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Real-time Implementation of a Takagi-Sugeno Fuzzy Controller for a DC-DC

Boost Converter

Article  in  Electrotehnică, Electronică, Automatică · January 2020

DOI: 10.46904/eea.20.68.4.11080012

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90 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 68 (2020), nr. 4, pp.90-97
https://doi.org/10.46904/eea.20.68.4.11080012

Real-time Implementation of a Takagi-Sugeno Fuzzy

Controller for a DC-DC Boost Converter
Rabah DAOUADI1, Djamel OUNASS2, Youcef SOUFI2, Abdrezak METATLA1, Dhaouadi GUIZA2
1
Department of Mechanical Engineering, University 20 Aout1955, Skikda, Algeria
2
Labget laboratory, Department of Electrical Engineering, Faculty of Sciences and technology, Route de
Constantine, 12002 Tebessa, Algeria

Abstract
This paper deals with the design, simulation, and real-time implementation of a new Takagi-Sugeno (T-S) fuzzy
tracking control for a DC-DC boost converter using Arduino mega and MATLAB/Simulink environment. The developed
controller can drive the output voltage of the boost converter to perfectly track a reference voltage, taking into
account variations in load or input voltage. Firstly, a T-S model with four fuzzy rules is developed to represent
exactly the dynamic behaviour of the nonlinear boost converter, which is investigated to develop a new control
scheme based on a combined methodology of fuzzy control and particle swarm optimization (PSO) technique. In
this context, a two-stage design procedure is developed to determine the fuzzy stabilizing control gains by solving
a set of linear matrix inequalities (LMIs) and to determine an integral control gain and a reference scaling factor
using PSO algorithm. A real-time implementation of the proposed controller is carried out using an Arduino Mega
and spatial Simulink package known as “Simulink support package for Arduino hardware”. Simulation and
experimental results show that the proposed controller offers a fast dynamic response and better performance in
terms of accuracy and limitation of overshoot compared to the baseline Proportional-Integral (PI) controller.

Keywords: DC-DC boost converter, T-S fuzzy model, LMIs, PSO, Arduino board

Received: 14 August 2020

To cite this article:

DAOUADI R., OUNASS D., SOUFI Y., METATLA A., DHAOUADI G., “Real-time Implementation of a Takagi-Sugeno Fuzzy
Controller for a DC-DC Boost Converter”, in Electrotehnica, Electronica, Automatica (EEA), 2020, vol. 68, no. 4, pp. 90-
97, ISSN 1582-5175.

approach suffers from a major drawback in the form of

1. Introduction
DC-DC boost converters are widely used in industrial
applications due to their various advantages, such as
simplicity, low cost, small sizes, and efficiency. The
main role of these electronic devices is to step up the
voltage from their input to their load by a switching
action (on or off). These converters have a major
importance in several applications especially, in
renewable energy sources such as: fuel cells, solar cells
and wind turbines generators [1]-[4].
However, the control of a boost converter is still a
challenging task because it exhibits nonlinearities,
discontinuity and non-minimum phase phenomenon.
Thus, the linear controllers such as P, PI and PID cannot
ensure good performances; they operate optimally only
for a specific condition [5],[6]. To address these issues,
new nonlinear and advanced control techniques have
been proposed in the last years; these include sliding
mode control [7], [8], linearization control [9],
backstepping control approach [10], adaptive control
[11], [12] and exact linearization methods [13] among
others.
Sliding mode control is widely used due to its
simplicity and a relatively easy implementation, but this
a chattering phenomenon caused by the high frequency
switching of a sliding mode controller [14]. On the other
hand, a fuzzy logic controller (FLC) has been proposed
for DC-DC boost converter in [15], where their
simulation and experimental results show that the
output voltage tracks its reference signal without any
steady-state oscillations. Nevertheless, the drawback of
FLC is the lack of systematic procedure to design its
fuzzy rules and fuzzy membership function. Moreover,
an adaptive backstepping controller is also proposed for
boost converters in [16] but it is hindered by problems
and obstacles during the implementation stage. A
feedback exact linearization controller has been
proposed in [13], which proved its efficiency in terms of
tracking and rapidity but cannot be investigated for a
wide range of variation due to the excessive output
voltage overshoot.
Furthermore, Takagi–Sugeno fuzzy-model-based
control has proved its effectiveness in the control of
many nonlinear systems. T-S fuzzy models are
considered as a useful tool for modelling and controlling
nonlinear systems described by fuzzy rules where each
rule represents the input-output relations of a system.
In general, a parallel distributed compensation (PDC)
 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 68 (2020), nr. 4
scheme is used to construct a global fuzzy controller by
blending all local state feedback controllers. The
Lyapunov method is usually employed to find stability
conditions of the system, which can be transformed into
linear matrix inequalities (LMIs) and solved easily using
convex optimization techniques [17]. In the literature,
many works have been devoted to the stabilization
problem of nonlinear systems based on T-S fuzzy models
whereas the problem of tracking control has been poorly
treated. It has been considered only for a specific
nonlinear system forms. For instance, the problem of
tracking control has been analysed based on a control
methodology combining T-S fuzzy models and a concept
known as virtual desired variables (VDVs) to simplify the
design of the reference model and control law for many
nonlinear systems. This control methodology has been
used in many applications, such as the DC-DC buck
converter [14], photovoltaic conversion system [17],
permanent magnet synchronous motors [18] and wind
energy conversion system [19]. However, this technique
cannot be applied for the control of DC-DC boost
converter, because it’s nonlinear model does not satisfy
a specific generalized kinematics constraint. In this
context, the present paper deals with the problem of
tracking for DC-DC boost converter using a new control
law inspired significantly from the classical feedback
control of linear systems.
The main contribution of this paper is the design,
simulation and real-time implementation of a new T-S
fuzzy integral control scheme of a DC-DC boost
converter using an Arduino mega board and
Matlab/Simulink environment. Firstly, the nonlinear
dynamic of the considered boost converter is
represented by a T-S fuzzy system, which is used to
design a feedback controller that stabilizes the system
based on the PDC technique. Secondly, a scaling factor
gain, and integral controller gain are obtained by using
the PSO technique. Simulation and experimental results
of real-time implementation using Arduino Mega and
MATLAB environment with a comparative study are
presented to show the effectiveness of the proposed
controller and its superiority to the baseline PI-based
controller. The proposed T-S fuzzy controller is
implemented on an ATmega 2560-based microcontroller
of Arduino Mega board, which has 54 digital
input/output pins (of which 14 can be used as PWM
outputs) and 16 analogue inputs. A special package
known as "Simulink Support Package for Arduino
Hardware" is used to interface the Matlab/Simulink with
the hardware setup without any programming language.
The manuscript is organized as follows: the second
section is dedicated to the mathematical nonlinear
model of boost converter. The third section presents the
proposed tracking control scheme, which is composed
of two parts. The first part is devoted to the design of
T-S fuzzy stabilization controller and the second part
shows the development of an integral controller and a
reference scaling factor based on PSO technique. In the
fourth sections, the simulation and experimental results
are given, followed by a conclusion at the end of this
paper.
91
2. Mathematical boost converter model
The mathematical model of a DC-DC boost converter
can be given by the following nonlinear state space form
[20, 21]:
𝑥𝑥̇ (𝑡𝑡) = 𝐴𝐴(𝑥𝑥, 𝑡𝑡)𝑥𝑥(𝑡𝑡) + 𝛽𝛽𝛽𝛽(𝑡𝑡) + 𝑤𝑤(𝑡𝑡) (1)
with
1
𝑖𝑖𝐿𝐿 (𝑡𝑡) ⎡ 0 − 𝐿𝐿 ⎤
𝑥𝑥(𝑡𝑡) = � � , 𝐴𝐴 = ⎢⎢1 1⎥
⎥,
𝑣𝑣0 (𝑡𝑡) ⎢𝐶𝐶 − 𝑅𝑅𝑅𝑅 ⎥
⎣ ⎦
1 − 𝑉𝑉𝑖𝑖𝑖𝑖
𝑣𝑣0 (𝑡𝑡) ⎡ 𝐿𝐿 ⎤
𝐿𝐿
𝐵𝐵�𝑥𝑥(𝑡𝑡)� = � � , 𝑤𝑤(𝑡𝑡) = ⎢ ⎥
1
𝑖𝑖 (𝑡𝑡) ⎢ 0 ⎥
𝐶𝐶 𝐿𝐿 ⎣ ⎦
where∶ 𝐿𝐿 is the inductor of the input circuit, C is the
capacitor of the output filter, 𝑅𝑅 is the output load
resistor 𝑣𝑣0 , 𝑉𝑉𝑖𝑖𝑖𝑖 , 𝒊𝒊𝑳𝑳 and 𝜇𝜇 represent, respectively: the
output voltage, the external source voltage, the
inductor current and the duty cycle, as shown in
Figure 1, where: 𝑤𝑤(𝑡𝑡) will be considered as a
disturbance.
Figure 1. Equivalent circuit of DC-DC boost converter
3. Proposed control methodology
The goal of this work is to develop a new feedback
controller that allows driving the output voltage of a
boost converter 𝑉𝑉𝑖𝑖𝑖𝑖 to track a desired reference
signal 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟 . The proposed method is inspired from the
feedback control of linear systems. This method
consists, firstly, in calculating the stabilization gains
using the known pole placement technique. Secondly, a
reference scale factor is calculated according to the
transfer function of the controlled system. In this
context, the proposed method contains three terms of
control:
1) a fuzzy controller (with 𝐾𝐾𝑖𝑖 gain) is developed
based on the T-S fuzzy models which is designed to
guarantee the system stabilization, in other words,
driving the system states converge to zero from a non-
zero initial condition;
2) An integral controller (with 𝐾𝐾I gain) is also
integrated in the control scheme to ensure the rejection
of disturbances;
3) a reference scale factor (with 𝐾𝐾𝑟𝑟 gain) is assigned
to the reference signal to ensure a good trajectory
tracking.
Therefore, the proposed new control law has the
following form:
𝑢𝑢(𝑡𝑡) = ∑𝒓𝒓𝒊𝒊=𝟏𝟏 𝐾𝐾𝑰𝑰 𝑥𝑥(𝑡𝑡) + ∫ 𝐾𝐾𝐼𝐼 �𝐾𝐾𝑟𝑟 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟 − 𝑉𝑉0 �𝑑𝑑𝑑𝑑 (2)
92 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 68 (2020), nr. 4

and more details about the proposed controller will be C 3: If 𝑉𝑉0 is 𝐹𝐹12 and 𝑖𝑖𝐿𝐿 is 𝐹𝐹21 Then 𝜏𝜏(𝑡𝑡) = −𝐾𝐾3 𝑥𝑥(𝑡𝑡)
discussed in the following subsections.
3.1 Fuzzy feedback stabilization controller C 4: If 𝑉𝑉0 is 𝐹𝐹12 and 𝑖𝑖𝐿𝐿 is 𝐹𝐹22 Then 𝜏𝜏(𝑡𝑡) = −𝐾𝐾4 𝑥𝑥(𝑡𝑡)

The design of the T-S fuzzy feedback stabilization The final fuzzy controller output is given by:
controller requires the transformation of the nonlinear 𝜏𝜏(𝑡𝑡) = − ∑𝑟𝑟𝑖𝑖=1 ℎ𝑖𝑖 (𝑡𝑡)𝐾𝐾𝑖𝑖 𝑥𝑥(𝑡𝑡) (5)
model of the boost converter Eq. (1) without
disturbance term into a fuzzy model by using the
By using (4) and (5), the closed-loop system can be
variables of output voltage 𝑉𝑉0 and inductor current as 𝑖𝑖𝑳𝑳
rewritten as follows:
decision variables. Assuming that these variables are
bounded as:
𝑥𝑥̇� = ∑𝑟𝑟𝑖𝑖=1 ∑𝑟𝑟𝑗𝑗=1 ℎ𝑖𝑖 (𝑡𝑡) ℎ𝑗𝑗 (𝑡𝑡)�𝐴𝐴𝑖𝑖 − 𝐵𝐵𝑖𝑖 𝐾𝐾𝑗𝑗 �𝑥𝑥(𝑡𝑡) (6)
𝑉𝑉0 ≤ 𝑉𝑉0 ≤ 𝑉𝑉�0 and 𝑖𝑖𝐿𝐿 ≤ 𝑖𝑖𝐿𝐿 ≤ 𝑖𝑖𝐿𝐿
By letting 𝐺𝐺𝑖𝑖𝑖𝑖 = �𝐴𝐴𝑖𝑖 − 𝐵𝐵𝑖𝑖 𝐾𝐾𝑗𝑗 � the closed-loop system
and using sector nonlinearity transformation [22,23], (6) can be described by the following form:
the nonlinear system can be described by the following
four If-Then fuzzy rules: 𝑥𝑥̇� = ∑𝑟𝑟𝑖𝑖=1 ∑𝑟𝑟𝑗𝑗=1 ℎ𝑖𝑖 (𝑡𝑡) ℎ𝑗𝑗 (𝑡𝑡)𝐺𝐺𝑖𝑖𝑖𝑖 𝑥𝑥(𝑡𝑡) (7)
R 1: If 𝑉𝑉0 is 𝐹𝐹11 and 𝑖𝑖𝐿𝐿 is 𝐹𝐹21 Then 𝑥𝑥̇ (𝑡𝑡) = 𝐴𝐴1 𝑥𝑥(𝑡𝑡) +
𝐵𝐵1 𝜏𝜏(𝑡𝑡) 3.2 Stabilization conditions
The development of the fuzzy stabilization
R 2: If 𝑉𝑉0 is 𝐹𝐹11 and 𝑖𝑖𝐿𝐿 is 𝐹𝐹22 Then 𝑥𝑥̇ (𝑡𝑡) = 𝐴𝐴2 𝑥𝑥(𝑡𝑡) + controller consists in obtaining the gains 𝐾𝐾𝑖𝑖 satisfying
𝐵𝐵2 𝜏𝜏(𝑡𝑡) the following theorem conditions [17], [18]:
Theorem 1: The T-S fuzzy model (7) is asymptotically
R 3: If 𝑉𝑉0 is 𝐹𝐹12 and 𝑖𝑖𝐿𝐿 is 𝐹𝐹21 Then 𝑥𝑥̇ (𝑡𝑡) = 𝐴𝐴3 𝑥𝑥(𝑡𝑡) + stabilizable via the feedback controller (5), if there
exists, matrices 𝑌𝑌𝑖𝑖𝑖𝑖 , with:
𝐵𝐵3 𝜏𝜏(𝑡𝑡)
𝑌𝑌𝑖𝑖𝑖𝑖 =𝑌𝑌𝑖𝑖𝑖𝑖𝑇𝑇 and 𝑌𝑌𝑗𝑗𝑗𝑗 = 𝑌𝑌𝑖𝑖𝑖𝑖𝑇𝑇 for 𝑖𝑖 ≠ 𝑗𝑗 ,
R 4: If 𝑉𝑉0 is 𝐹𝐹22 and 𝑖𝑖𝐿𝐿 is 𝐹𝐹22 Then 𝑥𝑥̇ (𝑡𝑡) = 𝐴𝐴4 𝑥𝑥(𝑡𝑡) +
a matrix 𝐷𝐷, matrices 𝑀𝑀𝑖𝑖 , a common positive definite
𝐵𝐵4 𝜏𝜏(𝑡𝑡) 𝑋𝑋 = 𝑋𝑋 𝑇𝑇 > 0 matrix, such that the following LMI
where : 𝐹𝐹11 , 𝐹𝐹12 , 𝐹𝐹21 , and 𝐹𝐹22 are the membership conditions hold:
functions given by: 𝑇𝑇 𝑇𝑇 𝑇𝑇 𝑇𝑇
�𝑋𝑋𝐴𝐴𝑖𝑖 + 𝐴𝐴𝑖𝑖 𝑋𝑋 − 𝐵𝐵𝑖𝑖 𝑀𝑀𝑖𝑖 − 𝑀𝑀𝑖𝑖 𝐵𝐵𝑖𝑖 + 𝑌𝑌𝑖𝑖𝑖𝑖 𝑋𝑋𝐷𝐷 � < 0 , 𝑖𝑖 =
𝑉𝑉0 (𝑡𝑡)−𝑉𝑉0
𝐷𝐷𝐷𝐷 − 𝑋𝑋
⎧𝐹𝐹11 (𝑉𝑉0 ) = 𝐹𝐹12 (𝑉𝑉0 ) = 1 − 𝐹𝐹11 (𝑉𝑉0 ) 1, … . . , 𝑟𝑟 (8)
𝑉𝑉0 −𝑉𝑉0
𝑖𝑖𝐿𝐿 (𝑡𝑡)−𝑖𝑖𝐿𝐿 (3)
⎨ 𝐹𝐹21 (𝑖𝑖𝐿𝐿 ) = , 𝐹𝐹22 (𝑖𝑖𝐿𝐿 ) = 1 − 𝐹𝐹21 (𝑖𝑖𝐿𝐿 )
⎩ 𝑖𝑖𝐿𝐿 −𝑖𝑖𝐿𝐿 𝑋𝑋𝐴𝐴𝑇𝑇𝑖𝑖 + 𝐴𝐴𝑖𝑖 𝑋𝑋 + 𝑋𝑋𝐴𝐴𝑇𝑇𝑗𝑗 + 𝐴𝐴𝑗𝑗 𝑋𝑋 − 𝐵𝐵𝑖𝑖 𝑀𝑀𝑗𝑗 − 𝑀𝑀𝑇𝑇𝑗𝑗 𝐵𝐵𝑇𝑇𝑖𝑖 − 𝐵𝐵𝑗𝑗 𝑀𝑀𝑖𝑖 −
𝑀𝑀𝑇𝑇𝑖𝑖 𝐵𝐵𝑇𝑇𝑗𝑗 + 2𝑌𝑌𝑖𝑖𝑖𝑖 < 0 , 𝑖𝑖 < 𝑖𝑖 ≤ 𝑟𝑟 (9)
The sub-matrices are defined as:
1 1
⎡ 0 − 𝐿𝐿 ⎤ 𝑉𝑉0
𝐴𝐴1 = 𝐴𝐴2 = 𝐴𝐴3 = 𝐴𝐴4 = ⎢⎢1 ⎥ , 𝐵𝐵 = � 𝐿𝐿 �
1⎥ 1 𝑌𝑌11 𝑌𝑌12 ⋯ 𝑌𝑌1𝑟𝑟
1
⎢𝐶𝐶 − 𝑅𝑅𝑅𝑅⎥ − 𝑖𝑖𝐿𝐿 𝑌𝑌21 𝑌𝑌23 ⋯ 𝑌𝑌2𝑟𝑟
⎣ ⎦ 𝐶𝐶 � � ≡ 𝑌𝑌� > 0 (10)
⋮ ⋱ ⋮ ⋮
1 1 1
𝑉𝑉0 𝑉𝑉 𝑉𝑉 𝑌𝑌1𝑟𝑟 𝑌𝑌2𝑟𝑟 ⋯ 𝑌𝑌𝑟𝑟𝑟𝑟
𝐿𝐿 𝐿𝐿 0 𝐿𝐿 0
𝐵𝐵2 = � � 𝐵𝐵3 = � � ,𝐵𝐵4 = � �
1
− 𝑖𝑖𝐿𝐿
1
− 𝑖𝑖𝐿𝐿
1
− 𝑖𝑖𝐿𝐿 The fuzzy stabilization gains are given by:
𝐶𝐶 𝐶𝐶 𝐶𝐶
𝐾𝐾𝑖𝑖 = 𝑀𝑀𝑖𝑖 𝑋𝑋 −1 (11)
The global dynamic system is inferred as follows:

𝑥𝑥̇ (𝑡𝑡) = ∑𝑟𝑟𝑖𝑖=1 ℎ𝑖𝑖 (𝑡𝑡)(𝐴𝐴𝑖𝑖 𝑥𝑥(𝑡𝑡) + 𝐵𝐵𝑖𝑖 𝜏𝜏(𝑡𝑡))
where:
ℎ𝑖𝑖 = ω𝑖𝑖 ⁄∑𝑟𝑟𝑖𝑖=1 ω𝑖𝑖 , ω𝑖𝑖 (𝑡𝑡) = ∏𝑛𝑛𝑗𝑗=1 𝐹𝐹𝑖𝑖𝑖𝑖 for all 𝑡𝑡 > 0 , ℎ𝑖𝑖 ≥
0 and ∑𝑟𝑟𝑖𝑖=1 ℎ𝑖𝑖 (𝑡𝑡) = 1
The controllers (C) are developed to deal with the
fuzzy stabilization problem as follows:
C 1: If 𝑉𝑉0 is 𝐹𝐹11 and 𝑖𝑖𝐿𝐿 is 𝐹𝐹21 Then 𝜏𝜏(𝑡𝑡) = −𝐾𝐾1 𝑥𝑥(𝑡𝑡)
C 2: If 𝑉𝑉0 is 𝐹𝐹11 and 𝑖𝑖𝐿𝐿 is 𝐹𝐹22 Then 𝜏𝜏(𝑡𝑡) = −𝐾𝐾2 𝑥𝑥(𝑡𝑡)
(4) 3.3 Tuning of integral controller and factor scale
based on PSO technique
The particle swarm optimization was introduced in
1995 by James Kennedy and Russell Eberhart. It is an
optimization technique that uses a population of
candidate solutions to find an optimal solution to an
optimization problem. The degree of optimality is
generally measured by a fitness function. The PSO
method was inspired by the collective behaviour of
organized populations (societies).
The members of the population, called particles, are
dispersed in the space of the problem, together with the
 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 68 (2020), nr. 4
behaviour of the swarm, which can be described from
particle view.
The PSO algorithm finds and locates the global best
solution by adapting a fitness function. At the end of the
process, the optimal solution according to a fitness
function is found for controller parameters. First, the
PSO selects a random solution to initialize the
population. Next, the algorithm updates its
performance to obtain the best values. At the start of
93
the algorithm, a swarm is randomly distributed in the
search space, each particle having a random velocity.
Then, at each time step, each particle can evaluate the
quality of its position and keep in memory its best
performance, i.e. the best position it has reached and
its quality. It is able to interrogate a number of its
congeners and to obtain from each of them its best
performance [24]. The PSO algorithm is summarized in
Figure 2.

Figure 2. Combined Methodology using T-S Fuzzy Control and PSO Technique

Every particle is designated by its velocity and
position in the swarm. The velocity of a moving particle
is established based on the change in position or
direction. Each particle updates its new position based
on the best position attained by a particle noted 𝑃𝑃𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 ,
and the global best position of the entire swarm
noted 𝑔𝑔𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 . The velocity and position of the particle can
be expressed according to Equations (12) and (13),
respectively [25].
94 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 68 (2020), nr. 4

𝑣𝑣𝑖𝑖𝑖𝑖 (𝑡𝑡 + 1) = 𝑤𝑤𝑣𝑣𝑖𝑖𝑖𝑖 (𝑡𝑡) + 𝑟𝑟1 𝑐𝑐1 �𝑝𝑝𝑖𝑖𝑖𝑖 (𝑡𝑡) − 𝑥𝑥𝑖𝑖𝑖𝑖 (𝑡𝑡)� + From these results, it is clear that the output voltage
follows rapidly its reference signal without overshoot.
𝑟𝑟2 𝑐𝑐2 �𝑔𝑔𝑗𝑗 (𝑡𝑡) − 𝑥𝑥𝑖𝑖𝑖𝑖 (𝑡𝑡)� (12) The second simulation is carried out to test the
performance of the proposed controller against
𝑥𝑥𝑖𝑖𝑖𝑖 (𝑡𝑡 + 1) = 𝑥𝑥𝑖𝑖𝑖𝑖 (𝑡𝑡) + 𝑣𝑣𝑖𝑖𝑖𝑖 (𝑡𝑡 + 1) (13) suddenly changes in input voltage and load. The input
voltage is assumed to change from 5 𝑉𝑉 to 7 𝑉𝑉 at time
where: 𝑣𝑣𝑖𝑖𝑖𝑖 (𝑡𝑡), 𝑥𝑥𝑖𝑖𝑖𝑖 (𝑡𝑡 + 1), 𝑣𝑣𝑖𝑖𝑖𝑖 (𝑡𝑡), 𝑣𝑣𝑖𝑖𝑖𝑖 (𝑡𝑡 + 1), 𝑝𝑝𝑖𝑖𝑖𝑖 (𝑡𝑡) and t=0.5s, while the resistive load is assumed to change
𝑔𝑔𝑖𝑖𝑖𝑖 (𝑡𝑡) denote respectively the particle velocity, particle from 50Ω to 100 Ω at time t=1s. The responses of the
updated velocity, particle position, particle updated output voltage are shown in Figure 4.
position, particle best position and global best position
of the swarm. 𝑤𝑤 is the inertia term. 𝑐𝑐1 and 𝑐𝑐2 are the
acceleration coefficients. 𝑟𝑟1 and 𝑟𝑟2 are two uniformly
distributed random numbers ranging from 0 to 1. This
work uses PSO technique to find the best values of the
integral gain 𝐾𝐾𝑖𝑖 and reference scaling factor 𝐾𝐾𝑟𝑟 , each
particle in the search space introduces a probable
solution for the 𝐾𝐾𝑖𝑖 and 𝐾𝐾𝑟𝑟 ,which are a two-dimensional
problem. The performance of the probable solution
point is determined using the following integral signal
error (ISE) as fitness function:
𝐼𝐼𝐼𝐼𝐼𝐼 = ∫�𝑒𝑒(𝑡𝑡)�𝑑𝑑𝑑𝑑 (14) Figure 4. Output voltage response for variables input
voltage and load
4. Simulation and experimental results From these results, it is clear that regardless of
suddenly changes in input voltage and load, the output
4.1 Simulation results voltage follows rapidly its reference signal with rapid
The performance of the proposed controller is first and good disturbance rejection performance.
verified through simulation tests using Matlab-Simulink 4.2 Experimental verification
environment. Where the fuzzy stabilization gains are
obtained by solving the LMIs (8), (9) and (10) as follows: To verify and validate the simulation results, the
hardware setup shown in Figure 5 is used comprising a
𝐾𝐾1 = [5.0973 −0.2202], 𝐾𝐾2 = [3.4329 −0.0359] boost converter, an Arduino mega, a power supply, a
digital multimeter and a PC USB oscilloscope.
𝐾𝐾3 = [5.0973 −0.2202], 𝐾𝐾4 = [5.0973 −0.2202]
The integral gain and factor scale are obtained using
PSO technique with the parameters given in Table 1, as
follows:
𝐾𝐾𝐼𝐼 = 40.5235, 𝐾𝐾𝑟𝑟 = 0.5075

Table 1. PSO Parameters

Parameter Value
𝑤𝑤 0.9
𝐶𝐶1 0.12
𝐶𝐶2 1.20
Number of particles 50
Number of iterations 160
Figure 5. Hardware setup for the validation of
The first simulation test is carried out in desired proposed method
reference voltage signal 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟 = 11 𝑉𝑉 and input
Note that a special package known as Simulink
voltage. 𝑉𝑉𝑖𝑖𝑖𝑖 =5 𝑉𝑉 The response of the output voltage, is
support package for Arduino hardware is used to
shown in Figure 3.
interface the hardware setup with Matlab/Simulink
environment, as shown in Figure 5.
The considered DC-DC boost converter consists of an
input capacitor (used as filter), an input current sensor,
a potentiometer used as input voltage sensor, an
inductor, MOSFET switch, a diode, an output capacitor,
a potentiometer used as output voltage sensor and a
resistive load. The parameters of the boost converter
are given in Table 2.

Figure 3. Output voltage response for Vref =11 V

Table 2. Boost parameter
Parameter Value
The Simulink model that was used for the real-time
MOSFET IRFZ44N implementation of the proposed controller is shown in
Ultrafast Diode 31DF4 Figure 6.
Output capacitor 470uF
Resistor load 56
Switching reference 31,4KHz

Figure 6. Simulink model used for the real-time implementation of proposed controller

The first experimental test is carried out in desired

reference voltage signal 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟 = 11 𝑉𝑉 and input
voltage 𝑉𝑉𝑖𝑖𝑖𝑖 =5 𝑉𝑉.
The obtained and recorded experimental results
using Matlab/Simulink are shown in Figure 7, which
represent response of the output voltage.

Figure 8. Output voltage and PWM control signal for

𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟 =11 𝑉𝑉

From these results, one can clearly see that the

simulation and experimental responses are almost the
same which proves the validity and good performances
of the proposed fuzzy controller.
Moreover, an experimental test related to the
Figure 7. Output voltage response for 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟 =11 𝑉𝑉 comparison of the performance of the proposed
controller with the conventional base-line PI
Some other tests are also provided for another multi- (Proportional-Integrator) controller where their gains
step reference voltage and input voltage 𝑉𝑉𝑖𝑖𝑖𝑖 =5 𝑉𝑉. (𝐾𝐾𝑃𝑃 and 𝐾𝐾𝑖𝑖 ) are obtained based on the following DC-DC
Figure 8 shows the simulation and experimental boost transfer function [26]:
responses of output voltage recorded using (1−𝐷𝐷)2
Matlab/Simulink environment. �0 (𝑠𝑠)
𝑉𝑉
=
𝑉𝑉𝑖𝑖𝑖𝑖
∗ 𝐿𝐿
−𝑠𝑠
(15)
𝑑𝑑� (𝑠𝑠) 𝑅𝑅𝑅𝑅(1−𝐷𝐷) 2 𝑠𝑠 (1−𝐷𝐷)2
𝑠𝑠 2 + +
𝑅𝑅𝑅𝑅 𝐿𝐿𝐿𝐿

where: 𝑉𝑉�0 (𝑠𝑠) and 𝑑𝑑̂ (𝑠𝑠) are small signal perturbations of
output voltage and switching duty cycle. 𝐷𝐷 is duty ratio.
The PI gains (𝐾𝐾𝑃𝑃 and 𝐾𝐾𝑖𝑖 ) are calculated using the known
pole compensation technique, as follows:
𝐾𝐾𝑃𝑃 = 7.1100𝑒𝑒 − 04
96 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 68 (2020), nr. 4
𝐾𝐾𝑖𝑖 = 0.5690
The experimental waveforms of the output voltages
for an input voltage 𝑉𝑉𝑖𝑖𝑖𝑖 =5 𝑉𝑉 and multi-step reference
voltage are shown Figure 9.
Figure. 9. Output voltage responses using proposed and
PI controllers
The performances of the proposed and compared
controller are summarized in Table 3.
Table 3. Performances comparison between proposed
and PI controllers
Rise time (s) 0.3051 0.0203
Settling time 0.5476 0.0249
Overshoot (%) 0.0249 0.4404
It is clearly seen from these experimental results
that the proposed controller offers better performance
in terms of limitation of overshoot, speed tracking, time
response and accuracy. Note that the compared PI
controller can be tuned to obtain a faster time response,
but in this case, an undesirable large peak overshoot will
be appeared.
5. Conclusions
In this paper, a new controller for a DC-DC boost
converter is proposed using T-S fuzzy models to drive
the output voltage to track perfectly the reference
voltage signals.
The proposed control law has two terms: the first
one is a fuzzy stabilization controller where their gains
are calculated based on sufficient conditions given in
LMIs form and solved using optimization tools.
The second term is an integral controller with a
reference scale factor where their parameters are
calculated using the particle swarm optimization
technique.
The comparison of the performances of the proposed
and PI controllers show that the proposed one offers
better performance in terms of limitation of overshoot,
tracking speed, response time and accuracy.
The proposed controller is implemented successfully
using an ATmega2560-based microcontroller and Matlab
/Simulink environment.
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Funding Sources
This work was supported by the Laboratory of Electrical
Engineering (Labget), University Larbi Tebessi, Tebessa, Algeria.
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Authors’ Biographies
Rabah Daouadi was born in Tebessa, Algeria.
He received a B.Sc. in 2004 and Magister in
2009 degrees in Electromechanical
engineering from Larbi Tebessi University,
Tebessa, Algeria. He is currently a research
fellow and Ph.D. candidate at Skikda
University (Algeria). His research interests
include fuzzy control of electrical drives, energy conversion and
power control
Corresponding-address: rabah.daouadi@univ-tebessa.dz
Djamel OUNNAS was born in Tebessa, Algeria.
He received a B.Sc. degree in electronic from
Tebessa University, Algeria in 2007, Magister
degree in automatic from Biskra University in
2011. He graduated with Ph.D. degree in
Automatic from Setif University, Algeria in
2016.
Currently he is a Professor in the department of Electrical
Engineering, Faculty of Sciences and Technology, Larbi Tebessi
University, Tebessa, Algeria. His research interests include
fault detection and diagnosis in industrial systems, fuzzy
control of electrical drives, energy conversion and power
control.
Corresponding-address: djamel.ounnas@univ-tebessa.dz
Youcef SOUFI was born in Tebessa, Algeria. He
received a B.Sc. degree and Doctorate degrees
from the University of Annaba, Algeria, in 1991
and 2012 respectively and a Magister degree in
1997 in Electrical Engineering from Tebessa
University, Algeria.
Currently, he is a Professor in the department of Electrical
Engineering, Faculty of Sciences and Technology, Larbi
Tebessi University, Tebessa, Algeria. His research interests
include: electrical machines control, diagnostics, wind and
solar energy, power electronics and drives applied to
renewable and sustainable energy.
Corresponding-address: y_soufi@yahoo.fr
Abderrazak METATLA received the Engineer,
Magister and Ph.D. degrees in
electromechanical engineering from Badji
Mokhtar University in Annaba, Algeria in 2004,
2009. Since 2004, he has been in the
Electromechanical Department of Skikda
University, Algeria where he is currently a
Professor of electrical engineering. His main research fields
include electric machines, control systems, and renewable
energy.
Corresponding-address: metatla21_abderrezak@yahoo.fr
Dhaouadi GUIZA was born in Tebessa,
Algeria.He received a B.Sc. degree in
Elecrtonics from
Skikda University, Algeria in 2001, Magister
degree in electronic components and system
from Constantine University, Algeria in 2009.
He is currently a research fellow and Ph.D. candidate at Skikda
University (Algeria). His research interests include fuzzy control
of electrical drives, energy conversion and power control,
practical electronics and Drives.
Corresponding-address: d.guiza@univ-tebessa.dz