, the
MOSFETs must be connected to the gate driver. Therefore, an adequate level of voltage was required to
drive the MOSFETs. Quartus II is one of the software that could be used for this purpose. Figure 5 shows the
block diagram to generate the switching signals for the two-phase boost converter.

Figure 5. Quartus II software’s block diagram to generate switching signals

The interleaved switch design for driving the MOSFETs included altpll, lpm_counter and two
comparators. The altpll function, or the phase-locked loop, was capable of adjusting the phase of the locally
generated signal to match the phase of the input signal. In addition, the feedback control system of the phase-
locked loop can generate a stable frequency for the input. As for the switch, PIN_AD15 was connected to the
50 MHz input of the internal clock. The internal clock would generate 10 MHz output. The lpm_counter
function can be used to create up/down counters, up counters and down counters. A maximum counter of
approximately 256 bits can be generated by lpm_counter. For the proposed two-phase boost converter, an 8-
bit lpm_counter was implemented. Although the input of lpm_counter was set to 7 bits, since the switch input
of dSPACE was set to 8 bits, the system needed to be standardized to 8 bits in order to operate. The

Optimal tuning of proportional-integral controller using system identification ... (M. A. N. Amran)
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lpm_counter function would count from 0 to 199. As for the comparators, VHDL or Very High Description
Language was used to design the interleaved switching.

4. RESULTS AND DISCUSSION

To analyze the output voltage from the two-phase boost converter, some equipment needed to be
prepared. Figure 6 shows the equipment used to analyze the closed-loop two-phase boost converter designed
using the system identification approach. The equipment consisted of Altera DE2-70 from Intel as the signal
generator, with a 50 MHz oscillator and a 28.63 MHz oscillator as the clock source. The gate driver was used
to drive the MOSFETs into the on-state or off-state. For the two-phase boost converter’s voltage supply,
model VSP12010 programmable DC voltage supply from B&K Precision Corporation was selected since it
can provide power of up to 1,200 W.
The dSPACE DS1103 controller was used to collect the output voltage, which would interface with
the control desk to analyze the output voltage. To make sure current flowed in the components,
programmable AC-DC electronic load from Chroma model 63804 was used to set the load. The advantage of
the programmable AC-DC electronic load was that it can support power of up to 45,000 W with voltage of up
to 350 Vrms and current of up to 45 Arms. Figure 6 shows the experiment setup for the two-phase boost
converter.

DS1103 DC power supply

Altera
Electronic load

Two-phase boost converter

Figure 6. Experiment setup for two-phase boost converter

4.1. Transient response from the three models

This section explains the results of the transient response of the two-phase boost converter. From the
output response, a sudden change in voltage occurred with a short burst of energy, which caused a transient
response. An analysis was performed to see the system’s response over a period of time. The analysis was
performed from 0 V, and 20 V was injected with the reference voltage of 25 V. The resistor was set to 20 Ω
by using the variable resistor.
The analysis used three different sets of values of Kp and Ki. The first set of values of Kp and Ki were
from the TF model, the second set of values of Kp and Ki were from the ARMAX model and the third set of
values of Kp and Ki were from the OE model. Table 4 shows the values of constants Kp and Ki from the auto-
tuning method with the system identification approach.

Table 4. Constants Kp and Ki for TF, ARMAX and OE models

Model Kp Ki
TF 0.000523569507730620 4.33909483492499
ARMAX 0.001587442646336000 4.78925750164727
OE 0.000457947276794796 6.31888447044734

From the responses shown in Figure 7, the ARMAX model showed the highest overshoot, which
was 25.36%, followed by the OE model with 24.6% and the TF model with 19%. The delay time for the TF
model was the fastest, which was 0.0152928 s, while the ARMAX model and the OE model had the same
delay time, which was 0.016192 s. Next, the rise time for the TF model had the fastest response with
0.0135936 s compared with those of the ARMAX and OE models with 0.0143936 s each. Finally, for settling

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  2399

time, the OE model showed the fastest response with 0.0469979 s compared with those of the TF and
ARMAX models with 0.0539975 s and 0.0539976 s, respectively. The responses obtained from the transient
analysis for the TF, ARMAX and OE models are tabulated in Table 5.

(a) (b)

(c)

Figure 7. Transient response for; (a) TF model, (b) ARMAX model and (c) OE model

Table 5. Models’ response obtained from transient analysis

Model Percentage of overshoot (%) Delay time (s) Rise time (s) Settling time (s)
TF 19.00 0.0152928 0.0135936 0.0529975
ARMAX 25.36 0.0161928 0.0143936 0.0539976
OE 24.60 0.0161928 0.0143936 0.0469979

4.2. Output voltage ripples from system identification approach

Voltage ripples cannot be avoided in output voltage. Output voltage ripples are often generated even
in small magnitudes, depending on certain conditions. If the voltage is high, thousands of ripples may be
generated. The output voltage analysis consisted of two conditions. The first condition was for 30 W power
and the second condition was for 150 W power. The load applied in this experiment was set by Chroma
model 63804 programmable AC-DC electronic load. The resistor was fixed at 20 Ω to observe the
differences in the various values of Kp and Ki from the system identification approach.
In order to evaluate the system’s voltage ripple, a number of samples were collected. The time used
to analyze the percentage of voltage ripple was 2 s (steady state). From the data samples, the highest voltage
and the lowest voltage were recorded and used to calculate the percentage of voltage ripple by using (1).
𝑉𝑚𝑎𝑥 −𝑉𝑚𝑖𝑛
𝑟= × 100 (1)
𝑉𝑎𝑣𝑔

Figures 8, 9 and 10 depict the output voltage results for the TF, ARMAX and OE models,
respectively. From the results, the TF model for 30 W showed 2.72% output voltage ripple, while the TF
model for 150 W showed 2.10%. The ARMAX model showed 4.20% output voltage ripple for 30 W and
2.68% for 150 W. Finally, the OE model showed 3.04% output voltage ripple for 30 W and 2.24% for 150
W. For 30 W, the TF model showed the lowest percentage of output voltage ripple with a difference of
1.48% from that of the ARMAX model and 0.32% from that of the OE model. For 150 W, the TF model also
showed the lowest percentage of voltage ripple with a difference of 0.58% from that of the ARMAX model
and 0.14% from that of the OE model. The percentages of output ripple for 30 W and 150 W from the system
identification approach are tabulated in Table 6.
Optimal tuning of proportional-integral controller using system identification ... (M. A. N. Amran)
2400  ISSN: 2088-8694

(a) (b)

Figure 8. Output voltage ripples for TF model with Kp=0.00052356950773062 and Ki=4.33909483492499;
(a) 30 W and (b) 150 W

(a) (b)

Figure 9. Output voltage ripples for ARMAX model with Kp=0.001587442646336 and
Ki=4.78925750164727; (a) 30 W and (b) 150 W

(a) (b)

Figure 10. Output voltage ripples for OE model with Kp=0.000457947276794796 and
Ki=6.31888447044734; (a) 30 W and (b) 150 W

Table 6. Percentages of output ripple for 30 W and 150 W from system identification approach
Model Types Percentage of output voltage ripple
30 W 2.72%
TF
150 W 2.10%
30 W 4.20%
ARMAX
150 W 2.68%
30 W 3.04%
OE
150 W 2.24%

5. CONCLUSION
Optimal tuning of the PI controller by using the system identification approach for the closed-loop
two-phase boost converter was proposed to generate an efficient and fast-responding controller. The method
implemented in this study was an improvement of the popular tuning methods, which were the Ziegler-
Nichols and the Cohen-Coon tuning methods. In real-life applications, the system identification approach is
far less time-consuming when designing a controller for the DC-DC boost converter. This is due to the
system identification being able to generate the mathematical model of the boost converter by using input and
output data. The input data from this proposed experiment were the PWM signals and the output data were

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the output voltages. The collected data were sent for system identification to generate the mathematical
model. After obtaining the mathematical model, it was used to find the values of constants Kp and Ki. Three
models were applied from the system identification approach to generate the mathematical model, which
were the transfer function (TF), autoregressive moving average with exogenous input (ARMAX), and output-
error (OE) models. The constants for the TF model were observed to be the best, since the model produced
lower percentages of overshoot and voltage ripple compared with those of the ARMAX and OE models.
Therefore, the contribution of this paper is to provide the fastest method to design the controller for a DC-DC
boost converter.

ACKNOWLEDGEMENTS
The authors would like to express their deepest appreciation to Universiti Tun Hussein Onn
Malaysia for supporting this research under TIER 1 Vot H909 research grant.

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Int J Pow Elec & Dri Syst, Vol. 12, No. 4, December 2021 : 2393 – 2402