SMALL SIGNAL TRANSFER FUNCTIONS AND

MATHEMATICAL MODEL OF THE BOOST POWER

CONVERTER
Stelios Ioannou1*, Maria C. Argyrou2, Paul Christodoulides2, Christos C. Marouchos2
1
Electrical and Electronic Engineering, School of Sciences, University of Central Lancashire, Pyla, Larnaca,
Cyprus
2
Electrical Engineering, Computer Engineering and Informatics, Cyprus University of Technology, Limassol,
Cyprus
*SIoannou2@uclan.ac.uk

Keywords: SMALL SIGNAL, TRANSFER FUNCTIONS, BOOST CONVERTER, MATHEMATICAL

MODEL.

Abstract
In this paper the switching function is employed to derive both the small signal transfer functions and the large signal
mathematical model of the boost converter. In both cases the switching function technique is employed. In deriving the large
signal mathematical model, both the switching frequency and its first harmonic are included. In this way the output of the
large signal gives the important harmonic content of the output voltage and inductor current. For the small signal transfer
functions the average model is derived but work is underway to include the switching frequency as well. PSIM/Simulink
simulations are employed to verify the both the mathematical model and the small signal transfer functions.

1. Introduction effect/impact on the output voltage and inductor current due

Power electronic converters are all around us. It is estimated
that 70% of today’s electric energy, residential and industrial,
is “converted” [1]. The list of applications ranges from low
power consumer electronics all the way to high power
renewable energy sources and the smart grid [2]. The
popularity and wide range of converter applications opened
an abundance of research areas improving the performance of
existing topologies i.e. cascading and multi-level [3], [4],
reliability [5], control [6, 7], cost [8], scale-up [9], efficiency
[10], losses [11], and more. Efficiency is crucial for
applications involving unmanned systems which have power
quality [12] restrictions and limited on-board energy
availability [13]-[15].
Mathematical modelling is employed in order to simulate the
system’s performance. Usually the average model [16] is
adequate as the switching frequency is chosen high enough
and its effects due to the modulation processes are
suppressed. In the same way a small signal equivalent
average model is employed in order to design the controller
in the feedback loop [17].
Very often a feedback loop is inserted in order to control
parameters such as the voltage and current. Power converters
are non-linear systems with time varying parameters and a
straight forward derivation of their transfer function is not
possible [18]. Instead approximate transfer functions are
derived which are valid for small changes around the
operating point. The controlled parameter is the current or
voltage and the controlling parameter i.e. the input is the duty
cycle of the semiconductor switch. Furthermore the
to a disturbance on the input voltage is investigated [19].
The dynamic analysis of a nonlinear time-variant system is
difficult, and the classical control theory is applied only in
linearized time invariant systems. Therefore, it is necessary to
develop a process which allows us to overcome the problems
regarding the time-variance and nonlinearity of the switching
process of the converter [20].
The small-signal model is a linear time-invariant model in
which all the standard circuit analysis techniques can be
applied. To construct the small-signal ac model the switching
ripples in the inductor current and the capacitor voltage are
ignored by averaging over one switching period. Hence, the
nonlinear time-varying variables that produced by the
switching process are being averaged, removing their time
variance. Therefore, a linear time-invariant small signal
model is produced, describing the time-domain dynamics at
the presence of small-signal excitation. Finally, the time-
domain small-signal model is converted into a frequency-
domain, or s-domain, small-signal model, which provides
transfer functions of power stage dynamics. The resulting
transfer functions embrace all the standard s-domain analysis
techniques and reveal the frequency-domain small-signal
dynamics of power stage [21]–[23].
A step-by-step power stage modelling is investigated in this
paper for the boost converter, based on the process discussed
above. The switching function [24] is employed which
represents the switching action of the semiconductor
switches. At the moment for the small signal transfer function

ϭ

Authorized licensed use limited to: Durban University of Technology. Downloaded on May 19,2023 at 12:15:15 UTC from IEEE Xplore. Restrictions apply.
the switching frequency is ignored but for the mathematical 3. Derivation of Inductor Current and Output
model is included. Voltage as a Function of a Varying Supply
Voltage
2. The Steady State Equations of the Boost
Converter 3.1. Derivation of Output Voltage
The boost converter circuit is shown on Figure 1. Let a small test ac voltage VdcT(t) on top of the dc input
voltage, Vdc. Hence a harmonic voltage at the frequency of
IL(t)
L
ID(t) the test signal appears across the inductor VLT(t) and across
the output VoT(t). And expression (6) becomes
Vdc Vo(t)
V dc + V dcT (t ) = V L (t ) + V LT (t ) + [V odc + V oT (t )] * [1 − D − Φ (t )]
VSW(t)
C R
Expanding
V dc + V dcT (t ) = V L (t ) + V LT (t ) + V odc [1 − D ] − Φ (t )V odc
;ϵͿ
− Φ (t )V oT (t ) + [1 − D ]V oT (t )

Figure 1 The Boost Converter Circuit Equating terms on both sides of same frequency, at test
frequency
Starting with the general equations as presented in [24] then
the input loop voltage equation is expressed V dcT (t ) = V LT (t ) + [1 − D]VoT (t ) (10)

Vdc = VL (t ) + Vsw (t ) (1) Laplace

Voltage across the switch VdcT ( s ) = VLT ( s ) + [1 − D]VoT ( s ) (11)

V sw (t ) = Vo (t ) * [1 − F (t )] (2) Also, replace for VL(s) = sLIL(s) then

Definition of the switching function VdcT ( s ) = sLI LT ( s ) + [1 − D ]VoT ( s ) (12)

∞ § sin( nδ ) ·
F (t ) = D + 2 ¦ ¨ cos( nωt ) ¸ (3) 3.2. Derivation of Diode Current
n =1© n π ¹ The small ac signal on Input voltage, VdcT(t) produces a
for quick writing frequency harmonic component on the diode current IDT(t)
and inductor current ILT(t). Hence expression (8) becomes
∞ § sin( nδ ) ·
Φ (t ) = 2 ¦ ¨ cos( nωt ) ¸ (4) I D + I DT (t ) = [ I dc + I Lac (t ) + I LT (t )][1 − D − Φ (t )]
n =1© nπ ¹
Equating components of same frequency on both sides at test
F (t ) = D + Φ (t ) (5) frequency
Assuming Steady State conditions then the loop voltage I DT (t ) = I LT (t )[1 − D] (13)
equations and ignoring the ripple voltage due to switching
frequency and equating Vo(t) = Vodc replacing (2) and (5) into Laplace
(1)
I DT ( s ) = I LT ( s )[1 − D] (14)
V dc = V L (t ) + [1 − D] *Vodc − Φ(t ) *Vodc ] (6)
This current flows into a Laplace impedance of a
The diode current resistor/capacitor in parallel. It forms the output voltage at
test frequency, VoT(t)
I D (t ) = I L (t ) * [1 − F (t )]

Substituting (5) R
VoT ( s ) = I LT ( s )[1 − D] (15)
RCs + 1
I D (t ) = I L (t ) * [1 − D − Φ (t )] (7)
Let the current through inductor having a dc component Idc 3.3 Derivation Transfer Functions
and an ac component, ILac(t) By employing expressions (12) and (15) the small signal
transfer function for the inductor current is derived
I D (t ) = [ I dc + I Lac (t )][1 − D − Φ (t )] (8)

Ϯ

Authorized licensed use limited to: Durban University of Technology. Downloaded on May 19,2023 at 12:15:15 UTC from IEEE Xplore. Restrictions apply.
 I LT ( s ) and perfect matching is shown. The frequency response of
TF(s) = = the inductor current is displayed in Fig.3. Table 3 shows
VdcT ( s )
results from a PSIM simulation and perfect matching is
§ · shown. 
¨ ¸ (16)
§ 1 ·¨ RCs + 1 ¸
¨ ¸
¨ R[1 − D]2 ¸¨ 2 LC L ¸ 4. Derivation of Inductor Current and Output
© ¹¨ s +s +1¸
© [1 − D] R[1 − D]
2 2
¹ Voltage as a Function of a Varying Control
Signal, D
By employing expressions (12) and (15) the small signal
transfer function for the output voltage is derived
4.1. Derivation of Output Voltage
§ 1 · Test Signal T(t) is added to the switching function at a test
¨ ¸
VoT ( s ) ¨ R[1 − D ] 2
¸ frequency fs
TF(s) = =¨ ¸
(17)
VdcT ( s ) LC L F (t ) = D + Φ(t ) + T (t ) (18)
¨s
2
+s +1¸
© [1 − D ] R[1 − D ]
2 2
¹
A harmonic voltage at the frequency of the test signal appears
across the inductor VLT(t) and across the output VoT(t) due to
the test signal T(t)
Vdc = VL (t ) + V LT (t ) + [Vodc + VoT (t )] * [1 − D − Φ (t ) − T ( s )]
(19)
Expanding
Vdc = VL (t ) + V LT (t ) + Vodc [1 − D ] − Φ (t )Vodc
(20)
− Φ (t )VoT (t ) + [1 − D ]VoT (t ) − VoT (t )T (t ) − T (t )Vodc

Equating terms on both sides of same frequency, at test

frequency
0 = VLT (t ) + [1 − D]VoT (t ) − T (t )Vodc (21)
Figure 2 Frequency response of output voltage for variations
on the input voltage (D =0.7) Laplace

Table 1 Boost Converter Gain for Output Voltage 0 = VLT ( s) + [1 − D]VoT ( s) − T (s )Vodc (22)
Frequency (Hz) 10 60 70 80 100 1000
GdbVSF (dB) 10.63 17.04 16.58 13.69 7.644 -36.33 Also, replace for VL(s) = sLIL(s) then
GdbVPSIM (dB) 10.62 17.02 16.56 13.68 7.640 -36.33
0 = sLI LT ( s ) + [1 − D]VoT ( s ) − T ( s )Vodc (23)

4.2. Derivation of Diode Current
I D (t ) = I L (t )[1 − F (t )]

I D (t ) = I L (t )[1 − D − Φ(t )] (7)

Let the current through inductor having a dc component Idc
and an AC component, ILac(t)
I D (t ) = [ I dc + I Lac (t )][1 − D − Φ(t )] (25)
Test Signal T(t) added to switching function at a test
frequency fs
Figure 3 Frequency response of inductor current for F (t ) = D + Φ(t ) + T (t ) (26)
variations on the input voltage (D =0.7)
A harmonic current at the frequency of the test signal appears
Table 2 Boost Converter Gain for Inductor Current in the diode current IDT(t) and the current in the inductor
Frequency (Hz) 10 60 70 80 100 1000 ILT(t) due to the test signal T(t)
GdbVSF (dB) 7.515 20.10 20.72 18.81 14.49 -9.903
GdbVPSIM (dB) 7.517 20.09 20.70 18.80 14.48 -9.898 I D + I DT (t ) = [ I dc + I Lac (t ) + I LT (t )][1 − D − Φ (t ) − T (t )]
 (27)
The frequency response of the output voltage is displayed in
Figure 2. Table 1 shows the results from a PSIM simulation Equating terms on both sides of same frequency, at test
frequency

ϯ

Authorized licensed use limited to: Durban University of Technology. Downloaded on May 19,2023 at 12:15:15 UTC from IEEE Xplore. Restrictions apply.
 I DT (t ) = I LT (t )][1 − D] − T (t ) I dc (28)
Laplace
I DT ( s ) = I LT ( s )][1 − D] − T ( s ) I dc (29)
This current flows into a Laplace impedance of a
resistor/capacitor in parallel. It forms the output voltage at
test frequency
R R
VoT ( s ) = I LT ( s )[1 − D ] − T ( s ) I dc (30)
RCs + 1 RCs + 1

4.3. Derivation of the transfer functions

Transfer function for the inductor current by employing Figure 5 Frequency response of for the output voltage against
expressions (29) and (30) variations of the parameter D

TFLT ( s) =
2Vodc (12 RCs + 1) Table 4 Boost Converter Gain for output Voltage
Frequency (Hz) 10 60 70 80 100 1000
(31)
[1 − D ]R s LC
2 2
L GdbVSF (dB) 62.48 69.57 69.34 66.7 61.2 32.47
+s +1 GdbVPSIM (dB) 66.64 69.49 74.11 67.43 70.5 35.75
[1 − D]2 R[1 − D]2

5. The Mathematical Model of the Boost

Converter by Employing the Switching
Function
Starting with the general boost converter expressions the
derivation of the integro-deferential equations
V dc = V L (t ) + V sw (t ) (1)

V sw (t ) = V o (t ) * [1 − F (t )] (2)

V dc = V L (t ) + Vo (t ) * [1 − F (t )] (3)
∞ § sin( nδ ) ·
Figure 4 Frequency response of for the inductor current F (t ) = D + 2 ¦ ¨ cos( nωt ) ¸ (4)
against variations of the parameter D (D =0.7) n =1© nπ ¹

Table 3 Boost Converter Gain for Inductor Current Approximated to its two first harmonic components
Frequency (Hz) 10 60 70 80 100 1000 sin(δ ) sin( 2δ )
GdbVSF (dB) 64.44 73.51 73.73 71.5 66.75 41.32 F (t ) = D + cos(ωt ) + cos( 2ωt ) (33)
GdbVPSIM (dB) 70.6 74.78 74.12 73.14 70.5 45.21 π 2π
Diode Current
By employing expressions (29) and (30) again, the Transfer
function for the output voltage is derived in (11) I D (t ) = I L (t )[1 − F (t )]
§ L · I C (t ) = I D (t ) − I R (t ) (34)
¨1 − s ¸
¨ 2 ¸
R (1 − D) ¹
TFV ( s ) =
VoT ( s )
=
Vodc © (32) 1
T ( s) [1 − D] s 2 LC L Vo (t ) = ³ I C (t )dt (35)
+ s + 1 C
[1 − D]2 R[1 − D]2
Vo (t )
I R (t ) = (36)
R
Expressions (1) to (4) and Expressions (33) to (34) are
employed to construct the mathematical model.

ϰ

Authorized licensed use limited to: Durban University of Technology. Downloaded on May 19,2023 at 12:15:15 UTC from IEEE Xplore. Restrictions apply.
 responses including the simulation results using the PSIM
software are tabulated on Tables 1 and 2. As seen the results
V V1 = 0.25743 V V3 = 0.51486
r
sin are in absolute agreement in the entire range of frequencies.
0.7
D
Input V
SF_First_Harmonic
D

3.142
V V_SF
Furthermore, Figure 4 refers to the inductor current for
5000
2 1 90 variations of the input voltage Vdc whereas Figure 3 refers to
the output voltage for variations of the input voltage Vdc. .
V5
90
10000
1
The results for both responses including the simulation
r
sin
V V V
results using the PSIM software are tabulated on Tables 3 and
SF_second_harmonic
4. As seen the results are in good agreement in the entire
GENERATION OF SWITCHING FUNCTION (D and two Harmonics)
range of frequencies.

The response of the mathematical model is displayed in

Figure 7. The output voltage transient response is shown
R
(Upper Trace) and the inductor current (Lower Trace) for
V 5
both PSIM circuit and PSIM mathematical model. As shown
V_L
‫ݕ‬
I_L
‫ݕ‬
I_R the PSIM circuit simulation and the mathematical simulations
I_C Vo
110 I_D just overlap indicating perfect prediction of the time response
V_SW
V Vo of the suggested Switching Function Mathematical Model.
V V_pwm Furthermore the model predicts exactly the output voltage
ripple and the current ripple on the inductor current at both
the switching frequency 5 KHz and its first harmonic 10
Figure 6 Mathematical Model of the Boost Converter
KHz, Table 5.
Implemented on PSIM
Table 5: Inductor Current and Output Voltage Ripple
Switching
5kHz 10kHz
Frequency
Inductor Output Inductor Output
Current Voltage Current Voltage
Ripple Ripple Ripple Ripple
(A) (V) (A) (V)
PSIM 11.87 3.955 3.502 1.169
SF MODEL 11.80 3.947 3.429 1.173
%error 0.6% 0.05% 2.1% -.0.34%

Figure 7 Output Voltage Transient Response (Upper Trace) As shown in Table 5, the error between the PSIM simulation
and the Inductor Current (Lower Trace) for both PSIM and the predictions of the Switching Function model is very
Circuit and PSIM Mathematical Model small. The highest error of 2.1% is due to the fact that PSIM
circuit simulations do not generate the exact amplitudes of
the harmonic components of the switching function.

6. Discussion of Results 7. Conclusion

All results are taken for the following values of circuit
A new approach, the Switching Function is adopted for
parametersǯL= 0.0005 H, C = 1000 uF, R = 5 ȍ and D =
deriving both the small signal equivalent circuits and the
0.5.
large signal mathematical mode. The switching function has
the ability to include the switching action of the
The mathematical model represents the operation of the
semiconductor devices offering a more accurate presentation
converter for both large and small signals and it is to be used
of the power converter. In this paper, for the large signal
in simulating it in systems like a PV Grid Connected
mathematical model, both the switching frequency and its
Systems. The small signal model though is used to derive a
first harmonic are considered. This gives predictions for the
small signal Transfer Function (TF). This TF is employed to
ripple on the output voltage and the inductor current with
design the parameters of the closed loop as is the case of a
good accuracy.
PV Grid Connected Systems. It does not predict transient
response. Hence direct comparison of the two is ha no mean.
Regarding the small signal transfer function, the average
Instead each model is compared against the performance of
value of the switching function is employed at the moment
the “real” system. These results are presented and discussed
giving good results as indicated in tables 1,2,3 and 4. The
below.
small signal transfer functions derived with the switching
function have exactly the same mathematical form as those
The small signal frequency response of the converter is
derived with classical methods. In applying the switching
displayed in Figures 2, 3, 4 and 5. Figure 2 refers to the
function, it is possible to include the switching frequency and
inductor current for variations of D whereas Figure 3 refers to
its harmonica as it is done in this paper. Inclusion of the
the output voltage for variations of D. The results for both

ϱ

Authorized licensed use limited to: Durban University of Technology. Downloaded on May 19,2023 at 12:15:15 UTC from IEEE Xplore. Restrictions apply.
switching frequency term yields the equations nonlinear. This [14] G. A.Demetriou, S.Ioannou, A. Hadjipieri, I. E.
is for future work. Panayidou and A. Papasavva, "ERON - A PID
Controlled Autonomous Surface Vessel", 18th IEEE
8. References Mediterranean Electrotechnical Conference
(MELECON2016), Limassol Cyprus, 2016.
[1] G. Zhang, B. Zhang, Z. Li, “A Brief History of Power
[15] S. Ioannou, K. Dalamagkidis, K. P. Valavanis, E. K.
Electronics Converters”, Springer, 2018.
Stefanakos and P. H. Wiley, “On Improving Endurance
[2] S. Jeszenszky, “History of Transformers”, IEEE Power
on Unmanned Ground Vehicles: The ATRV-Jr Case
Eng. Rev. 1996.
Study”, 14th IEEE Mediterranean Conference on Control
[3] A. Joseph and T. R. Chelliah, “A Review of Power
and Automation, June 28-30, 2006.
Electronic Converters for Variable Speed Pumped
[16] Ruqi Li, Tony O’Brien, John Lee and John Beecroft, “A
Storage Plants: Configurations, Operational Challenges,
Unified Small Signal Analysis of DC-DC Converter
and Future Scopes”, IEEE Journal of Emerging and
switch Average Current Mode Control”, IEEE Energy
Selected Topics in Power Electronics, 6, 1, 2018.
Conversion Congress and Exposition, 2009, pp647-654.
[4] O. H. Abdalla, H. Norallah, A. Annhwi and F. Fathi, “A
[17] M. Sai Krishna Reddy, Ch. Kalyani, M. Uthra and D.
Simple Staircase Modulation for A Cascaded H-bridge
Elangovan, “A Small Signal Analysis of DC-DC Boost
Multilevel Inverter”, Engineering Journal UofKEJ, Vol.
Converter“, Indian Journal of Science and Technology,
9 Issue 2 pp. 18-24(August 2019).
Vol 8(S2), 1-6, January 2015.
[5] Yu-Jun Mao, Chi-Seng Lam, Sai-Weng Sin, Man-
[18] Shen-Yaur Chen, “Block diagrams and transfer functions
Chung Wong and Rui Paulo Martins, “Review and
of control to output and line-to-output for peak current-
Selection Strategy for High-Accuracy Modelling of
mode controlled boost converters”, IET Power Electron.,
PWM Converters in DCM”, Journal of Electrical and
2013, Vol. 6, Iss. 1, pp. 60–66.
Computer Engineering, Volume 2018, Article ID
[19] Xiaolong Yue, Xiongfei and Frede Blaabjerg, “Review
3901693, 16 pages.
of Small-Signal Modeling Methods Including
[6] Ali Saadon Al-Ogaili, Ishak bin Aris, Yap Hoon and
Frequency-Coupling Dynamics of Power Converters”,
Mohammad Lutfi Othman, “A review of Different
IEEE Transactions on Power Electronics, Vol.34, No. 4,
Control Methods in Power Electronics”, Journal of
2019.
Engineering and Applied Sciences, 2242-2253, 2018.
[20] R. W. Erickson and D. Maksimovic, Fundamentals of
[7] Jigneshkumar Patel and Vijay K. Sood, “Review of
power electronics, Second edi. Springer Science &
Digital Controllers in Power Converters”, IEEE
Business Media, 2007.
Electrical Power and Energy Conference (EPEC), 2019.
[21] B. Choi, Pulsewidth Modulated DC-to-DC Power
[8] M.Z. Hossain, N.A. Rahim, Jeyraj a/l Selvaraj, “Recent
Conversion: Circuits, Dynamics, and Control Designs.
progress and development on power DC-DC converter
John Wiley & Sons, 2013.
topology, control, design and applications: A review”,
[22] A. A. Elbaset and M. S. Hassan, “Small-Signal
Elsevier, Renewable and Sustainable Energy Reviews 81
MATLAB/Simulink Model of DC–DC Buck Converter,”
(2018) 205–230.
in Design and Power Quality Improvement of
[9] Lüth T, Merlin MMC, Green TC, Barker CD , Hassan F,
Photovoltaic Power System, Springer International
Critchley RW. et al. Choice of AC operating voltage in
Publishing, 2017, pp. 97–114.
HV DC/AC/DC system. In: Proceedings of the IEEE
[23] K. S. Divya and T. N. Ajit, “Small Signal Modelling and
power & energy society general meeting; 2013. p. 1–5.
Controller Design of Boost Converter using MATLAB,”
[10] S. Ioannou, Maria C. Argyrou, CC Marouchos and M.
Int. Res. J. Power Energy Eng., vol. 3, no. 2, pp. 112–
Darwish, “Efficiency Investigation of a Grid Connected
117, 2017.
PV System with Power Smoothing”, 54th International
[24] CC Marouchos, “The Switching Function – Analysis of
Universities Power Engineering Conference (UPEC19),
Power Electronic Circuits”, IET Circuits, Devices and
Romania, 2019.
Systems Series 17, 2006, (ISBN13: 9780863413513)
[11] S. Ioannou, CC Marouchos, M. Darwish and G. A.
Putrus, “Efficiency Investigation of A Protection and
Correction Solid State Device for Low-Voltage
Distribution Networks”, 54th International Universities
Power Engineering Conference (UPEC19), Romania,
2019.
[12] S. Ioannou, E. K. Stefanakos and P. H. Wiley, “New
MOV Failure Mode Identification Invention”,
IEEE Transactions on Consumer Electronics, Vol.
53, No. 3, pg.1068-1075, 2007.
[13] C. Keleshis, S. Ioannou, M. Vrekoussis, Z. Levin, M.
Lange, “Data Acquisition (DAQ) System dedicated for
Remote Sensing applications on Unmanned Aerial
Vehicles (UAV)”, Second International Conference on
Remote Sensing and Geoinformation of the Environment
(RSCy2014), March 2014.

ϲ

Authorized licensed use limited to: Durban University of Technology. Downloaded on May 19,2023 at 12:15:15 UTC from IEEE Xplore. Restrictions apply.