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ABSTRACT
A voltage-mode controlled boost converter running in continuous conduction mode is
more difficult to stabilize than a buck converter due to the boost converter’s inherent
Right Half Plane-zero (RHP-zero). The boost converter’s double-pole and RHP-zero
are dependant on the input voltage, output voltage, load resistance, inductance, and
output capacitance, further complicating the transfer function. Understanding the
transfer function and having a method to stabilize the converter is important to achieve
proper operation.
Contents
1 Transfer Function of Boost Converter ........................................................... 2
2 Method for Stabilizing the TPS61030 ............................................................ 6
3 Example 1; High Output Current (2 A) With Tantalum Capacitor ........................... 11
4 Example 2; High Output Current (2 A) With Ceramic Capacitor ........................... 14
5 Example 3; Low Output Current (Io = 0.4 A) With Ceramic Capacitor .................... 17
6 Conclusion ......................................................................................... 19
Appendix A State Space Averaging Method ....................................................... 19
List of Figures
1 Boost Converter Block Diagram .................................................................. 2
2 Bode plot of the Double-Pole Transfer Function ............................................... 3
3 Bode plot of the RHP-Zero Transfer Function .................................................. 3
4 Bode-Plot of Boost Converter ..................................................................... 4
5 Block Diagram of a Typical Boost Converter ................................................... 5
6 Bode-Plot Illustration of Stability Criteria ........................................................ 6
7 Feedback network and Feed Forward Compensation Network .............................. 8
8 Example of Transfer Function of Feedback Network and Feed Forward
Compensation Network ............................................................................ 9
9 Flow Chart of Design Process ................................................................... 10
10 Block Diagram of Converter ..................................................................... 11
11 Mathcad Calculated Bode-Plot of Transfer Function for High Current With Tantalum
Output Capacitor .................................................................................. 12
12 Measured Bode-Plot and Load Transient Waveform With Tantalum Capacitor (VIN =
3.0 V, Vo = 3.6 V, Io = 2 A, C = 100 µF × 2 tantalum capacitor) ............................ 13
13 Block Diagram of Converter ..................................................................... 14
14 Mathcad Calculated Bode-Plot of Transfer Function for High Output Current and
Ceramic Output Capacitor ....................................................................... 15
15 Measured Bode-Plot and Load Transient Waveform With Ceramic Capacitor (VIN =
3.0 V, Vo = 3.6 V, Io = 2 A, C = 100 µF × 2 Ceramic Capacitor) ............................ 16
16 Block Diagram of Converter ..................................................................... 17
17 Mathcad Calculated Bode-Plot of Transfer Function for Low Output Current and
Ceramic Output Capacitor ....................................................................... 18
18 Measured Load Transient Waveform ........................................................... 18
SLVA274A – May 2007 – Revised January 2009 Converter Small Signal Control Loop Analysis Using the TPS61030 1
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Transfer Function of Boost Converter www.ti.com
æ s ö æ s ö
çç1 + ÷÷ × çç1 - ÷
÷
w w
×è
v̂ O Z1 ø è RHP - zero ø
G dv = @ G do
d̂ s s2
1+ + 2
w0 × Q w0 (1)
Where
VIN Vo2
G do » =
(1 - D) 2 VIN (2)
1
wZ1 =
rC × C (3)
(1 - D) 2 × (R - rL ) R æV ö
2 æ R æ VIN ö
2 ö
çf ç ÷ ÷
ç RHP- zero » 2p × L ç V
wRHP - zero » » × çç IN ÷ or
L L è Vo
÷
ø
÷ ÷
è è o ø ø (4)
1 rL + (1 - D)2 × R 1 V æ 1 V ö
w0 » × » × IN or ç fO » × IN ÷÷
L×C R L × C Vo ç 2p LC Vo ø
è (5)
w0
Q[
rL 1
)
L C ǒR)rcǓ (6)
Equation 1 consists of a double-pole, RHP-zero and ESR-zero. For this discussion, the ESR-zero will be
ignored because it is at a much higher frequency than the double-pole frequency and RHP-zero. Figure 2
shows a Bode plot of the double-pole transfer function.
2 Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274A – May 2007 – Revised January 2009
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www.ti.com Transfer Function of Boost Converter
Double-pole
1 V
fo = × IN
2p LC Vo
Gain 0dB
-40dB/dec
0°
The double pole frequency ƒO depends on the input voltage (VIN) and the output voltage (Vo) as well as
inductance (L) and output capacitance (C).
Figure 3 shows a Bode plot of the RHP-zero, ƒRHP-zero transfer function.
2
R æ VIN ö
fRHP _ zero = ×ç ÷
2pL çè Vo ÷ø
Gain
c
B /de
+20d
0°
-90°
Phase
It is also important to note that ƒRHP-zero depends on load resistance (R) and inductance (L) as well as
input voltage (VIN) and output voltage (Vo). Complicating loop gain stabilization is the fact that while the
RHP-zero phase begins to drop at 0.1 × ƒRHP-zero, the gain increases at 20 dB/dec from ƒRHP-zero. The
following example helps illustrate the RHP-zero complexity.
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Transfer Function of Boost Converter www.ti.com
2
1 VIN R æ VIN ö
fo = × fRHP _ zero = ×ç ÷
2p LC Vo 2pL çè Vo ÷ø
fBW
Gain -4
0d
DC gain B/
de
c
-20dB/dec
0°
+20dB/dec
180°
Phase
Phase margin becomes small or -90°
negative by RHP-zero impact
As shown in Equation 7 and Equation 8, the ƒO and ƒRHP-zero depend on VIN, Vo, R (Io), L, and C. A larger
load current Io (smaller load resistance R) has a significant impact on ƒRHP-zero, bringing it closer to ƒo,
which decreases stability margin.
4 Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274A – May 2007 – Revised January 2009
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www.ti.com Transfer Function of Boost Converter
1.2 Complete CCM Boost Converter Power Stage Transfer Function
The simplified versions of Equation 1 through Equation 6 do not illustrate the effect of the output
capacitor’s ESR (rc in Figure 1) and the inductors DCR (rL) as damping factors on the double pole. In
order to get an accurate bode-plot, the full version of Equation 9 and Equation 10 are used. See the
appendix for the derivation of the entire equation.
G dv (s) =
Dv O (s)
= c(sI - A ) -1
¶A
X(s) +
¶c
X(s) =
{
(R + rC )(sCrC + 1) - (sL + rL )(R + rC ) + D' 2 R 2
× RVi
}
DD ¶D ¶D P(s){D' R(D' R + rC ) + rL (R + rC )} (9)
Where,
2
NJ 2
P(s) + s 2LCǒR ) rcǓ ) s LǒR ) rcǓ ) r LCǒR ) r cǓ ) DȀRrcCǒR ) rcǓ ) rLǒR ) rcǓ ) DȀRǒDȀR ) rcǓNj
(10)
L
r vo
L
VIN VO
r
C
d
- FB
+
Gerror( s )
GFB _ ffc( s )
Error Amp
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fBW £ 2 · f z
-4
0 dB
/d dec
GO ec dB/
Gain dec +20
dB/
+20
fz f fp
BW
Phase boost contribution by
compensation circuit
0°
- 90°
Phase
- 180°
- 270°
f f f
o RHP- zero
6 Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274A – May 2007 – Revised January 2009
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www.ti.com Method for Stabilizing the TPS61030
2.1 [STEP 1] Select Output Capacitor
Before calculating the inductance, the minimum output capacitance Cmin is the larger of the minimum
capacitance needed to provide the maximum acceptable ripple or minimum voltage dip due to a load
transient. The total output ripple is the sum of the ESR ripple (Equation 12) and the output capacitor ripple
(Equation 13). Subtracting the ESR ripple from the total acceptable ripple gives the maximum allowed
output-capacitor ripple. Rearranging Equation 13 gives Equation 14, from which the minimum output
capacitance to provide the maximum acceptable ripple is computed.
V o_ripple_ESR + I o ESR
(12)
Io × Ton Io æ VIN ö 1
Vo _ ripple _ cap = = × çç1 - ÷×
C C è Vo ÷ø f
(13)
Io æ V ö 1
C min_ ripple = × çç1 - IN ÷÷ ×
Vo _ ripple _ cap è Vo ø f
(14)
The transient response should also be taken into account when selecting the output capacitance. The
worst case output-voltage dip due to a load transient occurs when the output capacitor must supply the
current for the transient until loop response takes over. So, if the transient duration (dt) and load current
(itran) is known, Equation 15 can be used to determine the minimum required capacitance to prevent
output voltage dip (VO-dip) due to a load transient:
i i 1
Cmin_ tran = tran × dt » tran ×
Vo _ dip Vo _ dip 4 ´ fBW
(15)
Where dt is approximated to 1/4ƒBW to simplify the calculation.
Increasing the output capacitance in most cases decreases the dip during load transients.
Where,
P total_loss + Pout ǒ1h * 1Ǔ
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2.4 [STEP 4] Maximize Phase Boost Effect of Feed Forward Compensation Network
Figure 7 shows the feedback network and feed-forward compensation (ffc) network. The complete transfer
function, zero frequency and pole frequency equations are shown in Equation 20 through Equation 22,
respectively.
Compensation Network
Vo
1 ) sC i ǒR1 ) R iǓ
Ci = 10 pF G(s) +
Ri = 100 kW
R1
R2
ǒ
1 ) R1 ) sC i R1 ) R i )
R1Ri
R2
Ǔ (20)
FB 1
ƒz +
2pC i R1 ) R iǓ
ǒ
Internal ffc (21)
R2
ƒp + 1
R1R2)RiR2)R1Ri
2pC i
Figure 7. Feedback network and Feed Forward R1)R2 (22)
8 Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274A – May 2007 – Revised January 2009
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Figure 8 shows the calculated transfer function of this network when R1=1.24 MΩ, R2=200 kΩ, Ci=10 pF,
and Ri=100 kΩ. Here Ri and Ci are the integrated ffc network shown in the TPS61030 data sheet. The
calculated results are fz=11 kHz, fp=58 kHz, and the maximum phase boost frequency is around 25 kHz
as shown in Figure 8. Note that ƒz varies for different output voltages due to R1.
30 90°
15 45°
0 0°
Gain( AFB(w)fp ))) Phase( AFB(w)fp )))
15 45°
30 90°
3 4 5 6
100 1 .10 1 .10 1 .10 1 .10
fp - Hz
1 1
fz = fp =
2 × p × Ci × (R1 + R2) æ (R1× R2)+ (R i × R2)+ (R1× R i )ö
2 × p × Ci × ç ÷
è R1 + R2 ø
f z = 1.105 ´ 10 4 fp = 5.84 ´ 10 4
Figure 8. Example of Transfer Function of Feedback Network and Feed Forward Compensation Network
In order to simplify the calculation, assume the maximum frequency for phase boost from the feed-forward
network is 2 × ƒz.
fBW £ 2 × fZ (23)
Where:
Go
fBW @ fo × 10 30 (24)
æ 5 × R2 ö æ 5 × R2 ö÷
Vo2
G o (dB) = 20 logç G do × ÷ = 20 ´ logçç ×
÷
è R1 + R2 ø è VIN R1 + R2 ø (25)
Noting that the double-pole has a –40-dB/dec theoretical roll-off, but –30 dB/dec was used to approximate
the damping effects of the output capacitor's ESR and the inductor's DCR.
Using Equation 5 and Equation 23 through Equation 25 we can get:
2
æ Go ö
1 ç 1 VIN 10 30 ÷
L ³ ×ç × × ÷
C ç 2p Vo 2 × fZ ÷
ç ÷
è ø (26)
As shown in Equation 5 ƒo; therefore, ƒBW, becomes the highest frequency when input voltage VIN is at
maximum. Therefore, Lmin is calculated when VIN is at maximum.
2
æ Go
ö
1 ç 1 VIN_ MAX 10 30 ÷
Lmin = ×ç × ×
C ç 2p Vo 2 × fz ÷÷
è ø (27)
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Method for Stabilizing the TPS61030 www.ti.com
Spec;
VIN(min) - VIN(MAX)
Vo/Io
Vo_ripple
Transient
NO
Check L >2.2 mH
YES
[STEP 5] Evaluation;
(1) Bode- plot
(2)Load transient test
result
10 Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274A – May 2007 – Revised January 2009
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www.ti.com Example 1; High Output Current (2 A) With Tantalum Capacitor
Error Amp FB
-
+
R2
GND
G o(dB) + 20 log ǒ V 2o
Vi R1 ) R2
Ǔ
5 R2 + 9.5(dB)
(30)
2
æR VIN _ min ö 2
L MAX = C × ç min × ÷ = 200 mF ´ æç 1.8 ´ 3 ö÷ = 4.5 mH(MAX)
ç 10 Vo ÷ è 10 3.6 ø
è ø (31)
2 2
æ Go ö æ Go ö
1 ç 1 VIN _ MAX 10 30 ÷ 1 ç 1 3.3 10 30 ÷
L min = ×ç × × ÷ = ´ç ´ ´ ÷ = 1mH(min)
C ç 2p Vo 2 × fZ ÷ 200 mF ç 2p 3.6 2 ´ 11k ÷
ç ÷ ç ÷
è ø è ø (32)
PInductance_loss
r L_MAX + + 0.24W2 + 33 mW
I 2in_MAX 2.67 A
(33)
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40 120
20 60
40 120
60 3 4
180
5
100 1 .10 1 .10 1 .10
Calculation condition is ; fq
4
Vin = 3 Vo = 3.6 R = 1.8 C = 2 ´ 10- rl = 0.05 rc = 0.025
6 5 5 - 11
R1 = 1.24´ 10 R2 = 2 ´ 10 Ri = 1 ´ 10 Ci = 1 ´ 10
Figure 11. Mathcad Calculated Bode-Plot of Transfer Function for High Current With Tantalum Output
Capacitor
12 Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274A – May 2007 – Revised January 2009
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www.ti.com Example 1; High Output Current (2 A) With Tantalum Capacitor
Figure 12 shows the measured Bode-plot of the transfer function and load-transient test waveform. When
L=6.8 µH (frequency separation ratio M=8), the transient response shows slight ringing while settling. This
is a symptom of low phase margin. When L=3.9 µH, which is M=11, the transient test shows good
response with no ringing while settling. As shown in Equation 17, M>10 is reasonable to provide enough
stability margin when a tantalum output capacitor used. 2.2 µH shows acceptable phase margin as well.
The iInductance DCR used in the test is around 15 mΩ.
f RHP -zero
=29kHz
Small ringing
Phase Vout=3.6V fo
Gain 28.5° =3.6kHz
28.5deg (50mV/div)
2A
L=6.8 mH
L=6.8uH M=8
L=6.8uH Iout (1A/div)
0A
0.5ms/div
f RHP -zero
No ringing =51kHz
Phase
fo
Gain 43.5°
43.5deg
=4.7kHz
L=3.9
L=3.9uH
mH
L=3.9uH M=11
(meet
M>10)
Figure 12. Measured Bode-Plot and Load Transient Waveform With Tantalum Capacitor
(VIN = 3.0 V, Vo = 3.6 V, Io = 2 A, C = 100 µF × 2 tantalum capacitor)
SLVA274A – May 2007 – Revised January 2009 Converter Small Signal Control Loop Analysis Using the TPS61030 13
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Example 2; High Output Current (2 A) With Ceramic Capacitor www.ti.com
Error Amp FB
-
+
R2
GND
The next example uses the same parameters as the previous example but with a ceramic output
capacitor.
VIN = 3.0 V–3.3 V
Vo = 3.6 V
Io = 2 A
With ceramic capacitors on the output, special attention is needed for stability due to the low ESR. The
target of the frequency separation is M>15 as shown by Equation 17.
Following the calculation process,
2
æR VIN _ min ö
L MAX _ ceramic = C × ç min × ÷ = 2 mH
ç 15 V ÷
è o ø (34)
2 2
æ Go ö æ ö Go
1 ç 1 VIN _ MAX 10 30 ÷ 1 ç 1 3.3 ÷ 10 30
L min_ ceramic = ×ç × × ÷ = ´ ç ´ ´ ÷ = 1 mH(min)
C ç 2p Vo 2 × fZ ÷ 200 mF ç 2p 3.6 2 ´ 11kW ÷
ç ÷ ç ÷
è ø è ø (35)
From the calculation results, the range of inductance is 1 µH to 2 µH. Choose 2.2 µH due to minimum
inductance requirement in the data sheet.
14 Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274A – May 2007 – Revised January 2009
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www.ti.com Example 2; High Output Current (2 A) With Ceramic Capacitor
Figure 14 shows a Mathcad-calculated Bode-plot of the transfer function with ESR=5 mΩ (assuming
capacitor ESR and connection resistance total 5 mΩ). The phase curve is steeper in Figure 14 than
Figure 11, which means that the phase margin is smaller. Inductance values of 6.8 µH, 3.9 µH and 2.2 µH
were used to demonstrate how stability improves even though L=6.8 µH (M=8) and L=3.9 µH (M=11) do
not satisfy the M>=15 guideline. The calculated Bode-plot curve in Figure 14 shows that the phase margin
is 20° for L=6.8 µH, and 30° for L=3.9 µH. The 2.2-µH (M=15) inductor provides a 45° phase margin
shown in Figure 14.
60 180
40 120
20 60
40 120
60 3 4
180
5
100 1 .10 1 .10 1 .10
Calculation condition is ; fq
C = 2 ´ 10-
4 3
Vin = 3 Vo = 3. 6 R = 1.8 rl = 0.05 rc = 5 ´ 10-
6 5 5 11
R1 = 1.24 ´ 10 R2 = 2 ´ 10 Ri = 1 ´ 10 Ci = 1 ´ 10-
Figure 14. Mathcad Calculated Bode-Plot of Transfer Function for High Output Current and Ceramic
Output Capacitor
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Example 2; High Output Current (2 A) With Ceramic Capacitor www.ti.com
Figure 15 shows the measured Bode-plot of the transfer function and load-transient test waveform. To
ensure that biasing has not reduced the effective output capacitance, two 100 µF/6.3 V ceramic capacitors
plus one 47 µF/6.3 V ceramic capacitor in parallel were used to provide an effective 200 µF of output
capacitance.
L=6.8 µH (M=8) and L=3.9 µH (M=11) show ringing during settling time at transient test, indicating that the
phase margin is too low. When L=2.2 µH (M=15), no ringing was observed, indicating adequate phase
margin.
f RHP -zero
Ringing =29 kHz
Phase
fo
Gain Vo=3.6V =3.6 kHz
15°
15deg
(50mV/div)
L=6.8
L=6.8uH
mH
L=6.8uH M =8
2A
Iout (1A/div) 0A
0.5ms/div
f RHP-zero
Little ringing =51 kHz
Phase
fo
Gain 25° =4.7 kHz
L=3.9
L=3.9uH
mH
L=3.9uH
M =11
f RHP-zero
No ringing =95 kHz
Phase
Gain 47°
47deg
fo
=6.4 kHz
L=2.2
L=2.2uH
mH
L=2.2uH M =15
(meet
M> =15)
Figure 15. Measured Bode-Plot and Load Transient Waveform With Ceramic Capacitor
(VIN = 3.0 V, Vo = 3.6 V, Io = 2 A, C = 100 µF × 2 Ceramic Capacitor)
16 Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274A – May 2007 – Revised January 2009
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www.ti.com Example 3; Low Output Current (Io = 0.4 A) With Ceramic Capacitor
Error Amp FB
-
+
R2
GND
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Example 3; Low Output Current (Io = 0.4 A) With Ceramic Capacitor www.ti.com
Figure 17 shows a Bode plot of the Mathcad-calculated transfer function with inductor L=6.8 µH, and
rL=250 mΩ (after consolidating the inductance DCR and SW ON resistance) and ceramic output capacitor
of 47 µF/5 mΩ. The expected phase margin is 50°.
60 180
40 120
20 60
((
Gain A w ( fq) , 6.8×10- ))
6 0 0 ((
Phase A w ( fq) , 6.8×10- ))
6
20 60
40 120
60 180
3 4 5
100 1 .10 1 .10 1 .10
fq
Calculation condition is ;
-5 -3
Vin = 3 Vo = 3.6 R = 9 C = 4.7´ 10 rl = 0.25 rc = 5 ´ 10
6 5 5 - 11
R1= 1.24 ´10 R2= 2 ´ 10 Ri= 1 ´ 10 Ci= 1 ´ 10
Figure 17. Mathcad Calculated Bode-Plot of Transfer Function for Low Output Current and Ceramic
Output Capacitor
Figure 18 shows the measured transient response. The inductor used is 6.8 µH, 0.81 A_sat, 212 mΩ,
Based on the transient waveform, the application is stable.
No ringing
Vo (50 mV/div)
0.4 A
Io (0.2A/div)
0A
18 Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274A – May 2007 – Revised January 2009
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www.ti.com Conclusion
6 Conclusion
A transfer function for a voltage-mode boost converter in continuous-conduction mode was developed
using state space averaging model. From the transfer function, the challenges of stabilizing a
voltage-mode boost converter were explained, and a design procedure for achieving loop stability was
provided.
rC - iC rC vo
L iL iC
i iC R VIN R
VIN R
+ +
VC C VC C
- -
State 1 [SW: ON, RC: OFF] State 2 [SW: OFF, RC: ON]
di L
di Vin = L + rL i L + vO (A5)
Vin = L L + i L rL . (A1) dt
dt
dv C
dv iC = C . (A6)
iC = C C . (A2) dt
dt
vO
vC = -iC ( R + rC ) . (A3) i L = iC + . (A7)
R
vO = vC + rC iC . (A4)
vO = vC + rC iC . (A8)
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Appendix A www.ti.com
By State Space Averaging Method, the state averaging equations are described as follows.
dX
= AX + bV in
dt
é iL ù
vO = cX . where X = ê ú. (A9)
ëv C û
The state equation is derived as below.
é 1 D ' R × rC D' R ù
ê- L (rL + R + r ) - L ( R + r ) ú
d é Lù ê
i ú é iL ù é 1 ù
êv ú + ê L úVin
C C
ê ú=
dt ëvC û ê D' R
-
1 ú ë C û êë 0 úû
ê C ( R + rC ) C ( R + rC ) ú
ë û
(A10)
é D' R × rC R ù é iL ù
vO = ê ú
ë R + rC R + rC û êëvC úû
AC analysis (small signal transfer function)
Gdv transfer function from Duty to Output voltage is derived as follows.
G dv (s) =
Dv O (s)
= c(sI - A ) -1
¶A
X(s) +
¶c
X(s) =
{
(R + rC )(sCrC + 1) - (sL + rL )(R + rC ) + D' 2 R 2 }
× RVi
DD ¶D ¶D P(s){D' R(D' R + rC ) + rL (R + rC )}
Where:
{ }
P( s) = s 2 LC(R + rC ) 2 + s L(R + rC ) + rL C(R + rC ) 2 + D' RrC C(R + rC ) + rL (R + rC ) + D' R(D' R + rC )
A.1 Reference
1. Understanding Boost Power Stages in Switchmode Power Supplies (SLVA061), Everett Rogers, Texas
Instruments, March 1999.