Lecture 1

Lecture 1:
Modelling of Power
Electronics Converters
Pablo M. Poblete Durruty, Javier Pereda Torres.
Outline
1. Introduction
2. Switched Model (Exact Model)
3. Bilinear Form
4. Classical Averaged Model
5. Generalized Averaged Model
6. Reduced-Order Averaged Model
2
What is Modelling?
The process of obtaining an approximate, but sufficiently
comprehensive representation of some system.
Modelling
Aproaches
Know Info about Black Box

the system models
Representation centered on Based on the process behavior
the behavioral laws of the observation of its response to
system components some known input signals
This Lecture is focused on the information approach, because we know the converters topologies
and switching configurations.
3
Large-Signal and small-Signal
Models
Converter dynamic behavior is generally nonlinear. In order to
build linear control laws, it is necesarry to develop linear
models around a certain operating point.
Figure: relation between large-signal model and small-signal model.
4
Small-Signal model: local
linearization around an equilibrium
point
General non linear system:
𝑥 ∈ ℝ+ ,
𝑥̇ = 𝑓 𝑥, 𝑢 ,
𝑢 ∈ ℝ, ,
𝑦 = 𝑔 𝑥, 𝑢 , 𝑦 ∈ ℝ- .
Definition: a pair 𝑥/0, 𝑢/0 ∈ ℝ+ ×ℝ, is called an equilibrium

point if 𝑥̇ = 𝑓 𝑥, 𝑢 = 0. Then,
𝑦/0 = 𝑔 𝑥/0, 𝑢/0 ,
q It’s posible to linearize the system around the equilibrium

point with the first order Taylor expansion.
q Note that with 𝑥̇ = 0, the steady state converter behaviour

(static model) is obtained.
5
point
𝜕𝑔 𝑥/0, 𝑢/0 𝜕𝑔 𝑥/0, 𝑢/0
𝑦 = 𝑔(𝑥, 𝑢) = 𝑦/0 + 𝑥 − 𝑥/0 + 𝑢 − 𝑢/0
𝜕𝑥 𝜕𝑢
𝜕𝑔 𝑥/0, 𝑢/0 𝜕𝑔 𝑥/0, 𝑢/0

∆𝑦 = ∆𝑥 + ∆𝑢
𝜕𝑥 𝜕𝑢
∆𝑦 = 𝐶∆𝑥 + 𝐷∆𝑢,
∆𝑥 = 𝑥 − 𝑥/0 ,
∆𝑦 = 𝑦 − 𝑦/0 ,
∆𝑢 = 𝑢 − 𝑢/0 .
6
point
𝜕𝑓 𝑥/0, 𝑢/0 𝜕𝑓 𝑥/0, 𝑢/0
𝑥̇ = 𝑓 𝑥, 𝑢 = 𝑥/0 + 𝑥 − 𝑥/0 + 𝑢 − 𝑢/0
𝜕𝑥 𝜕𝑢
𝜕𝑓 𝑥/0, 𝑢/0 𝜕𝑓 𝑥/0, 𝑢/0

∆𝑥̇ = ∆𝑥 + ∆𝑢
𝜕𝑥 𝜕𝑢
∆𝑥̇ = 𝐴∆𝑥 + 𝐵∆𝑢

∆𝑦 = 𝐶∆𝑥 + 𝐷∆𝑢
7
General scope of Modelling
strategies
8
General relations beteween
models and control strategies
9
Modelling Assumptions for
power converters
q Switches are considered perfect in the sense that they
behave as a zero-value resistance during the ON state and
an infinite-value resistance during the OFF state.
q Power sources are considered perfect.
q Passive elements are considered linear and invariant.
The models of circuit elements can be enriched by taking into

account the dissipative elements.
10
Outline
1. Introduction
3. Bilinear Form
11
Switched Model
Power converters are ussualy made of:
q Semiconductors working as switches.
q Power sources.
q Passive components.
Each ON/OFF configuration of the converter represents in fact a

unique circuit containing sources and passive components, so each
configuration can be described mathematically by:
=
𝑥 𝑡 = 𝐴@ 𝑥 𝑡 + 𝐵@ 𝑒(𝑡),
=>
With 𝑖 ∈ 1, … , 𝑁 and 𝑁 equal to the number of configurations.
12
Switched Model
The switched model of a converter is the sum of all of this
configurations, each one asocciated to a validation funcion:
𝒉𝒊 ∈ 𝟎, 𝟏 ,
That takes the value of 1 when the configuration is active and zero
when it is not.
N
𝑑
𝑥 𝑡 = K 𝐴@ 𝑥 𝑡 + 𝐵@ 𝑒 𝑡 O ℎ@
𝑑𝑡
@LM
x ∈ ℝ+ , 𝑒 ∈ ℝQ , 𝐴@ ∈ ℝ+ R + , 𝐵@ ∈ ℝ+ R Q . Where x is the state vector

and 𝑒 is the vector of independent sources of the system.
13
Switched Model
Example: Buck converter in continuous conduction mode
𝒊𝑳
+ 𝒗𝑳 − 𝒊𝑪 𝒊𝑹
+ +
𝑬 𝒗𝒄
- -
𝒊𝑳 𝒊𝑳
+ 𝒗𝑳 − 𝒊𝑪 𝒊𝑹 + 𝒗𝑳 − 𝒊𝑪 𝒊𝑹
+ + +
𝑬 𝒗𝒄 𝒗𝒄
- - -
Configuration 1 (ON) Configuration 2 (OFF)

14
Switched Model
Example: Buck converter in continuous conduction mode
𝒊𝑳 𝒊𝑳
+ 𝒗𝑳 − 𝒊𝑪 𝒊𝑹 + 𝒗𝑳 − 𝒊𝑪 𝒊𝑹
+ + +
𝑬 𝒗𝒄 𝒗𝒄
- - -

𝑑 𝑑
𝐿 𝑖Z = 𝐸 − 𝑣] 𝐿 𝑖Z = −𝑣]
𝑑𝑡 𝑑𝑡
𝑑 𝑣] 𝑑 𝑣]
𝐶 𝑣] = 𝑖Z − 𝐶 𝑣] = 𝑖Z −
𝑑𝑡 𝑅 𝑑𝑡 𝑅
15
Switched Model
𝑑 1 𝑑 1
𝑖Z = (𝐸 − 𝑣] ) 𝑖Z = − 𝑣]
𝑑𝑡 𝐿 𝑑𝑡 𝐿
𝑑 1 𝑣] 𝑑 1 𝑣]
𝑣] = (𝑖Z − ) 𝑣] = (𝑖Z − )
𝑑𝑡 𝐶 𝑅 𝑑𝑡 𝐶 𝑅
𝑑 1 𝑑 1
𝑖Z 0 − 𝑖Z 1 𝑖Z 0 − 𝑖Z
𝑑𝑡 = 𝐿 + O 𝐸 O ℎM 𝑑𝑡 = 𝐿 + 0 O 𝐸 O ℎ_
𝑑 1 1 𝑣] 𝐿 𝑑 1 1 𝑣]
𝑣 − 𝑣 −
𝑑𝑡 ] 𝐶 𝑅𝐶 𝑑𝑡 ] 𝐶 𝑅𝐶
𝐵M 𝐵_
𝐴M 𝐴_
_
𝑑
𝑥 𝑡 = K 𝐴@ 𝑥 𝑡 + 𝐵@ 𝑒 𝑡 O ℎ@
𝑑𝑡
@LM
16
Switched Model
q The switched model contains all the dynamics information of
the converter, so it can be used for simulations purposes. That’s
way it is also called Exact Model.
q The validation functions can be dependent of the state vector,

or time or even both. Sometimes it may be impossible to have
transitions from some validation function to another.
q The major problem of this model is that the control inputs of the
switches are not explicit in the equations.
q For most of the applications, a more compact form is needed

for controllers design. One solution is the bilinear form.
17
Outline
1. Introduction
3. Bilinear Form
18
Bilinear Form
q Represents mathematically the converter including the control
inputs instead of the N validation functions.
q The N validation functions are replaced by the switching

functions 𝒖𝒌 (this are the binary functions that represents the
control inputs), k ∈ 1, … , 𝑝 . Where 𝑝 is the smallest integer
satisfying:
2Q ≥ 𝑁
Then the bilinear form:
Q x, 𝑏, , 𝑑 ∈ ℝ+ ,
𝑑
𝑥 𝑡 = 𝐴𝑥(𝑡) + K 𝐵, 𝑥 𝑡 + 𝑏, O 𝑢, + 𝑑 A, B ∈ ℝ+ R + ,
𝑑𝑡 Q
,LM 𝑢 = 𝑢M 𝑢_ … 𝑢Q .
19
Bilinear Form
Q x, 𝑏, , 𝑑 ∈ ℝ+ ,
𝑑
𝑥 𝑡 = 𝐴𝑥(𝑡) + K 𝐵, 𝑥 𝑡 + 𝑏, O 𝑢, + 𝑑 A, B ∈ ℝ+ R + ,
𝑑𝑡 Q
,LM 𝑢 = 𝑢M 𝑢_ … 𝑢Q .
q Every Power Electronic converter can be modelled with this form.
q The bilinear form is non-linear, due to the presence of products

between state variables and control inputs.
q If 𝑩𝒌 = 0, then a linear equation is obtained. This is the case for

the buck converter in continuous conduction mode.
q Linearization of this equation leads to the small signal model of

the converter.
20
Bilinear Form Linearization
Q
𝑑
𝑥 𝑡 = 𝑓 𝑥, 𝑢 = 𝐴𝑥(𝑡) + K 𝐵, 𝑥 𝑡 + 𝑏, O 𝑢, + 𝑑
𝑑𝑡
,LM
It is possible to linearize the bilinear form, by applying directly the

equations of the previous slides for a general non-linear system.
Q
𝜕𝑓 𝑥/0, 𝑢/0
𝐴i = = 𝐴 + K 𝐵, O 𝑢,/
𝜕𝑥
,LM i + 𝐵∆𝑢
∆𝑥̇ = 𝐴∆𝑥 j
Q
𝜕𝑓 𝑥/0, 𝑢/0
𝐵j = = K (𝐵, O 𝑥,/ + 𝑏, )
𝜕𝑢
,LM
Finally this model can be used directly in designing linear control

laws for the small signal model.
21
Finding the Bilinear Form
q In first place, is mandatory some priori knowledge about the

converter operation, in order to obtain the switched model (set of
equations that describe all the possible ON/OFF configurations).
q This can be done by simulating the converter and checking the

waveforms and sequence of configurations.
q Two general algorithms are going to be presented to find this form.

The First one is more general, since it’s based in all the possible
configurations, but the second one is more recommend for large
converters with plenty of possible configurations.
22
Algorithm 1: consider all the configurations
1. Choose the state variables, by either directly taking the capacitor

voltages and inductor currents or by taking an appropriate
combination of these variables.
2. Write the expressions of the derivatives of the state variables for

each configuration.
3. Identify the transition conditions between configurations. Then

consider them for writing the model in a compact manner by making
the control variables (switching functions) appear explicitly.
23
Algorithm 2: identify the switching variables
1. Choose the state variables, by either directly taking the capacitor voltages and
inductor currents or by taking an appropriate combination of these variables.
2. Identify the switching variables; e.g., transistor voltages and diode currents.
Write their mathematical expressions depending on the states of the switches
(on/off) and on the variables.
3. Write the Kirchhoff’s voltage laws for expressing the derivatives of the inductor
currents and Kirchhoff’s current laws for expressing the derivatives of the
capacitor voltages.
4. Write the switching variables as functions of the control inputs.
5. Replace the switched variables in the state-space equations developed in step 3

and obtain the bilinear form.
24
Example: Bost converter in continuous conduction mode
𝑳 𝒊𝑳
+ +
𝑬 𝒗𝒄 𝑪 𝑹
- -
+ 𝒗𝑳 − + 𝒗𝑳 −
𝒊𝑳
𝒊𝑳 𝒊𝑪 + 𝒊𝑪 𝒊𝑹
+ + +
𝑬 𝒗𝒄 𝑬 𝒗𝒄
- - - -
Configuration 1 Configuration 2
25
Algorithm 1
+ 𝒗𝑳 − + 𝒗𝑳 −
𝒊𝑳
𝒊𝑳 𝒊𝑪 + 𝒊𝑪 𝒊𝑹
+ + +
𝑬 𝒗𝒄 𝑬 𝒗𝒄
- - - -

𝑑 𝑑
𝐿 𝑖Z = 𝐸 𝐿 𝑖Z = 𝐸 − 𝑣]
𝑑𝑡 𝑑𝑡
𝐶 𝑣] = − 𝐶 𝑣] = 𝑖Z −
The transition between this configurations must be unified by only

one switching function 𝑢, since 2Q ≥ 2 → 𝑝 = 1.
26
Algorithm 1
Configuration 1 (ON)
𝑑
𝐿 𝑖Z = 𝐸
𝑑𝑡
𝑑 𝑣]
𝐶 𝑣] = −
𝑑𝑡 𝑅 𝑑 1
𝑖Z = 𝐸 − (1 − 𝑢) O 𝑣]
𝑑𝑡 𝐿
Configuration 2 (OFF)
𝑑 1 𝑣]
𝑑 𝑣] = (1 − 𝑢) O 𝑖Z −
𝐿 𝑖Z = 𝐸 − 𝑣] 𝑑𝑡 𝐶 𝑅
𝑑𝑡
𝑑 𝑣]
The transition between the
𝐶 𝑣] = 𝑖Z − configurations is unified
𝑑𝑡 𝑅
by the switching function.
27
Algorithm 1
𝑑 1
𝑖Z = 𝐸 − (1 − 𝑢) O 𝑣]
𝑑𝑡 𝐿
𝑑 1 𝑣]
𝑣] = (1 − 𝑢) O 𝑖Z −
𝑑𝑡 𝐶 𝑅
= Q
Then the bilinear form 𝑥 𝑡 = 𝐴𝑥 + ∑,LM 𝐵, 𝑥 𝑡 + 𝑏, O 𝑢, + 𝑑
=>
M M
𝑖Ż 0 − 𝑖Z 0 𝑖Z 0
n
Z Z
= M + 𝑢+ 𝑢+ m
𝑣]̇ −
M 𝑣] −
M
0 𝑣] 0 0
] m] ]
A B b d
28
Algorithm 2
𝑳 𝒊𝑳 𝒊𝑫
+ + +
𝑬 𝒗𝑯 𝑪 𝑹
𝒗𝒄
- - -
𝒗𝑯 and 𝒊𝑫 are the switched variables.
0, when the Mosfet is ON 0, when the Mosfet is ON

𝑣q = 𝑖r =
𝑣] , when the Mosfet is OFF 𝑖Z , when the Mosfet is OFF
𝑣q = 𝑣] (1 − 𝑢) 𝑖r = 𝑖Z (1 − 𝑢)
29
Algorithm 2
𝑳 𝒊𝑳 𝒊𝑫
+ + +
𝑬 𝒗𝑯 𝑪 𝑹
𝒗𝒄
- - -
Writing the Kirchhoff laws for the inductor voltage and the capacitor
current:
𝑑 𝑑 1
𝐿 𝑖Z = 𝐸 − 𝑣q → 𝑖Z = 𝐸 − (1 − 𝑢) O 𝑣] Same equations
𝑑𝑡 𝑑𝑡 𝐿 are obtained
𝑑 𝑣] 𝑑 1 𝑣] with both
𝐶 𝑣] = 𝑖r − → 𝑣] = (1 − 𝑢) O 𝑖Z − methods!
𝑑𝑡 𝑅 𝑑𝑡 𝐶 𝑅
30
Finding the converter equivalent
circuit from the Bilinear Form
q Because the Bilinear Form contains all the expressions for the coupled
terms of the converter signals and their relations with the control inputs,
it is possible to obtain the equivalent circuit diagram of a converter,
which normally is easier to analyse than the original circuit.
q When a DC-DC converters it is operating in steady-state, it is possible to

obtain from the equivalent circuit the DC-transformer model, in which
you can push the impedances through the primary or secondary side.
This can make easier the analysis of the converter.
q The DC-transformer model allows to easily include the components

resistance in steady state.
q This analysis tools are not mandatory for control purposes, but are good
for a better understanding of the coupled terms in the converter.
31
Finding the converter equivalent
circuit from the Bilinear Form
𝑑 1
+ 𝒗𝑳 − 𝒊𝑪 𝒊𝑹 𝑖Z = 𝐸 − (1 − 𝑢) O 𝑣]
𝑑𝑡 𝐿
+ +
𝑬 𝒗𝒄 𝑪 𝑹
𝑑 1 𝑣]
- - 𝑣] = (1 − 𝑢) O 𝑖Z −
𝑑𝑡 𝐶 𝑅
Then the equivalent circuit:

+ 𝑣Z −
+ +
𝐸 𝑣s
- -
(1 − 𝑢) O 𝑣] (1 − 𝑢) O 𝑖Z
32
Finding the converter DC-Transformer
from the equivalent circuit
q We assume steady-state, so we replace the switching function 𝑢

for the duty cycle 𝛼 ∈ [0,1].
q Also we assume that the capacitor voltage and the inductor current
ripple are neglectable, so just the DC component is considered.
q The inductor resistance is included to enrich the model.
+0− 𝑅Z 0
+ +
𝐸 𝑉
- -
(1 − 𝛼) O 𝑉 (1 − 𝛼) O 𝐼Z
33
+0− 𝑅Z 0
+ +
𝐸 𝑅 𝑉
- -
(1 − 𝛼) O 𝑉 (1 − 𝛼) O 𝐼Z
Then the DC-transformer model: 𝛼y = 1 − 𝛼
𝛼 y: 1
+0− 𝑅Z 0 𝑅Z
+ + +
𝛼 y_ +
1
𝐸 𝑉 𝐸 y 𝑅 𝑉
- - 𝛼 -
-
34
𝑅Z
+
1 𝛼 y_ +
𝐸 y 𝑅 𝑉
𝛼
- -
M m n M
𝑉=𝐸 O ~ = O ~•
{| m} •• (M‚{) M}
€| ~(ƒ„€)•
M Figure: Boost Converter real voltage ratio.

𝑉 =EO ~•
(M‚{)}
~O(ƒ„€)
35
Conclusions about the Switched
Model and Bilinear Form
q It is great to understand the converter topology and how it operates

under the different scenarios.
q Can be used for simulation.
q It is suitable for designing non-linear control laws, such as variable-

structure control or hysteresis control or MPC.
q It is the one starting point to obtain other models more focused in

developing control laws.
36
Outline
1. Introduction
3. Bilinear Form
37
Classical Averaged Model
q This model focuses on capturing the low-frequency behaviour of
the converter while neglecting high-frequency variations due to
circuit switching.
q The result is a continuous-time model, which is easier to handle

by classical analysis and common control schemes such as linear
control.
q Due the simplicity it is widely used and strongly recommended.
Sliding Average (Moving Average):

>
1
𝑓 𝑡 † (𝑡) = ˆ 𝑓 𝜏 𝑑𝜏
𝑇
>‚‰
Figure: Sliding Average, f(t) is not
38
mandatory periodic.
Properties of the Sliding
Average
>
1
𝑓 𝑡 †(𝑡) = ˆ 𝑓 𝜏 𝑑𝜏
𝑇
>‚‰
q 𝑓 𝑡 † is time dependent because the integration window changes

its position on the time axis.
q If 𝑓 𝑡 is periodic, then in steady-state, the moving average is equal

to the classical average.
q Derivation and the sliding q State Variable Sliding Average:

averaging are commutative:
𝑑
𝑥(𝑡) = 𝑓(𝑥, 𝑢, 𝑡)
𝑑 𝑑 𝑑𝑡
𝑓 𝑡 † 𝑡 = 𝑓 𝑡 (𝑡)
𝑑𝑡 𝑑𝑡 † 𝑑
𝑥 † 𝑡 = 𝑓 𝑥, 𝑢, 𝑡 † (𝑡)
𝑑𝑡
39
Properties of the Sliding
Average
q The passive elements 𝑅, 𝐿 and 𝐶 remain unchanged after the sliding
average → The configuration of a passive circuit remains
unchanged by averaging.
q Average of a Switch
𝐸O 𝑢 † , when 𝐸 is constant.
𝑆 † = 𝐸O𝑢 † =
≈ 𝐸 †O 𝑢 † , when 𝐸 is variable.
The approximation when 𝐸 is variable is justified if one of the two

variables 𝐸 or 𝑢 is close to its average value (small-ripple assumption).
Therefore we can make this approximation when the switching
function is multiplied by a properly filtered capacitor voltage or
inductor current.
40
Methodoly of Averaging Power
Algorithm 1: Graphical Approach
1. Determine the converter’s equivalent circuit diagram, where the

coupled terms are emphasized.
2. Preserve the diagram structure (passive elements) and replace the

variables by their averages.
3. Develop the coupling terms by approximating the product average

by the product of averages.
4. Deduce the averaged model equations based upon the obtained

diagram.
Note: This method was already used in the example of the DC-transformer model of the boost converter
in the previous slides.
41
Algorithm 2: Analytical Approach starting from the
Switched Model
N
𝑑
𝑥 = K 𝐴@ O 𝑥 + 𝐵@ O 𝑒 O ℎ@
𝑑𝑡
@LM
Applying the sliding average in both sides:
N
𝑑𝑥†
= K 𝐴@ O 𝑥 + 𝐵@ O 𝑒 O ℎ@
𝑑𝑡
@LM
†
N N
𝑑𝑥†
= K(𝐴@ O ℎ@ ) O 𝑥 + K(𝐵@ O ℎ@ ) O 𝑒
𝑑𝑡
@LM @LM
†
42
Switched Model
Applying the product approximations:
N N
𝑑𝑥†
≈ K(𝐴@ O ℎ@ ) O 𝑥 † + K(𝐵@ O ℎ@ ) O 𝑒 †
𝑑𝑡
@LM @LM
† †
𝐴- 𝐵-
𝑑𝑥†
≈ 𝐴- O 𝑥 † + 𝐵- O 𝑒 †
𝑑𝑡
Note: 𝐴- and 𝐵- are not the state and input matrices, respectively. They are
dependent on the state and the control input, which does not appear explicitly in
the switched model.
43
Bilinear Form
Q
𝑑
𝑥 = 𝐴𝑥 + K 𝐵, 𝑥 + 𝑏, O 𝑢, + 𝑑
𝑑𝑡
,LM
Applying the sliding average in both sides:

Q
𝑑
𝑥 † = 𝐴𝑥 + K 𝐵, 𝑥 + 𝑏, O 𝑢, + 𝑑
𝑑𝑡
,LM †
Applying the product approximations and supposing that 𝐴, 𝐵, and 𝑏, are
invariant:
Q
𝑑
𝑥 † =𝐴O 𝑥 † + K 𝐵, 𝑥 + 𝑏, † O 𝑢, † + 𝑑 †
𝑑𝑡
,LM
44
Bilinear Form
Q
𝑑
𝑥 † =𝐴O 𝑥 † + K 𝐵, 𝑥 + 𝑏, † O 𝑢, † + 𝑑 †
𝑑𝑡
,LM
Then the averaged model of the bilinear form is given by:
Q
𝑑
𝑥 † =𝐴O 𝑥 † + K 𝐵, O 𝑥 † + 𝑏, O 𝛼, + 𝑑
𝑑𝑡
,LM
Where 𝜶𝒌 = 𝒖𝒌 𝟎 , e.g., vector that contains the duty cycles of the switching
functions. Note that this is still a Large Signal Model, and it is non-linear for the
majority of the power converters.
45
Small Signal Averaged Model
q To design a linear controller, the linear representation of the
converter in the state-space or frequency domain is needed.
q For linearization, the method introduced in the beginning of the

slides is valid for the averaged model.
x = 𝑓 𝑥, 𝑢 : non linear switched model or bilinear form.
y = 𝑔 𝑥, 𝑢 : converter output function.
Linear Model:
𝜕𝑓 𝑥/0, 𝑢/0 𝜕𝑓 𝑥/0, 𝑢/0
∆𝑥̇ = 𝐴∆𝑥 + 𝐵∆𝑢 𝐴= , 𝐵= ,
𝜕𝑥 𝜕𝑢
∆𝑦 = 𝐶∆𝑥 + 𝐷∆𝑢 𝜕𝑔 𝑥/0, 𝑢/0 𝜕𝑔 𝑥/0, 𝑢/0
𝐶= , 𝐷= .
𝜕𝑥 𝜕𝑢
Transfer Function:
𝑌(𝑠)
= 𝐻 𝑠 = 𝐶(𝑠𝐼 − 𝐴)‚M 𝐵 + 𝐷
𝑈(𝑠)
46
Example: Boost Converter
From the previous example, we know that the bilinear form of the boost converter
in continuous conduction mode is given by:
𝑑 1
𝑖Z = 𝐸 − (1 − 𝑢) O 𝑣]
𝑑𝑡 𝐿
𝑑 1 𝑣]
𝑣] = (1 − 𝑢) O 𝑖Z −
𝑑𝑡 𝐶 𝑅
Applying the sliding average to this equations:
𝑑 1 𝑑 1
𝑖Z † = 𝐸 − (1 − 𝑢) O 𝑣] 𝑖Z † = 𝐸 − (1 − 𝛼) O 𝑣] †
𝑑𝑡 𝐿 † 𝑑𝑡 𝐿
𝑑 1 𝑣] 𝑑 1 𝑣] †
𝑣] † = (1 − 𝑢) O 𝑖Z − 𝑣] † = 1 − 𝛼 O 𝑖Z † −
𝑑𝑡 𝐶 𝑅 † 𝑑𝑡 𝐶 𝑅
Large-Signal Averaged Model
47
Considering the notation 𝑖Z † = 𝑥M and 𝑣] † = 𝑥_:
𝑑 1
𝑥M = 𝐸 − (1 − 𝛼) O 𝑥_
𝑑𝑡 𝐿 𝑑
𝑥 = 𝑓(𝑥, 𝛼)
𝑑 1 𝑥_ 𝑑𝑡
𝑥_ = 1 − 𝛼 O 𝑥M −
𝑑𝑡 𝐶 𝑅
Before applying the linearization formulas, it is necessary to find the system’s

equilibrium points.
1 𝐸
0= 𝐸 − (1 − 𝛼/0 ) O 𝑥_/0 → 𝑥_/0 =
𝐿 (1 − 𝛼/0 )
1 𝑥_/0 𝑥_/0 𝐸
0= 1 − 𝛼/0 O 𝑥M/0 − → 𝑥M/0 = → 𝑥M/0 = _
𝐶 𝑅 1 − 𝛼/0 O 𝑅 1 − 𝛼/0 O𝑅
48
Now we can linearize around the equilibrium point:
Reminder:
𝜕𝑓M(𝑥/0 , 𝛼/0 ) 𝜕𝑓M(𝑥/0 , 𝛼/0 ) (1 − 𝛼/0 )
𝜕𝑥M 𝜕𝑥_ 0 − 𝑑 1
𝐴= = 𝐿 𝑑𝑡
𝑥M = 𝐸 − (1 − 𝛼) O 𝑥_
𝐿
𝜕𝑓_(𝑥/0 , 𝛼/0 ) 𝜕𝑓_(𝑥/0 , 𝛼/0 ) (1 − 𝛼/0 ) 1
−
𝜕𝑥M 𝜕𝑥_ 𝐶 𝑅𝐶 𝑑
𝑥_ =
1
1 − 𝛼 O 𝑥M −
𝑥_
𝑑𝑡 𝐶 𝑅
𝜕𝑓M(𝑥/0 , 𝛼/0 ) 𝑥_/0 𝐸
𝐸
𝜕𝛼 𝐿 O (1 − 𝛼/0 ) 𝑥M/0 =
𝐵= = 𝐿 1 − 𝛼/0
_
O𝑅
𝜕𝑓_(𝑥/0 , 𝛼/0 ) 𝑥M/0 = 𝐸
− − _
𝐸
𝜕𝛼 𝐶 𝑅𝐶 O 1 − 𝛼/0
𝑥_/0 =
(1 − 𝛼/0 )
Finally the small-signal averaged model of the boost converter:
(1 − 𝛼/0 ) 𝐸
0 − 𝐿 O (1 − 𝛼/0 )
∆𝑥̇ = 𝐿 ∆𝑥 + ∆𝛼
(1 − 𝛼/0 ) 1 𝐸
− − _
𝐶 𝑅𝐶 𝑅𝐶 O 1 − 𝛼/0
49
Example: Buck-Bost Converter
a) Establish the switched model in the bilinear form.
b) Build the classical averaged model.
c) Compute the equilibrium points of the system.
d) Deduce the state-space Small-Signal model.
e) Deduce the transfer function of the system having duty ratio

variations as input and the capacitor voltage as output.
f) Obtain the bode plot.
50
a) Establish the switched model
𝒊𝑹
𝒊𝑳 𝒊𝑪
+ + +
𝑬 𝒗𝑳 𝑳 𝒗𝑪
- - -
𝒊𝑳 𝒊𝑳 𝒊𝑹
𝒊𝑪
𝒊𝑪
+ + + + +
𝑬 𝒗𝑳 𝒗𝑪 𝒗𝑳 𝒗𝑪
- - - - -
𝒊𝑹

51
𝒊𝑳 𝒊𝑹 𝒊𝑳 𝒊𝑹
𝒊𝑪
𝒊𝑪
+ + + + +
𝑬 𝒗𝑳 𝒗𝑪 𝒗𝑳 𝒗𝑪
- - - - -
𝑑 𝑑
𝐿 𝑖Z = 𝐸 𝐿 𝑖Z = 𝑣]
𝑑𝑡 𝑑𝑡
𝐶 𝑣] = − 𝐶 𝑣] = −𝑖Z −
The transition between this configurations must be unified by only

one switching function 𝑢, since 2Q ≥ 2 → 𝑝 = 1.
52
Configuration 1 (ON)
𝑑
𝐿 𝑖Z = 𝐸
𝑑𝑡
𝑑 𝑣]
𝐶 𝑣] = −
𝑑𝑡 𝑅 𝑑 1
𝑖Z = 𝐸 O 𝑢 + 𝑣] (1 − 𝑢)
𝑑𝑡 𝐿
Configuration 2 (OFF) 𝑑 1 𝑣]
𝑣] = −𝑖Z (1 − 𝑢) −
𝑑𝑡 𝐶 𝑅
𝑑
𝐿 𝑖Z = 𝑣]
𝑑𝑡 The transition between the
𝑑 𝑣] configurations is unified
𝐶 𝑣] = −𝑖Z − by the switching function.
𝑑𝑡 𝑅
53
b) Build the classical averaged model, the analytical method is used.
We know that the bilinear form of the buck boost converter in continuous conduction
mode is given by:
𝑑 1
𝑖Z = 𝐸 O 𝑢 + 𝑣] (1 − 𝑢)
𝑑𝑡 𝐿
𝑑 1 𝑣]
𝑣 = −𝑖Z (1 − 𝑢) −
𝑑𝑡 ] 𝐶 𝑅
Applying the sliding average to this equations:
𝑑 1 𝑑 1
𝑖Z † = 𝐸 O 𝑢 + 𝑣] (1 − 𝑢) 𝑖Z † = 𝐸𝛼 + 𝑣] †(1 − 𝛼 )
𝑑𝑡 𝐿 † 𝑑𝑡 𝐿
𝑑 1 𝑣] †
𝑑 1 𝑣] 𝑣] † = − 𝑖Z † 1−𝛼 −
𝑣] † = −𝑖Z (1 − 𝑢) − 𝑑𝑡 𝐶 𝑅
𝑑𝑡 𝐶 𝑅 †
Large-Signal Averaged Model

54
c) Compute the equilibrium points of the system.
Considering the notation 𝑖Z † = 𝑥M and 𝑣] † = 𝑥_:
1 𝛼/0
0 = 𝐸𝛼/0 + 𝑥_/0 (1 − 𝛼/0 ) 𝑥M/0 = _
𝐸
𝐿 (1 − 𝛼/0 ) 𝑅
1 𝑥_/0 𝛼/0
0= −𝑥M/0 1 − 𝛼/0 − 𝑥_/0 =− 𝐸
𝐶 𝑅 (1 − 𝛼/0 )
55
1
𝑥Ṁ = 𝐸𝛼 + 𝑥_(1 − 𝛼 )
𝐿
1 𝑥_ 𝑓(𝑥, 𝛼)
𝑥_̇ = −𝑥M 1 − 𝛼 −
𝐶 𝑅
Applying the formulas for linearization around an equilibrium point:
𝜕𝑓M(𝑥/0 , 𝛼/0 ) 𝜕𝑓M(𝑥/0 , 𝛼/0 ) (1 − 𝛼/0 )

𝜕𝑥M 𝜕𝑥_ 0
𝐴= = 𝐿
𝜕𝑓_(𝑥/0 , 𝛼/0 ) 𝜕𝑓_(𝑥/0 , 𝛼/0 ) (1 − 𝛼/0 ) 1
− −
𝜕𝑥M 𝜕𝑥_ 𝐶 𝑅𝐶
𝜕𝑓M(𝑥/0 , 𝛼/0 ) 𝐸 𝑥_/0 𝐸 𝛼/0
− + 𝐸
𝜕𝛼 𝐿 𝐿 𝐿 𝐿(1 − 𝛼/0 )
𝐵= = 𝑥M/0 = 𝛼/0
𝜕𝑓_(𝑥/0 , 𝛼/0 )
_ 𝐸
𝜕𝛼 𝐶 (1 − 𝛼/0 ) 𝑅𝐶
56
The small-signal averaged model of the buck boost converter:
(1 − 𝛼/0 ) 𝐸 𝛼/0
0 + 𝐸
𝐿 𝐿 𝐿(1 − 𝛼/0 )
∆𝑥̇ = ∆𝑥 + 𝛼/0 ∆𝛼
(1 − 𝛼/0 ) 1
− − _ 𝐸
𝐶 𝑅𝐶 (1 − 𝛼/0 ) 𝑅𝐶
{”•
Considering the simplification 𝑀 = M‚{”•
:
𝛼/0 𝐸
0 (1 + 𝑀)
𝑀𝐿 𝐿
∆𝑥̇ = 𝛼/0 1 ∆𝑥 + 𝐸 𝑀_ ∆𝛼
− − O
𝑀𝐶 𝑅𝐶 𝑅𝐶 𝛼/0
57
d) Deduce the transfer function of the system having duty ratio
variations as input and the capacitor voltage as output.
Due to the capacitor voltage is the only output, we define Δ𝑦 = 𝐶Δ𝑥, with
𝐶 = [0 1]‰ . Then, one way for determine the transfer function from the state
space equations is by the formula:
𝑌(𝑠)
𝐻 𝑠 = = 𝐶(𝑠𝐼 − 𝐴)‚M𝐵 + 𝐷
𝛼(𝑠)
After algebra calculations:
𝑀_ 𝐸 1 − 𝜏𝑠
𝐻 𝑠 =− _ O
𝛼 /0 𝑠 _ 1 + 𝑠 2𝜉 + 1
𝑤+ _ 𝑤+
𝑀_ 𝐿 𝛼/0 1 𝑀 𝐿
𝜏= O , 𝑤+ = O , 𝜉= O
𝛼/0 𝑅 𝑀 𝐿𝐶 2𝛼/0 𝑅_𝐶
58
d) Obtain the Bode Plot.
𝑅 = 15Ω
𝐶 = 100𝑢𝐹
𝐿 = 0.5𝑚𝐻
𝐸 = 100𝑉
59
d) Obtain the Bode Plot.
The system presents non-minimum phase! This must be considered for the
controller design.
60
Conclusions about the Classical
Averaged Model
Advantages: Disadvantages:
q Easy to develop from the Switched q Is not useful for converters with AC
Model or the Bilinear Form. stages (zero average value of certain
variables).
q Good for linear control schemes.
q Exhibits difficulties in the
q Good Approximation when the state discontinuous conduction mode.
variables are lightly rippled. Thus, as the concerned variable
becomes zero at each switching
q Easy to obtain a discrete-time model cycle, it cannot be expressed as a
for implementation. large-signal recurrent form.
q Loose precision when the state

variables are not well filtered.
61
Outline
1. Introduction
3. Bilinear Form
62
Generalized Averaged Model (GAM)
q Approach: determine an appropriate state-space model in which
the Fourier Series coefficients are the states.
q Can also represent converters containing AC stages.
q Can handle averages of high-order harmonics.
Every periodic signal 𝑥 𝑡 with 𝑤 as the fundamental frequency can be

expressed with the Fourier Series:
k-th order sliding harmonic:

• >
1 𝟏
𝑥 𝑡 = K 𝑥, O 𝑒 ž,Ÿ> 𝑥, 𝑡 = 𝑥 , (𝑡) = ˆ 𝑥(𝜏) O 𝑒 ‚ž,Ÿ 𝑑𝜏 𝒇=
𝑻
𝑇 𝒘 = 𝟐𝝅𝒇
,L‚• >‚‰
63
Properties of the Sliding Harmonics
There are 2 fundamental properties in order to obtain the desired state space
models. For the first property, suppose the following generical state vector:
𝑑
𝑥 𝑡 = 𝑓(𝑥 𝑡 , 𝑢(𝑡))
𝑑𝑡
Applying the k-th sliding harmonic formula in both sides:

𝑑
𝑥 𝑡 = 𝑓(𝑥 𝑡 , 𝑢(𝑡)) ,
𝑑𝑡 ,
Then by integrating by parts with the definition formula of sliding harmonics, it is

possible to demonstrate that:
𝑑 𝑑
𝑥 , 𝑡 = 𝑥 𝑡 − 𝑗𝑘𝑤 𝑥 , 𝑡
𝑑𝑡 𝑑𝑡 ,
64
Properties of the Sliding Harmonics
The second fundamental property is:
𝑥O𝑦 , 𝑡 =K𝑥 ,‚@ (𝑡) O 𝑦 @ (𝑡)

@
With 𝑖 is for all the integers. In many cases, we shall rely on many of the terms of
the series being negligibly small or we just consider the harmonics of interest.
Relation between the Generalized Averaged Model and the

Classical Averaged Model
𝑑 𝑑 𝑑 𝑑
𝑥 † 𝑡 = 𝑥 𝑡 −𝑗O0O𝑤 𝑥 † 𝑡 → 𝑥 † 𝑡 = 𝑥 𝑡
𝑑𝑡 𝑑𝑡 † 𝑑𝑡 𝑑𝑡 †
> >
1 ‚žO†OŸ
1
𝑥 †(𝑡) = ˆ 𝑥(𝜏) O 𝑒 𝑑𝜏 → 𝑥 †(𝑡) = ˆ 𝑥(𝜏)𝑑𝜏
𝑇 𝑇
>‚‰ >‚‰
65
Sliding Harmonics of a Passive Circuit
q Inductor: 𝐿 𝑗𝑘𝑤𝐿
𝑑𝑖 𝑑𝑖 𝑑𝑖, 𝑖 ,
𝑣=𝐿 ⟹ 𝑣 , = 𝐿 = 𝑗𝑘𝑤𝐿 𝑖 , + 𝐿
𝑑𝑡 𝑑𝑡 , 𝑑𝑡 + 𝑣 , −
q Capacitor:
+ 𝑣 , −
𝑑𝑣 𝑑𝑣 𝑑𝑣,
𝑖=𝐶 ⟹ 𝑖 , = 𝐶 = 𝑗𝑘𝑤𝐶 𝑣 , + 𝐶
𝑑𝑡 𝑑𝑡 , 𝑑𝑡 𝐶 𝑖 ,
q Resistor: 1
𝑅
𝑗𝑘𝑤𝐶
𝑣 = 𝑅𝑖 ⟹ 𝑣 =𝑅 𝑖 𝑖 ,
, ,
+ 𝑣 , −
The GAM applied to an inductor and a capacitor changes the circuit

configuration. By considering steady-state (𝑥̇ = 0), the model obtained correspond to
the impedances expressions.
66
Sliding Harmonics of Signals
Regardless of the type of signal, always the sliding harmonic always can be
obtained by applying the definition. This can be simple for periodic functions. For
example:
𝑢(𝑤𝑡)
1 ª
𝜋 2𝜋 1 ‚žOMOŸ>
−2𝑗
𝑢 M = ˆ𝑢O𝑒 𝑑 𝑤𝑡 =
𝑤𝑡 2𝜋 𝜋
‚ª
−1
𝑦 = 𝑠𝑖𝑛(𝑤𝑡)
1 ª
𝜋 2𝜋 1 ‚žOMOŸ>
−1𝑗
𝑦 M = ˆ sin(𝑤𝑡) O 𝑒 𝑑 𝑤𝑡 =
𝑤𝑡 2𝜋 2
‚ª
−1
67
Sliding Harmonics of Signals
If the fundamental frequency of the signal is well-known. Then it is possible to use an
Amplitude Demodulator
𝑥M = 𝑅𝑒 𝑦(𝑡) ,
−𝟏 𝑥_ = 𝐼𝑚 𝑦(𝑡) ,
q One must pay attention to the delays inherently introduced by using low pass
filters and compensate them if they are too significant.
q Note that by separating the states 𝑥 = 𝑥M + 𝑗 O 𝑥_ in real and imaginary parts, we

can using GAM to expressing Active and Reactive components of AC variables.
68
Relation between 1-st Harmonic
decomposition and dq-frame
Single Phase case:
Let’s assume a sinusoidal signal 𝒊𝑳 with angular frequency equal to 𝒘. Using the first
coefficients of the Fourier Series, this signal can be expressed as:
M
𝑖Z = K 𝑖Z O 𝑒 ž,Ÿ> = 𝑖 O 𝑒 ‚žOMOŸ> + 𝑖 žOMOŸ>
, Z ‚M Z † + 𝑖Z M O 𝑒
,L‚M
𝑖Z ‚M and 𝑖Z M are complex conjugate numbers. Then, with 𝑖Z M = 𝑥M + 𝑗𝑥_ :
𝑖Z = (𝑥M−𝑗𝑥_) cos 𝑤𝑡 − 𝑗 O sin 𝑤𝑡 + (𝑥M+𝑗𝑥_) cos 𝑤𝑡 + 𝑗 O sin 𝑤𝑡
𝑖Z = 𝑥M cos 𝑤𝑡 − 𝑗 O 𝑥M sin 𝑤𝑡 − 𝑗 O 𝑥_ cos 𝑤𝑡 − 𝑥_sin(𝑤𝑡)

+ 𝑥M cos 𝑤𝑡 + 𝑗 O 𝑥M sin 𝑤𝑡 + 𝑗 O 𝑥_ cos 𝑤𝑡 − 𝑥_sin(𝑤𝑡)
1 𝑖Z = 2(𝑥M cos 𝑤𝑡 − 𝑥_ sin 𝑤𝑡 )
69
Single Phase case:
On the other hand, considering the following

phasor diagram of the dq-frame:
𝑦 Note:
𝑞 One advantage of using
𝑖Z the dq-frame is that it
𝑖0 makes really easy to
𝑖=
𝑑 express the active and
𝑤𝑡
reactive power:
𝑥
𝑃 = 𝑉 O 𝑖=
𝑖Z = 𝑖= sin 𝑤𝑡 + 𝑖0 sin(𝑤𝑡 + 𝜋/2)
𝑄 = 𝑉 O 𝑖0
2 𝑖Z = 𝑖= sin 𝑤𝑡 + 𝑖0 cos(𝑤𝑡)
70
Single Phase case:
1 𝑖Z = 2(𝑥M cos 𝑤𝑡 − 𝑥_ sin 𝑤𝑡 ) 2 𝑖Z = 𝑖= sin 𝑤𝑡 + 𝑖0 cos(𝑤𝑡)
Solving 1 = 2 :
𝑖0
𝑥M = 𝑖= = −2𝑥_
2
𝑖=
𝑥_ = − 𝑖0 = 2𝑥M
2
71
Three Phase case:
Let’s assume a sinusoidal signals 𝒊𝟏 , 𝒊𝟐 and 𝒊𝟑 of a 3-phase balanced system with
angular frequency equal to 𝒘. With the same procedure that in the single phase case,
using the first coefficients of the Fourier Series, the signals can be expressed as:
𝑖M = 2(𝑥M cos 𝑤𝑡 − 𝑥_ sin 𝑤𝑡 )
𝑖_ = 2(𝑦M cos 𝑤𝑡 − 𝑦_ sin 𝑤𝑡 )
𝑖¶ = 2(𝑧M cos 𝑤𝑡 − 𝑧 sin 𝑤𝑡 )
With: 𝑖M M = 𝑥M + 𝑗𝑥_, 𝑖_ M = 𝑦M + 𝑗𝑦_, 𝑖¶ M = 𝑧M + 𝑗𝑧_.
72
Three Phase case:
The corresponding transform matrices to obtain 3-phase signals into the dq-
reference frame:
(𝟏)
(𝟐)
73
Three Phase case:
Applying the transformation matrix to

the signals:
𝑖M = cos 𝑤𝑡 𝑖0 + sin 𝑤𝑡 𝑖=
𝑖_ = cos 𝑤𝑡 − 2𝜋/3 𝑖0 + sin 𝑤𝑡 − 2𝜋/3 𝑖=

= cos 𝑤𝑡) O cos(2𝜋/3 + sin 𝑤𝑡) O sin(2𝜋/3 𝑖0 + sin 𝑤𝑡) O cos(2𝜋/3 − cos 𝑤𝑡 O sin(2𝜋/3) 𝑖=
= cos 𝑤𝑡) O (−1/2 + sin 𝑤𝑡) O 3/2 𝑖0 + sin 𝑤𝑡) O(−1/2 − cos 𝑤𝑡 O 3/2 𝑖=
1 3 3 1
= − 𝑖0 − 𝑖= cos 𝑤𝑡 + 𝑖0 − 𝑖= sin(𝑤𝑡)
2 2 2 2
74
Three Phase case:
Applying the transformation matrix to

the signals:
𝑖M = cos 𝑤𝑡 𝑖0 + sin 𝑤𝑡 𝑖=
1 3 3 1
𝑖_ = − 𝑖0 − 𝑖= cos 𝑤𝑡 + 𝑖0 − 𝑖= sin(𝑤𝑡)
2 2 2 2
𝑖¶ = cos 𝑤𝑡 + 2𝜋/3 𝑖0 + sin 𝑤𝑡 + 2𝜋/3 𝑖=

= cos 𝑤𝑡) O cos(2𝜋/3 − sin 𝑤𝑡) O sin(2𝜋/3 𝑖0 + sin 𝑤𝑡) O cos(2𝜋/3 + cos 𝑤𝑡 O sin(2𝜋/3) 𝑖=
= cos 𝑤𝑡) O (−1/2 − sin 𝑤𝑡) O 3/2 𝑖0 + sin 𝑤𝑡) O(−1/2 + cos 𝑤𝑡 O 3/2 𝑖=
1 3 3 1
= − 𝑖0 + 𝑖 cos 𝑤𝑡 + − 𝑖 − 𝑖 sin(𝑤𝑡)
2 2 = 2 0 2 =
75
Three Phase case:
1
𝑥M = 𝑖0
𝑖M = 2(𝑥M cos 𝑤𝑡 − 𝑥_ sin 𝑤𝑡 ) 2
1
𝑥_ = − 𝑖=
𝑖_ = 2(𝑦M cos 𝑤𝑡 − 𝑦_ sin 𝑤𝑡 ) 2
1 3
𝑖¶ = 2(𝑧M cos 𝑤𝑡 − 𝑧 sin 𝑤𝑡 ) 𝑦M = − 𝑖0 − 𝑖=
4 4
3 1
𝑦_ = − 𝑖 + 𝑖
𝑖M = cos 𝑤𝑡 𝑖0 + sin 𝑤𝑡 𝑖= 4 0 4 =
1 3 3 1 1 3
𝑖_ = − 𝑖0 − 𝑖= cos 𝑤𝑡 + 𝑖0 − 𝑖= sin(𝑤𝑡) 𝑧M = − 𝑖0 + 𝑖
2 2 2 2 4 4 =
1 3 3 1
𝑖¶ = − 𝑖0 + 𝑖= cos 𝑤𝑡 + − 𝑖0 − 𝑖= sin(𝑤𝑡) 3 1
2 2 2 2 𝑧_ = 𝑖0 + 𝑖=
4 4
76
How to obtain the GAM of
Power Electronics Converters
Algorithm 1: Analytical Approach, starting from the bilinear form of the exact model
1. Identify the DC and AC states.
2. For the DC states:

=
• Apply the sliding average to the state equations ( 𝑥 † ).
=>
3. For the DC states:

=
• Apply the sliding harmonics to the state equations ( 𝑥 , ).
=>
4. Get the expressions of coupled terms with the formula 𝑥 O 𝑦 , 𝑡 =

∑@ 𝑥 ,‚@ (𝑡) O 𝑦 @ (𝑡).
5. Separate the states in real part and imaginary part.
6. Transform to dq-frame (not mandatory, but recommended).
77
How to obtain the GAM of
Algorithm 2: Graphical Approach , starting from the bilinear form of the exact model
1. Build the equivalent exact diagram.
2. Identify the DC and AC stages.
3. Within the DC stage:

• replace state variables and coupled products by their sliding averages
• leave passive components as they are
4. Within the AC stage:

• Replace state variables and coupled products by their respective sliding harmonics
• Compute the equivalent impedances modifying capacitors and inductors
5. Get the expressions of coupled terms with the formula

𝑥 O 𝑦 , 𝑡 = ∑@ 𝑥 ,‚@ (𝑡) O 𝑦 @ (𝑡).
5. Separate the states in real part and imaginary part.
6. Transform to dq-frame (not mandatory, but recommended).

78
Examples
a) Find the GAM of a single-phase grid connected Inverter with full
wave modulation.
𝒊𝒔
𝒊𝒄
𝒊𝑳
− 𝒗𝑳 +
+ +
𝒗𝟎 𝒆
- -
*The solution to this example is in the annex of this Lecture.
79
Examples
b) Find the GAM of a single-phase grid connected Inverter with Bipolar
PWM.
𝒊𝒔
𝒊𝒄
𝒊𝑳
− 𝒗𝑳 +
+ +
𝒗𝟎 𝒆
- -
80
Examples
c) Find the GAM of a single-phase grid connected Inverter with Unipolar
PWM.
𝒊𝒔
𝒊𝒄
𝒊𝑳
− 𝒗𝑳 +
+ +
𝒗𝟎 𝒆
- -
81
Examples
d) Find the GAM of a three-phase grid connected Inverter with PWM.
𝒊𝒔 𝒊𝟎
𝒊𝒄
+ 𝒆𝟏 −
𝒊𝟏
𝒗𝟏
+ + 𝒆𝟐 −
𝒊𝟐
𝒗𝟎 𝒗𝟐 N
- + 𝒆𝟑 −
𝒊𝟑
𝒗𝟑
82
Simulation: 3-phase grid connected Inverter
The inverter and the GAM model are simulated in parallel in order to compare the signals obtained
in each case.
Simulated Circuit:
83
𝑣† † 𝐸
𝑖=̇ = 𝑤 O 𝑖0 − 𝛽= +
2𝐿 𝐿
𝑣† †
𝑖0̇ = −𝑤 O 𝑖= − 𝛽0
2𝐿
3 𝑖½ †
𝑣†̇ † = (𝑖= 𝛽= + 𝑖0 𝛽0 ) −
4𝐶 𝐶
Simulated Model
q The green signal are obtained

with the GAM model and the
red ones from the circuit
measures.
q The GAM model is capable of

represent the dynamics of
interest of the converter (low
frequency dynamics).
q This model is can be used for

controllers design or simulation
purposes.
q Note that this simulation is in

Open Loop. Therefore the
currents and the capacitor
voltage are not following
reference signals.
85
Outline
1. Introduction
3. Bilinear Form
86
Reduced-Order Averaged Model (ROAM)
q Approach: eliminate the problematic variables (high frequency
states or inductor current in dcm) and replace it by a function of
other state variable. Hence a reduced order model is obtained.
q It has the following applications:

• When you want a simplification of the classical averaged model.
• For converters with DC and AC stages.
• Converters whose switching is state-controlled and is also controlled by an
independent input (e.g. thyristor based converters).
• Converters that operates in discontinuous conduction mode.
q Easy models are obtained for simulation and control purposes.

Nevertheless sometimes ignoring the dynamics can lead to
instability problems that are not predictable by this kind of
modelling.
87
Working Principle of the ROAM
The switched model can be separated in two dynamics:
• Main dynamic
• Another that must be eliminated because it does not significantly contribute to

the equivalent low-frequency behaviour of the converter.
When it is practical to
separate the dynamics?
Case 1 Case 2
There is a very slow dynamic There are variables being zeroed
prevailing over another much faster periodically due to discontinuous
one. The separation may not result conduction mode. In most of
from the initial circuit design, but can cases it can be shown that these
be later ensured by control action variables do not significantly
(presence of a inner control loop). influence the converter main
dynamics
88
How to obtain the ROAM of
1. Obtain the switched model of the converter.
2. Split the model into two parts by separating the state vector in low dynamics
states and fast dynamics states.
3. Solve the fast dynamic states by considering constant the slow variables at their
averaged value. Compute in this way the averaged response depending on the
values of the slow variables.
4. Apply either the classical or generalized averaged method, depending on the

typo of variable (DC or AC).
5. In the low dynamics states, replace the averaged value of fast dynamic states
obtained in 3.
89
Example: Buck-Boost Converter in
Discontinuous Conduction Mode
𝒊𝑹
𝒊𝑳 𝒊𝑪
+ + +
𝑬 𝒗𝑳 𝑳 𝒗𝑪
- - -
1 𝐸_𝑇 𝑣] †
𝑣†̇ † = _
O𝛼 −
𝐶 2𝐿 𝑣] † 𝑅
90
Simulation: buck-boost DCM
The buck boost and the ROAM model are simulated in parallel in order to compare the signals
obtained in each case.
Simulated Circuit:
Simulated Model:
Simulation: buck-boost DCM
q The green signals are obtained with the ROAM model and the red ones from
the circuit measures.
q In despite of the approximations, the model is capable of represent the

dynamics of interest of the converter.
92
References
Ø Bacha, Seddik, Iulian Munteanu, and Antoneta Iuliana Bratcu.
"Power electronic converters modeling and control." Advanced
textbooks in control and signal processing (2014).
Ø Erikson, R. W., and D. Maksimovic. "Fundamentals of power

electronics: Kluwer academic." Norwell, USA (2001).
Ø Sanders, Seth Robert. "Generalized averaging method for power

conversion circuits." (1990).
Ø Oppenheim, Alan V., Alan S. Willsky, and S. Nawab. "Signals and

Systems (Prentice-Hall signal processing series)." (1996).
93

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Lecture 1:

2. Switched Model (Exact Model)

4. Classical Averaged Model

5. Generalized Averaged Model

6. Reduced-Order Averaged Model

Know Info about Black Box

Figure: relation between large-signal model and small-signal model.

Definition: a pair 𝑥/0, 𝑢/0 ∈ ℝ+ ×ℝ, is called an equilibrium

q It’s posible to linearize the system around the equilibrium

q Note that with 𝑥̇ = 0, the steady state converter behaviour

𝜕𝑔 𝑥/0, 𝑢/0 𝜕𝑔 𝑥/0, 𝑢/0

𝜕𝑓 𝑥/0, 𝑢/0 𝜕𝑓 𝑥/0, 𝑢/0

∆𝑥̇ = 𝐴∆𝑥 + 𝐵∆𝑢

q Power sources are considered perfect.

q Passive elements are considered linear and invariant.

The models of circuit elements can be enriched by taking into

2. Switched Model (Exact Model)

4. Classical Averaged Model

5. Generalized Averaged Model

6. Reduced-Order Averaged Model

Each ON/OFF configuration of the converter represents in fact a

With 𝑖 ∈ 1, … , 𝑁 and 𝑁 equal to the number of configurations.

x ∈ ℝ+ , 𝑒 ∈ ℝQ , 𝐴@ ∈ ℝ+ R + , 𝐵@ ∈ ℝ+ R Q . Where x is the state vector

Configuration 1 (ON) Configuration 2 (OFF)

Configuration 1 (ON) Configuration 2 (OFF)

q The validation functions can be dependent of the state vector,

q For most of the applications, a more compact form is needed

2. Switched Model (Exact Model)

4. Classical Averaged Model

5. Generalized Averaged Model

6. Reduced-Order Averaged Model

q The N validation functions are replaced by the switching

q Every Power Electronic converter can be modelled with this form.

q The bilinear form is non-linear, due to the presence of products

q If 𝑩𝒌 = 0, then a linear equation is obtained. This is the case for

q Linearization of this equation leads to the small signal model of

It is possible to linearize the bilinear form, by applying directly the

Finally this model can be used directly in designing linear control

q In first place, is mandatory some priori knowledge about the

q This can be done by simulating the converter and checking the

q Two general algorithms are going to be presented to find this form.

1. Choose the state variables, by either directly taking the capacitor

2. Write the expressions of the derivatives of the state variables for

3. Identify the transition conditions between configurations. Then

4. Write the switching variables as functions of the control inputs.

5. Replace the switched variables in the state-space equations developed in step 3

Configuration 1 (ON) Configuration 2 (OFF)

The transition between this configurations must be unified by only

𝒗𝑯 and 𝒊𝑫 are the switched variables.

0, when the Mosfet is ON 0, when the Mosfet is ON

q When a DC-DC converters it is operating in steady-state, it is possible to

q The DC-transformer model allows to easily include the components

Then the equivalent circuit:

q We assume steady-state, so we replace the switching function 𝑢

q The inductor resistance is included to enrich the model.

Then the DC-transformer model: 𝛼y = 1 − 𝛼

M Figure: Boost Converter real voltage ratio.

q It is great to understand the converter topology and how it operates

q Can be used for simulation.

q It is suitable for designing non-linear control laws, such as variable-

q It is the one starting point to obtain other models more focused in

2. Switched Model (Exact Model)

4. Classical Averaged Model

5. Generalized Averaged Model