ANALYSIS OF SMALL-SIGNAL MODEL OF A PWM

DC-DC BUCK-BOOST CONVERTER IN CCM.

A thesis submitted in partial fulfillment

of the requirements for the degree of

Master of Science in Engineering

By

Julie J. Lee

B.S.EE, Wright State University, Dayton, OH, 2005

2007
Wright State University

WRIGHT STATE UNIVERSITY

SCHOOL OF GRADUATE STUDIES

August 17, 2007

I HEREBY RECOMMEND THAT THE THESIS PREPARED UNDER MY
SUPERVISION BY Julie J. Lee ENTITLED Analysis of SmallSignal Model of a DC-DC Buck-Boost Converter in CCM
BE ACCEPTED IN PARTIAL FULFILLMENT OF THE REQUIREMENTS
FOR THE DEGREE OF Master of Science in Engineering

Marian K. Kazimierczuk, Ph.D.

Thesis Director

Fred D. Garber, Ph.D.

Department Chair

Committee on
Final Examination

Marian K. Kazimierczuk, Ph.D.

Kuldip S. Rattan, Ph.D.

Ronald Riechers, Ph.D.

Joseph F. Thomas, Jr., Ph.D.

Dean, School of Graduate Studies

Abstract

Lee, Julie J. M.S. Egr., Department of Electrical Engineering, Wright State University, 2007.
Analysis of Small-Signal Model PWM DC-D Buck-Boost Converter in CCM.
The objective of this research is to analyze and simulate the pulse-width-modulated (PWM)
dc-dc buck-boost converter and design a controller to gain stability for the buck-boost converter. The PWM dc-dc buck-boost converter reduces and/or increases dc voltage from one
level to a another level in devices that need to, at different times or states, increase or decrease
the output voltage.
In this thesis, equations for transfer funtions for a PWM dc-dc open-loop buck-boost converter operating in continuous-conduction-mode (CCM) are derived. For the pre-chosen design, the open-loop characterics and the step responses are studied. The converter is simulated
in PSpice to validate the theoretical analysis. AC analysis of the buck-boost converter is performed using theoretical values in MatLab and a discrete point method in PSpice. Three
disturbances, change in load current, input voltage, and duty cycle are examined using step
responses of the system. The step responses of the output voltage are obtained using MatLab
Simulink and validated using PSpice simulation.
Design and simulation of an integral-lead (type III) controller is chosen to reduce dc error
and gain stability. Equations for the integral-lead controller are given based on steady-state
and AC analysis of the open-loop circuit, with a design method illustrated. The designed
controller is implemented in the circuit, and the ac behavior of the system is presented.
Closed loop transfer fuctions are derived for the buck-boost converter. AC analysis of the
buck-boost converter is studied using both theoretical values and a discrete point method in
PSpice. The step responses of the output voltage due to step change in reference voltage, input
voltage and load current are presented. The design and the obtained transfer functions of the
PWM dc-dc closed-loop buck-boost converter are validated using PSpice.

iii

Contents

1 Introduction

1.1

Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2

Thesis Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Open-Loop Buck-Boost
2.1

2.2

2.3

Transfer Functions for Small-Signal Open-Loop Buck-Boost . . . . . . . . .

2.1.1

Open-Loop Input Control to Output Voltage Transfer Function . . . .

2.1.2

Open-Loop Input Voltage to Output Voltage Transfer Function . . . .

13

2.1.3

Open-Loop Input Impedance . . . . . . . . . . . . . . . . . . . . . .

15

2.1.4

Open-Loop Output Impedance . . . . . . . . . . . . . . . . . . . . .

21

Open-Loop Responses of Buck-Boost using MatLab and Simulink . . . . . .

23

2.2.1

Open-Loop Response due to Input Voltage Step Change . . . . . . .

23

2.2.2

Open-Loop Response due to Load Current Step Change . . . . . . .

28

2.2.3

Open-Loop Response due to Duty Cycle Step Change . . . . . . . .

30

Open-Loop Responses of Buck-Boost Using PSpice

. . . . . . . . . . . . .

32

2.3.1

Open-Loop Response of Buck-Boost . . . . . . . . . . . . . . . . .

32

2.3.2

Open-Loop Response due to Input Voltage Step Change . . . . . . .

34

2.3.3

Open-Loop Response due to Load Current Step Change . . . . . . .

34

2.3.4

Open-Loop Response due to Duty Cycle Step Change . . . . . . . .

36

iv

3 Closed Loop Response

3.1

3.2

3.3

38

Closed Loop Transfer Functions . . . . . . . . . . . . . . . . . . . . . . . .

38

3.1.1

Integral-Lead Control Circuit for Buck-Boost . . . . . . . . . . . . .

42

3.1.2

Loop Gain of System . . . . . . . . . . . . . . . . . . . . . . . . . .

51

3.1.3

Closed Loop Control to Output Voltage Transfer Function . . . . . .

53

3.1.4

Closed Loop Input to Output Voltage Transfer Function . . . . . . .

53

3.1.5

Closed Loop Input Impedance . . . . . . . . . . . . . . . . . . . . .

57

3.1.6

Closed Loop Output Impedance . . . . . . . . . . . . . . . . . . . .

62

Closed Loop Step Responses of Buck-Boost . . . . . . . . . . . . . . . . . .

65

3.2.1

Closed Loop Response due to Input Voltage Step Change

. . . . . .

65

3.2.2

Closed Loop Response due to Load Current Step Change . . . . . . .

68

3.2.3

Closed Loop Response due to Reference Voltage Step Change . . . .

71

Closed Loop Step Responses using PSpice . . . . . . . . . . . . . . . . . . .

73

3.3.1

Closed Loop Response of buck-boost . . . . . . . . . . . . . . . . .

73

3.3.2

Closed Loop Response due to Input Voltage Step Change

. . . . . .

74

3.3.3

Closed Loop Response due to Load Current Step Change

. . . . . .

76

3.3.4

Closed Loop Response due to Reference Voltage Step Change . . . .

79

4 Conclusion

81

4.1

Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

81

4.2

Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

82

Appendix A

83

References

86

List of Figures
2.1

Small-signal model of buck-boost. . . . . . . . . . . . . . . . . . . . . . . .

2.2

Block diagram of buck-boost.

2.3

Small-signal model of buck-boost to determine Tp the input control to output

. . . . . . . . . . . . . . . . . . . . . . . . .

voltage transfer function. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4

Theoretical open-loop magnitude Bode plot of input control to output voltage

transfer function Tp for a buck-boost.

2.5

. . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . .

12

Small-signal model of the buck-boost to determine the input to output voltage

transfer function Mv the input to output function. . . . . . . . . . . . . . . .

2.9

12

Discrete points open-loop phase Bode plot of input control to output voltage
transfer function Tp for a buck-boost.

2.8

11

Discrete point open-loop magnitude Bode plot of input control to output voltage transfer function Tp for a buck-boost. . . . . . . . . . . . . . . . . . . .

2.7

11

Open-loop phase Bode plot of input control to output voltage transfer function
Tp for a buck-boost with and without 1 s delay.

2.6

13

Open-loop magnitude Bode plot of input to output voltage transfer function

Mv for a buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16

2.10 Open-loop phase Bode plot of input to output transfer function Mv for a buckboost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

vi

16

2.11 Open-loop magnitude Bode plot of input to output transfer function Mv for a
buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17

2.12 Open-loop phase Bode plot of input to output transfer function Mv for a buckboost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17

2.13 Open-loop magnitude Bode plot of input impedance transfer function Zi for a
buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19

2.14 Open-loop phase Bode plot of input impedance transfer function Zi for a buckboost . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19

2.15 Discrete points open-loop magnitude Bode plot of input impedance transfer
function Zi for a buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . .

20

2.16 Discrete points open-loop phase Bode plot of input impedance transfer function Zi for a buck-boost.

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.17 Small-signal model of the buck-boost for determining output impedance Zo .

20
21

2.18 Open-loop magnitude Bode plot of output impedance transfer function Zo for
a buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24

2.19 Open-loop phase Bode plot of output impedance transfer function Zo for a
buck-boost . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24

2.20 Discrete points open-loop magnitude Bode plot of output impedance transfer
function Zo for a buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . .

25

2.21 Discrete points open-loop phase Bode plot of output impedance transfer function Zo for a buck-boost . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25

2.22 Open-Loop step response due to step change in input voltage vi . . . . . . . .

28

2.23 Open-Loop step response due to step change in load current io .

. . . . . . .

30

2.24 Open-Loop step response due to step change in duty cycle d. . . . . . . . . .

32

2.25 Open-loop buck-boost model with disturbances.

33

. . . . . . . . . . . . . . .

2.26 Open-loop buck-boost response without disturbances.

vii

. . . . . . . . . . . .

33

2.27 PSpice model of Open-Loop buck-boost with step change in input voltage.

34

2.28 Open-Loop step response due to step change in input voltage using PSpice. .

35

2.29 PSpice model of Open-Loop buck-boost with step change in load current. . .

35

2.30 Open-Loop step response due to step change in load current using PSpice.

36

2.31 PSpice model of Open-Loop buck-boost with step change in duty cycle. . . .

37

2.32 Open-Loop step response due to step change in duty cycle using PSpice.

. .

37

3.1

Closed loop circuit of voltage controlled buck-boost with PWM. . . . . . . .

39

3.2

Closed loop small-signal model of voltage controlled buck-boost.

. . . . . .

39

3.3

Block diagram of a closed-loop small-signal voltage controlled buck-boost. .

40

3.4

Simplified block diagram of a closed-loop small-signal voltage controlled buckboost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5

Magnitude Bode plot of modulator and input control to output voltage transfer
function Tmp for a buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . .

3.6

43

Magnitude Bode plot of the input control to output voltage transfer function
Tk before the compensator is added for a buck-boost. . . . . . . . . . . . . .

3.8

43

Phase Bode plot of modulator and input control to output voltage transfer
function Tmp for a buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . .

3.7

40

44

Phase Bode plot of the input control to output voltage transfer function Tk
before the compensator is added for a buck-boost.

. . . . . . . . . . . . . .

44

The Integral Lead Controller . . . . . . . . . . . . . . . . . . . . . . . . . .

45

3.10 Magnitude Bode plot of the controller transfer function Tc for a buck-boost. .

52

3.11 Phase Bode plot of the controller transfer function Tc for a buck-boost.

. . .

52

3.12 Magnitude Bode plot of the loop gain transfer function T for a buck-boost. . .

54

3.13 Phase Bode plot of the loop gain transfer function T for a buck-boost. . . . .

54

3.9

3.14 Magnitude Bode plot of the input control to output transfer function Tcl for a
buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

viii

55

3.15 Phase Bode plot of the input control to output transfer function Tcl for a buckboost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

55

3.16 Magnitude Bode plot of the input control to output transfer function Tcl for a
buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

56

3.17 Phase Bode plot of the input control to output transfer function Tcl for a buckboost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

56

3.18 Magnitude Bode plot of the input to output voltage transfer function Mvcl for
a buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

58

3.19 Phase Bode plot of the input to output voltage transfer function Mvcl for a
buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

58

3.20 Magnitude Bode plot of the input to output voltage transfer function Mvcl for
a buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

59

3.21 Phase Bode plot of the input to output voltage transfer function Mvcl for a
buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

59

3.22 Magnitude Bode plot of the input impedance transfer function Zicl for a buckboost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.23 Phase Bode plot of the input impedance transfer function Zicl for a buck-boost.

63
63

3.24 Magnitude Bode plot of the input impedance transfer function Zicl for a buckboost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.25 Phase Bode plot of the input impedance transfer function Zicl for a buck-boost.

64
64

3.26 Magnitude Bode plot of the output impedance transfer function Zocl for a
buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

66

3.27 Phase Bode plot of the output impedance transfer function Zocl for a buck-boost. 66
3.28 Magnitude Bode plot of the output impedance transfer function Zocl for a
buck-boost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

67

3.29 Phase Bode plot of the output impedance transfer function Zocl for a buck-boost. 67

ix

3.30 Closed Loop step response due to step change in vi . . . . . . . . . . . . . . .

69

3.31 Closed Loop step response due to step change in io . . . . . . . . . . . . . . .

71

3.32 Closed Loop step response due to step change in vr .

. . . . . . . . . . . . .

73

3.33 Closed loop buck-boost model with disturbances. . . . . . . . . . . . . . . .

74

3.34 Closed loop buck-boost response without disturbances. . . . . . . . . . . . .

75

3.35 PSpice model of Closed Loop buck-boost with step change in input voltage.

76

3.36 Closed Loop step response due to step change in input voltage using PSpice.

77

3.37 PSpice model of Closed Loop buck-boost with step change in load current. .

77

3.38 Closed Loop step response due to step change in load current using PSpice. .

78

3.39 PSpice model of Closed Loop buck-boost with step change in duty cycle. . .

79

3.40 Closed Loop step response due to step change in reference voltage using
PSpice. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

80

Acknowledgements
I would like to thank my advisor, Dr. Marian K. Kazimierczuk, for his guidance and input on
the thesis development process.
I also wish to thank Dr. Ronald Riechers and Dr. Kuldip S. Rattan for serving as members
of my MS thesis defense committee, giving the constructive criticism necessary to produce a
quality technical research document.
I would also like to thank the Department of Electrical Engineering and Dr. Fred D. Garber,
the Department Chair, for giving me the opportunity to obtain my MS degree at Wright State
University.

1 Introduction
1.1 Background
Trends in the current consumer electronics market demand smaller, more efficient devices.
With the increasing use of electronic devices on the market, a demand of low power and low
supply voltages is ever increasing. The key for power management is balancing need for
less power and lower supply voltages with maintaining operational ability. Many electronic
devices require several different voltages and are provided by either a battery or a rectified
ac supply line current. However, the voltage is usually not the required, or the ripple voltage
could be to high. Voltage regulator methodology is a constant dc voltage despite changes in
line voltage, load and temperature.
Voltage regulator can be classified into linear regulators and switching-mode regulators.
Some drawbacks of linear regulators are poor efficiency, which also leads to excess heat dissipation and it is impossible to generate voltages higher than the supply voltage. Switchingmode regulators can be separated into the following categories: Pulse-Width Modulated (PWM)
dc-dc regulators, Resonant dc-dc converters, and Switched-capacitor voltage regulators. The
PWM dc-dc regulators can be divided into three important topologies: buck converter, boost
converter, and buck-boost converter. The buck-boost converter is chosen for analysis.
The PWM dc-dc buck-boost converter reduces and increases dc voltage from one level to
a another [1]-[5]. A buck-boost converter can operate in both continuous conduction mode

(CCM), which is the state discussed, and discontinuous conduction mode (DCM) depending
on the inductor current waveform. In CCM, the inductor current flows continuously for the
entire period, whereas in DCM, the inductor current reduces to zero and stays at zero for the
rest of the period before it begins to rise again.

1.2 Thesis Objectives

The objectives of this thesis are as follows:
1. To analyze and simulate the dc-dc buck-boost converter for open-loop.
2. To design a control circuit for the buck-boost converter.
3. To analyze and simulate the dc-dc buck-boost converter for closed-loop.

2 Open-Loop Buck-Boost
Derived small-signal open-loop transfer functions for the input control to ouput voltage
transfer fuction Tp , audio susceptibilityMv, input impedance Zi and output impedance Zo . Using the transfer functions finding the AC analysis of the transfer fuction by finding the Bode
plots. Step responses of the system are found due to a step change in input voltage vi , duty
cycle d and load current io .

2.1 Transfer Functions for Small-Signal Open-Loop

Buck-Boost
2.1.1 Open-Loop Input Control to Output Voltage Transfer
Function
A small-signal open-loop buck-boost model is shown in Fig 2.1. A block diagram of a buckboost converter is shown in Fig 2.2. The MOSFET and diode are replaced by a small-signal
model of a switching network (dependent voltage and current sources), the inductor is replaced
by a short and the capacitor is replaced by an open circuit. The pre-chosen measured values
of the circuit are: VI = 48 V, D = 0.407, VF = 0.7 V, rDS = 0.4 , RF = 0.02 , L = 334 mH,
C = 68 F, rC = 0.033 , and RL = 14 .

IL d

vsd

VSDd

D (vi ov)

Dil

+
vi

C
+
RL

vo

rC

il

Z1
r

Z2

Figure 2.1: Small-signal model of buck-boost.

Zo
io

vo
Mv

vo

vo +
+
vo

vi

Tp

Figure 2.2: Block diagram of buck-boost.

io

iZ 2
vi =

io =

vsd

IL d

VSDd

Dil

Dvsd = Dvo

C
+
RL

vo

L
Z1

il

rC

r
Z2

Figure 2.3: Small-signal model of buck-boost to determine Tp the input control to output voltage transfer function.
The dependent sources are related to duty cycle. Setting the other two inputs to zero relates
the control input to the output. This transfer function due to duty cycle affecting the output is
Tp . The derivation using Fig 2.3 of Tp is below starting from first principles of KCL and KVL.
Finding the transfer function of the plant Tp

iZ 2 =

vz2
vo
=
Z2
Z2

(2.1)

Using KCL
il + iZ2 Il d Dil = 0

il (1 D) + iZ2 Il d = 0

(2.2)

il Z1 VSD d Dvsd = vo

(2.3)

vsd = vo

(2.4)

il Z1 = vo +VSD d Dvo

il =

vo (1 D) + vsd d
Z1

(2.5)

Substituting values

vo
vo (1 D) +VSD d
(1 D) + IL d = 0
Z1
Z2

(2.6)

vo (1 D)2 +VSD d(1 D) vo

+
+ IL d = 0
Z1
Z1
Z2

vo

Tp




1
VSD (1 D)
(1 D)2
+
= d IL
Z1
Z2
Z1


Il VSD (1D)
Z1

vo (s)
|v =i =0 = 
(1D)2
d(s) o o
+
Z1

Il =

1
Z2

 =

Il 1 VSD (1D)
IL
2
(1 D) + ZZ12

Io
vo
ID
=
=
(1 D)
(1 D)
(1 D)RL

(2.7)

(2.8)

Using KVL
rIL Dvsd + vF vo = 0

vsd vI vF + vo = 0

vsd = vI + vF vo

(2.9)

(2.10)

Substituting values

vo
D (vI + vF vo ) + vF vo = 0
r
(1 D)RL


(2.11)


vo
r
+ DvF o + vF vo = DvI
(1 D)RL

vo

 
vF
vF
r
= vI D
vI D + 1 + D
(1 D)Rl
vo
vo

vo



r
vF
+ (1 D) 1
= vI D
(1 D)RL
vo

vsd = vI + vF vo = vo

vF vI
1
vo vo



vF
1
= IL RL (1 D) 1
vo MV DC




vF
1
vsd
RL (1 D) 1 +
=
+r
IL
D
|vo |

Tp (s)

vo
|v =i =0 =
d i o

Tp (s) =

Tp (s) =



IL 1 VSD (1D)
Il
(1 D)2 + ZZ12

i
h
IL Z1 (1 D) vIsdL
Z1
Z2

+ (1 D)2

h
i
IL Z1 (1 D) vIsdL
Z1 +(1D)2 Z2
Z2

i
h
IL Z1 (1 D) vIsdL Z2
Z1 + (1 D)2 Z2

Z1 = r + sL

Z2 =

1
RL rc + sC

(2.13)

1
RL + rC + sC

(2.12)

(2.14)



 
vsd
vF
1
RL (1 D) 1 +
+r
=
IL
D
|vo |
vo
(1 D)RL

(2.16)

h
i
IL Z1 (1 D) vIsdL Z2

(2.17)

IL =

Tp =

(2.15)

Z1 + (1 D)2 Z2

DenTp = (r + sL) + (1 D)

2 RL

1
rc + sC

1
RL + rC + sC





1
1
2
(r + sL) + (1 D) RL rc +
DenTp = RL + rC +
sC
sC


1
RL
L
2
= RL r + rrC + r + sLRL + sLrC + + (1 D) RL rC +
sC
C
sC
= sCRL r + sCrC r + r + s2CLRL + s2 LCrC + sL + (1 D)2 (sCRL rC + RL )



C r (RL + rC ) + (1 D)2 RL rC + L
r + (1 D)2RL
s+
=s +
LC (RL + rC )
LC (RL + rC )
2

(2.18)

#
 "


1
RL rc + sC
1
vsd
NumTp = (sC)
RL + rC +
IL
Z1 (1 D)
1
LC (RL + rC )
sC
IL
RL + rC + sC





 
vF
1
1
2
RL (1 D) 1 +
+r
= IL (RL (sCrC + 1) (r + sL))
D
|vo |
LC (RL + rC )






Vo
1
1
vF
2
=
(RL (sCrC + 1))
(L) s
RL (1 D) (1 +
) + r(1 2D)
(1 D)RL
LC(RL + rC )
DL
|vo |




1
vF
1
Vo
2
s+
s
(RL (1 D) 1 +
) + r(1 2D)
NumTp =
((1 D)RL + rC )
CrC
DL
|vo |
(2.19)



C r (RL + rC ) + (1 D)2 RL rC + L
= p
2 LC (RL + rC ) [r + (1 D)2 RL ]
s
r + (1 D)2RL
o =
LC(RL + rC )

zn =

1
CrC





vF
1
2
RL (1 D) 1 +
+ r(1 2D)
zp =
DL
|vo |
Tp

(s + zn )(s + zp )
vo
Vo
|vi =io =0 =
d
(1 D) (RL + rC ) s2 + 2 o s + o2

Tpx =

Tpo = Tp (0) =

Vo rC
(1 D)(RL + rC )

Vo
(1 D)(RL + rC )

zn zp
Vo R
(1 D) (RL + rC ) o2

 




1
RL (1 D)2 1 + |vvFo | + r (1 2D)
Cr1C DL

2
r+(1D) RL
LC(RL +rC )

(2.20)

(2.21)

(2.22)

(2.23)
(2.24)

(2.25)

Vo rC

(1 D) (RL + rC )
Tpo =

RL
Vo

D(1 D)




v
RL (1D)2 1+ |vF | +r(12D)
o

CDLrC
r+(1D)2 RL
LC(RL +rC )




vF
1 + |vo | + r(1 2D)

r + (1 D)2RL

(1 D)2

(2.26)

The Bode plot of Tp is shown in Fig 2.4 and 2.5.

The input control to output voltage transfer function Tp has a non-minimum phase system
due to the right hand plane zero. The complex pole of the system is dependent on duty cycle,
D. The Bode plots for input control to output voltage transfer function Tp is also found using
discrete points. Discrete points were used rather than sweeping the circuit because PSpice
sweeps are only accurate for linearized circuits. Therefore, a sinusoidal source was inserted,
and the magnitude of ripples in either the voltage or the current are used to determine the magnitude of the function. Phase of the function was found my determining the time difference
between the two signals of interest. Distingushing the ripple from the noise was a challange
to be overcome. The answer was to boost the signal voltage but still maintain the small-signal
condition of the system. Therefore, for this thesis, a magnitude value of ten or less volts for
the test voltage is considered a small-signal. Most test voltages did not need to exceed five
volts to distinguish between the noise and ripple. The only one that required a higher value
is Zicl , which is caused by the MOSFET being placed in series with the sinusoidal voltage
source. In addition the MOSFET has a floating node associated with it. Figs 2.6 and 2.7 show
the discrete point Bode plots of the control input to output voltage transfer function Tp .

10

50

40

|T | (dB V)

30

20

10

10

20
0
10

10

10

10

10

10

f (Hz)

Figure 2.4: Theoretical open-loop magnitude Bode plot of input control to output voltage
transfer function Tp for a buck-boost.
180
td = 0
150

t = 1 s
d

120
90

()

60
30
0
30
60
90
1
10

10

10
f (Hz)

10

10

Figure 2.5: Open-loop phase Bode plot of input control to output voltage transfer function Tp
for a buck-boost with and without 1 s delay.

11

50

40

|T | (dB V)

30

20

10

10

20
1
10

10

10
f (Hz)

10

10

Figure 2.6: Discrete point open-loop magnitude Bode plot of input control to output voltage
transfer function Tp for a buck-boost.
180
150
120
90

()

60
30
0
30
60
90
1
10

10

10
f (Hz)

10

10

Figure 2.7: Discrete points open-loop phase Bode plot of input control to output voltage transfer function Tp for a buck-boost.

12

iZ 2

ii
vsd

d =0
io = 0

Dil

+
=

Dvsd
D (vi ov)

+
vi

+
RL

vo

il

Z1

rC

r
Zi

Z2

Figure 2.8: Small-signal model of the buck-boost to determine the input to output voltage
transfer function Mv the input to output function.

2.1.2 Open-Loop Input Voltage to Output Voltage Transfer

Function
A small-signal model of a buck-boost converter with inputs d = 0 and io = 0 is shown in Fig
2.8.
Using this model to derive equations for the input voltage to out voltage transfer function Mv ,
also known as audio susceptibility. Again, using first principles to start the derivation process.
From KCL
il Dil + iZ2 = 0

vo
Z2

(2.28)

vo
iZ 2
=
(1 D)
(1 D)Z2

(2.29)

iZ 2 =
il =

(2.27)

Using KVL

il Z1 + vo + Dvsd = 0

13

il Z1 = vo + D(vi vo )

il Z1 = Dvi + (1 D)vo

vo
Z1 = Dvi + (1 D)vo
Z2 (1 D)


Dvi = (1 D)vo 1 +

Mv (s)

Z1
Z2 (1 D)2

vo (s)
D
h
|d=io=0 =
vi (s)
(1 D) 1 +

Z1
Z2 (1D)2

"
#
D
1
1
D
2
=
(1 D)
=
(1 D) 1 + Z1 2
(1 D)
(1 D) + ZZ21
Z (1D)
2

Mv =

s + zn
(1 D)DRL rC
2
L(RL + rC ) s + 2 o s + o2

(2.30)

(1 D)DRL rC
L(RL + rC )

(2.31)

Mvx =

Mvo = Mv(0) =

(1 D)DRL rC zn
L(RL + rC ) o2

1
(1 D)DRL rC
CrC

r+(1D)2 RL
L (RL + rC )
LC(RL +rC )

14

Mvo =

(1 D)DRL
r + (1 D)2 RL

(2.32)

Fig: 2.9 and 2.10 show the theoretical Bode plots of Mv.
Using PSpice to determine certain points of interest gives the following Bode plot shown in
figures 2.11 and 2.12.

2.1.3 Open-Loop Input Impedance

Finding the input impedance Zi for the open-loop buck-boost converter circuit. Using Fig
2.8 to derive the open-loop impedance of the buck-boost small-signal model.
Using KCL

Dil il iZ2 = 0
iZ2 = Dil il
iZ2 = (1 D)il
From KVL

Z1 il + D(vi vo ) + vo = 0
Z1 il + Dvio (1 D) = 0
il Z1 + Dvi il (1 D)(1 D)Z2 = 0
il Z1 + Dvi il (1 D)2Z2 = 0
Dvi = il (Z1 + (1 D)2 Z2 )

15

(2.33)

10
0
10

30
40

|M | (dB V)

20

50
60
70
80
90
0
10

10

10

10

10

10

f (Hz)

Figure 2.9: Open-loop magnitude Bode plot of input to output voltage transfer function Mv for
a buck-boost.
180

150

90

()

120

60

30

0
0
10

10

10

10

10

10

f (Hz)

Figure 2.10: Open-loop phase Bode plot of input to output transfer function Mv for a buckboost.

16

10
0
10

30
40

|M | (dB V)

20

50
60
70
80
90
1
10

10

10
f (Hz)

10

10

Figure 2.11: Open-loop magnitude Bode plot of input to output transfer function Mv for a
buck-boost.
180

150

90

()

120

60

30

0
1
10

10

10
f (Hz)

10

10

Figure 2.12: Open-loop phase Bode plot of input to output transfer function Mv for a buckboost.

17

Zi =

vi (Z1 + (1 D)2 Z2 )
=
ii
D2



r + (1 D)2 RL
1
2
(1 D)
= 2 r + sL +
D
LC(RL + rC )
=

1
1
(r + sL)(RL + rC + sC
) + RL (rC + sC
)(1 D)2
1
)
D2 (RL + rC + sC

"
#
r
+ sLRL + sLrC + CL + RL rC (1 D)2 + (1 D)2 RsCL
1 rRL + rrC + sC
= 2
1
D
RL + rC + sC


1 LC (RL + rC ) s2 + C(r(rC + RL ) + RL rC (1 D)2) + L s + RL (1 D)2 + r
= 2
D
sCRL + sCrC + 1

Zi =

1
D2 (LC (R



2
RL (1D)2 +r
C )+RL rC (1D) +L
s2 + C(r(RL+rLC(R
s
+
+r )
LC(R +r )
L

L + rC ))

sC (RL + rC ) + 1

where
1
C(RL + rC )

(2.34)

L s2 + 2 o s + o2
D2
s + rc

(2.35)

rc =

Zi =

Figs: 2.13 and 2.14 show the theoretical Bode plots of Zi .

As shown above the Magnitude of |Zi | decreases quickly with an increase in D.
Figs 2.15 and 2.16 show the discrete point Bode plots for Zi .

18

180
160
140

|Z | (db V)

120
100
80
60
40
20
0
0
10

10

10

10

10

10

f (Hz)

Figure 2.13: Open-loop magnitude Bode plot of input impedance transfer function Zi for a
buck-boost.
90

60

()

30

30

60
0
10

10

10

10

10

10

f (Hz)

Figure 2.14: Open-loop phase Bode plot of input impedance transfer function Zi for a buckboost

19

180
160
140

100

|Z | ()

120

80
60
40
20
0
1
10

10

10
f (Hz)

10

10

Figure 2.15: Discrete points open-loop magnitude Bode plot of input impedance transfer function Zi for a buck-boost.
90

60

()

30

30

60
1
10

10

10
f (Hz)

10

10

Figure 2.16: Discrete points open-loop phase Bode plot of input impedance transfer function
Zi for a buck-boost.

20

it

ib
vsd

iZ

d=0

Dil

vi = 0

Dvsd
= Dvo

C
+
RL

io = 0

vt

vo

il

Z1

rC

r
Z2

Zo

Figure 2.17: Small-signal model of the buck-boost for determining output impedance Zo .

2.1.4 Open-Loop Output Impedance

Solving for the transfer function of output impedance Zo . Output impedance Zo of the buckboost small-signal model is shown in Fig 2.17 where all three inputs d, vi , and io equal 0. A
test voltage vt with a current of it is applied to the output of the model. The ratio of vt to it
determines Zo .
Using KVL

Z1 il Dvt + vt = 0
il =

(1 D)vt
Z1

(2.36)
(2.37)

KCL

ib + iZ2 it = 0
ib = (1 D)il

21

(2.38)

(1 D)il = it iZ2

(1 D)2vt
vt
= it
Z1
Z2



1
vt c +
= it
Z2

Zo =

vt
=
it

1
1
Z2

(1D)2
Z1

(r + sL)
=

(2.39)

Z1
Z1
2
Z2 + (1 + D)

1
)
RL (rC + sC
1
RL +rC + sC

1 )
R (r + sC
2
1 (1 D)
L
C + sC

r + sL + RL +rC

1
(r + sL) RL rC + sC





=
1
1
+ RL (1 D)2 rC + sC
(r + sL) RL rC + sC
=

rRL
L rC +LRL
s + LCR
s2 + CrRLCR
L rC
L rC

LC(RL + rC )

Zo =

s2 + 2 o s + o2

s + Lr




s + Cr1C

LC(RL + rC ) s2 + 2 o s + o2

r
L

(2.40)

1
CrC

(2.41)

rL =

zn =

22

Zo

vt
RL rC (s + rL )(s + zn )
=
it
(RL + rC ) s2 + 2 o s + o2

(2.42)

Figs: 2.18 and 2.19 show the Bode plots for Zo .

As D increases so does the magnitude of |Zo |at low frequencies.
Figs: 2.18 and 2.19 show the discrete points PSpice simulated Bode plots for Zo .

2.2 Open-Loop Responses of Buck-Boost using

MatLab and Simulink
2.2.1 Open-Loop Response due to Input Voltage Step Change
Response of output voltage vo due to a step change of 1 Volt in input voltage vi . The total
input voltage is given by equation 3.40 where u(t) is the unit step function and VI (0) is the
input voltage before applying the step voltage.

vI (t) = VI (0 ) + 4VI u(t)

(2.43)

rearranging T_{p} open-loop input control to output voltage transfer function

M_{v} open-loop input to output voltage transfer function, audio suceptibility
Z_{i} open-loop input impedance transfer function
Z_{o} open-loop output impedance transfer function

vi (t) = 4VI u(t) = vI (t) VI (0)

Changing from time domain to s-domain

23

(2.44)

|Zo| (dB V)

0
0
10

10

10

10

10

10

f (Hz)

Figure 2.18: Open-loop magnitude Bode plot of output impedance transfer function Zo for a
buck-boost.
60

30

()

30

60

90
0
10

10

10

10

10

10

f (Hz)

Figure 2.19: Open-loop phase Bode plot of output impedance transfer function Zo for a buckboost

24

|Zo | ()

0
1
10

10

10
f (Hz)

10

10

Figure 2.20: Discrete points open-loop magnitude Bode plot of output impedance transfer
function Zo for a buck-boost.
60

30

()

30

60

90
1
10

10

10
f (Hz)

10

10

Figure 2.21: Discrete points open-loop phase Bode plot of output impedance transfer function
Zo for a buck-boost

25

vi (s) = L{vi (t)}

(2.45)

where the step change in s-domain is

vi (s) =

4VI
s

(2.46)

Therefore the transient response due to a step change in vi becomes

vo (s) =

v (s)

(2.47)

02
s + zn
s + zn
= 4VI Mvx 2
= 4VI Mvo
2
2
zn s (s + 2 o s + o )
s (s + 2 o s + o2 )

(2.48)

Returning from s-domain to time domain

vo (t) = L{vo (s)}

(2.49)

producing the magnitude of the transient response is

= 4VI Mvo 1 +
Where

= tan1

o
2 o
+
zn
zn


d


zn 1

o
zn

2

e t

p
sin(d t + )
12

 + tan1

12

(2.50)

(2.51)

The total output voltage response is

vo (t) = V (0 ) + vo (t)

26

t 0

(2.52)

The maximum overshoot defined in equation where vo () is the steady state value of the
output voltage.

Smax =

vomax vo ()
vo ()

(2.53)

Obtaining the derivative for equation and setting it equal to zero produces the time instants at
which the maximum of vo occurs

vomax = 4VI Mvo 1 +

o
2 o
+
zn
zn


2

e
p

12

(2.54)

Therefore the maximum overshoot is

Smax =



o 2 e
2 o
p
+
1
zn
zn
12

(2.55)

The maximum relative transient ripple of the total output voltage can be defined as

max =

vomax vo ()
vo ()

(2.56)

where vo () is defined as the steady state value of the output voltage. Given the measured
values of the circuit are: VI = 48 V, D = 0.407,VF = 0.7 V, rDS = .4 , RF = 0.02 , L =
334 mH, C = 68 F, rC = 0.033 , and RL = 14 . These values lead to a maximum overshoot
, Smax = 35.67 % and a relative transient ripple max = 1.05 %.
The step change due to vi is shown in Fig: 2.22 .

27

28
28.1
28.2

28.4

v (V)

28.3

28.5
28.6
28.7
28.8

t (ms)

Figure 2.22: Open-Loop step response due to step change in input voltage vi .

2.2.2 Open-Loop Response due to Load Current Step Change

Response of vo due to a step change of .1 Amp in io . The total load current is given
by equation 3.40 where u(t) is the unit step function and Io (0 ) is the input current before
applying the step current.

Io (t) = Io (0 ) + 4Iou(t)

(2.57)

io (t) = io (t) Io(0 ) = 4Io u(t)

(2.58)

Step change in the time domain is

28

Changing from time domain into s-domain the step change becomes

io (s) =

4Io
s

(2.59)

The transient component of the output voltage is

vo (s) = Zo (s)io(s) =
= 4 Io Zox

4Io RL rC (s + zn )(s + rl )
RL + rC s (s2 + 2 o s + o2 )

(s + zn )(s + rl )
s (s2 + 2 o s + o2 )

(2.60)

Switching back from s-domain to time domain

vo (t) = L1 {vo (s)}

(2.61)

vo (t) = V (0 ) + vo (t)

(2.62)

The total output voltage is

Again, the maximum relative transient ripple of the total output voltage can be defined as

max =

vomax vo()
vo()

where vomax is the steady state value of the total output voltage. Given the measured values of
the circuit are: VI = 48 V, D = 0.407, VF = 0.7 V, rDS = 0.4 , RF = 0.02 , L = 334 mH,
C = 68 F, rC = 0.033 , and RL = 14 . These values lead to a maximum overshoot, Smax =
155.75 % and a relative transient ripple max = 0.708 %. The step change due to io is shown in
Fig: 2.23.

29

28

28.05

28.15

v (V)

28.1

28.2

28.25

28.3

28.35

t (ms)

Figure 2.23: Open-Loop step response due to step change in load current io .

2.2.3 Open-Loop Response due to Duty Cycle Step Change

The step response of vo for a step change of 0.1 in d is given. The total duty cycle is given
by equation 3.40 where u(t) is the unit step function and D is the duty cycle before applying
the step change in the duty cycle.

dT (t) = D + 4dT u(t)

(2.63)

The time domain step change in the duty cycle is

d(t) = dT (t) D = 4dT u(t)

30

(2.64)

leading to the s-domain version which is

d(s) =

4dT
s

(2.65)

The transient response of the output voltage of the open-loop buck-boost in s-domain is

vo (s) = Tp (s)d(s) =

= 4 dT Tpo

4dT Tp (s)
s

(s + zn )(s zp )
o2
zn zp s(s2 + 2 o s + o2 )

(2.66)

Switching back from s-domain to time domain

vo (t) = L1 {vo (s)}

The total output voltage is

vo (t) = V (0 ) + vo (t)
Again, the maximum relative transient ripple of the total output voltage can be defined as

max =

vomax vo()
vo()

where vomax is the steady state value of the total output voltage. Given the measured values of
the circuit are: VI = 48 V, D = 0.407, VF = 0.7 V, rDS = 0.4 , RF = 0.02 , L = 334 mH,
C = 68 F, rC = .033 , and RL = 14 . These values lead to a maximum overshoot, Smax =
36.01 % and a relative transient ripple max = 10.16 %. The step change due to d is shown in
Fig: 2.24 .

31

28
30

34

v (V)

32

36
38
40
42
0

t (ms)

Figure 2.24: Open-Loop step response due to step change in duty cycle d.

2.3 Open-Loop Responses of Buck-Boost Using

PSpice
2.3.1 Open-Loop Response of Buck-Boost
A circuit showing the open-loop buck-boost is shown in Fig 2.25 and a model of this circuit is
shown in Fig 2.1. The measured values of the circuit are: VI = 48 V, D = 0.389, L = 334 mH,
C = 68 F, rC = 0.033 , rL = 0.32 and RL = 14 . An International Rectifier IRF150 power
MOSFET is selected, which has a VDSS = 100 V , ISM = 40 A, rDS = 55 m, Co = 100 pF, and
Qg = 63 nC. Also, an International Rectifier 10CTQ150 Schottky Common Cathode Diode is
selected with a VR = 100 V, IF(AV ) = 10 A, VF = 0.73 V and RF = 28m . The duty cycle for
the MOSFET changes from 0.407 to 0.389 to obtain the correct output of 28 V as predicted
using MatLab. Also the switching frequency for Vp which controls the duty cycle is 100kHz

32

D
+

L
vi
VI

RL

Vp

io

vo

rC

rL

out

(V)

Figure 2.25: Open-loop buck-boost model with disturbances.

0
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40

4
t (ms)

Figure 2.26: Open-loop buck-boost response without disturbances.

allowing for a fast response time. The disturbances to the system are vi , io and d.

The output voltage of the buck-boost without any disturbances can be seen in Fig 2.26 . The
maximum overshoot is 41.25 %, settling time within five percent of steady state value is 3ms,
and settling time withing one percent of steady state value is 7ms.

33

D
+

L
vi
VI

Vp

RL

vo

rC

rL

Figure 2.27: PSpice model of Open-Loop buck-boost with step change in input voltage.

2.3.2 Open-Loop Response due to Input Voltage Step Change

The PSpice circuit with step change in input voltage is shown in Fig 2.27. An additional
voltage pulse source of 1 volt was added with a delay of 10 ms, so that the circuit ran for
sufficient time to reach steady state value, and then the disturbance is activated. The output
voltage of the buck boost can be seen in Fig 2.28. The voltage ripple is .22 volts contained between 27.33 V and 27.55 V, the average value of steady state is 27.425 V. The maximum
overshoot is Smax = 21.74 % and settling time within one percent is 2ms which contains the
ripple of steady state value. The relative maximum overshoot is max = 0.455 %.

2.3.3 Open-Loop Response due to Load Current Step Change

The PSpice circuit with step change in load current is shown in Fig 2.29. An additional
current pulse source of .1 Amp was added with a delay of 10 ms so that the circuit ran for
sufficient time to reach steady state value, then the disturbance is activated. The output voltage
of the buck boost can be seen in Fig 2.30 . The voltage ripple is 0.22 V and the output voltage
is contained between 28.36 V and 28.14 V. the average value of steady state is 22.25 V .
The maximum overshoot is Smax = 88 % and settling time within one percent is 1.4 ms which
contains the ripple of steady state value. The relative maximum overshoot is max = 0.779 %.

34

27.4
27.6
27.8

28.2

out

(V)

28

28.4
28.6
28.8
29

10

t (ms)

Figure 2.28: Open-Loop step response due to step change in input voltage using PSpice.

D
+

L
VI
Vp

RL

io

vo

rC

rL

Figure 2.29: PSpice model of Open-Loop buck-boost with step change in load current.

35

27.8

27.9

28.1

out

(V)

28

28.2

28.3

28.4

28.5

.5

1.5

2.5
t (ms)

3.5

4.5

Figure 2.30: Open-Loop step response due to step change in load current using PSpice.

2.3.4 Open-Loop Response due to Duty Cycle Step Change

The PSpice circuit with step change in duty cycle is shown in Fig 2.31. An addition voltage
pulse source is added with a switch now on both Pulse generators. The first pulse generator
has its switch closed and running for the first ten ms so that it can achieve the desired steady
state value then simultaneously the switch to Vp is opened and the switch to Vp2 is closed with
the new duty cycle increased by 0.1. The output voltage of the buck boost can be seen in Fig
2.32 . The voltage ripple is 0.34 V the average voltage of steady state is 34.03 V and the
output voltage is contained between the bounds of 33.86 V and 34.2 V . The settling time
is within one percent, which contains the ripple, of steady state value is 2.5 ms.

36

D
+

L
VI

vo

RL

Vp

rC

rL
Vp 2

Figure 2.31: PSpice model of Open-Loop buck-boost with step change in duty cycle.

27
28
29

Vout (V)

30
31
32
33
34
35

3
t (ms)

Figure 2.32: Open-Loop step response due to step change in duty cycle using PSpice.

37

3 Closed Loop Response

3.1 Closed Loop Transfer Functions

Fig 3.1 shows the power stage of a buck-boost converter circuit with single-loop control
circuit. The control circuit is a single-loop voltage mode control. A small-signal closed-loop
model of the buck-boost is shown in Fig 3.2.
A block diagram of the closed-loop buck-boost is shown in Fig 3.3. vr , ve , vc and v f are
all ac components of the reference voltage, error voltage, output voltage of controller and and
feedback voltage respectively. Tp is the small-signal control to output transfer function of the
non-controlled buck-boost. Mv is the open-loop input to output voltage transfer function. Zo
is the open-loop output impedance. Tm is the transfer function of the pulse width modulator
(PWM). The function is the inverse of the hiegth of the ramp voltage being sent to the second
op-amp which is being used as a comparator. Tc is the transfer function for the lead-intergral
controller and T is the loop gain. The circuit is one control input and two disturbances and
one output where the independent inputs are vr , vi , and io respectively and the output is vo .
The output voltage is expressed in transfer functions as

vo (s) =

Tc Tm Tp
Mv
Zo
vr +
vi
io
1 + Tc Tm Tp
1 + Tc Tm Tp
1 + Tc Tm Tp

38

+ vGS
vi

vI

vo

io

dT
+
vAB

Zi

+
vR

RL

vc

+
vE

VI

Zf

vt

vF +

+
vo

RA
+
vF

RB

Figure 3.1: Closed loop circuit of voltage controlled buck-boost with PWM.

Z2

ii

vsd

+
IL d

D(vi ov)

Dil
+

+
vi

VSDd

+
RL

io

vo

rC

il

Z1
r
icl

ocl
ve

+
+
vR

vc

vf

+
vf

RB

RA

+
vo

Figure 3.2: Closed loop small-signal model of voltage controlled buck-boost.

39

Zo
io
Mv
vi
vo
ve

+
vR

Tm

vc

Tc

vf

Tp

vo

vo
vo

Figure 3.3: Block diagram of a closed-loop small-signal voltage controlled buck-boost.

Zo
io

vo
Mv

vo +

1
1+T

vo

+
vo

vi

A
vr

Figure 3.4: Simplified block diagram of a closed-loop small-signal voltage controlled buckboost.

A
Mv
Zo
vr +
vi
io = Tcl vr + Mvcl vi Zocl io
1+T
1+T
1+T

Where A = Tc Tm Tp and T = A
PWM transfer function is expressed

40

(3.1)

Tm

d(s)
1
=
vc (s) VT m

(3.2)

Where VT m is peak value of the triangular pulse.

Combining Tm and Tp together, the control to output transfer function is produced giving a
new function Tmp , given by

Tmp (s) = Tm (s)Tp (s) =

(s + zn )(s zp)
vo rC
VT m (1 D)(RL + rC ) s2 + 2 o s + o2
vo rC
VT m (1 D)(RL + rC )

(3.4)

Tpo
vo rC zn zp
=
VT m VT m (1 D)(RL + rC )o2

(3.5)

Tmpx =

Tmpo = Tm Tpo =

(3.3)

Figs: 3.5 and 3.6 show the Bode plots of Tmp .

To find the compensator value find Tk

Tk

vf
|v =0 = Tm Tp = Tmp
vc i

(s + zn )(s + zp )
vo rC
VT m (1 D)(RL + rC ) s2 + 2 o s + o2

vo rC
VT m (1 D)(RL + rC )

(3.7)

vo rC zn zp
VT m (1 D)(RL + rC )o2

(3.8)

Tkx =

Tko =

(3.6)

41

Changing from s-domain into j domain gives

r

1+
|Tk | = Tko s

1+

Tk = tan1

tan1

f
fzn

Tk = 180 + tan1

f
fzn

f
fzp

tan1

f
fzn

2 r

1+

 2 2
f
fo

tan1

f
fzp




f
fzp

2 f
fo

2 f
fo

2

(3.9)

2

 2 when < 1,
fo
f
fo

tan1

(3.10)

2 f
fo

 2 when > 1.
fo
f

(3.11)

fo

Figs: 3.7 and 3.8 show the Bode plots of Tk .

3.1.1 Integral-Lead Control Circuit for Buck-Boost

The following reasons explain the need for a control circuit in dc-dc power converters:
1. To achieve a sufficient degree of relative stability, an acceptable gain between 6 to 12
dB and phase margins between 45 and 90 .
2. To reduce dc error.
3. To achieve a wider bandwidth and fast transient response.
4. To reduce the output impedance Zocl .
5. To reduce sensitivity of the closed-loop gain Tcl to component values over a wide frequency range.
6. To reduce the input to output noise transmission.

42

40
30
20

|T

mp

| (dB)

10

10
20
30
40
1
10

10

10
f (Hz)

10

10

Figure 3.5: Magnitude Bode plot of modulator and input control to output voltage transfer
function Tmp for a buck-boost.
180
150
120

60

mp

()

90

30
0
30
60
1
10

10

10
f (Hz)

10

10

Figure 3.6: Phase Bode plot of modulator and input control to output voltage transfer function
Tmp for a buck-boost.

43

10

20

|T | (dB)

10

30

40

50

60
0
10

10

10

10

10

10

f (Hz)

Figure 3.7: Magnitude Bode plot of the input control to output voltage transfer function Tk
before the compensator is added for a buck-boost.
0
30
60

T ()

90
120
150
180
210
240
1
10

10

10
f (Hz)

10

10

Figure 3.8: Phase Bode plot of the input control to output voltage transfer function Tk before
the compensator is added for a buck-boost.

44

R bd
C2

R3

C3

C1

R2

h11
+
vF

+
vc

R1
vR

Figure 3.9: The Integral Lead Controller

Fig 3.9 shows the integral-lead controller that was chosen. This controller was chosen
because the integral part of the controller allows for high gain at low frequencies but introduces
a 90 phase shift at all frequencies. This causes stability issues which is negated by the lead
part of the controller that compensates for the phase lag and more. Theoretically is should
introduce a 180 phase lead but practically produces a shift of between 150 and 160 . The
impedances of the amplifier are

Zi = h11 +



R1 R3 + sC13
R1 + R3 + sC13





h11 R1 + R3 + sC13 + R1 R3 + sC13
R1 + R3 + sC13

sC3 h11 R1 + sC3 h11 R3 + h11 + R1 R3 sC3 + R1

sC3 R1 + sC3 R3 + 1

h11 +R1
C3 (h11 (R1 + R3 ) + R1 R3 ) s + C3 (h11 (R1 +R3 )+R1 R3 )
=
C3 (R1 + R3 )
s + C (R 1+R )
3

45


= h11 +

Zf =

R1 R3
(R1 + R3 )

1
sC2

 s+

R2 + sC11
R2 + sC11 + sC12

h11 +R1
C3 (h11 (R1 +R3 )+R1 R3 )
s + C (R 1+R )
3 1
3

(3.12)

1
1
sC2 R2 + C1C2 s2
R2 + sC11 + sC12

s + R21C2

1


C2 s s + C1 +C2
R2C1C2

(3.13)

and
h11 =

RA RB
.
RA + RB

Assume infinite open-loop dc gain and open-loop bandwidth of the operational amplifier.
Therefore, from equations 3.12 and 3.13, the voltage transfer function of the amplifier is

Zf
vc (s)
C2
= =
Av (s)
R2
v f (s)
Zi
h11 + RR11+R
2

s+ R 1C

2 2 


C +C
s s+ R 1C C2

2 1 2

h11 +R1
s+
C3(h11 (R1+R3 )+R1 R3)
1
3 (R1 +R3 )

s+ C




1
1
s + R2C2 s + C (R +R )
R1 + R3
3 1
3


=
h
+R
C
+C
C2 (h11 (R1 + R3 ) + R1 R3 ) s s + 1 2
s + C (h (R11+R 1)+R
R2C1C2

11

1 R3 )

(3.14)

Because vr = 0, ve = vr v f = v f , the voltage transfer function of the integral lead controller

is

Tc

vc
vc (s)
(s + zc1 )(s + zc2 )
=
=B
ve
v f (s)
s(s + pc1 )(s + pc2 )

where
B=

R1 + R3
C2 (h11 (R1 + R3 ) + R1 R3 )

46

(3.15)



1
zc1 = s +
R2C2


1
zc2 = s +
C3 (R1 + R3 )



C1 +C2
pc1 = s +
R2C1C2


h11 + R1
pc2 = s +
C3 (h11 (R1 + R3 ) + R1 R3 )

Assume that zc1 = zc2 = zc and pc1 = pc2 = pc . Therefore

K=

pc1 pc2 pc
=
=
zc1
zc2
zc

C1 +C2
R2C1C2
1
R2C1

h11 +R1
C3 (h11 (R1 +R3 )+R1 R3 )
1
C3 (R1 +R3 )

C2
(h11 + R1 )(R1 + R3 )
= 1+
h11 (R1 + R3 ) + R1 R3
C1

This leads to the voltage transfer function of the controller to be

B(1 + szc )2
vc
(s + zc )2
(s + zc )2
Tc = B
=B
=
.
ve
s(s + pc )2
s(s + pc )2 K 2 s(1 + spc )2
For s = j , the magnitude and phase shift of Tc is

|T c ( j )| =

B(1 + zc )2

K 2 s(1 + pc )2

47

B
1
=
m K mC2 (R1 + h11 )

(3.16)

and

Tc =

zc

pc
1
+ 2tan
2
1 + zc pc

Design of Integral Lead Controller

For stability reasons a gain margin GM 9 dB, a phase margin PM 60 , and the cutoff
frequency fc = 2 kHz is chosen. The values of the buck-boost are VI = 48 V, D = 0.407,VF =
0.7 V, rDS = 0.4 , RF = 0.02 , L = 334 mH, C = 68 F, rC = 0.033 , and RL = 14 .
The maximum value of phase in Tc occurs

c = m =

pc
K
h11 + R1
=
K zc = =
K R2C1
KC3 (h11 (R1 + R3 ) + R1 R3 )

Therefore the maximum phase shift possible can be described by




1 K 1

m = Tc ( fm ) + = 2 tan
2
2 K
Solving for K leads to
1 + sin
K=
1 sin

m
2
m
2

 = tan

m
+
4
4

Therefore,

m = + 4 tan1 ( K)
Assuming VT m = 5V , the reference voltage is

VR = DnomVT m = .407(5) = 2.035V

48

The feedback network transfer function is

VF VR
RA
2
=
=
= = 0.0714
Vo
Vo
RA + RB
28

Assuming RB = 910 , RA is

RA = RB




1
1
1 = 910
1 = 11.83 k = 12 k
| |
.0714

If RB = 910 , RA = 12 k then

h11 =

RA RB
= 846 .
RA + RB

h22 can be neglected because RA + RB is so much larger then RL .

Utilizing the cutoff frequency fc the phase Tk and m are

Tk = 180 + tan1

fc
fzn

tan1

fc
fzp

tan1

2 fc
fo

and

m = PM Tk 90 = 153.9 .
This leads to
2

K = tan

m
+
4
4

= 76.42.

Knowing K , fzc and fzp are calculated

fc
fzc = = 228.779 Hz
K

49

 2 = 183.9
fc
fo

and

fzp = fc K = 17.484 kHz

The magnitude of Tk and Tc are used to calculate B
r

1+

|Tk | = Tko s

|Tc | =

fc
fzn

2 r

1+

  2 2
fc
fo

fc
fzp

2 fc
fo

2

= 0.1945

2

1
1
=
= 5.141
|Tk | .1954

Therefore
B = c K|Tc | = 4.9374 x 106 rad/s
Values of compensator are calculated. Assume R1 = 100 k and using the equations above

C2 =

R3 =

|Tk ( fc )|
= .1535 nF .15 nF.
c (R1 + h11 )

R1 [R1 h11 (K 1)]

= 475 470
(K 1) (R1 + h11 )

C1 = C2 (K 1) = 11.313 nF 12 nF

R2 =

C3 =

K
= 57.97 k 56 k
cC1

R1 + h11
= 6.95 nF 6.8 nF
K c [R1 R3 + h11 (R1 + R3 )]

50

The pole and zero frequencies of the control circuit with standard resistor and capacitor values
are

fzc1 =

fzc2 =

1
= 236.84 Hz
2 R2C1

1
= 232.96 Hz
2 C3 (R1 + R3 )

f pc1 = fzc1


C1
+ 1 = 19.184 kHz
C2

and
R1 + h11
= 17.881 kHz.
2 C3 [R1 R3 + h11 (R1 + R3 )]

f pc2 =

Figs: 3.10 and 3.11 show the Bode plots of Tc .

3.1.2 Loop Gain of System

Loop gain of the system is

T (s)

vf
|v =i =0 = Tc Tm Tp = Tc Tk
ve i o

Bvo rC
T (s) =
VT m (1 D)(RL + rC )

T (s) = Tx

(s + zc )2 (s + zn )(s zp)
s(s + pc )22 + 2 o s + o2 )

(s + zc )2 (s + zn )(s zp)
s(s + pc )22 + 2 o s + o2 )

(3.17)

where
Tx =

Bvo rC
VT m (1 D)(RL + rC )
51

(3.18)

70

60

40

|T | (dB V)

50

30

20

10

0
1
10

10

10
f (Hz)

10

10

Figure 3.10: Magnitude Bode plot of the controller transfer function Tc for a buck-boost.
90

60

()

30

30

60

90
1
10

10

10
f (Hz)

10

10

Figure 3.11: Phase Bode plot of the controller transfer function Tc for a buck-boost.

52

Figs: 3.12 and 3.13 show the Bode plots of T . The controller expands the bandwidth by
moving the gain cross-over frequency by one kilohertz.

3.1.3 Closed Loop Control to Output Voltage Transfer Function

The control to output voltage closed-loop transfer function of the buck-boost is
1
Tc Tm Tp
1 T
vo
T
=
=
Tcl |io =vi =0 =
vr
1 + Tc Tm Tp 1 + T
1+T



(s + zc )2 (s + zn )(s zp )
1
BVo rC
Tcl =
VT m (1 D)(RL + rC ) s(s + pc )2 (s2 + 2 o s + o2 )
(s + zc )2 (s + zn )(s zp )

Tx
Tcl =

s (s + pc )2 (s2 + 2 o s + o2 )

(3.19)

Figs: 3.14 and 3.15 show the Bode plots of Tcl . Figs: 3.16 and 3.17 show the discrete point
Bode plots of Tcl .

3.1.4 Closed Loop Input to Output Voltage Transfer Function

The input to output voltage closed-loop transfer function of the buck-boost is

Mvcl

Mvcl =

vo
Mv
|vr =io =0 =
vt
1+T

(1D)DRL rC
s+zn
L(RL +rC ) s2 +2 o s+o2



(s+zc )2 (s+zn )(szp )
Bvo rC
1 + VT m (1D)(R
s(s+ pc )2 (s2 +2 o s+o2 )
L +rC )

zn
Mvx (s2 +2s+
s(s + pc )2 (s2 + 2 o s + o2 )
s+ 2 )
o

s(s + pc )2 (s2 + 2 o s + o2 ) + Tx (s + zc )2 (s + zn )(s zp)

53

30

20

|T | (db)

10

10

20

30

40
1
10

10

10
f (Hz)

10

10

Figure 3.12: Magnitude Bode plot of the loop gain transfer function T for a buck-boost.
0
30
60
90

T ()

120
150
180
210
240
270
300
1
10

10

10
f (Hz)

10

10

Figure 3.13: Phase Bode plot of the loop gain transfer function T for a buck-boost.

54

25
20
15

cl

|T | (dB V)

10

0
5
10
15
1
10

10

10
f (Hz)

10

10

Figure 3.14: Magnitude Bode plot of the input control to output transfer function Tcl for a
buck-boost.
180
150
120
90

cl

T ()

60
30
0
30
60
90
120
1
10

10

10
f (Hz)

10

10

Figure 3.15: Phase Bode plot of the input control to output transfer function Tcl for a buckboost.

55

25

15

cl

|T | (dB V)

20

10

0
1
10

10

10
f (Hz)

10

10

Figure 3.16: Magnitude Bode plot of the input control to output transfer function Tcl for a
buck-boost.
180
150
120
90

cl

T ()

60
30
0
30
60
90
120
1
10

10

10
f (Hz)

10

10

Figure 3.17: Phase Bode plot of the input control to output transfer function Tcl for a buckboost.

56

Mvx s(s + pc )2 s + zn
s(s + pc )2 (s2 + 2 o s + o2 ) + Tx (s + zc )2 (s + zn )(s zp)

(3.20)

Figs: 3.18 and 3.19 show the Bode plots of input to output voltage transfer function Mvcl .
Figs: 3.18 and 3.19 show the discrete point Bode plots of Mvcl .

3.1.5 Closed Loop Input Impedance

Fig 3.2 is used to derive the equations for the input impedance, and setting vr = 0,

d = vo Tc Tm

(3.21)

From the small-signal model of the buck-boost in Fig 3.2 and using KCL

IL d Dil + il + iZ2 = 0
il (1 D) = IL d

vo
Z2

(3.22)

Rearranging gives

il =

vo
IL d
.

(1 D) (1 D)Z2

ii = Dil + IL d

(3.24)

Substituting equations 3.21 and 3.23 into 3.24 provides the equation


vo
IL d

ii = D
(1 D) (1 D)Z2

57

(3.23)

+ IL d

10
20
30

| Mvcl | (db)

40
50
60
70
80
90
1
10

10

10
f (Hz)

10

10

Figure 3.18: Magnitude Bode plot of the input to output voltage transfer function Mvcl for a
buck-boost.
90
120
150

210

vcl

M ()

180

240
270
300
330
360
1
10

10

10
f (Hz)

10

10

Figure 3.19: Phase Bode plot of the input to output voltage transfer function Mvcl for a buckboost.
58

10
20
30

| Mvcl | (db)

40
50
60
70
80
90
1
10

10

10
f (Hz)

10

10

Figure 3.20: Magnitude Bode plot of the input to output voltage transfer function Mvcl for a
buck-boost.
90
120
150

210

vcl

M ()

180

240
270
300
330
360
1
10

10

10
f (Hz)

10

10

Figure 3.21: Phase Bode plot of the input to output voltage transfer function Mvcl for a buckboost.
59



IL ( vo Tc Tm )
vo
ii = D
+ IL ( vo Tc Tm )

(1 D)
(1 D)Z2


vo D
D
IL vo Tc Tm
+1
ii =
(1 D)Z2
1D


ii =

vo
IL vo Tc Tm

(1 D)Z2
(1 D)


IL vo Tc Tm
D
+
vo .
ii =
(1 D)Z2
(1 D)


(3.25)

DC analysis gives the equation

Io
(1 D)

(3.26)

vo
.
RL

(3.27)

vi
Dil + IL d
|vr =0 =
ii
vi

(3.28)

IL =
and

Io =

Yicl =

Substituting equations 3.26 and 3.22 into 3.28 gives the equation

Yicl


D
IL Tc Tm
=
vo .
+
(1 D)Z2 (1 D)


(3.29)

Using the definition of Yicl , equations 3.20 and dividing through by Tp yields the equation

D
Io Tc Tm

(1 D)2 (1 D)Z2

60

vo
vi


Io Tc Tm
D
=
Mvcl

(1 D)2 (1 D)Z2


Mv
D
Io Tc Tm

=
2
(1 D)
(1 D)Z2 1 + T


s+zn
s2 +2 o s+o2
(s+zn )(s+zp )
2
2
C ) s +2 o s+o

(1D)DRL rC

Mv
L(RL +rC )
=
Vo
Tp
(1D)(R
L +r

D(1 D)2
Mv (1 D)2 RL D
=
=
Tp
Lvo
LIo (s zp )


D(1 D)2
Mv =
Tp
LIo (s zp )

D(1 D)2Tp
LIo (s zp )

Yicl =

Io Tc Tm
(1 D)2

T
L(s zp )(1 + T )

DMv
T

L(s zp )(1 + T ) (1 D)Z2 (1 + T )

Yicl =

="



(3.30)

D
Mvcl
Tcl
L(s zp )
(1 D)Z2

(3.31)

L(1 D)RL rC (s zp )(s + zn )

#
 


(1D)DRL rC
Tx
s(s+ pc )2 (s+zn )
D(1D)RL rC (s+zn ) (s+zc )2 (s+zn )(szp )+D(RL +rC )(s+rc )L(szp )
L )
s(s+ pc )22 +2 o s+o2 )+Tx (s+zc )2 (s+zn )(szp )

LC

(3.32)

Zicl



L s(s + pc )2 (s2 + 2 o s + o2 ) + Tx (s + zc )2 (s + zn )(s zp)
=
DTx (s + zc )2 (s + zn ) + D2 s(s + rc )(s + pc )2

61

(3.33)

NumZicl = s(s + pc )2 (s2 + 2 o s + o2 ) + Tx (s + zc )2 (s + zn )(s zp )

2
= (s3 +2 pc s2 + pc s)(s2 +2 o s+ o2 )+Tx (s2 +2zc s+ zc
)(s2 +(zp + zn )s zp zn )



2
NumZicl = s5 +s4 (2 o +2 pc +Tx )+s3 o2 + pc
+ 4o pc + T x((zp + zn ) + 2zc ) +


2
2
s2 2 pc o2 + 2 o pc
+ Tx (zp zn + 2zc (zn zp ) + zc
+



2
2
+ Tx (2zc zp zn + zc (zp + zn )) Tx zc
zp zn
s o2 + pc

(3.34)



2
DenZicl = D2 s4 + s3 [DTx + 2 pc + rc ] + s2 DTx (zn + 2zc ) + D2 ( pc
+ 2rc pc ) +


2
2
2
s DTx (2zc zn + zc
) + D2 (rc pc
) + DTx zn zc

(3.35)

Figs: 3.22 and 3.23 show the Bode plots of closed-loop input impedance Zicl . Figs: 3.24 and
3.25 show the discrete point Bode plots of closed-loop input impedance Zicl .

3.1.6 Closed Loop Output Impedance

The closed-loop output impedance for the buck-boost is

Zocl

Zo
vo
|vi =vr =0 =
io
1+T

62

250

| Zicl | ()

200

150

100

50

0
1
10

10

10
f (Hz)

10

10

Figure 3.22: Magnitude Bode plot of the input impedance transfer function Zicl for a buckboost.
90
60
30

30

icl

Z ()

60
90
120
150
180
1
10

10

10
f (Hz)

10

10

Figure 3.23: Phase Bode plot of the input impedance transfer function Zicl for a buck-boost.
63

250

| Zicl | ()

200

150

100

50

0
1
10

10

10
f (Hz)

10

10

Figure 3.24: Magnitude Bode plot of the input impedance transfer function Zicl for a buckboost.
90
60
30

30

icl

Z ()

60
90
120
150
180
1
10

10

10
f (Hz)

10

10

Figure 3.25: Phase Bode plot of the input impedance transfer function Zicl for a buck-boost.
64

Zocl =

Zocl

RL rC (s+rL )(s+zn )
(RL +rC ) s2 +2 o s+o2

1+T

Zox s(s + pc )2 (s + zn )(s + rl )

=
s(s + pc )2 (s2 + 2 o s + o2 ) + Tx (s + zc )2 (s + zn )(s zp)

(3.36)

Figs: 3.26 and 3.27 show the Bode plots of closed-loop output impedance Zocl . Figs: 3.28 and
3.29 show the certain discrete point Bode plots of closed loop output impedance Zocl .

3.2 Closed Loop Step Responses of Buck-Boost

3.2.1 Closed Loop Response due to Input Voltage Step Change
Response of output voltage vo due to a step change of 1 Volt in input voltage vi . The total
input voltage is given by equation 3.37.

vI (t) = VI (0 ) + 4VI u(t)

vi (t) = vI (t) VI (0 )
vi (s) = L{vi (t)}

vi (s) =

4vI
s

vo (s) = Mvcl (s)vi (s)

65

(3.37)

1.5

1.25

.75

|Z

ocl

| ()

0.5

.25

10

10

10
f (Hz)

10

10

Figure 3.26: Magnitude Bode plot of the output impedance transfer function Zocl for a buckboost.
90

60

ocl

()

30

30

60

90
1
10

10

10
f (Hz)

10

10

Figure 3.27: Phase Bode plot of the output impedance transfer function Zocl for a buck-boost.
66

1.5

| Zocl | ()

0.5

0
1
10

10

10
f (Hz)

10

10

Figure 3.28: Magnitude Bode plot of the output impedance transfer function Zocl for a buckboost.
90

60

ocl

()

30

30

60

90
1
10

10

10
f (Hz)

10

10

Figure 3.29: Phase Bode plot of the output impedance transfer function Zocl for a buck-boost.
67

vo (s) =

Mvcl 4 vI
s

vo (t) = L{vo (s)}

vo (t) = V (0 ) + vo (t)
The maximum overshoot defined in equation where vo () is the steady state value of the
normalized output voltage.

Smax =

vomax vo ()
vo ()

(3.38)

The relative maximum ripple defined in the following equation where vo () is the steady state
value of the output voltage.

max =

vomax vo ()
vo ()

where vo ()is defined as the steady state value of the output voltage. Given the measured
values of the circuit are: VI = 48 V, D = 0.407,VF = .7 V, rDS = 0.4 , RF = 0.02 , L =
334 mH, C = 68 F, rC = 0.033 , and RL = 14 . These values lead to maximum relative
transient ripple max = 0.625 %. The step change due to vi is shown in Fig: ??.

3.2.2 Closed Loop Response due to Load Current Step Change

Response of output voltage vo due to a step change of 0.1 Amp in load current io

68

28
28.02
28.04
28.06

vO (V)

28.08
28.1
28.12
28.14
28.16
28.18
28.2

t (ms)

Figure 3.30: Closed Loop step response due to step change in vi .

69

10

Io (t) = Io (0 ) + 4Iou(t)

io (t) = io (t) Io(0)

io (s) = L{io (t)}

io (s) =

4Io
s

vo (s) = ocl (s)io(s)

vo (s) =

Z ocl 4 io
s

vo (t) = L{vo (s)}

vo (t) = V (0 ) + vo (t)
The maximum overshoot defined in equation where vo () is the steady state value of the
normalized output voltage.

Smax =

vomax vo ()
vo ()

max =

vomax vo()
vo()

70

(3.39)

27.88

27.9

vO (V)

27.92

27.94

27.96

27.98

28

t (ms)

Figure 3.31: Closed Loop step response due to step change in io .

where vo ()is defined as the steady state value of the output voltage. Given the measured
values of the circuit are: VI = 48 V, D = 0.407, VF = 0.7 V, rDS = 0.4 , RF = .02 , L =
334 mH, C = 68 F, rC = 0.033 , and RL = 14 . These values lead to a maximum relative
transient ripple of max = 0.375 %. The step change due to load current io is shown in Fig:
3.32 .

3.2.3 Closed Loop Response due to Reference Voltage Step

Change
Response of output voltage vo due to a step change of 1 volt in reference voltage vr

vR (t) = VR (0 ) + 4VRu(t)

71

vr (t) = vR (t) VR(0 )

vr (s) = L{vr (t)}

vr (s) =

4vR
s

vo (s) = Tpcl (s)vr (s)

vo (s) =

Tpcl 4 vR
s

vo (t) = L{vo (s)}

vo (t) = V (0 ) + vo (t)
The maximum undershoot is defined as

Smax =

vomax vo ()
vo ()

(3.40)

where vo () is defined as the steady state value of the normalized output voltage. The relative
maximum ripple defined in equation where vo ()is the steady state value of the output voltage.

max =

vomax vo()
vo()

72

27.88

27.9

vO (V)

27.92

27.94

27.96

27.98

28

t (ms)

Figure 3.32: Closed Loop step response due to step change in vr .

Given the measured values of the circuit are: VI = 48 V, D = 0.407,VF = 0.7 V, rDS = 0.4 ,
RF = 0.02 , L = 334 mH, C = 68 F, rC = 0.033 , and RL = 14 . These values lead to
a maximum undershoot of Smax = 28.57 % and a maximum relative transient ripple max =
9.25 %. The step change due to vr is shown in Fig: ??.

3.3 Closed Loop Step Responses using PSpice

3.3.1 Closed Loop Response of buck-boost
A circuit showing the closed-loop buck-boost and control circuit is shown in Fig 3.33.
The measured values of the circuit are: VI = 48 V, D = 0.389, L = 334 mH, C = 68 F,
rC = 0.033 , rL = 0.32 and RL = 14 . An International Rectifier IRF150 power MOSFET

73

+ vGS
vi

vI

V
+

+
vE

Zf
vF +

RL

vo

io

vc
+

dT
+
vAB

Zi

+
vR

VI

vt

RA
+
vF

+
vo

RB

Figure 3.33: Closed loop buck-boost model with disturbances.

is selected, which has a VDSS = 100 V , ISM = 40 A, rDS = 55 m, Co = 100 pF, and Qg = 63 nC.
Also, a International Rectifier 10CTQ150 Schottky Common Cathode Diode is selected with
a VR = 100 V, IF(AV ) = 10 A, VF = 0.73 V and RF = 28 m . The control circuit contains
a National Semiconductor LF357 op-amp. The op-amp selected is not rail to rail and has
aVmax = 18 V . The voltage divider values for are RA = 12 k and RB = 910 . The
control circuit is shown in Fig 3.9 and contains the following values: R1 = 100k, R2 = 56 k,
R3 = 470 , Rbd = 100 k, C1 = 12 nF, C2 = .15 nF, C3 = 6.8 nF, and h11 = 846 .
The output voltage of the buck-boost without any disturbances or step changes can be seen
in Fig 3.34. The relative maximum overshoot is max = 1.78 %, and a settling time within two
percent of steady state value in 2.2 ms.

3.3.2 Closed Loop Response due to Input Voltage Step Change

The PSpice circuit with step change in input voltage is shown in Fig 3.35. An addition
voltage pulse source of 1 volt was added with a delay of 10 ms so that the circuit ran for
sufficient time to reach steady state value before the disturbance is activated.

74

0
2
4
6
8
10
Vout (V)

12
14
16
18
20
22
24
26
28
30

t (ms)

Figure 3.34: Closed loop buck-boost response without disturbances.

75

+ vGS
vi

vI

V
+

v+E

Zf
vF +

vo

RL

vc
+

dT
+
vAB

Zi

+
vR

VI

vt

RA
+
vF

+
vo

RB

Figure 3.35: PSpice model of Closed Loop buck-boost with step change in input voltage.
The output voltage of the buck boost can be seen in Fig 3.36. The voltage ripple is 0.22 volts
contained between 28.65V and 28.3V , the average value of steady state is 28.475V .
The maximum overshoot is Smax = 72 % and settling time is within two percent in 5 ms which
contains the ripple of steady state value. The relative maximum overshoot is max = 0.526 %.
The reason steady state did not return to 28 as predicted by MatLab is because of the nonideal op-amps. The gain is only 667, not infinite, as shown in the MatLab model.

3.3.3 Closed Loop Response due to Load Current Step Change

The PSpice circuit with step change in load current is shown in Fig 3.37. An additional current
pulse source of 0.1 Amp was added with a delay of 10 ms so that the circuit ran for sufficient
time to reach steady state value, and then the disturbance is activated.
The output voltage of the buck boost can be seen in Fig 3.38. The voltage ripple is .35 V, and
the output voltage is contained between 27.81 V and 28.16 V. the average value of steady
state is 27.99 V .The relative maximum overshoot max = 1.07 % and settling time is within
two percent in 2.2 ms which contains the ripple of steady state value.

76

27.8

28

Vout (V)

28.2

28.4

28.6

28.8

29

t (ms)

Figure 3.36: Closed Loop step response due to step change in input voltage using PSpice.

+ vGS

V
+

v+E

Zf
vF +

RL

vo

io

vc
+

dT
+
vAB

Zi

+
vR

VI

vt

RA
+
vF

+
vo

RB

Figure 3.37: PSpice model of Closed Loop buck-boost with step change in load current.

77

27.5
27.6
27.7
27.8

Vout (V)

27.9
28
28.1
28.2
28.3
28.4
28.5

0.5

1.5

2.5

t (ms)

Figure 3.38: Closed Loop step response due to step change in load current using PSpice.

78

+ vGS

V
+

v+E

Zf
vF +

vo

RL

vc
+

dT
+
vAB

Zi

+
vR

VI

vt

RA
+
vF

+
vo

RB

Figure 3.39: PSpice model of Closed Loop buck-boost with step change in duty cycle.

3.3.4 Closed Loop Response due to Reference Voltage Step

Change
The PSpice circuit with step change in reference voltage is shown in Fig 3.39. The Piecewise
Linear function in PSpice is utilized to create a step function in the reference voltage.
The output voltage of the buck boost can be seen in Fig3.40 . The voltage ripple is 0.42 V,
the average voltage of steady state is 30 V and the output voltage is contained between the
bounds of 30.13 V and 29.85 V . The maximum overshoot Smax = 675 %, and settling time
is within two percent in 6 ms, which contains the ripple of steady state value. The relative
maximum overshoot is max = 45 %

79

26
28
30

Vout (V)

32
34
36
38
40
42
44

4
t (ms)

Figure 3.40: Closed Loop step response due to step change in reference voltage using PSpice.

80

4 Conclusion

4.1 Contributions
The principles on operation of open-loop and closed-loop of the dc-dc buck-boost converter
is discussed. Also, design and analysis of an intergral-lead type III controller for the closedloop buck-boost is discussed. Equations for the transfer functions and step responses for a
selected prechosen design of a dc-dc buck-boost converter. For the selected design, the step
response and Bode plots is found using both matlab and PSpice. The observations can be
summarized as:
1. The discrete point Bode plots found coincide with the theoretical Bode plots given by
MatLab.
2. The step responses determined by PSpice are consistent with the theoretical step responses given by MatLab.
3. Stabilizing the buck-boost converter is a challenge because of the RHP zero but can be
accomplished by using a type III controller.
4. The theoretical phase shift achieved by the integral-lead is 180 but in reality only 150
to 160 can be achieved.
5. The magnitude of input to output voltage transfer function Mv is reduced by negative
feedback.

81

4.2 Future Work

Improving the response time, efficiency and reducing losses is a major challenge because
of the practical limitations of a buck-boost conveter. Selecting the MOSFET, diode, and current transformer for experimentation for small-signal applications is a good choice for future
research. Voltage mode control and Current mode control of the PWM dc-dc buck-boost. As
well as distinguish the characteristics of finding a Bode plot without using discrete points.
Also, finding a methodology for the charateristics of a small-signal model.

82

Appendix A
VO
vo

DC output voltage
AC component of the output voltage

vO

Total output voltage

IO

DC output current

io

AC component of the output current

iO

Total output current

AC component of duty cycle

DC component of duty cycle

VI

DC input Voltage

vi

AC component of the input voltage

vI

Total input voltage

rDS
rL

Parasitic on-resistance of the MOSFET

Parasitic componet of Inductor

RF

Forward resistance of the diode

VF

Forward voltage drop of diode

VSD DC component of the voltage between MOSFET and Diode

83

vsd AC component of the voltage between MOSFET and Diode

r

Combination of parasitic componets of mosfet, diode, and inductor

Capacitor

Inductor

IL

DC inductor current

il

AC component of inductor current

iL

Total inductor current

rC

Parasitic component of capacitor

RL

Load resistor

Z1

Impedance caused by the series combination of r and inductor

Z2

Impedance caused by the parallel combination of load resistor and capacitor

Tp

Open-loop input control to output voltage transfer function

Mv Open-loop input to output voltage transfer function, audio suceptibility

Zi

Open-loop input impedance transfer function

Zo

Open-loop output impedance transfer function

Tcl

Closed-loop input control to output voltage transfer function

Mvcl Closed-loop input to output voltage transfer function, audio suceptibility

Zicl Closed-loop input impedance transfer function
Zocl Closed-loop output impedance transfer function
Tc

Compensator transfer function

Loop gain transfer function

84

Tm Modulator transfer fuction

Tmp Modulator and open-loop input control to output transfer fuction

Tk

Gain of the system before control added

Forward gain Tc Tmp

85

References
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Winter 2006.
2. R. D. Middlebrook and S. Cuk, Advances in Switched-Mode Power Conversion, vols. I,
II, and III. Pasadena, CA: TESLAco, 1981.
3. J. G. Kassakian, M. F. Schlecht, and G. C. Verghese, Principles of Power Electronics,
Reading, Mass.: Addison-Wesley, 1991.
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New York: McGraw-Hill, 1993.
7. www.irf.com.
8. www.national.com
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PWM buck dc-dc converters," Proc. of the IEEE National Aerospace Conf. (NAECON93), Dayton, OH, May 24-28, 1993, vol. 1, pp. 1253-1256.
10. M. K. Kazimierczuk and R. Cravens, II, and A. Reatti, "Closed-loop input impedance of

86

the PWM buck-derived dc-dc converters", IEEE International Conference on Circuits

and Systems, London, U.K., May 30-June 2, 1994, vol. 6 pp. 61-64.
11. M. K. Kazimierczuk and R. Cravens, II, "Closed-loop input impedance of a voltagemode-controlled PWM buck-derived dc-dc converters," IEEE 37th Midwest Symposium
on circuits and Systems, Lafayette, LA, August 3-5, 1994, pp. 1253-1256.
12. M. K. Kazimierczuk and R. Cravens, II, "Closed-loop characteristics of voltage-modecontrolled PWM boost dc-dc converter with an integral-lead controller," Journal of Circiuts, Systems, and Conputers, vol. 4, no.4 pp. 429-458, December 1994.
13. M. K. Kazimierczuk and R. Cravens, II, "Input impedance of a closed-loop PWM boost
dc-dc converter for CCM," IEEE International Conference on Circuits and Systems,
Seattle, WA, April 30-May 3, 1995, pp. 2047-2050.

87