processes

Article
Non-Linear Sliding Mode Controller for Photovoltaic
Panels with Maximum Power Point Tracking
Hina Gohar Ali 1,2, * , Ramon Vilanova Arbos 1 , Jorge Herrera 3 , Andrés Tobón 4
and Julián Peláez-Restrepo 4
1 Departament de Telecomunicació i d’Enginyeria de Sistemes, Escola d’Enginyeria Universitat Autònoma de
Barcelona (UAB), Bellaterra, Cerdanyola del Vallés, 08193 Barcelona, Spain; ramon.vilanova@uab.cat
2 School of Electrical Engineering and Computer Science, National University of Sciences and
Technology (NUST), Islamabad 44000, Pakistan
3 Departamento de Ingeniería, Facultad de Ciencias Naturales e Ingeniería, Universidad de Bogotá Jorge
Tadeo Lozano, Bogotá, Distrito Capital 110311, Colombia; jorgea.herrerac@utadeo.edu.co
4 Departamento de Electrónica y Telecomunicaciones, Facultad de Ingenierías, Instituto Tecnológico
Metropolitano, Calle 54 A #30-01, Medellín, Antioquia, Colombia; andrestobon@itm.edu.co (A.T.);
julianpelaez@itm.edu.co (J.P.-R.)
* Correspondence: hina.goharali@e-campus.uab.cat




Received: 11 November 2019; Accepted: 8 January 2020; Published: 14 January 2020


Abstract: In this paper, nonlinear sliding mode control (SMC) techniques formulated for extracting
maximum power from a solar photovoltaic (PV) system under variable environmental conditions
employing the perturb and observe (P and O) maximum power point tracking (MPPT) technique are
discussed. The PV system is connected with load through the boost converter. A mathematical model
of the boost converter is derived first, and based on the derived model, a SMC is formulated to control
the gating pulses of the boost converter switch. The closed loop system stability is verified through
the Lyapunov stability theorem. The presented control scheme along with the solar PV system is
simulated in MATLAB (matric laboratory) (SMC controller and PWM (Pulse Width Modulation)
part) and PSIM (Power electronics simulations) (solar PV and MPPT algorithm) environments using
the Simcoupler tool. The simulation results of the proposed controller (SMC) are compared with
the classical proportional integral derivative (PID) control scheme, keeping system parameters and
environmental parameters the same.

Keywords: integer order SMC; maximum power point tracking; photovoltaic panel; perturb and
observe algorithm

1. Introduction
The current global energy demand of the world has been continuously tremendously increasing
due to various reasons, such as population growth, general economic growth, and industrial growth.
The majority of energy needs have been fulfilled over the centuries by fossil fuels.
Major concerns associated with fossil fuels are ever-increasing prices and adverse effects on nature,
which results in a global energy crisis due to limited supply. These fuels cannot be renewed at the
rate of their consumption, so these are termed as non-renewable energy sources [1]. A solution to
these issues is to use renewable energy sources which are inexhaustible and cause less pollution when
compared to fossil fuels.
There are different sources of renewable energy, such as solar energy, wind energy, biomass energy,
ocean energy, geothermal energy, hydropower, and biofuel [2], among others.
Some other energy adequacy has been discussed in detail in Reference [3]. Among several
renewable energy resources, solar energy is one of the most sustainable energy sources [4] because
of the fact that it is clean, inexhaustible, free, and has a long-life expectancy. The energy which is

Processes 2020, 8, 108; doi:10.3390/pr8010108 www.mdpi.com/journal/processes

Processes 2020, 8, 108 2 of 14

consumed on earth is almost ten thousand times less than the sun energy imparted upon us. Therefore,
it is necessary to develop instruments which will utilize the unrestricted energy sources by using a
photovoltaic (PV) system.
PV panels are devices that convert sunlight directly into electricity by exploiting a photoelectric
effect. It is a group of solar cells, which is the basic unit of the solar system. Stand-alone systems
and grid-connected systems are the two main classifications of photovoltaic systems. Stand-alone
PV systems operate independently from the utility grid [5] and are generally designed for supplying
DC or AC electrical loads. For example, in Reference [6], the design of a stand-alone photovoltaic
system for footbridge lighting has been analyzed for the AC loads. On the other hand, grid-connected
systems are connected to the utility grid [7] which is composed of grid-connected equipment, a power
conditioning unit, an inverter, and a PV array.
The PV system has exhibited a nonlinear current-voltage (I-V) and power-voltage (P-V)
characteristics which vary with the solar irradiance and temperature of the cell. Efficiency becomes
low in PV due to the energy transformation from electrical to solar, which causes the main obstacles in
the maximum solar energy utilization. Consequently, it is of great importance to obtain the maximum
efficiency of PV systems. This is achieved by making an optimal follow-up of the maximum power
point (MPP), which means keeping the system working at the operation point where the extraction of
power is maximum. Therefore, maximum power point tracking (MPPT) techniques are introduced to
extract maximum power from PV panels to significantly use the PV panel power [8,9].
Numerous algorithms have been proposed in the literature to accomplish the goal of MPPT [10]
and can be distinguished from one another based on different features, such as complexity, convergence
speed, implementation, effectiveness range, and various other aspects [11]. The perturb and observe (P
and O) technique is the most used due to its ease of implementation and low cost [12]. In P and O, the
perturbation is made in the operating point until maximum power is achieved.
It operates by periodically perturbing the control variable and comparing the instantaneous PV
powers before and after the perturbation. This algorithm is composed of two critical parameters: the
sampling interval (Ta), in which the algorithm perturbs the control variable, and the amplitude of such
perturbation (∆Vref ). Due to its simple implementation, the P and O is adopted to generate reference
voltage (∆Vref ) [13,14].
Numerous linear controllers can also be used along with different algorithms for MPPT, which
guarantee a proper tracking of the reference voltage generated by the MPPT algorithm to mitigate the
perturbations [15]. The main problem associated with these kinds of controllers is that they are based
on a linearized model of the PV system around a given operating point, which does not ensure the
same performances in all of the PV operation range. Other types of controllers have been proposed in
the literature to ensure a correct behavior of the system without requiring a linearization process [16].
Some of those controllers are based on adaptive laws [17] and energy balance [18].
Due to the nonlinear feature of PV arrays and power converters, applying non-linear controllers
presents a good solution. A non-linear backstepping and integral backstepping controller is proposed
in References [19,20] to track the MPP of PV. In Reference [21], a non-linear, robust integral
backstepping-based MPPT control scheme is proposed for MPP tracking of the PV array.
The sliding mode controller (SMC) is a non-linear control strategy derived from variable structure
system (VSS) theory, which was originally introduced in References [22,23]. The switched-mode
(DC-DC) converters used in PV system applications are the ideal target of this kind of controller.
In SMC, the control scheme is designed to drive and then retain the system states within the limits
of the switching function. This approach offers two main advantages. First, the dynamic behavior
of the system may be tailored by the specific choice of switching function. Secondly, the closed-loop
system response becomes insensitive to a particular class of uncertainty. This property makes the
SMC a proper candidate for robust control. In addition, the ability to specify performance directly
makes sliding mode control attractive from a design perspective. The classical SMC consists of two
components. The first component comprises the design of a switching function, so that the sliding
Processes 2020, 8, 108 3 of 14

motion achieves the design specifications. The second component is associated with the selection of a
Processes 2020, 8, x FOR PEER REVIEW 3 of 14
control law that will make the switching function attractive to the system state [24]. This is not always
true for a control
selection of alaw to be
control lawdiscontinuous
that will make the in nature.
switching The most attractive
function eminent to feature of SMC
the system stateis that
[24]. it is
This
completely insensitive to parametric uncertainty and external disturbances
is not always true for a control law to be discontinuous in nature. The most eminent feature of SMC during the sliding mode.
In particular,
is that ittheis sliding
completely mode approachtooffers
insensitive stability
parametric and robustness
uncertainty againstdisturbances
and external parameters,during
input,the and
load uncertainties,
sliding mode. which are common
In particular, in PVmode
the sliding systems. Moreover,
approach offers SMC is simpler
stability to implement
and robustness againstin
comparison with other
parameters, input,types
and of nonlinear
load controllers
uncertainties, which[25].
are The
commonsliding in mode controlMoreover,
PV systems. has received SMC muchis
simpler to implement in comparison with other
attention because of its benefits of a quick response and robustness. types of nonlinear controllers [25]. The sliding mode
Incontrol has received
this article, an integermuchorderattention
SMC because of its benefits
is proposed for theofextraction
a quick response
of maximum and robustness.
power from a
In this article, an integer order SMC is proposed for the
PV panel under varying radiation and temperature. This is to highlight that the proposed extraction of maximum power from system a
PV panel under varying radiation and temperature. This is to highlight that the proposed system is
is controlled by the sliding mode controller formulated in References [16,23], i.e., a design of stable
controlled by the sliding mode controller formulated in References [16,23], i.e., a design of stable SMC
SMC to track the reference provided by the P and O MPPT algorithm. The overall system consists
to track the reference provided by the P and O MPPT algorithm. The overall system consists of a PV
of a PV panel connected to a boost converter, which in turns supplies power to a DC load. The P
panel connected to a boost converter, which in turns supplies power to a DC load. The P and O MPPT
and O algorithm
MPPT algorithmis employed is employed
to generateto generate
the referencethe reference
PV voltagePV voltage
with a boost with a boost for
converter converter
the SMC for
the SMCcontroller. The SMC controller is derived based on the nonlinear mathematical model of a PV panel a
controller. The SMC controller is derived based on the nonlinear mathematical model of
PV panel
withwith a boost
a boost converter.
converter. A classical
A classical integer integer
order order
slidingsliding
surfacesurface
is chosen is chosen
and then and then law
control control
is
law is derived,
derived,such such that
that thethe overall
overall closed
closed loop system
loop system should should strictly
strictly track the track
reference thevoltage
reference voltage
generated
generated through
through the MPPT the MPPT
algorithm algorithm
and theand the response
response should
should remain remain insensitive
insensitive to parametric to variations.
parametric
variations. The stability of the proposed SMC is proved by selecting the integer order candidate
The stability of the proposed SMC is proved by selecting the integer order Lyapunov Lyapunov
function.
candidate PV, along
function. PV, with
alongthe boost
with theconverter and MPPTand
boost converter algorithm,
MPPT is modeled inisPSIM,
algorithm, modeledwhereas the
in PSIM,
SMC controller is implemented in MATLAB/Simulink. The SMC
whereas the SMC controller is implemented in MATLAB/Simulink. The SMC controller is coupled controller is coupled through the
Simcoupler interface between PSIM and MATLAB/Simulink. In order
through the Simcoupler interface between PSIM and MATLAB/Simulink. In order to test the superiority to test the superiority of the
proposed controller, the simulation results are compared with the classical proportional integral
of the proposed controller, the simulation results are compared with the classical proportional integral
derivative (PID) controller.
derivative (PID) controller.
The overall paper is structured as follows: In Section 2, related work is discussed. Section 3
The overall paper is structured as follows: In Section 2, related work is discussed. Section 3
introduces the system model used in this work and the proposed control scheme is defined.
introduces the system
Simulation results model used in this
are presented in work
Section and4. the proposed
Finally, Section control scheme isthe
5 summarizes defined. Simulation
conclusions and
resultsfuture
are presented
work. in Section 4. Finally, Section 5 summarizes the conclusions and future work.
2. Related Work/Background
2. Related Work/Background
Figure 1 presents a typical control structure for the PV system aimed at regulating the PV voltage
Figure
to a reference 1 presents
given by thea MPPT
typical control structure
algorithm and for the PV system
to mitigate aimed at regulating
the oscillations in the the PV voltage
environmental
to a reference given by the MPPT algorithm and to mitigate the oscillations in the environmental
conditions. The PID controller is designed from the linearization of the PV system around a specific
conditions. The PID controller is designed from the linearization of the PV system around a specific
operating point, e.g., the MPP at the lowest irradiance for a stand-alone system, as in Reference [13].
operating point, e.g., the MPP at the lowest irradiance for a stand-alone system, as in Reference [13].
Therefore, to guarantee the same performance in all of the operation range, it is necessary to design
Therefore, to guarantee the same performance in all of the operation range, it is necessary to design
non-linear controllers
non-linear that do
controllers thatnot
do depend
not dependon linearized models.
on linearized models.

Figure 1. System scheme based on a classical proportional integral derivative (PID) control.
Figure 1. System scheme based on a classical proportional integral derivative (PID) control.
Processes
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FOR PEER REVIEW 4 4ofof14
14

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Sliding 2020, 8, x FOR
mode PEER REVIEW
control (SMC) has been proposed in the literature to ensure correct behavior 4 of 14

withoutSliding modeofcontrol
the need (SMC) has
linearization. been
This work proposed
is based in the literature
on the ideas to ensure correct
published behavior[26–28],
in References without
the needSliding
of mode
linearization. control
This (SMC)
work is has
based been
on proposed
the ideas in the
published literature
which apply the sliding mode technique to regulate the PV voltage and to mitigate the oscillations. in Referencesto ensure
[26–28],correct
which behavior
apply
The without
the proposed the
sliding mode need of
technique
scheme linearization.
implementedto regulate This work
thework
in this is
PV voltagebased on
and toin
is presented the ideas
mitigate
Figure 2. published in
theInoscillations. References [26–28],
The proposed
this implementation, the
which
schemeand
voltage apply
implemented the sliding
current of the in this mode technique
work are
PV array is presented to
provided inregulate
to Figure the
a P and2.OInPV voltage and
this implementation,
algorithm, to mitigate
which defines the the oscillations.
voltage
the and
reference
to the SMC controller to provide reference peak power voltage, which can be tracked by the proposedthe
The
current proposed
of the PV scheme
array implemented
are provided toina this
P andwork
O is presented
algorithm, in
which Figure
defines 2. In
the this implementation,
reference to the SMC
voltage to
controller
non-linear and currentreference
provide
controller. of the
The PVpeak
array
controller are provided
power
has voltage,
been derivedto a Pusing
which and
can Obe algorithm,
thetracked bywhich
mathematical defines
the proposed
model of the areference
non-linear
non-
to the
controller.SMC The controller
controller to provide
has been reference
derived peak
using power
the voltage,
mathematical which
inverting boost converter and generates an output signal µ, which controls the duty ratio of the PWM model can be
of atracked by
non-invertingthe proposed
boost
non-linear
converter
signal andcontroller.
provided generates The
an
to the converter controller
output signal has
switches. beencontrols
µ, which derivedthe using
dutythe ratio mathematical
of the PWM signal modelprovided
of a non-
inverting
to the
Theconverterboost
MPPT-based converter
switches.P and O generates the reference voltage Vref, which is compared withthe
and generates an output signal µ, which controls the duty ratio of PWM
panel
signal
The provided
MPPT-based to
to generate P the converter
anand switches.
O generates the is
reference to the V
voltage
voltage VPV error signal, which supplied ref , whichsliding
improved is compared with panel
mode controller.
voltage
The The
controller MPPT-based
VPV togenerates
generate the P and
an error O generates
signal,
control inputwhich the reference
is supplied
µ, which voltage
controlstothe thePWM V ref, which is compared with panel
improved signalsliding
widthmode controller.
and drives the
Thevoltage
converter toVPV
controller to
track generate
generates
the reference an control
the error signal,
input
voltage. which
µ, which
Hence, is supplied
controls
operating theto
the
PV thePWM improved
module signal
on thissliding
width mode
and
reference controller.
drives the
voltage
The
convertercontroller
to track generates
the reference the control
voltage.
will ensure that maximum power is generated by the system. input
Hence, µ, which
operating controls
the PV the
module PWM on signal
this width
reference and drives
voltage the
will
converter to track the reference voltage.
ensure that maximum power is generated by the system. Hence, operating the PV module on this reference voltage
will ensure that maximum power is generated by the system.

Figure 2. System scheme based on the improved sliding mode controller (SMC).
Figure 2. System scheme based on the improved sliding mode controller (SMC).
3. System Modeling Figure 2. System scheme based on the improved sliding mode controller (SMC).
3. System Modeling
3.1.3.Photovoltaic
System Modeling
(PV) Model
3.1. Photovoltaic (PV) Model
Mathematical
3.1. models
Photovoltaic (PV) are used to describe the operation and behavior of the PV panels in the
Model
Mathematical
calculation models are used
of the current-voltage to describe the
characteristic. The operation
current and behavior
voltage of the PVmathematical
(I-V relation) panels in the
equation of the solar cell is implicit and non-linear. For precise PV cell modeling and betterpanels
Mathematical
calculation of the models are
current-voltage used to describe
characteristic. the
The operation
current and
voltagebehavior
(I-V of the
relation) PV
mathematical
accuracy,in the
in calculation
equation
this work,of the of the
we solar current-voltage
use acell
twoisdiode
implicit
PVandcharacteristic.
non-linear.
model The current
For precise
which involves voltage (I-V
PV cell modeling
identification relation)
of moreand mathematical
better accuracy,
parameters at the
in equation
expense of of
this work, the solar
we
longer use acell
twoisdiode
implicit
computational PVand
time non-linear.
model
and iswhich
known For precise
involves
as PVa cell modeling
identification
being andparameters
of more
seven-parameter better
modelaccuracy,
[29].at
thein this work,
expense of we use
longer a two diode
computational PV model
time and which
is involves
known as identification
being a of more
seven-parameter
Simulations are based on the double-diode model, since their estimation is more useful with other parameters
model at the
[29].
expense
Simulations
models of longer
are based
(i.e., single computational
diodeon time
the double-diode
model) and
[30]. The PV model, is known
sinceon
panel based as
their being a
the estimation seven-parameter
is moreisuseful
two diode model model
shownwith other
in Figure [29].
Simulations are based on the double-diode model, since their estimation is more
3.models (i.e., single diode model) [30]. The PV panel based on the two diode model is shown in Figure 3. useful with other
models (i.e., single diode model) [30]. The PV panel based on the two diode model is shown in Figure
3.

Figure 3. Photovoltaic (PV) panel double-diode model representation.

Figure 3. Photovoltaic (PV) panel double-diode model representation.

Figure 3. Photovoltaic (PV) panel double-diode model representation.

Processes 2020, 8, 108 5 of 14
Processes 2020, 8, x FOR PEER REVIEW 5 of 14

To operate the PV panel at MPP, a DC-DC converter controlled by the MPPT is inserted between
the PV panel andand the
the load.
load. DC-DC
DC-DCconverters
converters areare used
used widely
widely for
for the
theefficient
efficient management
management of of energy
energy
in PV systems. The boost converter has
The boost converter has been been chosen for this work [31], as shown in Figure 2.
To extract the maximum possible power of the panel, the the P and O algorithm
algorithm is is implemented,
implemented,
which is the most widely
widely used
used MPP
MPP tracking
tracking method.
method. P and O O generates
generates thethe reference
reference voltage
voltage V Vref
ref

after measurement
measurement of of the
thepanel
panelpower.
power.IfIfthe
themeasured
measured power
power is is greater
greater than
than thethe previous
previous power,
power, the
the reference
reference voltage
voltage is steadily
is steadily incremented
incremented in theproportion,
in the same same proportion,
otherwise, otherwise,
if not, then if not, then it is
it is decreased.
decreased. Figure the
Figure 4 presents 4 presents
P and Othe P and Oflow
algorithm algorithm
diagram, flowwhich
diagram, which is implemented
is implemented with PSIM with PSIM
simulation
simulation tools. This
tools. This method findsmethod finds thepower
the maximum maximum power of
point (MPP) point (MPP) ofby
PV modules PV modulesperturbing
iteratively by iterativelythe
perturbing the reference
reference voltage and observingvoltageandand observing
comparing theand
powercomparing
generatedthe bypower
the PV generated
module at any by the PV
instant
module
with the at any instant
previous power. with
Thethe previous
voltage power. The
perturbation voltagethrough
is achieved perturbation is achieved
the change through
in reference the
voltage,
∆Vref . The
change in increment
reference voltage, ΔVref.ofThe
or decrement the increment or decrement
reference voltage in everyof the reference
sampling period voltage in every
is determined by
sampling periodofisthe
the comparison determined
power atby thethe comparison
present time andof the powertime.
previous at theThe
present
sign oftime
theand ∆P(k) =time.
previous
error, P(k)
The
− P(ksign ofisthe
− 1), error,
used ΔP(k) = P(k)
to determine the− direction
P(k − 1), isofused to determine
perturbation. the
If the direction ofpower,
incremental ∆P(k) > If
perturbation. 0, the
incremental power,beΔP(k)
duty cycle should > 0, the
increased in duty
ordercycle
to make ∆Vref
should be>increased
0. On thein order
other to make
hand, if ∆P(k)
ΔVref<>0,0.then
On the
other hand,
reference if ΔP(k)
voltage < 0, thento
is reduced the ∆Vref voltage
reference
make < 0. is reduced to make ΔVref < 0.

Figure 4. Perturb and observe (P and O) algorithm.

Figure 4. Perturb and observe (P and O) algorithm.
3.2. Control Scheme
3.2. Control Scheme
3.2.1. DC-DC Converter Model
3.1.1. DC-DC Converter Model
Power electronic converters (DC-DC) are used in photovoltaic systems as an adaptation stage
Power
between theelectronic converters
PV panel and the load. (DC-DC) are used
The DC-DC powerin photovoltaic systems as
converter is connected toan adaptation
adjust stage
the PV panel
between the PV panel and the load. The DC-DC power converter is connected to adjust
output voltage to maximize the solar power generation. In this work, we adapt a boost converter the PV panel
output voltage
which steps to maximize
up voltage theinput
from its solar(PV
power generation.
array) In this
to its output work,
(load), we adapt
in order a boost
to operate theconverter
PV panel
which steps Itupisvoltage
at the MPP. assumedfrom
thatits input
the (PV array)
converter to its output
is operating (load), in conduction
in continuous order to operate
mode.the PV panel
at the MPP. It is assumed that the converter is operating in continuous conduction mode.
The converter is used to regulate the PV module output voltage, VPV, in order to extract as much
power as possible from the PV module. Referring to Reference [28], the dynamics of the boost
converter is given by:
Processes 2020, 8, 108 6 of 14

The converter is used to regulate the PV module output voltage, VPV , in order to extract as much
power as possible from the PV module. Referring to Reference [28], the dynamics of the boost converter
is given by:
dVpv
Icin = Cin = Ipv − IL (1)
dt
dIL
VL = L = VPV − Vb (1 − u) (2)
dt
where Icin , PV , Vb , Cin , VL , L , and L represent capacitor current, PV current, battery voltage, input
capacitor capacitance, voltage across inductor, inductor current, and inductor inductance, respectively.
Rearranging Equations (1) and (2), we have:
. IL I
V PV = − + PV (3)
Cin Cin

VPV Vb . V
− + bu
IL = (4)
L L L
Equations (3) and (4) can be written in state space form as:
 .  " −1 #" #  IPV " # " #
 V PV
 = 0
 Cin VPV  Cin 0  1 0
 .
1 +  −Vb + Vb u (5)
IL 0


IL

L 0 L 0 L

Equation (5) can be re-written in generalized form as:

.
X = f (X, t) + J (X, t) + h(X, t)u (6)
h iT h iT
Here, X = x1 x2 = VPV IL represents PV panel voltage and inductor current, J(X, t)
and h(X, t) represent nominal system inputs, and u represents the control excitation.
" −1 #
0 Cin
f (X, t) = 1 (7)
L 0
 IPV 
 Cin 0 
J (X, t) =  −Vb  (8)
L 0
" #
0
h(X, t) = Vb (9)
L

3.2.2. Controller Formulation

The objective of the closed loop control system is that panel voltage, *VPV , must strictly follow the
VPV-ref generated by the MPPT algorithm so that maximum power can be extracted from the PV panel
under varying sunlight and temperature.
The reference signal generated by the MPPT algorithm can be written as:
h . iT h . iT
Xd = xd xd = VPV−re f V PV−re f (10)

The tracking error can be defined as:

 

 e1 = x1 − xd 


 . 


 e2 = e1 

(11)
 
.
e2 = x2 − xd

 

 
. . ..

 

 e2 = x2 − x
 

d
Processes 2020, 8, 108 7 of 14

Sliding surface is chosen as:

s = k1 e1 + e2 (12)

Here, k1 > 0 is the design parameter. Differentiating Equation (12), on both sides:
. .
s = k1 e2 + e2 (13)

By combining Equations (6) and (13) one can obtain:

. ..
s = c1 e2 + f (X, t) + J (X, t) + h(X, t)u − xd (14)
.
To derive the control set s = 0, the desired response can be achieved by choosing the control
law as: 

 u = ueq + us
..

ueq = h(X, t)−1 [xd − f (X, t) − J (X, t) − c1 e2 ]

(15)



 us = −h(X, t)−1 ks sgn(s)



where ueq is the equivalent control item to drive the nominal part of the system, us is the robust
switching control term, and ks is switching gain, and sgn(.) is the signum function, defined as:

s > 0




+1 if
sgn(s) =  0 if s = 0 (16)


s < 0

 −1 if

3.2.3. Stability Proof of the Proposed Controller

The stability of the proposed control scheme can be proved by choosing the Lyapunov candidate
function as:
1
V = S2 (17)
2
where ‘S’ represents the sliding surface chosen in Equation (12). According to Lyapunov, the control
system will be stable if the derivative of the Lyapunov candidate is negative along the closed-loop
system trajectories.
Thus, by taking the derivative of Equation (17), we get:
. .
V = SS (18)

Putting ‘S’ from Equation (14) into Equation (18), we get:

. ..
V = S(c1 e2 + f (X, t) + J (X, t) + h(X, t)u − xd ) (19)

Putting the value of ‘u’ from Equation (15) into Equation (19) and simplifying, we obtain:
.
V = S(−ks sgn(S)) ≤ (−ks |S|) ≤ 0 (20)
.
It can be shown that V ≤ 0 if the switching gain ks > 0 and the closed loop system is stable.

4. Simulation Results
Matlab/Simulink is used to model and simulate the proposed controller’s technique. While the
PV panel along with the boost converter and MPPT algorithm simulations are performed in PSIM
(PowerSim), Simcoupler is used as an interface to couple Simulink and PSIM co-simulation.
The parameters of the PV array that are used in this work are mentioned in Table 1. From Table 1,
the short circuit current, open circuit voltage, and maximum power point tracking voltage of a single
PV panel is given, for which a single DC-DC boost converter is selected. The parameters of the input
Processes 2020, 8, 108 8 of 14

capacitor and the inductor are selected such that the inductor current ripple equals to 1. A physical
model of a PV panel is used according to the renewable energy module of PSIM [32], with parameters
corresponding to the PV module of type MSX-60 [33].

Table 1. Parameters of the PV array [33].

Symbol Parameter Value

Isc Open circuit current 3.8 A
Voc Open circuit voltage 21.1 V
Imp Maximum panel current 3.5 A
Vmp Maximum panel voltage 17.1 V
Is1 = s2 Saturation currents 4.704 × 10−10
Ipv Panel current 3.8 A
Rsh Shunt resistance 176.4 Ω
Rs Series resistance 0.35 Ω

Similarly, the parameters of the controller and converter are arranged in Table 2. The design
parameters of controllers are selected using Matlab optimization tools which are given in this Table.

Table 2. Parameters of controller, converter, and maximum power point tracking (MPPT).

Parameter Value
L 22 µF
C 100 µF
Vo 24 V
fsho 49.9 kHz
Kp 0.1
Kd 0.1
Ki 50
Ks (MPPT) 14.53
Ta 400 µs
∆Vo IV (P and O)
LPF 20 kHz
LPF (low pass filter).

Simulations of the proposed controller are performed in PSIM and MATLAB/Simulink to verify
its performance. The system is perturbed with an irradiance step of 1000 W/m2 in the instant 0 and
after 50 ms, the irradiance is decreased by 50%. The irradiance is varied to validate the robustness of
the proposed MPPT technique and temperature is kept constant at 25 ◦ C. The relationship coefficient
of the Solar Panel MSX-60 used in the paper is ±0.05 ◦ C m2 /W. This means that for an environment
temperature of 25 ◦ C, the PV panel will operate up to 40 ◦ C if irradiance is 1000 W/m2 , and 32.5 ◦ C if
irradiance is 500 W/m2 . Similarly, the temperature coefficient of power is −(0.5 ± 0.15)%/◦ C, which
implies that maximum output power will be reduced to half if the irradiance level varies from maximum
to half. The same effect is simulated in the paper, and the irradiance level has been instantly reduced to
50% after 50 ms.

4.1. Response Using the Proportional Integral Derivative (PID) Controller

To show the performance of the proposed SMC controller, it is compared with a conventional PID
controller. The conventional controller response based on the P and O MPPT algorithm can be seen in
Figure 5a–c, with a P and O perturbation amplitude of 1 V. The voltage tracking of the conventional
controller is shown in Figure 5a. Reference ‘Vref ’ of the peak power voltage generated by P and O
MPPT is successfully tracked by the PID controller. ‘VPV ’ reaches the desired set point ‘Vref ’ in a settling
time of 5 ms. Figure 5b shows the tracking error of the conventional controller with high ripples and
oscillation. PV array output power along with the reference power curve is shown in Figure 5c. It can
Processes 2020, 8, 108 9 of 14

be observed that MPP is achieved by the conventional PID controller within 5 ms; however, it can be
observed that the controller successfully tracks the reference but displays large ripples in the voltage
waveform along with an overshoot. The zoomed views are provided in voltage and power curves to
see the 2020,
Processes comparative
8, 108 behavior with reference voltage and power. 9 of 14

(a)

(b)

(c)
Figure
Figure 5.
5. (a)
(a) Profile
Profile of
of the
the PV
PV panel
panel voltage,
voltage, (b)
(b) tracking
tracking response
response of
of the
the proposed
proposed PID
PID controller,
controller, and
and
(c) profile of
(c) profile of the
the PV
PV power
power extraction.
extraction.
Processes 2020, 8, 108 10 of 14
Processes 2020, 8, 108 10 of 14

4.2. Response Using

4.2. Response Usingthe
theSliding
SlidingMode
ModeController (SMC)
Controller (SMC)
The output of
The output of the
thePPandandO-based
O-basedMPPT MPPTis is a voltage
a voltage reference
reference which
which needs needs to tracked
to be be tracked by
by the
the controller. The controller is used to keep track of the panel voltage
controller. The controller is used to keep track of the panel voltage with the reference voltage with the reference voltage
generated
generated by by PP and
and O and ensuring
O and ensuring aa tracking
tracking error
error around
around ‘zero’
‘zero’ for
for the
the desired
desired performance
performance of of the
the
proposed controller.
proposed controller.
Figure 6a–c shows
Figure 6a–c showsthe theperformance
performanceofof thethe
SMC SMC controller
controller based
based on P
on the theand P and O algorithm
O algorithm with
with a perturbation amplitude of 1 V under variable irradiance. It can be
a perturbation amplitude of 1 V under variable irradiance. It can be seen in Figure 6a that the panel seen in Figure 6a that the
panel voltage ‘V pv ’ starts following the reference generated
voltage ‘Vpv’ starts following the reference generated voltage ‘Vpv-ref’ once voltage ‘V ’ once it has reached
it has reached the steady-
pv-ref the
steady-state after transient behavior and successfully tracked the reference voltage.
state after transient behavior and successfully tracked the reference voltage. It is highlighted from the It is highlighted
from
trackingthe tracking
responseresponse
curve in curve in Figure
Figure 6b that6b that
the the proposed
proposed controllerclearly
controller clearlyoutperforms
outperforms the the
conventional controller with little oscillation. During the abrupt variation
conventional controller with little oscillation. During the abrupt variation of irradiance at of irradiance at 0.05
0.05 s,
s, the
the
controller
controller performed
performed well, well, showing
showing the the robustness
robustness of of the
the controller.
controller. The
The proposed
proposed controller
controller is is not
not
only
only robust,
robust, but
but the
the ripples
ripples are
are also
also negligible. Similarly, the
negligible. Similarly, the PV
PV panel
panel output
output powerpower alongalong with
with the
the
reference power curve is shown in Figure 6c. It is observed
reference power curve is shown in Figure 6c. It is observed that panel power ‘Ppvthat panel power ‘P ’ and reference
pv’ and reference power
power
‘P
‘Ppv-ref ’ are following each other faster once they have reached the MPP.
pv-ref’ are following each other faster once they have reached the MPP.
The
The efficiency
efficiencyofofthe thesystem
system is greatly
is greatlyenhanced
enhanced when the proposed
when controller
the proposed is used.is The
controller results
used. The
that
results that are obtained by using an improved SMC controller are free of ripples and overshoot,PID,
are obtained by using an improved SMC controller are free of ripples and overshoot, but with but
both of them are high and visible.
with PID, both of them are high and visible.

(a)

(b)

Figure 6. Cont.
Processes 2020, 8, 108 11 of 14
Processes 2020, 8, 108 11 of 14

Processes 2020, 8, x FOR PEER REVIEW 11 of 14

(c)
Figure 6.
Figure 6. (a)
(a) Profile
Profileofofthe
thePV
PVpanel
panelvoltage,
voltage,(b)(b) tracking
tracking response
response of the
of the proposed
proposed SMCSMC controller,
controller, and
andprofile
(c) (c) profile of power
of power extraction.
extraction.
(c)
4.3. Comparative
FigureAnalysis
4.3. Comparative 6.Analysis
(a) Profile of the PV panel voltage, (b) tracking response of the proposed SMC controller,
and (c) profile of power extraction.
Table
Table 33 shows
shows that that the
the overshoot
overshoot characteristics,
characteristics, response
response time, time, and
and power
power losses
losses havehave been
been
explained.
explained. It is
It is possible
possible
4.3. Comparative to deduct
to
Analysis deduct fromfrom Table
Table 33 that
that the
the performance
performance characteristic
characteristic parameters
parameters of of the
the
SMC controller
SMC controller in
Tablein comparison
comparison
3 shows with
that thewith the PID
the PID
overshoot controller for
controller response
characteristics, the proposed
for the proposed PV system
PV system
time, and power have
losseshave successfully
have successfully
been
improved.
improved. The comparison
The
explained. comparison
It is possible to ofdeduct
of the proposed
the from TableSMC
proposed 3 thatcontroller
SMC controller
the performance is
is done
done in
in Figures
Figures
characteristic 7–9.
7–9. In
parameters In Figure
of the 7,
Figure 7, the
the
comparison
SMC of the proposed
controller in controller
comparison with voltage
the PID curve is
controller done
for the with the
proposed
comparison of the proposed controller voltage curve is done with the reference signal and reference
PV system signal
have and conventional
successfully
improved.
controller
conventionalvoltage The comparison
signal.
controller ofsignal.
the proposed
Both controllers
voltage track
Both SMC
the controller
reference
controllers track issuccessfully,
done in Figures
the reference and 7–9. In Figure
there is high
successfully, 7,and
the
oscillation
there is
in comparison
the oscillation
PID controller of the proposed
behavior. controller
Similarly, Figure voltage curve
8 highlights is done
theFigurewith
comparativethe reference
behaviorthesignal
of the andproposed
high in the PID controller behavior. Similarly, 8 highlights comparative
conventional controller voltage signal. Both controllers track the reference successfully, and there is
controller
behavior panel
of the power
proposed with referencepanel signalpower
powerwith and reference
conventional controller power. It can be
high oscillation in the controller
PID controller behavior. Similarly, Figure 8 signal
highlightspower and conventional
the comparative
observed
controller that
power.
behavior MPP
of theItis proposed
successfully
can be observed achieved
controller that by
panel MPPthe is
power proposed
successfully
with referenceSMC controller
achieved
signal power by with
and thealmost
proposed
conventional negligible
SMC
ripples compared
controller with almost
controller to the
power. It PID controller,
negligible
can be rippleswhich
observed compared
that MPPhasislarge
to theripples in correspondence
PID controller,
successfully achieved bywhich hasto
the proposed the
largeSMC reference
ripples in
signal. The zoomed
controller with views
almost are also
negligible shown
ripples to clearly
compared to observe
the PID the comparison.
controller,
correspondence to the reference signal. The zoomed views are also shown to clearly observe the which has The
large tracking
ripples in error
correspondence to the reference signal. The zoomed viewsoscillations
comparative
comparison. plot tracking
The is shown in Figure
error 9, which
comparative shows
plot high
is shown inareFigure
also shown
9, in to clearly
the
which showsobserve
conventional the
controller
high oscillations
comparison. The tracking error comparative plot is shown in Figure 9, which shows high oscillations
response as compared to the proposed SMC controller which has little
in the conventional controller response as compared to the proposed SMC controller which has little oscillations.
in the conventional controller response as compared to the proposed SMC controller which has little
oscillations.
oscillations.
Table 3. Performance characteristics of the conventional PID and the proposed SMC controller.
Table
Table 3. 3. Performance
Performance characteristicsofofthe
characteristics the conventional
conventional PID andand
PID the the
proposed SMC controller.
proposed SMC controller.
Controller Over/Undershoot (%) Settling Time (s) Power Losses (Watt)
Controller Over/Undershoot
Controller Over/Undershoot(%)(%) Settling
SettlingTime (s) Power LossesLosses
(Watt) (Watt)
PID 2.61 5Time
ms (s) Power 3
PID 2.61 5 ms 3
PID SMC 2.61 0.6 5 0.3
msms 3
SMC 0.6 0.3 ms 0.68 0.68
SMC 0.6 0.3 ms 0.68

Figure 7. Reference, PID, and SMC PV voltage curve.

Processes 2020, 8, x FOR PEER REVIEW 12 of 14
Processes 2020, 8, x FOR PEER REVIEW 12 of 14
Figure 7. Reference, PID, and SMC PV voltage curve.
Processes 2020, 8, 108 12 of 14
Figure 7. Reference, PID, and SMC PV voltage curve.

Figure 8. Reference, PID, and SMC PV power curve.

Figure 8. Reference, PID, and SMC PV power curve.
Figure 8. Reference, PID, and SMC PV power curve.

Figure 9. PID and SMC PV tracking error curve.

Figure 9. PID and SMC PV tracking error curve.
5. Conclusions Figure 9. PID and SMC PV tracking error curve.
5. Conclusions
In this paper, a nonlinear sliding mode controller (SMC) based on a mathematical model of a
5. Conclusions
In this paper,
boost converter hasa been
nonlinear
derivedsliding
for amode controllersystem.
photovoltaic (SMC) based on a mathematical
The perturb and observe model maximum of a
boost In converter
this paper, hasa been derived
nonlinear for
sliding a
modephotovoltaic
controller system.
(SMC) The
based perturb
on
power point tracking technique has been used to generate a voltage reference for the SMC controller. a and observe
mathematical maximum
model of a
power
boost
The pointloop
closed tracking
converter technique
has been
system derived
stability has been
for
is shown used
to betoguaranteed
a photovoltaic generate a by
system.voltage
The reference
using perturb for the
and
the Lyapounov SMC maximum
observe controller.
stability criteria.
The
power closed
pointloop system
tracking stability
technique is
has shown
been to
used be guaranteed
to generate a by using
voltage the Lyapounov
reference
The proposed control scheme is tested under varying irradiance levels and the simulation results are for the stability
SMC criteria.
controller.
The proposed
closed
compared loopcontrol
with asystem scheme
classical stabilityis is
tested
shown
PID controller. under
to bevarying
From guaranteed
the irradiance
simulation levels
byresults,
using the and
it is the simulation
Lyapounov
concluded theresults
stability
that are
criteria.
proposed
compared
The
SMCproposed
controlwith a classical
control
scheme schemePID
overcomes controller.
is tested
the underFrom
nonlinear varying
dynamicstheirradiance
simulation results,
of the PVlevels
system andand it offers
the issimulation
concluded
a faster that are
results the
transient
proposed
compared SMC
with control
a scheme
classical PID overcomes
controller. the nonlinear
From the dynamics
simulation
response with negligible power losses and minimum voltage ripples in comparison with the PID of the
results,PV system
it is and
concludedoffers a
thatfaster
the
transient
controller.response
proposed SMC nextwith
As acontrol negligible
scheme
step, power
overcomes
the authors lookthelosses and
nonlinear
forward to minimum
andynamics voltage
experimental ripples
of thevalidation
PV system inofand
comparison
theoffers
results. with
a faster
the PID controller.
transient response with As anegligible
next step,powerthe authors
losses look forward tovoltage
and minimum an experimental validation ofwith
ripples in comparison the
Author controller. AsH.G.A.,
PIDContributions:
results.
the a next R.V.A.
step, theandauthors
J.H. conceived and designed
look forward to an the experiments;
experimental H.G.A. and
validation of A.T.
the
performed the simulations; J.P.-R. provided the PSIM simulation tools and access to laboratory; writing-review
results.
and editing, H.G.A., R.V.A., and J.H.; supervision, R.V.A.; H.G.A. wrote the paper. All authors have read and
Author
agreed to the published H.G.A.,
Contributions: version ofR.V.A. and J.H. conceived and designed the experiments; H.G.A. and
the manuscript.
A.T. performed
Author the simulations;
Contributions: H.G.A., R.V.A. J.P.-R.andprovided the PSIM
J.H. conceived simulation
and designedtools and access toH.G.A.
the experiments; laboratory;
and
Funding: This research was funded by the Spanish MINECO/FEDER grant DPI 2016-77271 And the APC was
writing-review
A.T. performed and
the
funded from this project. editing,
simulations; H.G.A.,
J.P.-R.R.V.A.,
providedand J.H.;
the PSIMsupervision,
simulation R.V.A.;
tools H.G.A.
and wrote
access to the paper.
laboratory;
All authors haveand
writing-review read and agreed
editing, H.G.A., to the published
R.V.A., and J.H.; version of the manuscript.
supervision, R.V.A.; H.G.A. wrote the paper.
Acknowledgments: This work was supported by the Spanish MINECO/FEDER grant DPI 2016-77271. The authors
All authors
thank Santander have read and
bank aswas agreed
wellfunded to the
as the National published
Universityversion of the manuscript.
of Science and Technology, Islamabad, And Pakistan,
Funding: This research by the Spanish MINECO/FEDER grant DPI 2016-77271 the
for financial support during the completion of this research work.
APC wasThis
Funding: funded from was
research this project.
funded by the Spanish MINECO/FEDER grant DPI 2016-77271 And the
Conflicts of Interest: The authors declare no conflict of interest.
APC was funded from this project.
Processes 2020, 8, 108 13 of 14

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