th

Proceeding of 2016 4 International Conference on Control Engineering & Information Technology (CEIT-2016) Tunisia, Harnmamet- December, 16-18,
2016

Sliding Mode Control for a Boost converter with

Constant Power Load
S. BARHOUMI, A. SAHBANI, K. BEN SAAD

LARA Laboratory, National Engineering School a/Tunis

University a/Tunis El Manar
sabrina.barhoumi@gmail.com
kamel.bensaad@gmail.com

Abstract- This paper presents a Sliding Mode Control (SMC) It is composed by an inductance (L), a controlled switch (SW),
of a Boost converter for constant power regulation. As CPL a freewheeling diode (D), a load resistance (R) and an output
induces negative instability in DC-DC converters, the proposed capacitance (C).
SMC aims to improve the dynamical performances, the stability
and the robustness of the studied converter. The obtained
simulation results prove the efficiency and the robustness of the
proposed control approach.
v,

Keywords- Sliding Mode Control, Boost converter,

Constant Power Load, robustness
I. INTRODUCTION
Fig. I Boost converter structure
Switched mode DC-DC converters are electronic circuits
which convert a voltage from one level to a higher or a lower A boost converter converts the input dc voltage to higher
one. They are more and more used in some electronic devices one. This can be performed with controlling the switch SW by
such as DC-drive systems, electric vehicles, smart grids, and a suitable PWM control signal.
distributed power supply systems [1]. The mathematical model of the studied boost converter is
There are several topologies of DC-DC converters. In this given by the following equations:
paper, we studied the case of a boost converter for Constant
Power Load (CPL) application. In distributed power systems
or in embedded electrical networks (electric cars, ships,
{L didVdte s Ve -Vs d)
= (1-
(1)
aircraft ... ) a converter can be loaded by another one. For the C (1
case of a resistive CPL, the converter is controlled such that
input current decreases (or increases) when the input voltage
increases (or decreases). This aims to keep the Power
dt -d) ie -is
=

where d is the control signal : d = 1 if the switch is closed

and d=O if the switch is open.
dissipated in the load constant. It is known that CPL induces By considering X = ie and x = Vs the studied boost
I 2
'

negative instability in DC-DC converters for both continuous

converter mathematical model can be rewritten as follows:
conduction mode and discontinuous conduction mode. So the
power converter must be controlled in closed loop control {Xl = J.- ( Ve-x ( 1-d ))
L 2

� ( I_d ) X, +, 1
mode. Control theory provides several control solutions which
(2)
aim to insure the stability, a better dynamical response and the
x,
robustness of the controlled system which can be classified �

into linear and nonlinear controls. Sliding Mode Control

(SMC) is a nonlinear control technique derived from variable
structure control theory, proposed by Utkin [2]. Such control
is known to be suitable for DC-DC converters closed loop
control [3]. Thus, we propose in this paper a SMC for constant
power resistive regulation of a Boost converter.
This paper is organized as follows; in section II the boost
converter model is presented. Section III is reserved to the
proposed SMC presentation. Simulation results are given in
section IV. Finally the conclusion is given in section V.
II. BOOST CONVERTER MODELING
Fig. 1 presents the structure of the studied boost converter.
The state space representation presented by the differential
equations (2) illustrates the nonlinear characteristic of the
boost converter.
III. PROPOSED SLIDING MODE CONTROLLER
Sliding mode control is a nonlinear control that aims to
drive the state trajectory of the controlled system into a sliding
surface. Compared to other control solutions, it is easy to
implement and it guarantees the stability of the controlled
system. Moreover, it is a robust control against controlled
system parameter variations [4].

ISBN: 978-1-5090-1055-4 © 2016 IEEE

 th
Proceeding of 2016 4 International Conference on Control Engineering & Information Technology (CEIT-2016) Tunisia, Hammamet­
December, 16-18, 2016

The design of a sliding mode controller must follow three

steps. In the beginning, the sliding surface form must be (10)
defined. Next, the control law is designed so that it must
The time derivative of V must be negative definite to insure
verify the existence and the stability conditions.
the stability of the controlled system and to make the surface
Finally, the designed control law is implemented and
attractive. Such condition leads to the following inequality:
applied to the controlled system.
The general form of a sliding surface is a function of the SS <0 (11)
error between the reference and the system output. It can be The time derivative of S is defined as follows:
expressed by the following expression [5]:

(: r (3)
(12)
l By considering the equations (7) and (11) the expression
S(x)= +A e
t (12) can be transformed as follows:
We propose in the following a sliding mode control to
x; ( (
[(--- X2 ) ) --x +xx (3)] 3
J
regulate the output power POli/. . 2 Ve
To design this type of controller, we define the sliding
S=- d l 2 1-deq -d --A (1 )
R
n
L C
n
L 2 I 2 RC
surface S expressed as follows:

- (
By considering that:

)( ( (
S=e+Ae (4)
where e = �UI P."f and A is a positive real number called the
convergence factor.
Kdn =
x
L
;_ Xl
C
2
)
2 1- deq )- dn - � x + x x �- A (14)
L 2 I 2 RC
J
The control variable d has two components; an equivalent
control component deq and a discontinuous control the equation (13) can be written in the following form:
component d . . 2
n
S = dnKdn (15)
The equivalent control system deq is the control imposed R

{
Based on equation (14), the existence condition is
by upgrading the status of the path switching surface. deq
represented by the following inequalities:
ensures the sliding mode. It can be calculated by considering
SS =(P+AP)S <0
the case of an ideal sliding mode that occurs when s=o and
. 2 (16)
S =o. So when s=o we have: SS =-dnKdn S <0
R
F =-J,.,(P-P'eJ) (5)
Incorporating the expression of the equivalent control
and if S =0 we can deduce that: component in equation (7), the discontinuous control
P=-J,.,F (6) component can be expressed as follows:
By taking into consideration the conditions (5) and (6), the dn =-sign(S)sign(Kdn) (16)

LRC[A( RCi) (/i-x; kJ-"2R(xA2 J2(/i-X; kJ2]

equivalent control component is defined as follows: We choose A so that Kdn is positive. The expression (16)
can be simplified into:
I
1+ 1-2 -,;: ,1- dn =-sign(S) (17)
deq = 1- (7) IV. SIMULATION RESULTS
x2
2
V, The simplified block diagram of the proposed SMC is
At steady state, where �," =P,.eJ the expression (7) can be '
presented in Fig.2. To apply the proposed control strategy, we
have to measure the load voltage and current.
expressed as follows:
Ve
deq =l_ (8)
V s

We can notice that the expression (8) is equivalent to the

v.
boost converter duty cycle d formula. Indeed for the case of a
boost converter the relation between Vs and Ve is given by
following equation:

V =__V I (9)
e
-d
s

I
Let us consider the Lyapunov function V defined as follows
[5]:
Fig. 2 Block diagram of the SMC proposed

ISBN: 978-1-5090-1055-4 © 2016 IEEE

 th
Proceeding of 2016 4 International Conference on Control Engineering & Information Technology (CEIT-2016) Tunisia, Hammamet­
December, 16-18, 2016

Fig. 5 Evolution of the output power load (Prer=50W)

To test the proposed SMC, we varied the reference power

The proposed SMC was tested by simulation for the case of Pref. The converter output power is a function of the output
a boost converter having the parameters given in tablel. voltage and the load resistance. So with a variable reference
TABLE I: power the duty cycle varies automatically, table 2.
PARAMETERS OF THE STUDIED BOOST CONVERTER TABLE 2:

VARIATION OF THE DUTY CYCLE IN FUNCTION OF THE VARIATION OF THE

Parameters Value
OUTPUT POWER
Ve 24V

C 1.1 e-3/-lF Pre.-(W) Vs (V) Ve (V) Duty cycle

L 0.68 e-3 H
12 24 24 0
R 48Q

Vs 48V 24 33,941 24 0,292

Switching Frequency 10kHz

48 48 24 0,5

The evolution of the output current, voltage and power are 100 69,282 24 0,653
shown in Fig 3, 4, and 5, respectively for of PreF50W.
200 97,979 24 0,755

1.2
250 109,544 24 0,780

o.a 300 120 24 0,8

�
.� 0.6
Figure 6(a), 67(b) and 6(d) present the evolution of the
0.4
output power for PreFlOOW, PreF200W and PreF300W
0.2 . respectively. We notice that for each case the output power
° 0L- O
- .0
� �2--0�.04
- �0�
reaches the reference one.
.0��
0 0�. o��
a 0�.'--�
0.�' 2--�
0.'�4--� 0.'�6--0.1 -
� � a- J
0.2
Time (seco ods)

Fig. 3 Evolution of the output current load ich (Prer=50W)

100

5o 1 ----------------------------------�
45
r-
�
�

�
ao

60
(
40 :.
35
"
.e- 40
30 0
�
>- 25
20 20

15
10 0
0 0.02 0.04 0.00 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time (seconds)
� - 0�.0=2�0�.0�4�0�.00��0�.oa��0�.,--�0.,
°0 � .,�4--0�.,=6�0�.1�a�0 .2
� 2�0 (a)
Ti me (scconds)

Fig.4 Evolution of the output voltage load Vs (Prer=50W) 2 00

180

1
60

5 0 �----------------------------------�
i§: 140

�
" 12 0
::
� 40 :. 1 00

"
.e- 80
�

�
rf. 30 o 60
:;
=- 40
= 20
o 20

10 0
0 0.02 0.0 4 0.00 0.08 0.1 0.12 0.1 4 0.16 0.18 0.2

Time (seconds)
0 L-���--�--J
a 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2 (b)
Time (seco ods)

ISBN: 978-1-5090-1055-4 © 2016 IEEE

 th
Proceeding of 2016 4 International Conference on Control Engineering & Information Technology (CEIT-2016) Tunisia, Hammamet­
December, 16-18, 2016

300

250 ( 1.5

..
�
�

::
�
2 00

1
50
gOJ)
(;j
:; 0.5
Co
� 1 00
e
-=
8
50

· �
·0.5
� � � � � � � � � �
° 0--�0.0 -- 0.0-4 --0.O
-
O --0.08
--- 0. 1 ---0. 1 2---0. 1 4-- 0. 1 6--0. 1-
8 0.2
2

Ti me (seco Dds)
·1 ���� __�__-L__-L__-L__�__�__��

(c) 0.099 0.0992 0.0994 0.0996 0.0998 0.1 0.1002 0.1004 0.1006 0.1008 0.101
Time (seconds)
Fig.6 Evolutions of the output power for different references: (a) PreFIOOW,
(b) PreF200W, (c) PreF300W Fig. 8: Zoom of the duty cycle evolution with the variation of the input
voltage: Ve from 3 0V to IOV
To test the robustness of the proposed control, we
considered the case of the variation of the input voltage from The only problem in this type of control is its sensitivity to
30V to lOY. Such variation occurred at t=O.ls. Fig.7 presents significant load variations.
the simulated output power evolution.
V. CONCLUSION
We can notice that despite the input voltage variation, the
output power still equal to the reference one (PreF48W). This In this paper, we proposed a SMC for CPL applications and
is due to the variation of the duty cycle generated by the for a boost converter. The design of the proposed control is
proposed SMC. Fig.8 presents a zoom of the PWM control based on the Lyapunov stability theory. The proposed control
signal around t=O.1s. is robust and easy to implement. We proved by simulations
the efficiency of the proposed SMC. Moreover, it is robust for
TABLE 3 :
the input voltage variations. In this study, we considered that
VARIAnON O F THE DUTY CYCLE I N FUNCTION O F THE VARIATION O F THE the load is a resistance. The proposed control can be easily
INPUT VOLTAGE
extended and generalized for any kind of loads. Especially
Ve(V) Duty cycle when the boost converter has one or several other converters
connected in his output.
8 0,833
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Proceeding of 2016 4 International Conference on Control Engineering & Information Technology (CEIT-2016) Tunisia, Hammamet­
December, 16-18, 2016

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