Management and Control

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Management and Control
Management and Control
June 28-30, 2016. Troyes, France
June 28-30, 2016. Troyes, France
ScienceDirect
Optimal Synergetic Control based Bat
IFAC-PapersOnLine Algorithm
49-12 (2016) 698–703 for DC-DC Boost Converter
Optimal Synergetic
Optimal Synergetic Control based Bat Algorithm for
forA.DC-DC Boost
Boost Converter
E. Control based
Nechadi*, M.N. Bat Algorithm
Harmas*, N. Essounbouli**, DC-DC
Hamzaoui** Converter
E.
E. Nechadi*,
Nechadi*, M.N.
M.N. Harmas*,
Harmas*, N. N. Essounbouli**,
Essounbouli**, A.A. Hamzaoui**
Hamzaoui**
*University of Setif1, Algeria.
**CReSTIC – University of ReimsSetif1,
*University Champagne Ardennes, France.
*University of
of Setif1, Algeria.
Algeria.
**CReSTIC
**CReSTIC –– University
University of
of Reims
Reims Champagne
Champagne Ardennes,
Ardennes, France.
France.

Abstract: In this paper, an optimal synergetic controller based on a bat algorithm for a DC-DC boost
converter
Abstract: isIn
Inpresented.
paper,DC-DC
this paper, boostsynergetic
an optimal
optimal converters are somebased
controller of the
on mostbatwidely usedforpower electronics
Abstract:
devices this
foristheir an
high conversion synergetic
efficiency andcontroller based
versatility. on
Batthe aa bat algorithm
algorithm
optimisation based aa DC-DC
for the
on
DC-DC boost
boost
echolocation
converter
converter is presented.
presented. DC-DC boost converters
DC-DC boost converters are some of
are some of the most widely used power electronics
behaviourforoftheir
devices for bats,high
their a bio-inspired
conversion algorithm,
efficiency isand
successfully
and versatility.used formost widelyparameters
synergetic
Bat optimisation
optimisation
used power
based on
electronics
the optimization.
on the echolocation
devices
The proposed high scheme
control conversion
is efficiency
evaluated in a versatility.
simulation and Bat
implementation based
study of a echolocation
boost converter
behaviour of
behaviour of bats,
bats, aa bio-inspired
bio-inspired algorithm,
algorithm, isis successfully
successfully used
used for
for synergetic
synergetic parameters
parameters optimization.
optimization.
indicating
The proposed satisfactory
proposed control overall
control scheme
scheme is performance
is evaluated
evaluated in with stability
in aa simulation
simulation and insured
and implementation through
implementation study Lyapunov
study of
of aa boost synthesis.
boost converter
converter
The
Experimental results show that the proposed control provides good regulation.
indicating satisfactory overall performance with stability insured through
indicating satisfactory overall performance with stability insured through Lyapunov synthesis. Lyapunov synthesis.
Experimental
© 2016, IFAC
Keywords:
Experimental results
DC-DC
results showconverter,
(International
Boost
show that
that the proposed
the proposed
Federation control
of Automatic
synergetic provides
Control)
control,
control provides good regulation.
Hosting
good regulation.
by Elsevier
bat optimisation, Ltd. All rights reserved.
Lyapunov.
Keywords: DC-DC
Keywords: DC-DC Boost Boost converter,
converter, synergetic
synergetic control,
control, bat
bat optimisation,
optimisation, Lyapunov.
Lyapunov.
strategy while closed-loop stability is guaranteed via
1. INTRODUCTION
Lyapunovwhile
strategy secondclosed-loop
criterion. A bat synergetic
stability is controller (BAT
1. INTRODUCTION strategy
SYNC) while
has been closed-loop
implemented stability
on a is guaranteed
DSP guaranteed
card (dSPACE
via
via
In the context of 1.system theory, power converters are Lyapunov second criterion. A bat synergetic controller
INTRODUCTION (BAT
Lyapunov
1104) second criterion. A bat synergetic controller (BAT
nonlinear
In the time-varying
context of systems,
system and represent
theory, power a big challenge
converters are SYNC)forhas a prototype
has been
DC-DC boost converter.
been implemented
implemented on on aa DSPDSP cardcard (dSPACE
In
for the context
control design of [1],
systemthus theory,
control power
of DC-DCconverters
converterare SYNC)
1104) for a prototype DC-DC boost converter.
(dSPACE
nonlinear
nonlinear time-varying
time-varying systems,
systems, and
and represent
represent a
a big
big challenge
challenge 2. SYNERGETIC
1104) for a prototype DC-DC boost converter. CONTROL
systems
for has attracted[1], the attention of researchers [2].
for control
control design
design [1], thus thus control
control of of DC-DC
DC-DC converter
converter Synergetic control 2.
2. SYNERGETIC
is a state spaceCONTROL
SYNERGETIC approach for the design of
CONTROL
systems has
has attracted
Many approaches
systems attractedandthe
the attention
attention of
methodologies of researchers [2].
such as sliding
researchers [2]. control control for complex highly connected nonlinear systems
[3][4],
Many widely usedand
approaches in the literature due
methodologies to its
such as robustness
sliding and Synergetic
control Synergetic
[14][15][16].
control
control is
is aa the
It forces
state
state space
spacestate
system
approach
approach for
for the
variables the design
design on
to evolve
of
of
Many
its approaches
design and
simplicity, methodologies
have been such as
successfully sliding control
applied to control
control for
for complex
complex highly
highly connected
connected nonlinear
nonlinear systems
systems
[3][4], widely used in
in the
the literature due
due to its
its robustness and a designer chosen
and [14][15][16]. It invariant manifold enabling tofor desired
[3][4],
control
its
widely
of DC-DC
design
usedconverters.
simplicity, have
literature
However,
been
to
sliding
successfully
robustness
mode control
applied to [14][15][16].
performance Ittoforces
forces
be
the
the system
system despite
achieved
state
state variables
variables to evolve
evolveand
uncertainties
on
on
its design
suffers of from simplicity,
several have been
shortcomings. successfully
The firstmodeapplied
one control to a designer
is the adisturbances chosen
designer chosen invariant
invariant manifold
manifold enabling
enabling for
for desired
desired
control DC-DC converters. However, sliding performance without
to be damaging chattering inherent to sliding
control
presenceof
suffers of
from
DC-DC converters.
chattering
several while the However,
shortcomings. second sliding
Theconsists
first
mode
in the
one
control
is fact
the performance
mode technique be achieved
to [14]. achieved
A short
despite
despiteof uncertainties
recall uncertainties
the procedure
and
and
is
suffers
that from dynamics
system several shortcomings.
must the be second The first and
well-known one exactly disturbances without damaging chattering
is the disturbances without damaging chattering inherent to sliding inherent to sliding
presence of chattering while consists in the fact presented in what follows.
presence
modelled
that system
of
andchattering whilethe
the third being
dynamics must
thelack
be
second consists in
of robustness
well-known and the mode
the fact
during
exactly mode technique
technique [14]. [14]. A A short
short recallrecall of of the
the procedure
procedure is is
that system
reaching phase dynamics
[5][6][7][8].must be well-known and exactly presented
It starts
presented byin
in what
the
what follows.
definition
follows. of a macro-variable as a function of
modelled
modelled and and the
the third
third being
being the the lack
lack ofof robustness
robustness during
during thethe the state variables:
reaching phase [5][6][7][8].
approaches, control parameters are often It
In many phase
reaching of these[5][6][7][8]. It starts
starts by
by the
the definition
definition of of aa macro-variable
macro-variable as as aa function
function ofof
the state variables:
calculated
In many on a trial-and-error basis which doesn’t provide the state variables: Ψ = ψ ( x, t ) (1)
In many of these
these approaches,
ofperformanceapproaches, control
control Manyparameters
parameters are
are often
often
optimal
calculated on a [1-3][5-8].
trial-and-error basis which optimisation
doesn’t provide Ψ= ψ ((x,
x, tt )) linear combination of the (1)
calculated on
algorithm performance
optimal
a trial-and-error
bio-inspired have basis which
therefore Many
[1-3][5-8].
doesn’t
been developed provide
optimisation to The macro-variable canΨ be=aψsimple (1)
optimal
address performance
thisbio-inspired
issue amidhave [1-3][5-8].
which Many
one canbeen optimisation
cite: developed
evolutionary state variables. The same process canlinear
be repeated, defining as
algorithm therefore to The macro-variable can
canasbe aa simple linear combination of the
algorithm
algorithm bio-inspired
(EA), genetic have therefore
algorithm beenparticle
(GA), developed swarmto Themany macro-variable
macro-variables becontrol
simple channels. combination
The designer of can
the
address this issue amid which one can cite: evolutionary state variables. The same process can be repeated, defining
defining as
address
optimization
algorithm
this issue
(PSO),
(EA),
amid
and which
genetic bat one can (BA)
algorithm
algorithm (GA),
cite: [9][10].
evolutionary
particle The state
swarm select
many
variables. The same of
the characteristics
macro-variables as
process
control
can be repeated,according
this macro-variable
channels. The designer
as
to
can
algorithm
latter, based (EA),
on genetic
the algorithm
echolocation (GA),
behavior ofparticle
bats is swarm
a bio- many
control macro-variables
specifications. as control channels. The designer can
optimization (PSO), and select the characteristics of this macro-variable according to
optimization
inspired algorithm and bat
(PSO), developed bat algorithm
algorithm
by Yang
(BA)
(BA) [9][10].
[9][10].
inbats2010,
The
The select the characteristics of this macro-variable according to
was
latter, based on the echolocation behavior of is a bio- control
A control specifications.
signal will be elaborated to force the system to
latter, based on
successfully usedthe inecholocation behavior ofproblems
many optimization bio- control
bats is a [11]. specifications.
inspired
inspired algorithm
algorithm developed
developed by
by Yang
Yang in
in 2010,
2010, was
was operate on the manifold Ψelaborated
= 0 . The selected macro-variable
Echolocation
successfully is an important
used in many feature of bat behaviour.
optimization problems Bats A
[11]. A control
control signal
signal will
will be be with
elaborated to
to force
force the
the system
system to
to
successfully
emit a very strongused in many
sound pulse optimization
and listen forproblems
the echo Bats[11]. is forced to evolve desired
that operate on the manifold Ψ = 0 . The selected macro-variable dynamics despite
Echolocation
Echolocation is an important feature of bat behaviour. operate on the manifold Ψ = 0 . The selected macro-variable
bounces backisfrom an important feature of
the surrounding bat behaviour.
objects whilst Bats uncertainties
flying. is forced and/or disturbances trough a typical constraint
emit
emit aapulses
very
very strong
strong sound
sound pulse
pulse andand listen
listen for the
the echo
forcorrelated that
that is
echo with (2). forced to to evolve
evolve with with desireddesired dynamics
dynamics despitedespite
Their vary in properties and can be uncertainties
bounces
bounces back
back from
from the
the surrounding
surrounding objects
objects whilst
whilst flying.
flying. uncertainties and/or disturbances trough a typical
and/or disturbances trough a typical constraint
constraint
their
Their hunting strategies, depending on the species [12]. (2).
Their pulses
pulses varyvary in in properties
properties and and cancan bebe correlated
correlated with with (2). TΨ & + Ψ = 0, T > 0 (2)
their
In this
their hunting
paper,strategies,
hunting we propose
strategies, depending
a designon
depending the
the species
oncontrol scheme
species [12].
based on
[12]. &
synergetic
In this control
paper, we theory without
propose a design thecontrol
drawbacksscheme presented
based by
on T which is designer TΨ
T Ψ& ++Ψ =
= 00,, T
Ψchosen >
> 00
T determines the rate (2)
(2)
of
In this paper,
sliding mode we propose
control SMC a [13].
design A control
DC-DC scheme
Boost based on convergence to the attractor and can be made arbitrary small
converter
synergetic control theory without the drawbacks presented by
synergetic
model is control theory
presented without
followed bythe drawbacks
a DC-DC
brief recall presented
ofconverter
the bat T which
T
by considering
which only is
is designer
designer
eventual
chosen
chosen constraint.
control
determines
determines the the rate
rate ofof
sliding mode control SMC [13]. A Boost convergence
sliding mode
optimisation control
algorithm SMCused [13].
to A DC-DC
optimize Boost
control converter
parameters. convergence to the attractor and can be made arbitrary small
to the attractor and can be made arbitrary small
model is
is presented followed by aa brief recall of
of the bat
bat considering
model
A classical presented
objective followed
function by
will brief
be usedrecall
in this the
control considering onlyonly eventual
eventual control
control constraint.
constraint.
optimisation algorithm used to optimize
optimisation algorithm used to optimize control parameters. control parameters.
A
A classical
classical objective
objective function
function will will be be used
used in in this
this control
control
Copyright © 2016 IFAC 698
2405-8963 © 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Peer review©under
Copyright 2016 responsibility
IFAC of International Federation of Automatic
698Control.
Copyright © 2016 IFAC
10.1016/j.ifacol.2016.07.792 698
 IFAC MIM 2016
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By suitable selection of macro-variables, the designer can The control problem can be viewed as the problem of
obtain many interesting characteristics such as, stability, choosing an appropriate control law u such that the error
parameter insensitivity and noise suppression. It is interesting states e i (i = 1,2 ) in (6) converge to zero.
to note that the synergetic control law guarantees the global
stability on the manifold meaning that once the manifold is
reached, the system is not supposed to leave it even for large- 4. DESIGN OF SYNERGETIC CONTROL
signal variations. Consider the system (3), introducing the following macro-
variable:
3. DC-DC BOOST CONVERTER
Ψ = e 2 + λe1 = (x 2 − x 2 ref ) + λ (x1 − x1ref ) (7)
A DC-DC boost converter is power converter widely used in
renewable energy systems for maximum power tracking. This where the parameter λ is chosen such that Ψ is Hurwitz.
type of circuit is used to ‘step-up’ a source voltage to a
higher, regulated voltage, allowing one power supply to Taking time derivative of the macro-variable leads to
provide different driving voltages. A basic boost converter
circuit consists of a switch (S), a diode (D), an inductor (L), & = x1 (1 − u ) − x 2 − x& + λ  − x 2 (1 − u ) + 1 V − x&  (8)
Ψ
and a capacitor (C) (Fig. 1). C RC
2 ref  L L
e 1ref 
 
The classical model of the DC-DC boost converter is given in Using (8), and the constraint (2), we propose the following
(3): theorem:
 x2 1
 x&1 (t ) = − L (1 − u ) + L Ve Theorem 1. The control law (9)
 0 ≤ u ≤1 (3)
x x
 x&2 (t ) = 1 (1 − u ) − 2 λ x2 1 
 C RC  L V e − RC + T ψ − (x& 2 ref + λx&1ref )
 
u = 1− , x i (i =1, 2 ) ≠ 0
where: x1 λ x 2
−
C L
Ve is the input voltage, x1 the inductor current, x2 the (9)
capacitor output voltage and u the duty cycle.
achieves asymptotic stability.
Proof
Choosing the Lyapunov function candidate to be

s 1 T
V= Ψ Ψ (10)
2
Therefore
Fig.1 DC-DC Boost converter schematics.
V& = Ψ T Ψ
& (11)
The main goal is to obtain a control law u as a function of
state coordinates x1 , x2 which provides the required values and using (2) leads to:
of converter output voltage x 2 = x 2 ref and consequently 1
V& = − Ψ 2 (12)
inductance current x1 = x1ref under the constraint such that: T

lim x i − x iref → 0, i = 1,2 (4) thus: V& ≤ 0 (13)

t →∞

Based on Lyapunov theory, the control law (9) ensures

Let us define state errors as system stability. Even though stability is achieved control
e i = x i − x iref , i = 1,2 (5) parameters were arbitrarily chosen thus only non-optimal
performance can be obtained.
Therefore, the error dynamics of the system can be obtained
as 5. BAT OPTIMISATION METHOD
The bat optimisation algorithm is a fairly meta-heuristic
 x2 1
e&1 = − L (1 − u ) + L V e − x& 1ref
approach proposed by Xin-She Yang [9]. The algorithm
(6) exploits the so-called echolocation of the bats. Bats use sonar
 x x
 e& 2 = 1 (1 − u ) − 2 − x& 2 ref echoes to detect and avoid obstacles. They navigate by using
 C RC the time delay from emission to reflection. After hitting and
reflecting, the bats transform their own pulse into useful
information to explore how far away the prey is. The pulse

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rate can be simply determined in the 0 to 1 range, where 0 5.2. Objective Function
means that there is no emission and 1 means that the bat’s Optimizing the synergetic control parameters ( λ & T) an
emitting is at their maximum [17][18]. objective function is formulated as (20).
5.1. Bat optimisation algorithm
Let the objective function (SSE) be represented as:
Devising his algorithm, Yang [9] idealized some rules, as n
follows: J = ∑ e i2 (20)
1) all bats use echolocation to sense distance, and they also 1

“know” the difference between food/prey and background Subjected to

barriers in some “magical way”. λ min ≤ λ ≤ λ max (21)
2) a bat fly randomly with velocity v i at position xi emitting Tmin ≤ T ≤ T max (22)
a signal with fixed frequency f min , varying wavelength τ where λ and T are design parameters of the synergetic
and loudness A0 to search for prey. They can automatically controller to be optimised.
adjust the wavelength of their emitted pulses and adjust the This paper focuses on optimal tuning of synergetic approach
rate of pulse emission r ∈ [0,1] , depending on the proximity using bat algorithm. The typical interval values of the
of their target. optimized parameters are taken as [0.5 − 30]1010 for λ and
3) although the loudness can vary in many ways, Yang [0.001 − 0.15] for T . The aim of the optimisation is to
assume that the loudness varies from a large (positive) A0 to minimize the objective function in order to improve control
a minimum constant value Amin . performance of the DC-DC Boost converter (Fig. 2).
Firstly, the initial position xi , velocity vi and frequency f i
are initialized for each bat. For each time step t , being Tbat
the maximum number of iterations, the movement of the
virtual bats is given by updating their velocity and position
using equations :
f i = f min + ( f min − f max )β (14)
vij (t ) = vij (t − 1) + [xˆ j − xij (t − 1)] f i (15)
xi (t ) = xi (t − 1) + vi (t )
j j
(16) j

where β denotes a randomly generated number within the

interval [0, 1]. Recall that xij (t ) denotes the value of decision
variable j for bat i at time step t . The variable x̂ j
represents the current global best solution for decision
variable j , which is achieved comparing all the solutions
provided by all the bats.
In order to improve the variability of the possible solutions,
Yang [17][18] has proposed to employ random walks.
Primarily, one solution is selected among the current best
solutions, and then the random walk is applied in order to
generate a new solution for each bat.
xnew = xold + εA (t )
in which A (t ) stands for the average loudness of all the bats
at time t , and ε ∈ [− 1, 1] attempts to the direction and
strength of the random walk. For each iteration of this
algorithm, the loudness Ai and the emission pulse rate ri are
updated, as follows:
Ai (t + 1) = αAi (t ) (18)
ri (t + 1) = ri (0)[1 − e − γt ]
where α and γ are constants. In the initial step, the
emission rate and the loudness are often randomly chosen.
Parameters used in this study: α = γ = 0.9 , A0 = 1 , Amin = 0 ,
f min = 0 , f max = 50 .
Fig.2 Objective function.
6. SIMULATION
In this section, the optimal synergetic control performance is
to be evaluated. A simulation study has been conducted to
assess the effectiveness of the proposed approach. The
parameters of the DC-DC boost converter used for this work
are: Ve = 100V , C = 1100 µF , L = 15 mH , R = 32.7 Ω .
The initial values of inductor current and output voltage are
2 A and 25V respectively. The desired inductor current and
output voltage are 8 A and 160 V respectively.
(17)
Table 1 shows the parameters of bat synergetic (BAT SYN)
and particle swarm optimisation synergetic (PSO SYN)
methods.
Table 1. Parameters of optimal synergetic approaches.
T λ / 1010
BAT 0.0900 10.0100
PSO 0.0340 21.2987
(19)
6.1. Simulation case without control
The test of the DC-DC boost converter without control for
inductor current and output voltage are shown in figures Fig.
3.1 and Fig.3.2 respectively. Inductor current and output
voltage responses are not desired.

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The characteristics of this macro-variable according to the

control limitation specifications are optimised using bat and
PSO algorithms. Figures 4.3-4.4 show the macro-variable
function and the duty cycle variations respectively, it can be
seen clearly that the states converge asymptotically to their
references under given constraint conditions.

Fig.3.1 Inductor current without control.

Fig. 4.2 Output voltage for both approaches.

Fig.3.2 Output voltage without control.

Simulation results show that the inductor current and the
output voltage can not follow their references x1ref and
x2 ref respectively, without control. The control based in bat
synergetic approach will help the responses of the system to
follow their references is discussed in next section. Fig. 4.3 Macro-variable function evolution.
6.2. Simulation case with optimal synergetic control
In order to validate the proposed approach, we present in the
following the simulation study of DC-DC Boost converter.
Proposed control scheme force the DC-DC Boost converter
system to track their reference, the optimal duty cycle based
bat synergetic control (BAT SYNC) is used and it is
compared with PSO synergetic control (PSO SYNC).

Fig. 4.4 Duty cycle for both approaches.

6.3. Implementation of DC-DC boost converter based

optimal synergetic control
The bat synergetic controller is verified through an
experimental prototype developed. Implementation of the
proposed controller algorithm is realized by DSP card
Fig. 4.1 Inductor current for both approaches. (dSPACE 1104). Figure 2 shows the schematic the DC-DC
boost converter used.
Figures 4.1-4.2 shows inductor current and output voltage
under optimal synergetic control indicating convergence of
the states x1 and x 2 to the references x1ref = 8 A and
x2 ref = 160 V respectively, confirming the accuracy of the
approach control of the DC-DC boost converter.

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Fig. 5 DC-DC boost converter implementation.
The transient responses of the boost converter under a normal
case for the inductor current and the output voltage are shown
in figure 6.1 indicating convergence of the states to their
references.
Fig. 6.1 Inductor current & output voltage for normal case.
Figure 6.2 shows the macro-variable function and it can be
seen that the system operate on the manifold Ψ = 0 .
Fig. 6.2 Macro-variable function.
The incorporation of the proposed approach based synergetic
controller forms the basic architecture of the DC-DC boost
converter, a PWM bloc is used in our implementation. The
duty cycle is illustrated in Fig.6.3.
702
Fig. 6.3 Switching control signal.
The experimental circuit is also tested for the following case:
Reference step of output voltage change from 140V to 160V.
Fig. 7 Inductor current & output voltage for voltage reference
variation from 140V to 160V.
Figure 7 illustrates the ability of the proposed controller to
forces quickly the output voltage to follow a sudden change
in the voltage reference.
7. CONCLUSION
This paper presents an optimal synergetic control based on
bat optimisation algorithm of a DC-DC boost converter.
Simulation confirms a rapid convergence using a continuous
control law. A comparative study between bat synergetic
control (BAT SYNC) and PSO synergetic control (PSO
SYNC) is illustrated. Lyapunov theorem has been used to
guarantee closed-loop stability. The proposed synergetic
controller is implemented using dSpace 1104 confirming the
soundness of the proposed approach. Future work will
include implementation of the algorithm on a photovoltaic
system at Troyes’ IUT site.
8. ACKNOWLEDGMENT
The authors would like to acknowledge B. BABES of the
University of Sétif1for his great help with the experimental
setup.
9. REFERENCES
[1] E. Santi, A. Monti, D. Li, K. Proddutur, R.A. Dougal,
Synergetic Control for DC–DC Boost Converter:
Implementation Options, IEEE Trans. on Ind. App.,
vol.39, no. 6, 2003.
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June 28-30, 2016. Troyes, France E. Nechadi et al. / IFAC-PapersOnLine 49-12 (2016) 698–703 703
[2] B. Yuri, Y.B. Shtessel, S.I.Z. Alan, I.A. Kolesnikov,
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[3] Y.B. Shtessel, O.A. Raznopolov, L.A. Ozerov, Control
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[4] H. Sira-Ramirez, M. Rios-Bolivar, Sliding mode control
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