2012 2nd International Conference on Power, Control and Embedded Systems

Sliding Mode Controller for PWM based Buck-

Boost DC/DC Converter as State Space
Averaging method in Continuous Conduction
mode
PRANITA SINGH, SHUBHI PURWAR

Abstract-- A new approach for the analysis andd design of sliding II. DESIGN OF BUCK-BOOST DC-DC
mode controller for PWM based Buck-Boost DC C-DC converter in CONVERTER USING THE METHOD OF
continuous conduction mode of operation is prresented. The main STATE SPACE AVER RAGING MODEL
advantage of this non-linear controller is that there is no In this paper, the method of statee space averaging model is
restriction on the size of the signal variaations around the
used for designing the Buck-Boost DC-DC converter. Fig. 1
operating point. Small as well as large signal variations around
the operating point are considered. Sliding m
mode controller for shows the schematic diagram of Bucck-Boost converter having
PWM based Buck-Boost converter using statte space averaging the switching period T and the duty cycle
c d.
model has been designed and discussed. The present controller
has been simulated on a digital computer and its dynamic
performance has been shown to be satisfactory..

Index Terms—DC-DC converter, Buck-Boost coonverter, State

space averaging model, Sliding-mode controllerr.

I. INTRODUCTION

In general, power electronic DC-DC C converters are

periodic time-variant systems due to their innherent switching
operation. Static and dynamic characteeristics of these
converters have been widely discussed in thhe literature [1-6].
Classical linear control methods are oftenn used to design Fig. 1 Schematic diagram of Buck-Boost
B DC/DC Converter
regulators for DC-DC converters, and to determine their
stability limits around their operating poiints. In order to Assuming continuous conduction
n mode of operation, when the
ensure large signal stability, and also to impprove large signal switch is ON: 0 < t < dT
dynamic responses of the DC-DC converterrs, some research
workers have proposed to use sliding mode control [7-13]. In The state space equations are given by,
this paper, we have used state space averagging model of the
converter instead of using full order state feeedback control for 1
SM controller. Moreover, unlike variable ffrequency sliding
mode controllers used by some workers [144], we have used 1
1
fixed frequency switching PWM techniique which has
simplified the converter filter design and minnimized converter
filters. On the contrary, when the switch
h is OFF: dT < t < T
In this paper after representing the statee space averaging The state space equations are given by,
model [8, 11] for the Buck-Boost converter, the sliding mode
controller has been designed and the entire cllosed loop system 1
for the converter has been simulated on a diggital computer and
its dynamic performance has been studied. 1
1
iL

978-1-4673-1049-9/12/$31.00 ©2012 IEEE

 On application of the method of state space averaging order to obtain the duty cycle as a function of time. This
model to the above equations, we get resulted in the following relation for the dynamic duty cycle d
in terms of the state variables and the system parameters.
1
2 1 5
1 1 2

Where,
Where, x1 and x2 are the moving averages of iL and Vo
respectively. 4 6

Above equation (6) is important because it controls the

III. SLIDING MODE CONTROL
Normally in DC-DC converter, the output voltage needs
to be regulated. In this paper too, the sliding mode controller
is used to regulate the output voltage of the Buck-Boost
converter. For designing such a controller, the moving average
of the output voltage which significantly simplifies its design
is used. In the proposed Buck-Boost converter (fig. 1), x2 is
the moving average of the output voltage and K is the desired
output voltage. The sliding surface in the state space is
described by the x2 = K.
According to sliding mode control, the equations are
0
3
0 Fig. 3 shows the schematic diagram of proposed sliding
Based on the following equation, a first order path can be
selected and the convergence speed is controlled accordingly
(4
output variables. The main contribution of this paper is that,
that the relationship obtained for a duty cycle d has fewer state
variables in it. Hence, the fewer feedbacks to the state
variables are needed. At the steady state where the output
voltage state variable, x2, is following the commanded
reference, K, the duty cycle is given by
7
Putting the value from equation
8
mode controlled Buck-Boost converter. For the Buck Boost
converter designed in this paper feedback from inductor
current is not needed.

Where, λ is a positive real number and is called the

convergence factor.

Fig. 2 shows the convergence relations for control of DC-

DC converter. Based on equation (4), the larger the
convergence factor the faster the system reaches its steady
state. However, due to limitations of the system parameters
such as duty cycle, it is not possible to increase the
convergence factor beyond a certain value.

Fig. 3 Schematic diagram of Sliding–mode controller for PWM based Buck-

Boost Converter in CCM..

Table 1 shows the values of different parameters for the proposed

Buck-Boost converter. These values were chosen by assuming first
the values of the inductor and the capacitor and then the value of
constant ‘a’ (unity) of the duty cycle. Afterwards, the values of load
resistance R and convergence factor λ were calculated. The reference
output voltage (K) was set at 20 V and the proposed converter was
Fig. 2 Convergence relations for control of Buck-Boost converter
simulated on a digital computer for determining its dynamic
performance and stability.
For designing a sliding mode controller for the Buck-Boost
converter, it is essential to combine equation (4) with (2) in
 TABLE 1
PARAMETER FOR BUCK-BOOST CONVERTER

S.No Parameters Value

1 DC Input Voltage 20 V
2 DC Output Voltage -20 V
3 Inductance 1 mH
4 Capacitance as filter 10 μf
5 Load resistance 10 Ω
6 Switching Frequency 100 KHz
7 Convergence factor 5000

IV. PROPOSED SLIDING MODE CONTROLLER

SIMULATION, RESULTS AND DISCUSSION
When the proposed SM controller circuit was simulated at
a constant frequency of 100 KHz, load resistance 10 Ω, and at
a input voltage of 20 V on digital computer as mentioned in
table 1, the controller operated very smoothly with minimum
chattering effect at an average output of -19.72 V and a
settling time (ts) of 3.5 ms. The amplitude of the oscillated
waves, after attaining a steady state was 1.1 V. The mean
value obtained for inductor current (iL) was 4.074 A and its
settling time ( ts) was 5.4 ms. The controller efficiency was
98.6%. The waveform of the output voltage of the circuit is
shown in fig. 4 and the settling time for the output voltage in
fig. 5. The value of inductor current with its settling time is
shown in fig. 6.
Fig. 6 Inductor current of proposed circuit of DC-DC Buck-Boost Converter
Table 2 shows the values of inductor current (iL), the
output voltage (Vo) and amplitude of the oscillated wave
obtained when SM controller was simulated on digital
computer for different switching frequencies.
TABLE 2
INDUCTOR CURRENT AND OUTPUT VOLTAGE AT VARIOUS
SWITCHING FREQUENCIES
Inductor Current and Output Voltage at different
Switching Switching frequencies
freq.

Output 10 50KH 100 200 250

Parameters 5KHz KHz z KHz KHz KHz
iL(A) 4.5 A 4.17 A 3.89 A 4.0 4.135 4.117
Inductor 6 A A
current A
-9.943 -14.9 -18.1 -19.2 - -19.65
Vo(upper
V V V V 19.65 V
peak)
V
-31 V -24.9 -20.05 -20.2 - -
Vo (lower
V V V 20.20 20.055
peak)
V V
-20.47 -19.9 -19.07 -19.7 - -19.85
Average
V V V V 19.92 V
Vo
V
Fig. 4. Waveform of the output voltage at a constant switching frequency of Difference
100 KHz and load resistance 10Ω between 21.1 V 10 V 1.95 V 1.0 V 0.55 0.405
Vo(u)- Vo(l) V V

In order to test the stability and the efficiency of the circuit

further, the SM controller was simulated at varying
frequencies ranging from 1 KHz to 500 KHz. Though the
proposed SM controller operated perfectly between 50 KHz to
250 KHz frequencies but in either case, the chattering effects
and the settling times were increased accordingly. The
waveforms became distorted and discontinuous at the
frequencies of 1 KHz or below, and at the frequencies of 500
kHz and above.

Fig, 5 Output voltage of proposed circuit of DC-DC Buck-Boost Converter On the other hand, when proposed controller was
simulated at a constant frequency of 100 KHz but at varying
load resistances ranging from 5 Ω to 20 Ω and above, the
repetitive waveform as shown in fig. 7, appeared at 13Ω to
14Ω. As the load resistance increased to 20Ω and above, the
overshoot appeared in the waveforms. The settling time also
increased with increasing in load variations but waveforms
invariably settled before 10 ms.
Fig. 7 Waveform of output voltage of proposed circuit at 14 Ω load resistor
Likewise, any step change (increase) in the input voltage
resulted in the increase of both the settling time and chattering
effect, and a decrease in the efficiency of converter. The
output voltage was also distorted.
V. CONCLUSION
In this paper, the sliding-mode controller for PWM based
Buck-Boost DC-DC converter using the method of the state
space averaging model was designed. The DC-DC Buck-
Boost converter was operated in continuous conduction mode.
The dynamic performance and stability of the proposed Buck-
Boost converter was assessed by simulating the SM controller
on digital computer. The present controller is stable and
satisfactory performance.
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Fig. 3 Schematic diagram of Sliding–mode controller for PWM based Buck-Boost Converter in CCM..