2021 60th IEEE Conference on Decision and Control (CDC)
December 13-15, 2021. Austin, Texas
DC-DC Buck Converter Polynomial Tracking Control Design With
Saturation Constraint
Imen Iben Ammar1 , Hamdi Gassara1 , Ahmed El Hajjaji2 and Mohamed Chaabane1
2021 60th IEEE Conference on Decision and Control (CDC) | 978-1-6654-3659-5/21/$31.00 ©2021 IEEE | DOI: 10.1109/CDC45484.2021.9683769
Abstract— This paper concerns the Sum Of Squares (SOS)
based polynomial tracking control design for DC-DC Buck
Converters. An integral polynomial controller is designed, not
only the DC-DC converter output follows reference voltage but
also to satisfy the control bounds. The suggested SOS-based
framework offers a certain number of innovations such that i)
the ability for handling with nonlinear systems; ii) the strong
SOS approach to get control gains; iii) the great performance
of the polynomial control with saturation constraint; iv) the
practicable rigorous proof for tracking error using an integral
of the output regulation error. Finally, the applicability of our
theoretical findings is simultaneously demonstrated through
simulation results.
Index Terms— Polynomial Tracking Controller, DC-DC Buck
Converter, Saturation Constraints, Sum Of Squares.
I. I NTRODUCTION
The regulations for reduced voltage but upper currents and
conversely are very commonplace. This is a defiance for
current designer over and above to economic feasibility and
dependability. AC-AC converters, AC-DC converters, DC-
AC converters, DC-DC converters represent the four classifi-
cations of the power converters. The are many linear control
system design techniques to design DC-DC converter like
Proportional-Integral-Derivative (PID), Sliding mode, etc.
But the disadvantage of these methods is valid only around
an operating point. To get vast signal stability, nonlinear
control methods are used, i.g, polynomial control methods.
Due to the simplicity of the design of polynomial controllers,
these controllers are appropriate for nonlinear systems.
In this paper, we investigate the polynomial integral con-
trol design problem of DC-DC converters. Alongside with
fast-growing electronic technology [1]–[3], DC-DC convert-
ers are extensively utilized in DC power providers and DC
motor drive applications. In existence of output load and
input voltage fluctuations, output voltage of the DC-DC
converters should be adjusted to a required level. Nearly
in the literature, the available methods do not care to the
asymmetrical constraints on the control of the buck converter
and to the nonlinearity of the system. Based upon Linear
Matrix Inequality (LMI) tools in [4], the fuzzy control design
for DC-DC buck converters is proposed. Although the main
concern is to obtain a duty ratio among the interval [0 1], the
restrictions on the control have not been taken into account
nor presented in the simulation. Utilizing backstepping and
1 Imen Iben Ammar, Hamdi Gassara and Mohamed Chaa-
bane are with University of Sfax, STA Laboratory(ENIS),
Sfax, Tunisia. benammar.imen11@gmail.com,
gassara.hamdi@yahoo.fr, chaabane_uca@yahoo.fr
2 Ahmed El Hajjaji is with University of Picardie Jules Verne, MIS
Laboratory, Amiens, France. hajjaji@u-picardie.fr
978-1-6654-3659-5/21/$31.00 ©2021 IEEE
Authorized licensed use limited to: UNIVERSIDADE FEDERAL DO CEARA. Downloaded on May 23,2023 at 18:06:18 UTC from IEEE Xplore. Restrictions apply.
sliding mode techniques, an adaptive voltage regulation of
DC-DC buck converters is obtained in [5]. Nevertheless, in
the design phase, the authors did not highlight the restriction
of the duty ratio that must be between 0 and 1, but in the
simulation part the duty ratio is shown to be limited between
0 and 1. The same, in [6], [7], the authors have not paid
attention to the restriction point of the duty ratio in the design
phase.
In the present study, as a practical matter, the actual
process comprised of a DC-DC buck converter possessed
from [8] is considered. Since the mathematical model of
the DC-DC converters is nonlinear model, the polynomial
representation is pursued. Moreover, new theoretical devel-
opments are required because the asymmetrically constrained
of the control (duty ratio) must be between 0 and 1. The goal
is to minimize the conservatism, get more relaxed results and
reduce the computational efforts compared to work in [8].
Therefore, from a theoretical perspective, the conditions for
stabilization of polynomial systems with constrained control
are introduced in general case not just for the DC-DC buck
converter. The restrictions on the control are considered in
the design phase. In [9]–[12] the obtained results using
Lyapunov functional for polynomial systems are dissimilar
from those given in [13], [14] relating to only discrete-time
Takagi-Sugeno (T-S) fuzzy systems. The derived results are
effectively applied to DC-DC buck converter. Indeed, the
requirements of the tracking of a reference signal and the
limitation of duty ratio are attained and shown by simulation.
To achieve the stability analysis and design control gains
via Sum Of Squares (SOS) approach, we represent the
DC-DC converter in polynomial model. Consequently, the
aforementioned polynomial controller is implemented and
the polynomial control gains are acquired by solving SOS
conditions. Using MATLAB, numerical simulation shows the
performance of the proposed controller in the design phase.
II. P RELIMINARIES
In this section, we give few basic definitions and lemmas
that will be useful latterly. In this sequence, for briefness we
use xt , ut , yt , it , vt , x̂t and et to denote x(t), u(t), y(t),
i(t), v(t), x̂(t) and e(t), respectively.
Definition 1: [15] Define the following subsets of Rn
γ(W −1 (xt ), 1) = {xt ∈ Rn , xTt W −1 (xt )xt ≤ 1} (1)
where W (xt ) is a symmetric positive polynomial matrix.
Be noted that W (xt ) is a state-dependent matrix. Hence,
the domains of attraction might be more general to ease
2800
exploiting stability region of nonlinear systems MOSFET must be between 0 and 1. Since the input vector
is state-dependent, then the system (6) is nonlinear system.
L(Y, ū) = {xt ∈ Rn , |Y xt | ≤ ū} (2) In this paper, we will adopt The following mathematical
where L(Y, ū) is a polyhedral set. model of DC-DC buck converter :
Lemma 1: [15] Let G, Y ∈ Rnu ×n be given matrices, for ẋt = Axt + B(xt )ut + F
xt ∈ Rn , if xt ∈ L(Y, u) then
0 ≤ ut ≤ 1 (7)
sat(Gxt , ū) = co{Nl Gxt + Nl− Y xt , l ∈ [1, δ]};
δ = 2 nu (3) where
 
it
where sat(.) denotes the saturation function and co. denotes xt = ∈ R2 , x1 = it , x2 = vt
vt
the convex hull. " RR #
δ RL + R+RC R
− C
−
P
hence, there were h1 ≥ 0, ..., hδ ≥ 0 with h̄l = 1 in a A = L LR+LRC
R 1
l=1 − CR+CR
manner that CR+CRC
 RM x1 −E−Vγ  C
 Vγ 
δ − −L
X B(xt ) = L , F =
h̄l Nl G + Nl− Y xt 0 0
 
sat(Gxt , ū) = (4)
l=1
nu ×nu Remark 1: It is apparent that the DC-DC buck converter
Here, Nl ∈ R is a diagonal matrix with elements either
circuit is modeled as an polynomial system. Once matrix
1 or 0 and Nl− = Inu − Nl . there are 2nu possible matrices
B(xt ) is constant and it is chose in the range of [imin , imax ] ,
of this type.
the representation of the system will be the same as the T-
Lemma 2: [15] Let Π(xt ) be a symmetric polynomial
S fuzzy model used in [8] and [16]. Therefore, our Sum Of
matrix which is nonsingular ∀xt , in this case
Squares (SOS) approach to polynomial model and control in-
∂Π(xt ) ∂Π−1 (xt ) cludes the existing LMI and Linear Programming approaches
= −Π(xt ) Π(xt ) (5) to T-S fuzzy model as special case and the state variable it
∂xj ∂xj
III. P ROBLEM FORMULATION can be chose in more large domain which makes our results
valid whatever the value of the current. consequently, our
Fig.1. shows the equivalent circuit of a DC-DC buck SOS-based approach is able to offer more relaxed results.
converter Our main goal is to design a duty ratio ut among 0 and
1 and reaching the tracking reference yref .
IV. P OLYNOMIAL CONTROL
Consider the following nonlinear system:
(
ẋt =Axt + B(xt )ut + F
(8)
yt =Cxt
with xt ∈ Rn , ut ∈ Rnu , yt ∈ Rp are the state, the input and
the output vectors respectively and the output
h equation for the
i
RRC R
DC-DC converter is yt = V0 , so C = R+R C R+RC .
Fig. 1. DC-DC buck converter [8] To transform the affine system to a non-affine one, we will
make the change of variable as follows:
where RL and RC are parasitic resistances of the inductor B(xt )ut + F = Bt (ut + ft ) = B(xt )m(xt ) (9)
and capacitor, respectively. The resistance of the power Vγ
MOSFET denoted by RM and Vγ is the forward voltage where ft = (RM i(t)−E−Vγ ) and m(xt ) ∈ Rnu .
γ V
of the power diode. As it ≥ 0, if we choose f = − (E+V γ)
then the system
From Fig.1, DC-DC converter may be modulated by the becomes:
following dynamic equation [8]:
" # ẋt = Axt + B(xt )m(xt ) (10)
RRC
− L1 (RL + R
− L(R+R
  
i̇t ) it
= R
R+RC
R
C) −f ≤ m(xt ) ≤ 1 + f
v̇t C(R+RC )
− C(R+RC ) vt

− L1 (RM it − E − Vγ )
 We can utilize the following scaling to get a symmetrical
+ ut saturation : −β ≤ m(xt ) ≤ β, with β = min{−f, 1 + f }.
0
 V 
γ Next, the change of variables will be taken into account as
+ −L (6) follows :
0
The inductance current and the capacity voltage are denoted ẋt = Axt + B̄(xt )m̄(xt ) (11)
by it and vt , respectively. The duty ratio ut of the power −1 ≤ m̄(xt ) ≤ 1

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 βB(xt )
The polynomial controller is inferred in the following way:
ẋt = Axt + B̄(xt )sat(m̄(xt ), ū) (12)
where m̄(xt ) = K(xt )x̂t (21)
  
 ū if m̄(xt ) > ū where K(xt ) = K1 (xt ) K2 (xt ) .
sat(m̄(xt ), ū) = m̄t if − ū ≤ m̄(xt ) ≤ ū (13) Substituting (21) into (20), closed-loop system is represented
−ū if m̄(xt ) < −ū as follows:

δ
with ū = 1, B̄(xt ) = βB(xt ) and m̄(xt ) = m(x t)
β . The
X
x̂˙ t = h̄l {A + B̄(xt )(Nl K(xt ) + N−
l Y(xt ))}x̂ + Fyref
control law is then given by ut = β m̄(xt ) − f .
l=1
Let yref ∈ Rp be a reference. We want to design an δ
polynomial controller such that yt → yref as t → ∞. =
X
h̄l Hl (xt )x̂ + Fyref (22)
We consider an augmented polynomial system including the l=1
following output error integral :
Z where Hl (xt ) = A + B̄(xt )(Nl K(xt ) + N−l Y(xt )).
et = (yt − yref )dt (14) The regulator design is to find out the polynomial gains
K(xt ).
Combining (14) with (12), we obtain the following aug- Theorem 1: Let S > 0 be a diagonal matrix. Polynomial
mented dynamics system : system (20) may be stabilized through the polynomial con-
troller respecting constraint (13), if there exist a positive
(
ẋt =Axt + B̄(xt )sat(m̄(xt ), ū)
(15) symmetric matrix P (x̄t ), polynomial matrices T (xt ) and
ėt =yt − yref
Z(xt ) and scalars i (xt ) > 0, i = 1, ..., 3, such that the
The aim of output regulation will be attained by stabilizing following SOS-based conditions are satisfied:
the system at an equilibrium state which produces yt = yref .
v1T (P (x̄t ) − 1 (x̄t )I)v1 , is SOS (23)
The new following control is considered :
m̄t = K1 (xt )xt + K2 (xt )et (16)  2
ūr Tr (xt )

v2T ( − 2 (xt )I)v2 is SOS (24)
Let Y (xt ) be given polynomial matrix. We got ∗ P (x̄t )

xt ∈ L(Y (xt ), ū) (17)

−v3T (Ωl (xt ) + 2 (xt )I)v3 is SOS (25)
By applying Lemma (1), control law (16) can be written as
Then, the system (22) is locally asymptotically stable with
sat(K1 (xt )xt + K1 (xt )et , ū) = γ(P −1 (x̄t ), 1) contained in the domain of attraction.
Xδ where
h̄l {(Nl K1 (xt ) + Nl− Y (xt ))xt +(Nl K2 (xt )  1 
Ωl (xt ) P (x̄t )S
l=1 Ωl (xt ) = (26)
SP (x̄t ) −P (x̄t )
+Nl− Y (xt ))et } (18)
where
with l ∈ [1, δ]; δ = 2nu .
The following augmented dynamics system is considered: Ω1l (xt ) = AP (x̄t ) + B̄(xt )Nl Z(xt ) + B̄(x)N−
l T (xt )

δ
X +(AP (x̄t ) + B̄(xt )Nl Z(xt ) + B̄(xt )N−
l T (xt ))
T

h̄l {(A + B̄(xt )(Nl K1 (xt ) + Nl− Y (xt )))xt

 X ∂P (x̄t ) j
ẋ =

t A x̂t + FFT


 −
l=1 j∈J
∂x j

 + B(xt )(Nl K2 (xt ) + Nl− Y (xt ))et }

 vi , (i=1,...,3), denote vectors that are independent of xt .
ėt =yt − yref

Proof 1: At first part of the proof, we will prove that
(19) condition (24) assurances the set inclusion as follow
T
xTt eTt

Let x̂t = , then the following polynomial γ(P −1 (x̄t ), 1) ⊂ L(Y (xt ), ū) (27)
model for the error signal x̂ is derived :
−1
This result on the one hand, ∀x ∈ γ(P (x̄t ), 1), the
x̂˙ t = Ax̂t + B̄(xt )sat(m̄(xt ), ū) + Fyref (20) following inequality
 1 RRC R

− L (RL + R+R C
) − L(R+R C)
0 2ūr ≥ ūr (1 + x̂T P −1 (x̄t )x̂) ≥ 2 |Yr (xt )x̂t | , ∀r = 1, ..., nu (28)
R R
where A =  − 0 ,
 
C(R+RC ) C(R+RC )
RRC R where Yr (xt ) denotes the rth row of Y (xt ) and ūr is the rth row
R+RC  R+RC 0
 RM x1 −E−V γ
of ū.
−  
implies that
L 0
B(xt ) =  0 , F = and B̄(xt ) =
−I
0 |Yr (xt )x̂t | ≥ ūr , ∀r = 1, ..., nu (29)

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On the other hand, condition (24) implies that to the SOS condition (25). By letting S̄ = SP −1 (x̄t )S and
 2  applying Schur complement to (25), we obtain :
ūr Tr (xt )
>0 (30)
∗ P (x̄t ) Ω1l (xt ) + P (x̄t )SP −1 (x̄t )SP (x̄t ) ≤ 0 (39)
−1
Define Yr (xt ) = Tr (x
 t )P1 (x̄t ). Pre and post-multiplying
 Define K(xt ) = Z(xt )P −1 (x̄t ) and Y(xt ) =
√
ū
0 −1
both side of (30) by r √ and its trans- T (xt )P (x̄t ). Pre- and post-multiplying the last expression
0 ūr P −1 (x̄t ) by P −1 (x̄t ), we obtain:
pose, we obtain

ūr Yr (xt )
 HTl (xt )P −1 (x̄t ) + P −1 (x̄t )Hl (xt )
>0 (31)
∗ ūr P −1 (x̄t ) +P −1 (x̄t )FFT P −1 (x̄t ) + S̄ ≤ 0 (40)
which implies that Therefore, (25) implies that V̇ (x̂t ) ≤ 0.

 ūr Yr (xt )

1
 By (25), we get
1 ±x̂Tt

≥0 (32)
∗ ūr P −1 (x̄t ) ±x̂t
V̇ (x̂t ) ≤ 0, ∀x̂t ∈ γ(P −1 (x̄t ), 1) ⊂ L(Y (xt ), ū) (41)
This can be rewritten as follows:
Thus, if x̂T0 P −1 (x̄0 )x̂0 ≤ 1, then x̂Tt P −1 (x̄t )x̂t ≤ 1, i.e.,
T −1
ūr (1 + x̂ P (x̄)x̂) ≥ 2 |Yr (x)x̂| (33) γ(P −1 (x̄t ), 1) is a contractively invariant set. This also
implies that system (22) is locally asymptotically stable at
This completes the first part of the proof.
the origin
At second part of the proof, we will treat the stability of
Remark 2: In SOS condition (25), we present a diagonal
the system.
matrix S to get polynomial gains K(x) with better perfor-
To ensure the stability of the system (20), we will use the
mance. We can obtain a quick decay rate for the regulation
following Polynomial Lyapunov Function (PLF)
error if the diagonal inputs of S are chosen adequately.
V (x̂t ) = x̂Tt P −1 (x̄t )x̂t (34)
j
V. A PPLICATION TO DC - DC CONVERTER
Let A signify the jth row of A, J = [j1 , j2 , . . . , jn ] signify
the row indices of B̄(x) whose analogous row is equal to In this part, we will use the results of the past section.
zero, and define x̄ = [xj1 , xj2 , . . . , xjn ]. Point out that the output equation for the DC-DC buck
The time derivative of PLF (34) is given as : converter is given as follows:
V̇ (x̂t ) = x̂˙ Tt P −1 (x̄t )x̂t + x̂Tt P −1 (x̄t )x̂˙ t + x̂Tt Ṗ −1 (x̄t )x̂t
δ
yt = V0
X
= h̄l (x̂Tt (HTl (xt )P −1 (x̄t ) + P −1 (x̄t )Hl (xt )
l=1 Table I illustrates the parameter values of the DC-DC
J converter.
X ∂P −1 (x̄t ) j
+ A x̂t )x̂ + x̂Tt P −1 (x̄t )Fyref
j=1
∂x j
TABLE I
T
+yref FT P −1 (x̄t )x̂t ) (35) DATA OF THE BUCK CONVERTER

δ
X Parameter Value
V̇ (x̂t ) ≤ h̄l (x̂Tt (HTl (xt )P −1 (x̄t ) + P −1 (x̄t )Hl (xt ) R 6Ω
l=1
RL 48.8mΩ
J
E 30V
X ∂P −1 (x̄t ) j L 98.58mH
+ A x̂t + P −1 (x̄t )FFT P −1 (x̄t ))x̂t Rc 0.162Ω
j=1
∂xj
RM 0.27Ω
T Vγ 0.82V
+yref yref ) (36)
C 202.5µF
If the controller gain yield
J
X ∂P −1 (x̄t ) j For the simulation, we will take the values of ū and the
HTl (xt )P −1 (x̄t ) + P −1 (x̄t )Hl (xt ) + A x̂t
j=1
∂xj matrix S as follows
+P −1 (x̄t )FFT P −1 (x̄t ) + S̄ ≤ 0 (37)
ū = 1 and S = diag {0.0018, 0.019, 2.8}
For S̄ = S̄ T > 0, then
Applying Theorem 1 to the DC-DC buck converter model,
T
V̇ (x̂t ) ≤ −x̂t S̄ x̂t + yref yref (38) we get a feasible solutions with:
2 2  
This implies that V̇ (x̂t ) ≤ 0 for −λmin (S̄)kx̂k ≥ kyref k P11 (vt ) P12 (vt ) P13 (vt )
(where λmin (.) denotes a minimum eigenvalue operator). P (vt ) =  ∗ P22 (vt ) P23 (vt )  (42)
Next we show that the stability condition (37) is equivalent ∗ ∗ P33 (vt )

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 P11 (vt ) = −2.255e−9 vt4 − 9.424e−7 vt2 + 4.855 3
P12 (vt ) = −2.085e−9 vt4 − 7.568e−5 vt2 + 87.23 i(t)
P13 (vt ) = 3.636e−10 vt4 − 1.786e−6 vt2 − 0.57 2.5 i(t)[8]

P22 (vt ) = −2.964e−9 vt4 + 2.344e−6 vt2 + 173.6 2

P23 (vt ) = −1.156e−9 vt4 + 1.029e−6 vt2 − 3.251

i(t)
1.5
P33 (vt ) = −4.719e−9 vt4 + 2.546e−6 vt2 + 0.0681
1

where 1e−s = 10−s , s ≥ 0. 0.5

The obtained polynomial control gain is given as follows
0
0 0.2 0.4 0.6 0.8 1
T ime t
K(xt ) = Z(it )P −1 (vt ) (43)
Fig. 3. Inductance current it of the DC-DC buck converter

with

 
Z(it ) = Z1 (it ) Z2 (it ) Z3 (it ) (44)

0.6
Z1 (it ) = 0.807it + 0.7495
Z2 (it ) = 0.3814it + 0.399 0.5 u(t)
Z3 (it ) = −0.7237it − 0.1776 u(t)[8]
0.4
u(t)

0.3

The trajectories of capacity voltage vt , inductance current

0.2
it and duty ratio ut are shown in Fig. 2, Fig. 3 and
Fig. 4,respectively, where R = Rnominal = 6Ω. We can see
0.1
from Fig. 4 that the evolution of the duty ratio of the DC-DC
buck converter is successfully among 0 and 1. Furthermore, 0
the tracking of the wanted trajectories is reached as set out. 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
T ime t

Fig. 4. Duty ratio ut of the DC-DC buck converter

16
vref
14 v(t)
v(t)[8]
12

10
v(t)

8
Moreover, to properly examine the performance of the
6
proposed polynomial controller for controlling the converter,
4 we are going to make a variation of the load R (see Fig. 5).
The value of load R became equal to 3Ω. From Fig. 5, we can
2
see that even in the presence of a variation of the load, the
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
capacity voltage vt can reach the desired trajectory. While,
T ime t the control presented in [8] does not ensure a good tracking.
These results demonstrate the efficiency of the suggested
Fig. 2. Capacity voltage vt of the DC-DC buck converter method.

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 15
[9] I. I. Ammar, H. Gassara, A. El Hajjaji, F. Tadeo, and M. Chaabane,
vref “Polynomial observer for interval positive polynomial systems,” in
v(t) 2019 8th International Conference on Systems and Control (ICSC).
v(t)[8] IEEE, 2019, pp. 129–134.
[10] I. I. Ammar, H. Gassara, A. El Hajjaji, and M. Chaabane, “Robust
polynomial observers for positive polynomial fuzzy systems,” in 2021
10
18th International Multi-Conference on Systems, Signals & Devices
(SSD). IEEE, 2021, pp. 1314–1321.
v(t)

[11] L. Li and K. Tanaka, “Relaxed sum-of-squares approach to stabiliza-

tion of polynomial fuzzy systems,” International Journal of Control,
Automation and Systems, pp. 1–10, 2021.
5
[12] L. Fu, H.-K. Lam, F. Liu, B. Xiao, and Z. Zhong, “Static output-
feedback tracking control for positive polynomial fuzzy systems,”
IEEE Transactions on Fuzzy Systems, 2021.
[13] L. Li, J. Li, and C. Mao, “State-feedback based fuzzy control design
for discrete-time interval type-2 fuzzy bilinear delay systems,” in 2020
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 39th Chinese Control Conference (CCC). IEEE, 2020, pp. 2221–
T ime t 2226.
[14] A. J. Muñoz Vázquez and C. Treesatayapun, “Discrete-time fractional
fuzzy control of electrically driven mechanical systems,” Asian Journal
Fig. 5. Capacity voltage v(t) of the buck DC-DC converter with R = 3Ω. of Control, 2021.
[15] H. Gassara, A. El Hajjaji, and M. Chaabane, “Control of time delay
polynomial fuzzy model subject to actuator saturation,” International
Remark 3: From this application, we can notice that the Journal of Fuzzy Systems, vol. 18, no. 5, pp. 763–772, 2016.
proposed SOS approach in this work can guarantee a good [16] K.-Y. Lian, J.-J. Liou, and C.-Y. Huang, “LMI-based integral fuzzy
tracking than the one proposed in [8]. Moreover, unlike the control of DC-DC converters,” IEEE transactions on fuzzy systems,
vol. 14, no. 1, pp. 71–80, 2006.
model used in [8], the polynomial model that we considered
in the design phase is a global model. Hence, the state
variable it can be chosen in a larger domain.

VI. C ONCLUSION
The polynomial tracking control with input saturation
issue of the polynomial model based control systems has
been studied. To describe the saturation behavior a polytopic
approach is used. The proposed polynomial controller has
been applied to the basic buck converter using an SOS-based
formulation. Simulation results show the efficiency and the
applicability of the suggested approach.

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