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Modeling of Buck Converter with Input Filter

Preprint · August 2018

DOI: 10.13140/RG.2.2.34084.37764

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 Modeling of Buck Converter with Input Filter
Carlos F. Encinas Riveros
Filipe Tavares Carneiro
Instituto de Eletrônica de Potência
Universidade Federal de Santa Catarina
Florianópolis, Santa Catarina 88040-900
Email: carlos.encinas@posgrad.ufsc.br
filipe.tavares@posgrad.ufsc.br
Guilherme Schowantz Silva
Maria Helena Belusso
Instituto de Eletrônica de Potência
Universidade Federal de Santa Catarina
Florianópolis, Santa Catarina 88040-900
Email: guilhermeschowantzsilva@gmail.com
mariabelusso@hotmail.com

Abstract—This paper 1 presents a modeling of a Buck con- L1 S L2

verter with an LC input filter. The analysis of converter was
performed considering non idealities. The model was determined + vL1 − + vL2 −
by State-Space Averaged method, considering the operation in + + +
continuous conduction mode. A modeling was also performed
by the Averaged Switch method, considering the operation in Vin + vC1 C1 D vC2 C2vRo Ro
continuous conduction mode and discontinuous conduction mode. −
The linearization of the models uses the perturbation of each
variable around an operating point method. The step response − − −
of the resulting transfer functions were compared with the step
response of the circuit (Switched Model) by simulation. Further-
more, the canonical model of the converter was determined.
Fig. 1. Ideal Buck converter with LC input filter
Keywords – State-Space Averaged Modeling, Averaged
Switch Modeling, Nonideal Buck, Continuous Conduction R L1 L1 RS S RL2 L2
Mode, Discontinuous Conduction Mode
+
vRL1− + vL1 − +
+ vRS
− +
vRL2− + vL2 −
+
I. I NTRODUCTION D
vC1 C1 vC2 C2 +
Due to the importance of modeling in the analysis of power − + −
converters, it has been presented a lot of different methods to Vin +
− vRD RD v Ro Ro
+ +
do this work, both in continuous and discontinuous conduction −
vRC1 RC1 − vRC2 RC2−
mode, throughout the last decades [1][2]. + VF
In the spectrum of power converters, Buck converter is one of − −
the most studied and widely used around the world basically
because of its simplicity. The Buck converter is a DC-DC
Fig. 2. Nonideal Buck converter with LC input filter
converter used to reduce the voltage [3]. In many applications
it is necessary to insert an input filter, in the Buck converter,
to reduce the electromagnetic interference (EMI), caused by II. M ODELING OF B UCK C ONVERTER O PERATING IN
the pulsed input current. This input filter, normally a LC filter, C ONTINUOUS C ONDUCTION M ODE
changes the small signal model of the converter. In this way
it becomes necessary to determine the small signal model of In this section will be obtained the small signal model of
the Buck converter considering the LC input filter. The Buck the Buck converter, with LC input filter and non idealities,
converter with LC input filter is shown in Figure 1. operating in continuous conduction mode (CCM) by two
The circuit in the Figure 1 represents a ideal converter. It is methods, State-Space Averaged Model and Averaged Switch
well known that some non idealities will exist in the circuit. To Model.
obtain a more accurate model, some non idealities are added
to the circuit. The Buck converter with LC input filter and the A. State-Space Averaged Model
considered non idealities is illustrated in Figure 2.
In a DC-DC converter operating with Pulse Width Mod-
In the following sections will be demonstrated the modeling ulation (PWM), like in the Buck Converter case, the circuit
of the Buck converter with LC input filter and non idealities. assumes two topological stages at each switching period. Each
stage has a own State-Space model, and the State-Space model
1 This work was developed as part of the course of Dynamic Modeling of
of a switching converter can be obtained by the average of the
Static Power Converters of the Postgraduate Program in Electrical Engineering
from the Federal University of Santa Catarina, Brazil. The course was leaded State-Space model of both stages weighted by the duration of
by the professors Dr. André Luís Kirsten and Dr. Marcelo Lobo Heldwein. each stage in proportion to the switching period. The Averaged
State-Space model can be represented by (1), and the averaged RL1 L1 RS RL2 L2
output variables can be expressed like in (2).
vRL1− + vL1 −
+ +
+ vRS
− +vR − + vL2 −
L2 +
vC1 C1 vC2 C2 +
ZTS − −
1
hẋi = ẋ dτ (1) Vin +
− vRo Ro
TS + +
0
vRC1 RC1 vRC2 RC2−
ZTS − −
1
hyi = y dτ (2)
TS
0 Fig. 3. CCM operation of Buck converter with input filter - Stage 1
In the case of Buck converter in continuous conduction
mode:
(8)
 dT
ZTS

ZS
1  dvC1
hẋi = (A1 x + B1 u) dτ + (A2 x + B2 u) dτ  C1 = iL1 − iL2 (9)
TS dt
0 dTS
(3)
 dT
ZS T
ZS
 dvC2 Ro 1
1  C2 = iL2 − vC (10)
hyi = (C1 x + E1 u) dτ + (C2 x + E2 u) dτ  dt Ro + RC2 Ro + RC2 2
TS
0 dTS
(4) ẋ = A1 x + B1 u (11)
where:
x - State vector;
u - Input vector; y = C1 x + E1 u (12)
y - Output vector;
A1 , B1 , C1 e E1 - First stage coefficients matrices; where:
A2 , B2 , C2 e E2 - Second stage coefficients matrices;  R +R RC1
The x vector is composed of the state variables. In electrical − L1L1 C1 L1
circuits case, generally the state variables are the inductors 

Ro RC
currents and the capacitors voltages. 
RC1 +RS +RL2 + Ro +R 2
 RC1 C2
Solving the integrals in (3) and (4), are obtained (5) and 
L2 − L2
A1 =  ...

(6), respectively. 
1

 C1 − C11

hẋi = (dA1 + (1 − d) A2 ) hxi+(dB1 + (1 − d) A2 ) hui (5) 
Ro
0 C2 (Ro +RC2 )

− L11 0

hyi = (dC1 + (1 − d) C2 ) hxi+(dE1 + (1 − d) E2 ) hui (6) 
1 Ro 
L2 −L 
In the Figures 3 e 4 are shown the two stages of operation 2( o
R +R C2 ) 

(13)

of the Buck converter. The equations (7), (8), (9) e (10) are 
0 0

obtained by the analysis of the first stage, and can be written in 

matrix form as shown in (11). The output equation is expressed 
1
in matrix form in (12). 0 −C
2 (Ro +RC2 )

1
 
L1 0
diL1 0 0
L1 = − (RL1 + RC1 ) iL1 + RC1 iL2 − vC1 + vin (7) B1 =   (14)
dt 0 0
0 0
 
diL2 Ro RC2
L2 =RC1 iL1 − RC1 + RS + RL2 + iL2 +
 
dt Ro + RC2 1 0 0 0
C1 = 0 1 0 0 (15)
 
Ro Ro RC2

vC1 − vC 0 0 Ro
Ro + RC2 2 Ro +RC2 Ro +RC2
 R L1 L1 RL2 L2
+
vRL1− + vL1 − + +vR − + vL2 −
 
0 0 + L2 +
E1 = 0 0 (16) vC1 C1 vRD RD vC2 C2 +
0 0 − − −
Vin +
− v Ro Ro
+ +
vRC1
−
+ VF vRC2
 T RC1 RC2−
x = iL1 iL2 vC 1 vC2 (17) − −

Fig. 4. CCM operation of Buck converter with input filter - Stage 2

 T
ẋ = i̇L1 i̇L2 v̇C1 v̇C2 (18)

 R +R
 T − L1L1 C1 0
u = vin vF (19) 

 Ro RC
RD +RL2 + Ro +R 2
 C2
 0 − L2
A2 =  ...

 T 
y = iL1 iL2 vRo (20) 1

 C1 0


The derivative operator is represented by a dot above the Ro
0 C2 (Ro +RC2 )
variables.
− L11 0

The differential equations relating to the second stage of
operation, (21), (22), (23) and (24), are elaborated through 
− L RR+R

analysis of Figure 4. 0 o 
2( o C2 ) 

(27)


0 0


diL1 
L1 = − (RL1 + RC1 ) iL1 − vC1 + vin (21) 
dt 0 −C 1
2 (Ro +RC2 )

 
diL2 Ro RC2 1
L2 = − VF − RD + RL2 + iL2 −
 
L1 0
dt Ro + RC2
(22) 0 − L12 
Ro B2 =   (28)
vC 0 0 
Ro + RC2 2
0 0

dvC1
C1 = iL1 (23)
 
dt 1 0 0 0
0 1 0 0
C2 =  (29)


Ro RC2 Ro
0 Ro +RC2 0 Ro +RC2
dvC2 Ro 1
C2 = iL − vC (24)
dt Ro + RC2 2 Ro + RC2 2  
0 0
This equations can be expressed in the matrix form, as E2 = 0 0 (30)
follows: 0 0

ẋ = A2 x + B2 u (25)
The linearization of the obtained averaged state-space will
be done by the perturbation method. In this method the time
dependents variables are substituted by a value in the operation
point (DC value) added a incremental alternate value. The time
y = C2 x + E2 u (26) dependent variables can be rewritten by:
 hxi = X + x̃ (31) X = −Amed −1 Bmed U (48)
hui = U + ũ (32)
hyi = Y + ỹ (33)
x̃˙ = Amed x̃ + Bmed ũ + Bd d˜ (49)
d = D + d˜ (34)
ỹ = Cmed x̃ + Emed ũ + Ed d˜ (50)
1 − d = 1 − D − d˜ = D0 − d˜ (35)
rewritten:
where the upper case letters represents the DC value and
the lower case letters represents the incremental AC value.
Applying in (5) e (6) are obtained: x̃˙ = Ax̃ + Bw̃ (51)
ỹ = Cx̃ + Ew̃ (52)
dX dx̃ h    i
where:
+ = D + d˜ A1 + 1 − D − d˜ A2 (X + x̃) +
dt dt h    i
D + d˜ B1 + 1 − D − d˜ B2 (U + ũ)
A = Amed (53)
(36) 
B = Bmed Bd

(54)
C = Cmed (55)
h    i  
Y + ỹ = D + d˜ C1 + 1 − D − d˜ C2 (X + x̃) + E = Emed Ed (56)
T
h    i w = [vin vF d] (57)
D + d˜ E1 + 1 − D − d˜ E2 (U + ũ)
Applying the Laplace transform:
(37)

sx̃ = Ax̃ + Bw̃ (58)

dx̃
0+ = (DA1 + D0 A2 ) X + (DA1 + D0 A2 ) x̃+ −1
x̃ = (sI − Amed ) Bw̃ (59)
dt
(A1 − A2 ) Xd˜ + (A1 − A2 ) x̃d+
˜
(38)
ỹ
= C(sI − Amed ) B
−1
(60)
(DB1 + D0 B2 ) U + (DB1 + D0 B2 ) ũ+ w̃
The transfer functions of the Buck converter with LC input
(B1 − B2 ) Ud˜ + (B1 − B2 ) ũd˜
filter and non idealities can be easily calculated by (60), where:
Y + ỹ = (DC1 + D0 C2 ) X + (DC1 + D0 C2 ) x̃+
ĩL1 (s) ỹ(1,1) −1
(C1 − C2 ) Xd˜ + (C1 − C2 ) x̃d+
˜ = = C(1,;) (sI − Amed ) B(;,1) (61)
(39) ṽin (s) w̃(1,1)
(DE1 + D0 E2 ) U + (DE1 + D0 E2 ) ũ+
ĩL1 (s) ỹ(1,1) −1
(E1 − E2 ) Ud˜ + (E1 − E2 ) ũd˜ ˜
=
w̃
= C(1,;) (sI − Amed ) B(;,3) (62)
d(s) (3,1)
The product of two incrementals variables is a nonlinear ĩL2 (s) ỹ(2,1) −1
term, but is too small if compared with the incrementals = = C(2,;) (sI − Amed ) B(;,1) (63)
ṽin (s) w̃(1,1)
variables and can be disregarded.
Taking the following considerations: ĩL2 (s) ỹ(2,1) −1
= = C(2,;) (sI − Amed ) B(;,3) (64)
˜
d(s) w̃(3,1)
Amed = DA1 + (1 − D) A2 (40) ṽo (s) ỹ(3,1) −1
= = C(3,;) (sI − Amed ) B(;,1) (65)
Bmed = DB1 + (1 − D) B2 (41) ṽin (s) w̃(1,1)
ṽo (s) ỹ(3,1) −1
Cmed = DC1 + (1 − D) C2 (42) = = C(3,;) (sI − Amed ) B(;,3) (66)
˜
d(s) w̃(3,1)
Emed = DE1 + (1 − D) E2 (43)
B. CCM Averaged Switch Model
Bd = (A1 − A2 ) X + (B1 − B2 ) U (44)
In the continuous conduction mode, considering that the
Ed = (C1 − C2 ) X + (E1 − E2 ) U (45)
parasites resistances are very small, and the inductances and
It is possible to get the DC equations, (47) and (48), and capacitances have a large value, the diode voltage and the
the small signal equations, (49) and (50). switch current are like represented in Figure 5:

The switch network can be replaced by controlled sources

0 = Amed X + Bmed U (46)
(Figure 6) with the average value of the greatness in the switch
Y = Cmed X + Emed U (47) network, in this case:
 VD IS (VZC1 + VF )de − D0 VF
ZL1
VZC1 IZL2

+ D(VZC + veZC )
−
Z L2

D(IZL2 + eiZL2 )
Vin + vein
VF

IZL2 de
ZC1

ZC2
t t + +

Ro
− −
DTs Ts DTs Ts

1
Fig. 5. Terminal waveforms of switch network.

hIS i
RL1 L1 RL2 L2 Fig. 7. Linearized Averaged Switch Model
+
vRL1 − + vL1 −
+
+
vRL2 − + vL2 −
+
vC1 C1 vC2 C2 + (VZC1 + VF )de − D0 VF
ZL1
− −

−
+
Vin +
− +
− hVD i vRo Ro
+ + 1:D Z L2
vRC1 RC1 vRC2 RC2−

Vin + vein

IZL2 de
ZC1

ZC2
+

Ro
− − −

Fig. 6. Buck converter with averaged switch network

Fig. 8. Linearized Averaged Switch Model

hvD i = d hvZC1 i − d0 hVF i (67)

his i = Is + ĩs = DIZL2 + DĩZL2 + IZL2 d˜ + ĩZL2 d˜ (79)

his i = d hiZL2 i (68)
The system is linearized by the neglecting the terms that
Will be considered that: are the product of two incremental variables.

The upper case letters are operating point (DC) values.

ZL1 = RL1 + s L1 (69) Therefore, can be considered that:
ZL2 = RL2 + s L2 (70)
1 VZC1 = VC1 (80)
ZC1 = RC1 + (71)
s C1
IZL2 = IL2 (81)
1
ZC2 = RC2 + (72)
s C2 The circuit of the Figure 7 can be redesigned using a
transformer instead of the controlled sources. It should be
Using the linearization around an operating point method:
noted that this transformer only represents the gain of the
controlled sources and can transfer AC and DC greatness. This
hvin i = Vin + ṽin (73) circuit is represented in Figure 8.
hvo i = Vo + ṽo (74)
The DC components of the circuit can be found as follows:
hvF i = VF (75)
d = D + d˜ (76)
1 − d = 1 − D − d˜ = D − d˜ 0
(77)
Vin D − IL2 RL1 D2 − VF D0 − IL2 RL2 − IL2 Ro = 0 (82)
replacing in (67) and (68):

Vin D − VF D0
IL2 = (83)
 
hvD i = VD + ṽD = DVZC1 + DṽZC1 + VZC1 d˜ + ṽZC1 d˜ RL1 D2 + RL2 + Ro
 
˜ F
− D0 VF − dV
Vin D2 − VF DD0
(78) IL1 = IL2 D = (84)
RL1 D2 + RL2 + Ro
 D0 VF III. M ODELING OF B UCK C ONVERTER O PERATING IN
RL1 R L2
D ISCONTINUOUS C ONDUCTION M ODE

+
−
In this section, the static and dynamic models of the Buck converter with
1:D input filter operating in discontinuous conduction mode (DCM) are obtained.
For modeling was used the Averaged Switch modeling approach and are
considered the losses in the passive elements of the circuit.
+
Vin

Ro
− Initially the analysis is performed for the ideal converter and in the
sequence losses are included from the ideal linearized model.

A. Ideal Buck Converter - DCM Averaged Switch Model

The Buck converter has three stages of operation in the discontinuous
conduction mode.
Stage 1:
Fig. 9. DC equivalent circuit In this stage the switch S is turned on, the converter shown in Figure 10.

L1 L2
0
Vin Ro + Vin RL2 + VF RL1 DD + vL1 − + vL2 −
VC1 = Vin − IL1 RL1 =
RL1 D2 + RL2 + Ro + + +
(85)
Vin +
− vC1 C1 vC2 C2 vRo Ro

Vin Ro D − VF Ro D0 − −
Vo = IL2 Ro = (86) −
RL1 D2 + RL2 + Ro
Through the analysis of the circuit for small signals, the
following transfer functions can be written: Fig. 10. DCM operation of Buck converter with input filter - Stage 1 .

ZC1 (s)ZL1 (s) From circuit analysis are obtained the magnitudes of interest for modeling.
ṽo (s) VC1 + VF − ZC1 (s)+ZL1 (s)
DIL2 The current and voltage on the inductor, on the switch and on the diode, are
= determined:
˜
d(s) ZL2 (s)(Ro +ZC2 (s)) ZC1 (s)ZL1 (s)(Ro +ZC2 (s))
1+ Ro ZC2 (s)
+ Ro ZC2 (s)(ZC1 (s)+ZL1 (s))
D2
(87)


vL2 = vC1 − vC2 (94)



vC1 − vC2
i L2 = t1 (95)
L2
 
ĩL1 (s) ṽo (s) DZC1 (s)(Ro + ZC2 (s)) IL2 ZC1 (s)
= · +
˜
d(s) ˜
d(s) (ZC1 (s) + ZL1 (s))Ro ZC2 (s) ZC1 (s) + ZL1 (s) vS = 0 (96)
(88)



vC1 − vC2
iS = t1 (97)
L2

 

ĩL2 (s) ṽo (s) Ro + ZC2 (s) vD = vC1 (98)
= · (89)
˜
d(s) ˜
d(s) Ro ZC2 (s) iD = 0 (99)
The time duration of this stage is defined as
ṽo (s) D t1 = d TS (100)
= Ro +ZC2 (s) ZL1 (s)
(90)
ṽin (s) 1 + ZL2 (s) R Z (s) + z
o C2 ZC1 (s) 1



vC1 − vC2
IL2 max = d TS (101)
    L2
1
ĩL1 (s) ZC1 (s)
1 + R1 + 1
ZC2 (s)
(ZL2 (s) + D2 ZC1 (s) Stage 2:
o
= Ro +ZC (s) ZL1 (s)
(91) In this stage the switch S is turned off and the diode starts conduction.
ṽin (s) 1+ ZL2 (s) R Z 2(s) + z
o C2 ZC1 (s) 1 The circuit is as shown in Figure 11.
The current and voltage on the inductor on the switch and on the diode,
for this stage, are expressed as:
 
ĩL2 (s) D R1 + Z 1 (s)

=
o C2
(92) vL2 = − vC2 (102)
ṽin (s) Ro +ZC (s) ZL (s)

1 + ZL2 (s) R Z 2(s) + Z 1 (s) z1 vC2
o C2 C1 i L2 = IL2 max − t2 (103)
L2
where:


vS = vC1 (104)
D2 Z
 
(Ro + ZC2 (s))(ZL2 (s) + C1 (s))
z1 = 1+ (93) iS = 0 (105)
Ro ZC2 (s)
 Next, are determined the average value of the waveforms of the current
and the voltage on the inductor, on the switch and on the diode.
L1 L2
+ vL1 − + vL2 −

vL2 = 0 (117)
+ + +


vC1 − vC2

vC1 d2 TS

 
i L2 =
 (118)
2L2 vC2
Vin +
− vC1 C1 vC2 C2 v Ro Ro



hvS i = vC1 − vC2 (119)
− − −


vC1 − vC2 2
hiS i = d TS (120)
2L2


Fig. 11. DCM operation of Buck converter with input filter - Stage 2. hvD i = vC2 (121)



2
vC1 − vC2
hiD i =
 d2 TS (122)
2L2 vC2
The switch network has been replaced by a free losses resistance Re and
vD = 0 (106) a dependent power source, the circuit is shown in Figure 13.


vC2
i D = IL2 max − t2 (107)
L2
This stage ends when the current on the inductor reaches zero. Therefore, L1 Re L2
time duration of this stage is obtained from (103) as follow:
+ vL1 − +
vRe − + vL2 −


vC1 − vC2


+ + +
t2 =
 d TS (108)
vC2
Vin +
− vC1 C1 P vC2 C 2 v Ro Ro
Stage 3:
In this stage of operation the switch and the diode is turned off. The circuit
is shown in Figure 12 − − −

L1
Fig. 13. The switch network is replaced by dependent power source and a
+ vL1 − free losses resistance.
+
+ + where,
hvS i 2L2
Vin +
− vC1 C1 vC2 C2 vRo Ro Re =
hiS i
= 2
d TS
(123)

− − −



2
vC1 − vC2
P = hvD i hiD i = d2 TS (124)
2L2
The power in function of the resistance Re ,
Fig. 12. DCM operation of Buck converter with input filter - Stage 3.


2
vC1 − vC2
The network equations for the third stage are given by P = (125)
Re
1) Static Model: When replacing the switch network by a free losses
vL2 = 0 (109) resistance and a dependent power source, according showned in Figure 13 and
i L2 = 0 (110) considering the capacitor and inductor in permanent regime. The steady-state
model of Figure 14 is obtained


 The power for this model behave as,
vS = vC1 − vC2 (111)
iS = 0 (112)
(Vin − VRo )2
P = = VRo (IRo − IRe ) (126)
Re


vD = vC2 (113) Replacing the values of the currents and manipulating (126). The result is
iD = 0 (114)
Vin 2 − 2Vin VRo + VRo 2

(Vin − VRo )

VRo
The time during of stage is equivalent to = VRo − (127)
Re Ro Re
VRo 2 Re + Vin VRo Ro − Vin 2 Ro = 0 (128)
t3 = TS − (t1 + t2 ) (115)


 The static gain of converter is defined as
vC2 − vC1 d
t3 =
 TS (116) VRo
vC2 =M (129)
Vin
 Re
hdi = D + d˜
+
vRe − +
(138)
hv1 i = V1 + ṽ1 (139)
Vin +
− P vRo Ro hv2 i = V2 + ṽ2 (140)
hi1 i = I1 + ĩ1 (141)
−
hi2 i = I2 + ĩ2 (142)
Including the perturbations:
Fig. 14. Circuit of converter operating in steady-state.
I1 + ĩ1 = f1 (hv1 i , hv2 i , d) (143)
I2 + ĩ2 = f2 (hv1 i , hv2 i , d) (144)
Replacing M in (128) leads to

M 2 Re + M Ro − Ro = 0 (130)
TS D2 (V1 − V2 )
Resolving (130), the static gain equals to I1 = f1 (V1 , V2 , D) = (145)
2L2
p
−Ro + Ro 2 + 4Re Ro 2  !
M = = (131) ∂f1 (v1 , V2 , D) 
2Re
q
Re ĩ1 = ṽ1 +
1 + 1 + 4R ∂v1 
v1 =V1
o
 !
Replacing the Re value, ∂f1 (V1 , v2 , D)  (146)
ṽ2 +
∂v2 
v2 =V2
2
  
∂f1 (V1 , V2 , d) 
M = q (132) d˜
1+ 1 + D28L 2 ∂d 
T R d=D
S o

This result is validate for, 

TS D2
 
TS D2
  
TS D (V1 − V2 ) ˜
ĩ1 = ṽ1 + − ṽ2 + d (147)
2L2 2L2 2L2 L2
D ≤1− (133)
Ro TS
2) Dynamic Model: The dynamic model is shown in Figure 15. TS D2 V1 (V1 − V2 ) V1
I2 = f2 (V1 , V2 , D) = = I1 (148)
The equations of averages values are nonlinear, therefore is necessary the 2L2 V2 V2
application of a linearization technique.
 !
∂f2 (v1 , V2 , D) 
ĩ2 = ṽ1 +
∂v1 
v1 =V1
ei1 ei2  !
L1 Re ∂f2 (V1 , v2 , D)  (149)
ṽ2 +
∂v2 
v2 =V2

+L2
  
+ ∂f2 (V1 , V2 , d) 
d˜
∂d 
d=D

Vin +
− C1 ve1 P ve2 C2 Ro 
TS D2 (2V1 − V2 )
 
TS D2 V1 2

ĩ2 = ṽ1 + − ṽ2 +
2L2 V2 2L2 V2 2
  (150)
− − TS DV1 (V1 − V2 ) ˜
d
L2 V2
Realizing the following considerations in linearized equations,

V1 = Vin (151)
Fig. 15. Circuit for dynamic analysis V2 = VRo (152)
VRo = M Vin (153)
The switch terminal waveforms are v1 , i1 , v2 e i2 , according the Figure
15. This quantities can be expressed as, leads to

hv1 i − hv2 i 2 Vin (1 − M )

hi1 i = hiS i = d TS (134) I1 = (154)
2L2 Re
hi1 i = f1 (hv1 i , hv2 i , d)
     
(135) 1 1 2Vin (1 − M ) ˜
ĩ1 = ṽ1 + − ṽ2 + d (155)
Re Re Re DM

hv1 i − hv2 i
hv1 i d2 TS Vin (1 − M )


hi2 i = iL2 = (136) I1
2L2 hv2 i I2 = = (156)
Re M M
hi2 i = f2 (hv1 i , hv2 i , d) (137) 
2−M
 
1
  
2Vin (1 − M ) ˜
ĩ2 = ṽ1 + − ṽ2 + d
The system is linearized employment small perturbations in waveforms Re M Re M 2 Re DM
about a quiescent operating point, as follow (157)
  
ei1 ei2 1 1
ĩL1 = + + g1 g2 r2 ṽC1 − g1 r2 ĩL2 + (j1 + g1 j2 r2 ) d˜
ZC1 r1
(175)
L1 L2 
1 1

+ + ĩL2 = + ṽC2 (176)
ve1 ve2 Ro ZC2

g1 ve2

g2 ve1
+ j1 de ṽC1 = ṽin − ZL1 ĩL1 (177)

j2 de
vein

Ro
C1

C2
r1

r2
−
+ j2 r2 d˜


ṽC2 = g2 r2 ṽC1 − ZL2 + r2 ĩL2 (178)
− − The equations can written in state-space form,

x̃ = Ax̃ + Bũ (179)

ỹ = Cx̃ (180)

Fig. 16. Equivalent circuit linearized model.

ỹ
= C(sI − A)−1 B (181)
ũ
The equivalent circuit linearized model is represented em Figure 16 where,
where,
 T
x̃ = ĩL1 ĩL2 ṽC1 ṽC2 (182)
r1 = Re (158) T
d˜

ũ = ṽin (183)
r2 = Re M 2 (159)  T
ỹ = ṽRo ĩL1 ĩL2 (184)

1 The coefficients matrices are shown follow

g1 = − (160)
Re
− L1
 
2−M 0 0 0
1
g2 = (161)
Re M
 0 − L1 r2 1
r g − L1 

A= 1 L2 2 2  2

 (185)
 1 1
g r − C1 r1 + g1 r2 g2 0 
 C1 C1 1 2 1 1 
2Vin (1 − M ) 0 1
0 − R 1C
j1 = (162) C1 o 1
Re D
2Vin (1 − M )  1

j2 = (163) L
0
Re DM  1 1
 0 r j

B= L2 2 2 
(186)
From the circuit analysis of Figure 16, are obtained the following equations,
− C1

 0 (j1 + g1 r2 j2 )
1
0 0
ṽL1 = ṽin − ṽC1 (164)
 
ṽL2 = ṽ2 − ṽC2 (165) 0 0 0 1
ĩC1 = ĩL1 − ĩ1 (166) C = 1 0 0 0 (187)
0 1 0 0
ĩC2 = ĩL2 − ĩRo (167)
The transfers functions, which relation the interest quantities for modeling,
Considering which, correspond to:

1 ṽRo (s) ỹ(1,1)

ĩRo = ṽC (168) = = C(1,;) (sI − A)−1 B(;,1) (188)
Ro 2 ṽin (s) ũ(1,1)
ṽ2 = −r2 ĩL2 + r2 g2 ṽC1 + r2 j2 d˜ (169)
ĩL1 (s) ỹ(2,1)
= C(2,;) (sI − A)−1 B(;,1)
 
1 = (189)
ĩ1 = + g1 r2 g2 ṽC1 − g1 r2 ĩL2 + (j1 + g1 j2 r2 ) d˜ (170) ṽin (s) ũ(1,1)
r1
ĩL2 (s) ỹ(3,1)
So, the equations with states variables can be expressed as = = C(3,;) (sI − A)−1 B(;,1) (190)
ṽin (s) ũ(1,1)
1 1 ṽRo (s) ỹ(1,1)
sĩL1 = − ṽC + ṽin (171) = = C(1,;) (sI − A)−1 B(;,2) (191)
L1 1 L1 ˜
d(s) ũ(2,1)
ĩL1 (s) ỹ(2,1)
1 1 1 1 = = C(2,;) (sI − A)−1 B(;,2) (192)
˜ ũ
sĩL2 =− r2 ĩL2 + r2 g2 ṽC1 − ṽC + r2 j2 d˜ (172) d(s) (2,1)
L2 L2 L2 2 L2 ỹ(3,1)
ĩL2 (s)
= = C(3,;) (sI − A)−1 B(;,2) (193)
  ˜
d(s) ũ(2,1)
1 1 1 1
sṽC1 = ĩL + g1 r2 ĩL2 − + g1 r2 g2 ṽC1 −
C1 1 C1 C1 r1
(173)
B. Nonideal Buck Converter - DCM Averaged Switch Model
1 This section presents the analysis of the converter operating in discontin-
(j1 + g1 r2 g2 ) d˜
C1 uous conduction mode, with inclusion of the losses in passives elements of
circuit.
1 1 A convenient method to include the losses in analysis consist in include
sṽC2 = ĩL − ṽC (174) the resistances in linearized model obtained in subsection III-A.
C1 2 R o C1 2
 RL1 Re RL2 ei1 ei2
Re
+
vRL1 − +
vRe − +
vRL2 −
+ Z L1 ZL2
Ie Io + +
Vin +
− P vRo Ro

ZC1

ZC2
Vin +
− ve1 P ve2 Ro
−
− −

Fig. 17. Equivalent circuit for static model - Nonideal Buck converter.

Fig. 18. Equivalent circuit for dynamical model - Nonideal Buck converter.
1) Static Model: The steady state analysis and in the transfer functions
of the linearized model.
Performing the analysis in permanent regime of Figure 17 are obtained the
following equations
2) Dynamic Model: The dynamic model considering the losses is
shown in Figure 18.
Vp = Vin − RL1 Ie − Re Ie (194) The equations of averages values are nonlinear, therefore is necessary the
application of a linearization technique. The procedure is analogous to utilized
for ideal case.
Vp − Vo Vo
Io = = (195)
R L2 Ro

Vin (1 − M )
P = Re Ie 2 = Vp (Io − Ie ) (196) I1 = (206)
Re
1 1 2Vin (1 − M ) ˜
Define again the static gain as ĩ1 = ṽ1 − ṽ2 + d (207)
Re Re Re D

Vo
=M (197)
Vin
And resolving the relation obtained,
Vin (1 − M ) I1
I2 = = (208)
− 2c Re M M
M = q b (198) 2−M 1 2Vin (1 − M ) ˜
1 + 1 − 4 ac
b2 ĩ2 = ṽ1 − ṽ2 + d (209)
Re M Re M 2 Re DM
where,

    2 ! Redesigning the circuit has the linearized model of nonideal Buck converter
Ro + RL2 1 R o + R L2 1 of Figure 19.
a= + R L1
Ro Ro Ro Ro + RL1
(199)
    
Ro + RL2 1 1
b= 1 − 2RL1
Ro R e + R L1 R e + R L1
ei1 ei2
(200)
   
1 1
c= −1 + RL1 (201)
R e + R L1 R e + R L1 ZL1 ZL2
+ +
Disregarding the losses in these equations, are obtains the same result for ve1 ve2
case ideal converter.
g1 ve2

g2 ve1
ZC1

ZC2

+
j1 de

j2 de
vein

Ro
r1

r2

−
1
a= (202) − −
Ro
1
b= (203)
Re
1
c=− (204)
Re
Fig. 19. Equivalent circuit for linearized model - Nonideal Buck converter.
2
M = q (205)
Re where,
1 + 1 + 4R
o
 r1 = Re (210)  ZC1
0

ZC1 +ZL1
r2 = Re M 2 (211) 
0

r2 j2 
M= (236)
1 
0 j1

g1 = − (212)
Re 0 0
2−M
g2 = (213)
Re M  
2Vin (1 − M ) ZC2 Ro
j1 = (214) 0 0 0 ZC2 +Ro 
Re D

N= 1 (237)
ZC1
0 1 0 
2Vin (1 − M )
 
j2 = (215) 0 0 0 1
Re DM
Through analysis of linearized circuit are obtained the following equations, The transfers functions, which relation the interest quantities for modeling,
are obtained by:
   
ZC1 ZL1 ZC1
ṽ1 = − ĩ1 + ṽin (216)
ZC1 + ZL1 ZC1 + ZL1 ṽRo (s) ỹ(1,1)
ṽ2 = −r2 ĩ2 + r2 g2 ṽ1 + r2 j2 d˜ (217) = = N(1,;) (I − L)−1 M(;,1) (238)
ṽin (s) ũ(1,1)
1
ĩ1 = ṽ1 − g1 ṽ2 + j1 d˜ (218) ĩL1 (s) ỹ(2,1)
r1 = = N(2,;) (I − L)−1 M(;,1) (239)
ṽin (s) ũ(1,1)
Ro + ZC2
ĩ2 = ṽ2 (219) ĩL2 (s) ỹ(3,1)
Ro ZC2 + Ro ZL2 + ZC2 ZL2 = = N(3,;) (I − L)−1 M(;,1) (240)
(220) ṽin (s) ũ(1,1)
ṽRo (s) ỹ(1,1)
Considering, = = N(1,;) (I − L)−1 M(;,2) (241)
˜
d(s) ũ(2,1)

ZC2 Ro ĩL1 (s) ỹ(2,1)

ṽRo = ĩ2 (221) = = N(2,;) (I − L)−1 M(;,2) (242)
˜
d(s) ũ
ZC2 + Ro (2,1)

1 ĩL2 (s) ỹ(3,1)

ĩL1 = ĩ1 + ṽ1 (222) = = N(3,;) (I − L)−1 M(;,2) (243)
ZC1 ˜
d(s) ũ(2,1)
ĩL2 = ĩ2 (223)
(224) IV. M ANIPULATION OF THE B UCK C ONVERTER M ODEL
INTO C ANONICAL F ORM
where,
The Canonical Model of the Buck converter with LC input filter is shown
in Figure 20.
ZL1 = RL1 + sL1 (225)
ZL2 = RL2 + sL2 (226)
1
ZC1 = RC1 + (227)
sC1 Veq
1 ZL1 D2 ZL2
ZC2 = RC2 + (228)
−
+

sC2
The equations can be written in state-space form, 1:D
Vin + vein

ZC1 D2

ZC2
+
Ieq

Ro
z̃ = Lz̃ + Mũ (229) −
ỹ = Nz̃ (230)

ỹ
= N(I − L)−1 M (231)
ũ
where, Fig. 20. Canonical Model.

 T where:
z̃ = ṽ1 ṽ2 ĩ1 ĩ2 (232)
T
ũ = ṽin d˜

(233)

ỹ = ṽRo ĩL1 ĩL2
T
(234) [(VZC + VF )d˜ − D0 VF ](ZL1 + ZC1 ) − IZL dZ
˜ L1 ZC1 D
1 2
Veq =
ZC1 D
The coefficients matrices are shown follow
(244)
 ZC1 ZL1 
0 0 −Z 0 and
 C1 +ZL1 
r2 g2 0 0 −r2 
L=
 1 −g1 0 0  (235)

 r1  ˜ C1 D − [(VZ + VF )d˜ − D0 VF ]
IZL dZ
Ro +ZC2 2 C 1
0 0 0 Ieq = (245)
Ro ZC2 +Ro ZL2 +ZC2 ZL2 ZC1 D
 V. N UMERICAL A NALYSIS AND S IMULATION FOR
C ONTINUOUS C ONDUCTION M ODE
The following parameters were used in the simulation:
Vin = 100V D = 0.5 f = 40kHz Ro = 5Ω C1 = 100µF
L1 = 10µH C2 = 10µF L2 = 1mH RC1 = 0.1Ω
RL1 = 0.1Ω RC2 = 0.1Ω RL2 = 0.1Ω RS = 0.1Ω
RD = 0.1Ω VF = 2V
The resulting transfer function of the output voltage by the duty cycle is:

ṽo (s) (9.9 · 103 )s3 + (1.01 · 1010 )s2 + (2.04 · 1014 )s + (9.89 · 1018 )
= 4
˜
d(s) s + (4 · 104 )s3 + (1.5 · 109 )s2 + (2.21 · 1013 )s + (1.03 · 1017 )

The Figure 21 shows a step in the duty cycle value. In Figure 22 is show
the response of the output voltage to a duty cycle step. The static gain of the
converter, for the specified parameters, is shown in Figure 23.
Fig. 23. Static Gain.

The Figure 24 shows the step response of the output voltage. In this
simulation, a step of 0.05V was applied in the duty cycle.

Fig. 21. Duty cycle variation.

Fig. 24. Step Response of output voltage.

In both step responses plotted is possible to perceive the difference in the

static gain between the ideal and nonideal circuits.

VII. C ONCLUSION
In this paper was done the modelling of the Buck converter with LC
input filter and non idealities. Averaged State-Space method was used to
obtain the small signal model for the continuous conduction mode considering
the parasitic resistances in all components beyond the diode voltage drop.
Also, the Averaged Switch method was made for both, continuous and
discontinuous conduction mode. For this last technique was considered the
parasitic resistances in the passives components and the diode voltage drop to
CCM, and to the DCM was considered the parasitic resistances in the passives
Fig. 22. Step Response of output voltage. components.
Numerical simulations were performed to validate the obtained models.
Thus, it can be concluded that the presented methodologies leads a accurate
VI. N UMERICAL A NALYSIS AND S IMULATION FOR models, as they take into account non idealities of the circuit.
D ISCONTINUOUS C ONDUCTION M ODE
The following parameters were used in the simulation: R EFERENCES
Vin = 100V D = 0.5 f = 100kHz Ro = 5Ω C1 = 100µF [1] R. D. Middlebrook and S. Cuk, A general unified approach to modelling
L1 = 10µH C2 = 100µF L2 = 5µH RC1 = 0.1Ω switching-converter power stages, 1976 IEEE Power Electronics Special-
RL1 = 0.1Ω RC2 = 0.1Ω RL2 = 0.1Ω ists Conference, 1976.
[2] S. Cuk and R. D. Middlebrook, A general unified approach to modelling
The resulting transfer function of the output voltage by the duty cycle is: switching DC to DC converters in discontinuous conduction mode, 1977
IEEE Power Electronics Specialists Conference, 1977.
ṽo (s) (1.7 · 106 )s3 + (2.1 · 1011 )s2 − (5.2 · 1015 )s + (1.7 · 1020 ) [3] R.W. Erickson and D. Maksimović, Fundamentals of Power Electronics,
= 4 2nd ed., Kluwer Academic Publishers, 2001.
˜
d(s) s + (3.9 · 105 )s3 + (1.1 · 1010 )s2 + (4.3 · 1014 )s + (2.6 · 1018 )

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