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Frequency response analysis of periodically time varying circuits
Igor Korotyeyev,
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Igor Korotyeyev, "Frequency response analysis of periodically time varying circuits", COMPEL - The international journal for
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 Frequency response analysis of periodically time varying circuits
Abstract
Purpose - The purpose of this paper is to introduce a method for the analysis of steady-state processes in
periodically time varying circuits. The method is based on a new definition of frequency responses for
periodic time-varying circuits.
Design/methodology/approach - Processes in inverter circuits are often described by differential
equations with periodically variable coefficients and forcing functions. In order to obtain a steady-state
periodic solution the expansion of differential equations into a domain of two independent variables of
time is made. To obtain differential equations with constant coefficients the Lyapunov transformation is
applied. The two dimensional Laplace transform is used to find a steady-state solution. The steady-state
solution is obtained in the form of the double Fourier series. The transfer function and frequency
responses for the inverter circuit are introduced.
Findings – A set of frequency characteristics are defined. An example of a boost inverter is considered
and a set of frequency responses for voltage and current are presented. These responses show a resonance
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that is missed if the averaged state-space method is used.

Originality/value – A new definition of frequency responses is presented. On the basis of frequency
responses a modulation strategy and filters can be chosen in order to improve currents and voltages.
Keywords Expanding of differential equations, Frequency response.
Paper type Research paper

INTRODUCTION
Processes in a circuit with periodic time-varying elements are described by differential
equations with variable coefficients. This does not allow the direct use of the frequency
response method. In order to obtain information about harmonics different methods are
used. Methods directed at solving differential equations with variable coefficients
(Bryant and Kazimierczuk, 2007, Zadeh, 1950, Desoer, 1957) are based on some
approximations, and the set of methods (Bennett, 1955, Liou, 1972, Trinchero et al,
2014, Martín at al, 2011) are based on exact analyses.
Steady-state conditions in one switching period (Bennett, 1955, Liou, 1972) are
determined by solving state equations. Complex coefficients of Fourier series are
obtained (Bennett, 1955, Liou, 1972) but only the magnitude response is presented
(Liou, 1972). In (Zadeh, 1950, Trinchero et al, 2014) (and other similar papers) the bi-
frequency transfer function H (ω , Ω) is defined via an impulse response h(t ,τ ) . To
obtain the impulse response a differential equation with variable coefficients should be
solved for the unit impulse function δ (t − τ ) (where τ defines an instant when the
impulse is occurred). Such a solution to differential equations with variable coefficients
of itself is the main problem that in different papers is solved using different methods.
A theory based on the truncated sum (Trinchero et al, 2014) allows one to define the bi-
frequency transfer function. The theory is directed at consideration of processes in
periodically switched linear resistive multiport elements.
One of the obstacles in using the frequency response method is the absence of periodic
steady-state solutions. Therefore it is expedient to expand differential equations into the
domain of two independent variables of time (Korotyeyev et al, 2010). This expansion
is based on the idea that signals acting in the circuit are independent and realized by
transforming differential equations to partial differential equations with two
independent variables of time. These variables are connected with the frequencies of a
power supply and control signals. Such an approach makes possible the description of
the circuit by a partial differential equation with periodic coefficients which have a
periodic steady-state solution.
The purpose of this article is to introduce a new definition of frequency responses for
periodic time-varying circuits. The method is based on the expansion of an ordinary
 differential equation into a partial differential equation with two independent time
variables. A steady-state process is obtained by using the Lyapunov transformation and
the two dimensional Laplace transform. It is represented in the form of the double
Fourier series. A set of frequency responses is defined on the basis of double Fourier
series coefficients. An example of a boost inverter is considered and a set of frequency
responses is presented.

MATHEMATICAL MODEL
Let us consider the circuit of the boost inverter presented in Fig. 1.
L i(t )
S2

R
S1 C
u (t )
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e(t )

Fig. 1. Topology of the inverter

The switches S1 and S 2 are ideal and are worked alternately with the period Θ , as
shown in Fig. 2, thus if S1 is closed, S2 is open (when s(t ) = 1 S1 is closed and S2 is
open).
s (t )

t1 Θ t
Fig. 2. Switching function
The topology of the inverter is changed periodically and the differential equations
describing the processes in the circuit have the form
di (t ) R 1 − s (t ) e(t )
= − L i (t ) − u (t ) + , (1)
dt L L L
du (t ) 1 − s(t ) 1
= i (t ) − u (t ) ,
dt C RC
where RL is the resistance of an inductor, e(t ) = e(t + T ) , T is the period of a power
source, Θ is the period of the switching function.
In the matrix form set (1) takes the form
dX (t )
= A(t ) X (t ) + B (t ) ,
dt
 RL 1 − s(t ) 
 i (t )   − − 
where X (t ) =   is a vector of state variables, A(t ) =  L L ,
 u (t )   1 − s(t ) −
1 

 C RC 
 e(t ) 
B(t ) =  L  .
 
 0 
 We assume that periods of the source voltage e(t ) and the switching function s(t ) are
incommensurable. In that case the steady-state behavior to (1) is not periodic.
Let us expand the domain of the differential equation (1) from one independent variable
of time t to two independent variables of time t and τ as follows (Korotyeyev et al,
2010)
∂X (t ,τ ) ∂X (t ,τ )
+ = A(τ ) X (t ,τ ) + B(t ) . (2)
∂t ∂τ
In this domain there exists a steady-state process, i.e., X s (t ,τ ) = X s (t + T ,τ + Θ) .
Now transform the equation (2) with time-varying coefficients to an equation with
constant coefficients. To this effect we use the Lyapunov transformation (Gantmacher,
1977)
X (t ,τ ) = F (τ ) ⋅ Y (t ,τ ) . (3)
Applying this transformation to (2) one obtains the following equation
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∂Y (t ,τ ) ∂Y (t ,τ )
+ = KY (t ,τ ) + N (τ ) ⋅ B (t ) , (4)
∂t ∂τ
where F (τ ) = F (τ + Θ) is a periodic matrix; Y (t ,τ ) is a new vector of state variables,
N (τ ) is an inverse matrix to F (τ ) , i.e. N (τ ) = F −1 (τ ) .
Matrices K and F (τ ) are determined from the equation
dF (τ )
= A(τ ) F (τ ) − F (τ ) K (5)
dτ
and conditions F (τ ) = F (τ + Θ) , F (0) = I (I is the identity matrix).
The matrix F (τ ) is a piecewise continuous matrix. Solving the equation (5) in the
interval 0 ≤ τ ≤ t1 gives (Bellman, 1960)
F (τ ) = e A1τ e − Kτ ,
and in the interval t1 ≤ τ ≤ Θ gives
F (τ ) = e A2 (τ − t1 )e A1t1 e − Kτ , (6)
where A1 is equal to the matrix A(τ ) as s(τ ) = 1 , A2 is equal to the matrix A(τ ) as
s(τ ) = 0 .
Substituting in (6) τ = Θ and then F (Θ) = F (0) = I one finds the matrix
1
[
K = ln e A2 ( Θ − t1 ) e A1t1 .
Θ
]
The differential equation (4) is a partial differential equation and defines the vector
Y (t ,τ ) in the domain of two variables.

SOLVING DIFFERENTIAL EQUATION

Let us find a solution to (4). Using the two dimensional Laplace transform (Ditkin and
Prudnikov, 1962)
∞∞
F ( s, q ) = ∫ ∫ f (t ,τ )e −st −qτ dτdt
0 0
to solve (4) one obtains the algebraic equation
sY ( s, q ) + qY ( s, q ) = K ⋅ Y ( s, q ) + N ( q ) B ( s ) , (7)
where s and q are complex variables; Y ( s, q ) , N ( q ) , and B ( s ) are Laplace transforms
of matrices Y (t ,τ ) , N (τ ) and the vector B (t ) .
From (7) one obtains
 Y ( p, q ) = [( s + q ) I − K ] N ( q ) B ( s ) ,
−1
(8)
where [( s + q ) I − K ] is the inverse matrix.
−1

In order to find the vector X (t ,τ ) one must apply the Lyapunov transformation. Taking
the Laplace transform of (3) one obtains
X ( s, q ) = F ( q ) ∗ Y ( s, q ) , (9)
where ∗ is the sign of the convolution in the frequency domain (Doetsch, 1967)
c + j∞
1
2πj c −∫j∞
X ( s, q ) = F ( p )Y ( s, q − p )dp .

Substituting (8) in (9), one obtains the solution

{
X ( s, q ) = F (q ) ∗ [( s + q ) I − K ] N (q ) B( s) .
−1
} (10)
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FREQUENCY RESPONSES
Let us define a transfer function of the circuit as the quotient of X ( s, q) to E (s)
X ( s, q )
T ( s, q ) = ,
E (s)
where E (s) is a transform of e(t ) .
From (10) one obtains
{
T ( s, q ) = F (q ) ∗ [( s + q ) I − K ] N (q ) B ,
−1
} (11)
1
where B =  L  .
 
0
Since the function F (τ ) is periodical, then the transform takes the form
Θ

∫ F (τ )e
− qτ
dτ
F ' (q)
F (q ) = 0
. =
1 − e − qΘ 1 − e − qΘ
The convolution in (11) is calculated with respect to poles
2πi
qi = j
Θ
of the transform F (q ) that are found by solving the equation
1 − e −qΘ = 0 , i = 0, ± 1, ± 2, ...
Calculating residues at these poles yields
∞
1
T ( s, q ) =
( ∑ F ′(qi )[(q − qi + s) I − K ]−1 N ′(q − qi )B
)
Θ 1 − e − qΘ i = −∞
(12)

where a matrix N ′(q ) is denoted as a part of the matrix

Θ

∫ N (τ )e
− qτ
dτ
N ' (q )
N (q) = 0
. =
1 − e − qΘ 1 − e − qΘ
This transform is obtained by virtue of the periodicity of the matrix N (τ ) .
Let us define frequency responses for the inverter. With that end we find a steady-state
process for the voltage e(t ) = Ec cos(ωt ) . The transform of that voltage is
s
E ( s) = 2 Ec ,
s + ω2
where Ec is an amplitude of the voltage e(t ) .
 By multiplying T ( s, q ) by E ( s) one finds the transform of the vector of state variables
X ( s, q ) = T ( s, q ) E ( s ) .
Substituting T ( s, q ) from (11) yields
sEc
X ( s, q ) = ⋅
Θ 1− e − qΘ
(
s2 + ω 2 )( )
∞

∑ F ′(q )[(q − q
i = −∞
i i + s ) I − K ] N ′(q − qi )B .
−1

The steady-state process is determined by computing the inverse double Laplace

transform

1 c + j∞ d + j∞
X s (t ,τ ) =
(2πj ) 2 ∫ ∫ c − j∞ d − j∞
X ( s, q )e st e qτ dsdq
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with respect to poles corresponding to the power supply s1, 2 = ± jω and control signal
2πn
qn = j ( n = 0, ± 1, ± 2, ... ). After calculation residues one obtains the steady-state
Θ
vector in the form of the double Fourier series (Tolstov, 1976)
∞
[ ] ∑ ∑C
1
X s (t ,τ ) = ∑ ∑ Re s X (s, q)e st eqτ =
poles s1, 2 poles q n m = −1 n = −∞
m, n e j ( mωt + nΩτ ) ,
m≠0

2π
where Ω = ,
Θ
mEc ∞
2 ∑
F ′(qi )[(qn − qi + jωm) I − K ] N ′(qn − qi )B .
−1
Cm , n =
2Θ i = −∞
In these expressions m and n take positive and negative values. In order to introduce
frequency responses let us rearrange them as follows
C1, ne j (ωt + nΩτ ) + C−1, − n e − j (ωt + nΩτ ) +
C1, − n e j (ωt − nΩτ ) + C−1,n e j ( −ωt + nΩτ ) =
A1, n sin (ωt + nΩτ + ϕ1, n ) +
A1, − n sin (ωt − nΩτ + ϕ1, − n ) ,
where A1, n = 2 ⋅ C1, n , A1, − n = 2 ⋅ C1, − n , ϕ1, n = arg C1, n , ϕ1, − n = arg C1, − n .
We define amplitude responses A1, n , A1, − n and phase responses ϕ1, n , ϕ1, − n as functions
dependent on ω and Ω . As one can see frequency responses are a set of both
amplitudes and phases characteristics.

RESULTS OF CALCULATION
Let us draw the amplitude and phase responses of the inverter circuit for parameter
values: Ec = 1V , RL = 0.2 Ω , R = 800Ω , L = 0.0015 H , C = 6 ⋅ 10 −6 F , Θ = 7 ⋅ 10 −4 s ,
t1 = 2 ⋅ 10−4 s . The frequency responses for i = 8 are shown in Fig. 3 - Fig. 6.
 V1,n

V1, −1

V1,0
V1, −2

V1,1
V1, 2
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ω
Fig. 3. Amplitude-voltage responses
I1,n

I1, −1

I 1, −2

I 1,0
I1,1 I 1, 2

ω
Fig. 4. Amplitude-current responses
ϕ1,n
ϕ1,1 ϕ1, −1

ϕ1,0
ϕ1, −2

ϕ1, −1 ϕ1, 2

Fig. 5. Phase-voltage response

 ψ 1,n

ψ 1, 2

ψ 1, −1

ψ 1,0
ω
ψ 1, −2
ψ 1,1 ψ 1, 2
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Fig. 6. Phase-current responses

One can see that the amplitude responses show a resonance for different harmonics.
Let us consider the averaged state-space method (Middlebrook and Ćuk, 1976) and
compare results with the proposed method. Applying the averaging to (1) one obtains
the following equation
dXˆ (t )
= A(d ) Xˆ (t ) + B (t ) ,
dt
 RL 1− d 
 iˆ(t )  − − 
where Xˆ (t ) =   is a vector of averaged state variables; A( d ) =  L

L ;
 uˆ (t )   1 − d − 1 
 C RC 
t1
d= .
Θ
Using the Laplace transform and then solving the obtained equation for an image
voltage yields
(1 − d ) R
Uˆ ( s ) = .
RCLs + (RCRL + L )s + RL + R ( d − 1) 2
2

Substituting s → jω one can easily find a magnitude response. First harmonic

responses of the voltage obtained by the presented method V1,0 and the averaged state-
space method Va are presented in the Fig. 7.
V1, 0 Va

V1, 0

Va

ω
Fig. 7. The magnitude responses for first harmonic of the voltage
 As one can see there is a big difference between results. This arises due to small time
constants of the circuit. If we increase the values of the inductance and capacitance by
ten-fold the results will be the same.
In order to verify the obtained results equation (1) has been solved numerically for all
intervals and an arbitrary instant of the period T . Also cosine and sine components for
ω ± nΩ have been numerically calculated. Then starting with zero initial conditions a
steady-state behavior has been calculated via the calculation of a transient process. For
this the NDSolve function of Mathematica (with option: MaxSteps -> 1000000) has
been used in the time interval from 0 to 600 Θ s. Frequency responses have been
calculated and compared with the proposed method for T = 30Θ , T = 10Θ , T = 6Θ ,
T = 4Θ . For all T the accuracy is better than 1%.
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CONCLUSIONS
In this paper the transfer function and frequency response have been defined for time
varying circuits. In order to analyse processes in an inverter with periodic structure the
differential equation has been expanded into the domain of two variables of time. The
obtained partial differential equation describes periodic steady-state processes for
signals whose periods are incommensurable. For solving this equation the Lyapunov
transformation and the two dimensional Laplace transform have been used. The solution
for a steady-state behaviour has been represented by the double Fourier series. The
coefficients of Fourier series have been used for definition of frequency responses
whose characteristics are the response of the periodic time varying circuit to the
sinusoidal signal source. The example frequency responses for the inverter have been
presented. The obtained results have been compared with numerical calculations of the
steady-state behavior for some frequencies. The obtained results show the presence of
resonance that is not revealed by the use of the averaged state-space method.

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