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5.

CMOS Operational Amplifiers

Analog Design for CMOS VLSI Systems

Franco Maloberti
Basic op-amp
The ideal operational amplifier is a voltage controlled
voltage source with infinite gain, infinite input impedance
and zero output impedance.

The op-amp is always used in feedback configuration.

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Typical feedback configuration

Z4 Z1 + Z2 Z2
V0 = V2 V1
Z3 + Z4 Z1 Z1

Finite gain effect:


 Z4 Z1 + Z2 Z2   Z1 + Z2 
V0 = V2 V1  1+ 
 Z3 + Z4 Z1 Z1   A0Z1 
The error due to the finite gain is proportional to 1 / A0. This
error must be smaller than the error due to impedance
mismatch.
Analog Design for CMOS VLSI Systems 5. CMOS Operational Amplifiers
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OTA
If impedances are implemented with capacitors and
switches, after a transient, the load of the op-amp is made
of pure capacitors. The behavior of the circuit does not
depend on the output resistance of the op-amp and stages
with high output resistance (operational transconductance
amplifiers) can be used.

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Transient
C1
Vi (0 ) = Vin
+

C1 + C // C0
C
Vo (0 ) = Vi (0 )
+ +

C0 + C

C1 + C
Vi () = Vin
C1 + C(1+ gm r0 )
Vo () = Vi () gm r0

C0

gm

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Performance characteristics
Actual op-amps deviate from the ideal behavior. The
differences are described by the performance
characteristics.
DC differential gain:
It is the open-loop voltage gain measured at DC with a
small differential input signal. Typically Ad = 80 100 dB.

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Common mode gain:
It is the open-loop voltage gain with a small signal applied
to both the input terminals. Acm = 20 40 dB.

Common mode rejection ratio:


It is defined as the ratio between the differential gain and
the common mode gain. Typically CMRR = 40 80 dB.

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Power supply rejection ratio:
If a small signal is applied in series with the positive (or
negative) power supply, it is transferred to the output with a
given gain Aps+ (or Aps-).
The ratios between differential gain and power supply gains
furnish the two PSRRs.

Typically: PSRR = 90 dB (DC)


PSRR = 60 dB (1 kHz)
PSRR = 30 dB (100 kHz)
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Input offset voltage:
In real circuits if the two input terminals are set at the same
voltage the output saturates close to VDD or to VSS.

Typically |Vos| = 4 6 mV.

Input common mode range:


It is the maximum range of the common-mode input voltage
which do not produce a significant variation of the
differential gain.
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Output voltage swing:
It is the swing of the output node without generating a
defined amount of harmonic distortion.

Equivalent input noise:


The noise performances can be described in terms of an
equivalent voltage source at the input of the op-amp.
Typically vn = 40 50 nV/Hz at 1 kHz,
in a wide band (1 MHz) it results 10 50 V RMS.

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Unity gain frequency:
It is the frequency where the open-loop gain is zero. It is
also the -3 dB bandwidth in unity-gain closed loop
conditions. Typically fT = 200 MHz.

Phase margin:
It is the phase shift of the small-signal differential gain
measured at the unity gain frequency. A phase margin
smaller than 60 causes ringing in the output response.

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Slew rate:
It is the maximum slope of the output voltage. Usually it is
measured in the buffer configuration. The positive slew rate
can be different from the negative slew rate. Typically SR =
50 200 V/s (lower values for micropower operation).

Settling time:
The settling time is the time required to settle the output
within a given range (usually 0.1%) of the final value.
Power dissipation:
It depends on speed and bandwidth requirements.
Typically, for 3.3 V supply, it is around 1 mW.
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Typical parameters of a 0.25 m OTA
Feature Value Unit
DC gain 80 dB
CMRR 40 dB
Offset 4-6 mV
Bandwidth 100 MHz
Slew-rate 3 V/s
Settling time: 1 V, CL = 4 pF 300 ns
PSRR @ DC 90 dB
PSRR @ 1 kHz 60 dB
PSRR @ 100 kHz 30 dB
Input referred noise (white) 100 nV/Hz
Corner frequency 1 kHz
Supply voltage 3.3 V
Input common mode voltage 1.5 V
Output dynamic range 2.2 Vpp
Power consumption 1 mW
Silicon area 2000 m2
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Basic architecture

 1st gain stage


 differential to single-ended converter
 2nd gain stage
 output stage (to reduce the output impedance)
Key requirements:
 absolute stability in unity gain closed-loop conditions
when driving maximum load.
 minimum number of gain stages.

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Two-stage op-amp

Key design issues:


 open-loop differential gain
 dc offset
 power supply rejection (PSRR)
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Open-loop differential gain:
The gain is obtained by multiplying the gains of the two
stages.
gm1 gm5
Av = A1A2 = =
(gds2 + gds 4 ) (gds5 + gds6 )

W   W  W 
     
2 2n p Cox  L 1  L 5  L B 1
=
( n + p )2 W   W  IBias
   
 L 6  L 7

At low frequency the gain is inversely proportional to the


bias current.

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Common mode dc gain:
Applying the same signal to both inputs the circuit becomes
symmetrical and can be studied considering half circuit.

 g  g 
ACM = ACM1ACM2 = ds7
 m5

 2gm1  gds5 + gds6 
Av 2gm1gm3
CMRR = =
ACM gds7 (gds2 + gds 4 )
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Offset:
The offset is composed of two terms:
 systematic offset
 random offset
The systematic offset can be reduced to zero with a
careful design. A necessary condition to have zero
systematic offset, is that the currents of M5 and M6 are
equal, when the inputs are connected to the same voltage.
Assuming all the transistors in saturation this condition is:

I
(W L)
=I
(W L) (W L)
6 7 5
Bias Bias
(W L) (W L) (W L)
B B 3

1
(W L) (W L) = 2 (W L) (W L)
3 6 7 5

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The random offset is due to the geometrical mismatching
and process dependent inaccuracies.

When we refer the offset of the second stage at the input


terminal we have to divide it by the gain of the first stage.
Since the two offsets are uncorrelated we have:
2
2
 Vos2 
Vos = Vos1 +  
 A1 
The total offset is dominated by the offset of the input
stage.

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We study the effect of a mismatch between M3 and M4:
mirror factor (1 + ) instead of 1.

I Vos1  I Vos1  I1
 Bias

 2
 gm1
2 
( )
 1+  =  Bias

 2
+ gm2
2 
 Vos1 
gm1


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MOS:
I1 VGS1 VTh
= = 150 300 mV (in saturation)
gm1 2
I1 nkT
= nVT = (in sub-threshold)
gm1 q

BJT:
I1
 26 mV
gm1
Assuming  = 0.01:
Vos,BJT = 0.26 mV
Vos,MOS = 1.5 3 mV

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Power supply rejection:
A signal on the positive bias line determines a modulation
in the reference current, which, in turn, gives an equal
modulation of the currents in M5 and M6, if the condition of
the zero systematic offset is fulfilled.

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The spur signal v+n affects the currents of M5 and M6.
in,6 in,7
= = Cox VGS,MB VTh vn+ ( )
W /L( ) (
W /L
6
) 7
a) low+ frequency:
 W /L
( ) W / L (W / L 
)( )
1 1
vo,n,1 = in,tot  6
 5 7

(
 W / L ) 2 W / L W / L  gds6 + gds7
( )( )
B 4 B

b) high frequency:

vo,n,1 = in,Ref
(W / L) 6 1
(W / L) gm5
B

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Power supply rejection at low frequency

 gm5 (1 k+ )   gm5k 


 gds6    gds6  
2 2gm3 rds3  + 2 2gm3 rds3   2
(v )
o,tot = 
 gds5 + gds6
( )

vn + 
 gds5 + gds6 
( )
vn
   
   
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Effect of external components on PSRR

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Frequency response and
compensation

 A two-stage scheme with poles in the same frequency


range needs compensation.
 A single pole system is always stable.
 Strategy: Approach the single pole performance by
splitting the two poles apart.
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Miller capacitance moves p1 at lower frequency.
Shunt feedback moves p2 at higher frequency.
Small signal equivalent circuit for two-stage op-amp.

v1(g1 + sC1) + (v1  v0 )sCc + gm1vin = 0


v0 (g2 + sC2 ) + (v0  v1)sCc + gm2v1 = 0
v0 gm2  sCc
= gm1R1R2
vin [
1+ sR1R2gm2Cc + s 2R1R2 C1C2 + (C1 + C2 )Cc ]
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The circuit has two poles and a zero in the right half plane.

1 gm2Cc gm2
p1  p2  z=
R1R2gm2Cc C1C2 + (C1 + C2 )Cc Cc

since in practice Cc > C1, Cc  C2, gm1 > 1/R1, gm2 > 1/R2 it
results:
1 gm2 1
p1 << p2  >>
R1C1 C2 R2C2
Assuming p1 as dominant, the unity gain angular frequency
is:
1 gm1
T = p1 A0  gm1gm2R1R2 =
R1R2gm2Cc Cc

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The locations of the second pole p2 and of the zero with
respect to T are derived by considering:

p2 gm2Cc
= for stability > 2 to 4
T gm1C2

z gm2 The phase shift given by the


=
T gm1 zero is also negative and
can worsen the phase
margin. It must be located
far from the unity gain
frequency.

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if Cc > C2 and gm2 > gm1

 The right half-plane worsen the phase margin.


 In bipolar technology gm2 >> gm1 because the current in
the second stage is normally higher than the one in the
first stage.
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 In CMOS technology gm2  gm1 because they are
proportional to the square root of I and W/L; moreover,
the transconductance of the input pair must be high in
order to reduce their thermal noise contribution.
 In real situations the obtainable phase margin does not
guarantee stability.

Eliminating the right half-plane zero:


 unity gain buffer
 zero nulling resistor
 unity gain current amplifier

The zero is due to a signal feedforward


to a point that is 180 out of phase.

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Solution 1: Eliminate feedforward with source follower

Disadvantages:
 Area
 Power dissipation
 Actually it creates a doublet in the feedback path.
Potentially not stable.
 Alternative, a substrate emitter follower may be used.
(The bipolar transistor is smaller and has higher gm.)
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Solution 2: Zero nulling resistor

The zero position is pushed away with a resistance in


series with Cc.
v0
 A0
( )
1+ s Rz 1/ gm2 Cc
vin  s  s
1+ 1+ 
 p1  p2 
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 The pole locations are close to the original.
 The zero is moved depending on Rz.

1
z=
( )
1/ gm2  Rz Cc

 If Rz = 1 / gm2 the zero is moved at infinity


 If Rz > 1 / gm2 the zero is located in the left half-plane
Implementation:

1 1 1
= +
Rz Rn Rp

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1 W  1 W 
Rn
(
= kn   VDD V1 VTh,n
 L n
) Rp
(
= kp   V1 VSS VTh,p
 L p
)
Choose (W/L)n and (W/L)p such that:
W  W 
kn   = kp  
 L n  L p
and:
1 W 
Rz
(
= kn   VDD Vss VTh,n VTh,p
 L n
)
Problem: Supply sensitivity.
Since the swing of the node 1 is A2 less than the output
swing, only one transistor with supply independent bias can
be used.
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Solution 3: Unity gain current amplifier

v1(g1 + sC1) + gm1vin  v0sCc = 0


v0 (g2 + sC2 ) + gm2v1 + v0sCc = 0

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Slew rate

For large input signal:


 M1, M4 are off so the current IM7 discharges Cc through
M2. Assuming M5 able to drive the current request by Cc,
CL and IM6. V IM7
SR = =
t max Cc
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 M2, M5 are off so the current IM7 mirrored by M4 charges
Cc; CL and Cc are charged by IM6. The smaller of these
two limits will hold:
V+ IM6 V+ IM7
SR+ = = SR+ = =
t C +C t max Cc
max c L

To have SR+ = SR-, a condition can be:


IM7 IM6
=
Cc Cc + CL
Since T = gm1 / Cc, the SR is
IM7
SR =
gm1
( )
T = VGS1 VTh T

For T = 2 40 106 rad/s, (VGS1 - VTh) = 300 mV, SR 


75.4 V/s.
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Single stage schemes

High gain is get with a cascode scheme.

 Telescopic cascode

 Mirrored cascode

 Folded cascode

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Telescopic cascode
 DC gain A0  (gmrds)2
 low power consumption
 only one high impedance
node: compensated with a
capacitance load (if
necessary)
 low output swing
 reference of the input close
to the negative supply
 two bias lines (VB1, VB2)
 5 transistors in series

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Mirrored cascode
 optimum input common
mode range
 only 4 transistors in series
 improved output swing
 speed of the mirror
 higher power consumption

Voutmax = VB1max + VGS4 - Vsat


VB1max = VDD - Vsat - VGS4
Voutmax = VDD - 2Vsat
Voutmax = VGS7 + Vsat

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Conventional folded cascode

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Modified folded cascode
(improved output swing)

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Two stage amplifier vs. single stage amplifier

Two stages:
 Voltage gain less affected by resistive loading
 Maximum signal swing
 Less bussing of bias lines
 Requires an additional capacitor for frequency
compensation
 More power consumption

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Single stage:
 No need for additional compensation capacitor
 Lower power consumption
 Better CMRR
 Lower signal swing
 More bussing of bias lines

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Class AB op-amps
Class AB: a circuit which can have an output current which
is larger than its DC quiescent current.
Two stages amplifier with class AB second stage
M6 and M7 act as a
level shifter
M8 and M9 act as a
class AB push-pull
amplifier

gm8 + gm9
A2 =
gds8 + gds9

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The quiescent current in the output stage is bias voltage
and technological variation dependent.
VDD = VGS8 + VGS6 + VGS9
neglecting the body effect:
2L 2L 2L
VDD = VTh,p + 2VTh,n +   I6 +   I8 +   I9
kn  W 6 kn W 8 kn  W 9

2L
VDD VTh,p  2VTh,n    I6
kn  W 6
I9 =
2L 2L
  +  
kn W 8 kn W 9

Typically with VDD = 5 V the numerator is around 1.6 V; if it


is assumed VDD = (5 0.5) V and VTh = 200 mV, it
results that the numerator can change from 0.7 V to 2.5 V;
hence, Imin = 0.3 Inom; Imax = 2.5 Inom
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Single stage class AB amplifier (only inverting)

In the input pair M1 and M2


operate as source followers
and drive the common gate
stage M3 and M4.
VB = VTh,n + VTh,p + Vov,n + Vov,p
for Vin = 0
I1 = I2 = IBias
for Vin > 0
Iout = K8,9 I1 - K5,6 I2
K8,9 and K5,6 mirror factors
(assumed equal)

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2 W 2 W 
VB + Vin = VGS2 + VGS 4 = VTh,n + VTh,p +   +   I2
 kn  L  k 
p  L  
 2 4

     
2 W 2 W 
VB Vin = VGS1 + VGS3 = VTh,n + VTh,p +   +   I1
 kn  L  k 
p  L  
 3 1

It results:
Iout = K8,9 (I1 - I2) =  K8,9 VB Vin
Until I1 or I2 goes to zero, for a
larger Vin, Iout increases
quadratically with Vin.
Small signal gain:
Av = 2 Gm rout

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Gm is the transconductance of the cross coupled input
stage

( )
gm2 Vin VA = gm4VA

gm2Vin
VA =
gm2 + gm4

gm2gm4
Iout = gm4VA = Vin = GmVin
gm2 + gm4
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Fully differential op-amps
The use of fully differential paths in analog signal
processing gives benefits on:
 PSRR
 dynamic range
 clock feedthrough cancellation
Consider an integrator and its fully differential version:

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 Noise from the power supply and clock feedthrough are
common mode signals.
 The output swing is doubled (Vmax+ - Vmax- = 2 Vmax).
Since the noise is unchanged, the dynamic range
improves by 6 dB.

 Single ended to differential and double ended to single


ended converters are necessary
 Larger area
 More bussing of bias lines
 Common mode feedback is necessary

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The SE/DE and DE/SE blocks increase the complexity and
introduce noise. The differential approach is convenient if
the differential processor contains more than 4 stages.

The feedback around the op-amp control the difference of


the input terminal voltages and not their mean value. In turn,
there is no control on the output common mode voltage.

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Fully differential two stage OTA

1st stage with gain: two 2nd stages with gain:


1 gm1 gm5
A1 = A2 =
2 gds1 + gds 4 gds5 + gds6
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Fully differential single stage OTA

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COMMON MODE FEEDBACK

 continuous time
 sampled data

Continuous-time common mode feedback

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VB is such that M1 and M2 are in the linear region;
(W/L)1 = (W/L)2; M1 and M2 are like the parallel of two
voltage dependent resistances.
W   1 2
 L 1
( )
I1 = Cox
V+ VTh VDS  VDS
2 
W   1 2
 L 2 
( )
I2 = Cox
V VTh VDS  VDS
2 
1 W  2
(
Iout = I1 + I2 = Cox   VB VDS VTh
2  L 3
)
With a differential signal Iout = cost
With a common mode signal: if positive, Iout increases
if negative, Iout decreases

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Fully differential folded cascode with CMFB

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Fully differential folded cascode with CMFB (2)

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Problems:
 dynamic range
 linearity
Compensation of the non-linearities of the n-channel and p-
channel CMFB cell.

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Sampled-data common mode feedback

The common mode feedback operates on slowly variable


signal. It can be implemented at discrete time intervals.
The sampled data feedback is essential for low bias
voltage and low power.
 linearity (mean value with
capacitors)
 low power consumption
 no limitation to the dynamic
range
 clock signal necessary
 clock feedthrough effect

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Micro-power op-amps
 Required in battery operated systems
(portable/wearable equipment: pocket calculators, PDA's, digital
cameras, ; medical equipment: pace makers, hearing aids, );
 Use of MOS transistors in weak inversion;
 Low current (< 10 A)  low slew rate.

ID
gm = gds = ID
nVT

B gm1 B
Av = =
gds6 + gds8 nVT n + p ( )
high dc gain (Av  60 dB)

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Dynamic biasing of the tail current

Basic idea:
Generate |I1 - I2| and increase the current in the differential
stage by k|I1 - I2|.

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Since
ID
i1  i2 = gm (vin +  vin ) gm = ID = IB + k i1  i2
nVT
vin +  vin
(
i1  i2 = IB + k i1  i2
nVT
)
The current increase becomes significant when:
vin +  vin
k >1
nVT
Typical performance:
DC gain 95 dB
ft 130 kHz
SR 0.1 V/s
IB 0.5 A
Itot 2.5 A
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Class AB single stage with dynamic biasing

For maximum output swing VBIAS-p and VBIAS-n must be as


close as possible to the supply voltages.

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During the slewing the current source of the output
cascodes can be pushed in the linear region, hence loosing
the advantage of the AB operation.
The problem is solved with the dynamic biasing:

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Noise
 The noise of an operational amplifier is described with an
input referred voltage source vn.

 The spectrum of vn is made of a white term and 1/f term.

 vn is due to the contributions, referred to the input, of the


noise generators associated to all the transistors of the
circuit (assumed uncorrelated).

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Consider the input stage of a two stage op-amp.

The output noise voltage is given by:


2
 1 
2
vn,out [2 2 2 2 2 2
]
= gm1(vn1 + vn2 ) + gm3 (vn3 + vn 4 )  
 gds2 + gds 4 

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We assume gm1 = gm2; gm3 = gm4 (we assume the noise
source of M5 does not contribute) moreover since usually
W1 = W2; L1 = L2; W3 = W4; L3 = L4; v2n1 = v2n2; v2n3 = v2n4;
if we refer v2n,out to the input, we get:
2 2  2 
vn,out vn,out 2 g
A 2
2
= vn,in =
g2 (g
ds2 + gds 4 ) 
2 m3 2
= 2vn1 + 2 vn3 
gm1 
1 m1

The contribution of the active loads is reduced by the


square of the ratio gm3/gm1
It is worth to remember that

W 2
 8kT KF 1 1
gm = 2Cox I v =
n + f
L  3gm 2Cox WL f 

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The attenuation by the factor (gm3/gm1)2 gives, for the white
term:
 
2 2
vn,in,w = 2vn11+
 gm3 
= 2v 2
(
1+
3 W ) / L
3 
 n1

 gm1  ( 1 W / L 
)
 1 

and for the 1/f term:


K 1  K L2 
2
vn,in,1/ f = 2
F1
1+ F 3 21 
1CoxW1L1 f  KF1L3 
Where KF1 and KF3 are the flicker noise coefficient for
transistors M1 and M3. The white contribution of the active
load is reduced by choosing (W/L)input >> (W/L)load. The 1/f
noise contribution of the active load is reduced by choosing
Linput < Lload. If the above conditions are satisfied the input
noise is dominated by the input pair.
Analog Design for CMOS VLSI Systems 5. CMOS Operational Amplifiers
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Cascode scheme:
The noise is contributed by
the input pair and the current
sources of the cascode load.

  2 
2
2 gm4 2
vn,in = 2 vn1 + v
n4

  gm1  

Analog Design for CMOS VLSI Systems 5. CMOS Operational Amplifiers


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Folded cascode scheme:

The noise contributed by the same source as in the


cascode and by the current source M2.
  2
 2 
2 2 g 2 g 2
vn,in = 2
vn1 + m2 vn2 + m5 vn5

  gm1   gm1  

Analog Design for CMOS VLSI Systems 5. CMOS Operational Amplifiers


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Two stage op-amp: (feedforward + zero nulling comp.)

The noise is modeled with two input referred noise sources:


one at the input of the first stage and the other at the input
of the second stage.

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In the low frequency range the noise is dominated by vn1.
In the high frequency range the noise is dominated by vn2.

Analog Design for CMOS VLSI Systems 5. CMOS Operational Amplifiers


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Frequency response:

The input referred noise generator is transmitted to the


output as a conventional input signal
The feedback network around the op-amp must be taken
into account.
One stage amplifier:

The cutoff frequency is: p1 = -gm/C0

Analog Design for CMOS VLSI Systems 5. CMOS Operational Amplifiers


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Power of noise:

We consider only the white term.


 Single stage amplifier:

df 8 
1 df 8 kT
v 2
n0 = v 2
n
1+ s / p1
= 2 1+  kT
3
( )  gm1 1+ 2fC / g 2 (
= 1+ 
3
)
C0
0 0 ( 0 m1 )
 Two stage amplifier: we consider only the white term
contributed by the noise source of the second stage

8 kT 2

2 df
v 2
n2 (
= 2 1+   ) v n0 = v n2
3 gm2 0 1+ s / p2
+
gm2 4 kT
p2 =
C1 + C2
2
vn0 =
3
(
1+  
C1 + C2
)
Analog Design for CMOS VLSI Systems 5. CMOS Operational Amplifiers
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Layout
Rules:
 Use poly connections only for voltage signals, never for
currents, because the offset RI  15 mV.
 Minimize the line length, especially for lines connecting
high impedance nodes.
 Use matched structure (necessary common centroid).
 Respect symmetries (even respect power devices).
 Only straight-line transistors.
 Separate (or shield) the input from the output line, to
avoid feedback.
 Shield high impedance nodes to avoid noise injection
from the power supply and the substrate.
 Regular shapes and layout oriented design.
Analog Design for CMOS VLSI Systems 5. CMOS Operational Amplifiers
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Stacked layout:
Csb = Cdb = CjbW (d + 2x j )

Structure A:
1 W
Csb = Cdb = Cjb (d + 2x j )
2 2
Structure B:
2W
Csb = Cdb = Cjb (d + 2x j )
3
Capacitances are
further reduced if the
diffusion area is shared
between different
transistors.
Analog Design for CMOS VLSI Systems 5. CMOS Operational Amplifiers
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Key point: use of equal width transistors
Transistors with arbitrary width are not allowed.

Placement and routing:


 If we divide a transistor in  If we divide a transistor in
an odd number of parallel an even number of parts
transistors the resulting the resulting stack has
stack has the source on source or drain on the two
one side and the drain on sides.
the other side.
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Example:
Routing into stacks: use of comb connections or serpentine
connections.

Analog Design for CMOS VLSI Systems 5. CMOS Operational Amplifiers


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Example: Fully differential folded cascode.

Analog Design for CMOS VLSI Systems 5. CMOS Operational Amplifiers


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Analog Design for CMOS VLSI Systems 5. CMOS Operational Amplifiers
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