Notes Tse PDF

Tutorial Notes on
CHAOS IN POWER ELECTRONICS
IEEE ISCAS’2003
Chi K. Tse
Department of Electronic and Information Engineering
Hong Kong Polytechnic University
Hong Kong, China
Email: encktse@polyu.edu.hk
CONTENTS
Topics Slide #
Introduction to power electronics 1
Nonlinearity — A default property 7
Classic example: period-doubling in current-mode converters 8
Recent study from bifurcation perspective 9
Bifurcation Behaviors of Circuits studied previously 10
Literature review 15
Current state of findings 19
Comparison of two basic types of bifurcations 21
Border collision from circuit operational viewpoint 22
Basic problems in analysis 26
Models and approaches 27
Which model to use? 29
Brief outline of analytical techniques 34
Summary of observations 41
Possible engineering applications 42
An example of application: bifurcation in power-factor-correction converters 43
Conclusion and future work 51
Chaos in Power Electronics
Chi K. Tse
encktse@polyu.edu.hk
THE HONG KONG

Chi K. Michael Tse
POLYTECHNIC UNIVERSITY Department of Electronic
1
& Information Engineering
What are power electronics circuits?
The heart is
POWER CONVERTER
THE HONG KONG

Chi K. Michael Tse
2
1
Simple dc/dc converters
e.g., buck (step-down) converter
on +
Vin +
off Vo
–
–
• The switch is turned on and off at high frequency.

• The output is equal to
Vo = DVin
on time
D = duty cycle =
THE HONG KONG period
Chi K. Michael Tse
3
Power supply AC/DC adaptor
+
+ Vo
–
100V –
AC
Vramp
Zf
comp
+
– –
Vramp vcon +
Vref
vcon
FEEDBACK CONTROL
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4
2
Basic converters
Buck (step-down) Boost (step-up) Buck-boost (step-up-down)
+
–
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5
Nature of operation
Time varying — different systems at different times
AND
Nonlinear — the time durations are related nonlinearly

with the output function
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6
3
Nonlinearity – the default property of power
electronics circuits
• Power electronics engineers/researchers are

dealing with nonlinear problems
• Much of power electronics is about identifying

nonlinear phenomena and “taming” them to do
useful applications
• Classic examples:
• Averaging (R. David Middlebrook, Richard Bass)
• Discrete-time modeling (Harry Owen, Fred Lee)
• Stability analysis (George Verghese)
• Phase-plane analysis/control (Fred Lee, Ramesh Oruganti)
• Series approximation (Richard Tymerski)
Classic example of nonlinear study
Boost converter with current-mode control Simple analysis

L D iL reveals a change of
stability status at a
iL +
D < 0.5 critical duty cycle of
+ I ref
Vin – C R vo 0.5.
–
The circuit is
actually ‘stable’
–
R Q beyond the critical
Iref + iL point, though
clock S
D > 0.5 operates with a
I ref longer period.
This period-
doubling
phenomenon was
observed long ago.
8
4
Recent study from a bifurcation perspective
With the help of computers, we T/CR = 0.125

can study the phenomenon in
more detail. sampled
normal period-1 operation
iL
Bifurcation diagrams
(panaromic view of stability
status) bifurcation point
Iref
Sampled variable at steady state
versus parameter, T/CR = 0.625
e.g., iL(nT) vs. Iref sampled
iL
We can plot bifurcation diagrams
for different sets of parameters
Iref
9
Circuits whose bifurcation behaviors have been studied

in detail
Voltage-mode and current-mode controlled simple

buck and boost converters, and many others
L L D
+ iL +
+ +
Vin – D C R vo Vin – C R vo
– –
– –
Vref – Vref – R Q
+ +
+ comp +
clock S
Zf Zf
10
5
Period-doubling and chaos in voltage-mode controlled
buck converter L
+
+
Vin – D C R vo
–
bifurcation diagram –
Vref –
+
+ comp
Zf
iL
chaotic attractor
Vin iL
Hamill et al. (1990)

v o
11
Period-doubling and chaos in current-mode controlled

boost converter
bifurcation diagram L D
iL +
+
Vin – C R vo
–
iL(nT)
–
R Q
Iref +
clock S
Iref
12
6
Hopf Bifurcation in parallel boost converters
normal period-1 bifurcation diagram
Vof fset
limit cycle of long period
+ -
Kv1 Vref
-
+
vcon1
i1
Converter 1
C
+
E v R
-
i2
Converter 2
rC
vcon2 quasi-periodic orbit
m
+
Ki
-
- +
Kv2 Vref
- -
+
Vof fset
THE HONG KONG
Chi K. Michael Tse
13
Hopf Bifurcation in free-running ´

Cuk converter
period-1
limit cycle
Poincaré
section
quasi -
Hopf periodic
bifurcation
chaos
THE HONG KONG

Chi K. Michael Tse
14
7
Literature review
• Hamill and Jefferies [1988] - First analysis of bifurcation and chaotic

dynamics in a first order PWM voltage-mode controlled converter.
• Deane and Hamill [1990] - Analysis of bifurcation in first order and

second order PWM buck converters.
• Hamill et al . [1992] - Derivation of an iterative map to analyze

bifurcation in a buck converter in continuous mode.
• Deane [1992] - First report on chaotic behaviour in a current-controlled

boost converter.
• Tse [1994] - Derivation an iterative map to demonstrate period-doubling

cascades in a boost converter in discontinuous mode.
THE HONG KONG

Chi K. Michael Tse
15
Literature review (cont.)
• Chakrabarty et al . [1995] / Fossas and Olivar [1996] - Further study of chaos

in a PWM buck converter.
• Dobson [1995] - Study of bifurcation in thyristor and diode circuits
• Poddar et al . [1995] / Batlle et al . [1996] - Control of chaos in dc/dc

converters.
• Tse and Chan [1995] - Study of bifurcation and chaos in a fourth order
current-controlled Cuk converter.
• Banerjee et al. [1997] - Analysis of coexisting attractors in buck converter
• Chan and Tse [1996] - Study of bifurcation in current-mode converter with and
without feedback
• Banerjee et al . [1997] - Examination of current-mode converters in the light of

“border collision bifurcation”.
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8
• Tse [1997] – Analysis of autonomous Cuk converters using averaged models.
• Di Bernardo et al. [1998] - Study of various sampling and their applications in the
identification of bifurcation and chaos.
• Chan and Tse [1998] – Proof of period-doubling in discontinuous converters using

Schwarzian derivatives
• Di Bernardo et al. [1998] - Analysis of the non-smooth dynamics (such as grazing,

skipping and sliding) of dc/dc converters.
• El Aroudi et al . [1999] - Identification of quasi-periodicity and chaos in a boost

converter.
• Mazumder, Nayfeh and Borojevich [1999] - Fast- and slows-scale instabilities.
• Iu and Tse [2000] - Study of bifurcation in parallel converters
• Orabi and Ninomiya [2002] / Tse [2002] - Analysis of power factor correction
converters
THE HONG KONG
Chi K. Michael Tse
17
Review articles
D.C. Hamill, Proc. NDES’95, pp. 165-177. 1995.
C.K. Tse, CAS Newsletter, pp. 14-48, March 2000.
I. Nagy, Automatica 42, pp. 117-132, 2001.
S. Banerjee et al., Ch. 1, Nonlinear Phenomena in PE, IEEE Press 2001.
C.K. Tse and M. di Bernardo, IEEE Proceedings 90, pp. 768–781, 2002.
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Chi K. Michael Tse
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9
Current state of findings
• Two types of bifurcation* seen in power electronics
• Standard bifurcations (found in other systems as well)

• Period-doubling
• Hopf (Neimark-Sacker)
• Saddle-node
• Border collision (characteristic of power electronics)

• Abrupt change of behavior due to a structural change
*Bifurcation refers to sudden change of qualitative behaviour of a dynamical

system when a certain parameter is varied.
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Chi K. Michael Tse
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Current state of findings
Who will get what?
• Standard bifurcations
• Buck converters (voltage-mode) – period-doubling
• Boost converters (voltage-mode) – Hopf
• Dc/dc converters in DCM – period-doubling
• Most dc/dc converters (current-mode) – period-doubling
• Other types – variety: saddle-node, crisis, etc.
• Border collision (characteristic of power electronics)

• All standard bifurcations are interrupted by border
collision
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Chi K. Michael Tse
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10
Comparisons
• Standard bifurcations • Border collision

• Loss of stability • Loss of “operation”
• No structural change • Structural change
• Standard appearance bifurcation • Non-standard appearance in
diagrams bifurcation diagrams, e.g.,
bendings, jumps, etc
Structural change in switching converters

= Alteration in topological sequence
e.g., change of operating mode,

reaching a saturation boundary
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Chi K. Michael Tse
21
Border collision –
signature bifurcation of power electronics circuits
Border collision
Non-smooth phenomena “always” observed in power electronics circuits
boost converter under current-mode control
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22
11
Border collision
Essence: standard bifurcation being interrupted
boost converter under current-mode

control
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Chi K. Michael Tse
23
Border collision – a practical viewpoint

+
Vin – D C R vo
–
–
Vref –
+
+ comp
Excessive swing of control signal

Duty cycle saturation
Z f
Out-of-range operation, preventing continuation of standard bifurcations
e.g., buck converter in voltage-mode control
feedback gain increases
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12
L
Border collision – a practical viewpoint

+
Vin – D C R vo
–
–
Vref –
+
+ comp
Zf
Further increase in feedback gain…
period-doubling border collision
THE HONG KONG

Chi K. Michael Tse
25
Basic problems in analysis
• What models to use?
• What techniques to use?
• An open question :
• What are the applications?
• (What do we use the results for?)
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13
What models to use?
• Averaged models x(t)

averaged behaviour
dx
= f ( x , µ, t )
dt
simple - details destroyed
t
• Discrete-time models
x n +1 = F (x n , µ) xn+1
xn
complex - accurate
t
THE HONG KONG
Chi K. Michael Tse
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What models to use?

Clue: Typical nonlinear behavior observed in dc/dc converters
• Standard bifurcations
• Hopf bifurcation,
• Period-doubling bifurcation,
T
t
2T
THE HONG KONG
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14
What models to use?
Clue: Typical nonlinear behavior observed in dc/dc converters
• Phase space view

i
• Hopf bifurcation, limit cycle
low-freq. orbit
i
v v
• Period-doubling bifurcation, i
i
2T orbit
v v
THE HONG KONG
Chi K. Michael Tse
29
What models to use?

Fast and slow scale dynamics
• Fast and slow scales

i
• Hopf bifurcation, low -frequency
limit cycle phenomenon
low-freq. orbit
– averaged models
are capable
v
• Period-doubling bifurcation,
i high -frequency
phenomenon
2T orbit – discrete-time
models are needed
THE HONG KONG v

Chi K. Michael Tse
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15
What models to use?
Clue: Experiments and computer simulations
e.g., In parallel boost converters, as feedback gain increases,

we observe a series of changes…
Stable period-1 quasi-periodic limit cycle
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What models to use?

e.g., In a current-mode boost converter, we see period-doubling:
bifurcation diagram
iL(nT)
Iref
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16
What models to use?
EXAMPLES:
For the parallel boost converters under master-slave control,
we see a slow-scale phenomenon.
Thus, averaged models should be adequate!

(Iu and Tse, ISCAS’2002)
For the current-mode controlled boost converter, we see fast-

scale phenomenon.
Thus, we must resort to discrete-time models.

(Chan and Tse, IEEE TCAS1 1997)
THE HONG KONG

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33
Analysis techniques
The basic questions of practical importance are
Where and when it happens?

Location of boundary of operation – bifurcation point
How it happens?
Identification of the type of bifurcation
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Chi K. Michael Tse
34
17
Technique – Averaging approach
Averaging approach
• Derive a set of continuous
averaged equations: jω
x& = f (x )
• Examine the Jacobian, J(XQ) and
find the loci of the eigenvalues when
a bifurcation parameter is varied.
• Identify the condition for the σ

eigenvalue(s) moving across the
imaginary axis in the complex plane:
• e.g., a pair of complex eigenvalues
moving across the imaginary axis
implies a Hopf bifurcation.
THE HONG KONG

Chi K. Michael Tse
35
Technique – Averaging approach
Advantages:
• Widely used and well known.
• Relatively easy to derive the continuous averaged equation.
Limitation:
• Only able to predict low-frequency slow-scale bifurcation

behaviour such as Hopf bifurcation.
THE HONG KONG

Chi K. Michael Tse
36
18
Technique – Discrete-time map approach
Discrete-time map approach

• Derive a discrete time map (iterative function f):
x n +1 = f (x n , d )
• Examine the Jacobian, J(XQ) and find the loci of
the eigenvalues when a bifurcation parameter is
varied.
• Identify the condition for the eigenvalue(s)

moving out the unit circle in the complex plane:
det[λI − J (X Q )] = 0
•
•e.g., one of the eigenvalues moving out through -1
the implies a period-doubling.
THE HONG KONG

Chi K. Michael Tse
37
Technique – Discrete-time map approach
Advantages:
• Provide a relatively complete behavioral information.
• Able to predict standard bifurcations such as period-doubling

bifurcation, Hopf bifurcation and saddle-node bifurcation.
Limitation:
• Derivation of the iterative map is more complicated compared

to the continuous-time averaged equation.
THE HONG KONG

Chi K. Michael Tse
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19
Analysis of border collision
Basic principle:
It usually involves change of the form of the qualitative model before

and after the collision.
Results (reported in Physics literature):
There are theoretical publications (C. Grebogi, H.E. Nusse, S. Banerjee,

M. di Bernardo) on the type of transition at the collision. These
transitions are usually “sudden” changes, e.g.,
from period-1 to chaos

from period-1 to another period-1
THE HONG KONG

Chi K. Michael Tse
39
Analysis of border collision
Of engineering interest is the location of the border.
Analysis involves identifying the mechanism that causes the

collision,
vramp vcon
VU
e.g., control signal swings to far up or down
VL
One can analyze the situation and
derive formula for the critical point. t
VU
vcomp
VL
vcon
THE HONG KONG

Chi K. Michael Tse
40
20
Summary of observations
Standard bifurcations such as period-

doubling and Hopf bifurcation are
commonly observed in dc/dc converters.
— practically more important because
standard bifurcation is always the first
bifurcation next to the usual stable operation
Border collision bifurcation comes into

play to disrupt the growth of standard
bifurcations.
— signature phenomenon in power
electronics
THE HONG KONG

Chi K. Michael Tse
41
Possible engineering applications
Prediction / Better understanding

Systematic collection of results concerning bifurcation to form a
useful design guide.
operation boundary
instability features —
[ e.g., recent finding on PFC converter ]
Design
Use of chaotic operation to advantage.
transient speed ?
EMC ?
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Chi K. Michael Tse
42
21
Application example
– bifurcation analysis in PFC boost converter
PFC boost rectifier
= typically a boost converter under

current-programming control
The input current is forced to track

the input voltage waveshape
Note: essentially slope

compensation
THE HONG KONG

Chi K. Michael Tse
43
Application example
We observe asymmetrical slope

compensation in this PFC boost
rectifier:
+ve slope compensation in [0, π/2]
--> less stable
–ve slope compensation in [π/2, π]
--> more stable
Bifurcation analysis can reveal Discrete-time map:

interesting phenomenon…  M + 1 − v /V 
i n +1 =  c in i + higher order terms
n
 Mc + 1 
where M c = mcL just for convenience.

v in
THE HONG KONG

Chi K. Michael Tse
44
22
Application example
Bifurcation analysis
Suppose the input voltage is
Relating the compensation slope mc with

the input voltage variation for the PFC
case:
mc = – Question:
Would there be fast-scale

instability (e.g., period-doubling)?
At what phase angle would it
occur?
THE HONG KONG

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45
Application example
Bifurcation analysis
Jacobian:
Characteristic multiplier:
Period-doubling occurs Critical phase angle (algebra omitted):

when λ = –1.
THE HONG KONG

Chi K. Michael Tse
46
23
Application example
Fast scale instability at phase angle
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47
Application example
This formula
allows us to do a
number of things:
e.g.,
Predicting fast-
scale instability
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Chi K. Michael Tse
48
24
Application example
Defining stability
boundaries
THE HONG KONG

Chi K. Michael Tse
49
Application example
π
0 < θc1 <
2
π
< θc 2 < π
2
region 2 region 3
π
θc1 >
2
π
θc 2 <
θc1 =
π 2
2
π
< θc 2 < π
2
THE HONG KONG
Chi K. Michael Tse
50
25
Conclusion
Recap: • Power electronics engineers/researchers are dealing with

nonlinear problems
• Much of power electronics is about identifying nonlinear

phenomena and “taming” them to do useful applications
For power electronics (nonlinear systems in general),
– “stability” refers to operation in the expected regime

– a variety of ways the system can become unstable
(to get away from the usual operation)
– a number of affecting parameters
— BIFURCATION ANALYSIS
THE HONG KONG
Chi K. Michael Tse
51
Future work
Engineers frequently ask:
What are the applications of chaos and bifurcation studies?
Topics of future research:
• Reorganizing results in terms of practical operating

conditions and parameters
• Developing design-oriented bifurcation procedures
• Identifying new phenomena in practical circuits
THE HONG KONG

Chi K. Michael Tse
52
26
To probe further
Books
• C.K. Tse, Complex Behavior of Switching Power Converters, Boca Raton: CRC Press,
2003.
• S. Banerjee and G.C. Verghese (Eds.), Nonlinear Phenomena in Power Electronics:
Attractors, Bifurcations and Nonlinear Control, New York, IEEE Press, April 2001.
Review paper
• C.K. Tse and M. di Bernardo, “Complex behavior of switching power converters,” Proceedings of
the IEEE, vol. 90, no. 5, pp. 768–781, 2002.
Journals
• IEEE Transactions on Circuits and Systems Part I
• International Journal of Bifurcation and Chaos
• International Journal of Circuit Theory and Applications
Our research group homepage: http://chaos.eie.polyu.edu.hk
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Chi K. Michael Tse
53
Thank you!
Acknowledgments:
The author wishes to thank
- Profs. Alex Baranovski and Wolfgang Schwarz for kind arrangements.
- Prof. Soumitro Banerjee for many helpful discussions.
Contact address:
Prof. Chi K. Tse
Dept. of Electronic and Information Engineering
Hong Kong Polytechnic University, Hong Kong, China
Email: encktse@polyu.edu.hk
THE HONG KONG

Chi K. Michael Tse
54
27

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Tutorial Notes on

CHAOS IN POWER ELECTRONICS

THE HONG KONG

What are power electronics circuits?

THE HONG KONG

• The switch is turned on and off at high frequency.

Power supply AC/DC adaptor

Buck (step-down) Boost (step-up) Buck-boost (step-up-down)

THE HONG KONG

Time varying — different systems at different times

Nonlinear — the time durations are related nonlinearly

THE HONG KONG

• Power electronics engineers/researchers are

• Much of power electronics is about identifying

Classic example of nonlinear study

Boost converter with current-mode control Simple analysis

With the help of computers, we T/CR = 0.125

Circuits whose bifurcation behaviors have been studied

Voltage-mode and current-mode controlled simple

Hamill et al. (1990)

Period-doubling and chaos in current-mode controlled

normal period-1 bifurcation diagram

Hopf Bifurcation in free-running ´

THE HONG KONG

• Hamill and Jefferies [1988] - First analysis of bifurcation and chaotic

• Deane and Hamill [1990] - Analysis of bifurcation in first order and

• Hamill et al . [1992] - Derivation of an iterative map to analyze

• Deane [1992] - First report on chaotic behaviour in a current-controlled

• Tse [1994] - Derivation an iterative map to demonstrate period-doubling

THE HONG KONG

Literature review (cont.)

• Chakrabarty et al . [1995] / Fossas and Olivar [1996] - Further study of chaos

• Dobson [1995] - Study of bifurcation in thyristor and diode circuits

• Poddar et al . [1995] / Batlle et al . [1996] - Control of chaos in dc/dc

• Banerjee et al. [1997] - Analysis of coexisting attractors in buck converter

• Banerjee et al . [1997] - Examination of current-mode converters in the light of

THE HONG KONG

• Tse [1997] – Analysis of autonomous Cuk converters using averaged models.

• Chan and Tse [1998] – Proof of period-doubling in discontinuous converters using

• Di Bernardo et al. [1998] - Analysis of the non-smooth dynamics (such as grazing,

• El Aroudi et al . [1999] - Identification of quasi-periodicity and chaos in a boost

• Mazumder, Nayfeh and Borojevich [1999] - Fast- and slows-scale instabilities.

• Iu and Tse [2000] - Study of bifurcation in parallel converters

Literature review (cont.)

D.C. Hamill, Proc. NDES’95, pp. 165-177. 1995.

C.K. Tse, CAS Newsletter, pp. 14-48, March 2000.

I. Nagy, Automatica 42, pp. 117-132, 2001.

S. Banerjee et al., Ch. 1, Nonlinear Phenomena in PE, IEEE Press 2001.

THE HONG KONG

• Two types of bifurcation* seen in power electronics

• Standard bifurcations (found in other systems as well)

• Border collision (characteristic of power electronics)

*Bifurcation refers to sudden change of qualitative behaviour of a dynamical

THE HONG KONG

Current state of findings

Who will get what?

• Border collision (characteristic of power electronics)

• Standard bifurcations • Border collision

Structural change in switching converters

e.g., change of operating mode,

THE HONG KONG

Non-smooth phenomena “always” observed in power electronics circuits

boost converter under current-mode control