2021 International Conference on Computer Network, Electronic and Automation (ICCNEA)
Research of Boost Converter Sliding Mode Control
Method Based on Exponential Reaching Law
2021 International Conference on Computer Network, Electronic and Automation (ICCNEA) | 978-1-6654-4486-6/21/$31.00 ©2021 IEEE | DOI: 10.1109/ICCNEA53019.2021.00075
Chunyong Dang
1.
Xi’an Shiyou University
School of Electronic Engineering
2.
Shaanxi Provincial Key Lab of Oil and Gas Well
Measurement and Control Technology
Xi’an, China
e-mail: dcydang@163.com
*corresponding author
Abstract—Due to the nonlinear structure of boost converter,
the traditional PI controller can ensure the boost converter to
work stably near the rated point, and achieve good dynamic
and steady-state performance. When the working state of boost
converter deviates greatly from the rated point, its stability
cannot be guaranteed. Therefore, in order to solve the problem
that the dynamic performance and stability of boost converter
are insufficient when it deviates from the rated working state,
the mathematical model of third-order sliding mode controller
is established by adding voltage dynamic error state variable
on the basis of second-order sliding mode boost converter. The
exponential reaching law is applied to the third-order sliding
mode controller, which can effectively reduce the overshoot in
the start-up phase; when the input voltage changes suddenly,
the load has strong robustness. The paper built the Simulink
module, and through the Matlab/Simulink, the effectiveness of
the algorithm is verified.
Keywords—Boost Converter, Sliding Mode Control,
Exponential Reaching Law
I. INTRODUCTION
With the development of power electronics, people put
forward higher requirements for the control of boost
converter. The traditional PID controller can ensure the
stable operation of boost converter near its rated working
point. Once the boost converter deviates from the rated
working point, its stability cannot be guaranteed. Therefore,
many nonlinear control strategies have attracted people's
attention, such as sliding mode control, neural network
algorithm, fuzzy control and so on. Sliding mode variable
structure control is widely used in power electronic
converters because of its fast dynamic response, strong
robustness and wide stability range.
Due to the good robustness of sliding mode variable
structure control to circuit parameters and external
disturbances, its performance in dealing with large signal
disturbance [1][2] and wide working range [3][4] is more
outstanding. By switching the control structure in high
frequency, the sliding mode control makes the state
trajectory of the system enter the designed sliding mode and
finally reach the equilibrium point. The sliding mode is
independent of circuit parameters and external interference,
so the sliding mode control is highly invariant. However, in
practical application, due to the limitation of switching
frequency of power electronic switching converter, hysteresis
978-1-6654-4486-6/21/$31.00 ©2021 IEEE
DOI 10.1109/ICCNEA53019.2021.00075
Authorized licensed use limited to: Walchand College of Eng. Downloaded on January 09,2023 at 12:13:56 UTC from IEEE Xplore. Restrictions apply.
Qizhi Zhang
1.
Xi’an Shiyou University
School of Electronic Engineering
2.
Shaanxi Provincial Key Lab of Oil and Gas Well
Measurement and Control Technology
Xi’an, China
e-mail: zhangqz@xsyu.edu.com
modulation is generally used to limit the switching frequency,
which makes the state trajectory of the system interpenetrate
around the sliding surface. The switching frequency of the
converter is not fixed, and there will be chattering problem.
Simple sliding mode control can not meet the
requirements of high performance, and scholars at home and
abroad have conducted in-depth research on it. In
reference[5], fuzzy sliding mode control is discussed
comprehensively, and the basic advantages and
disadvantages of fuzzy control and sliding mode control are
analyzed respectively. In reference [6], a double power
reaching rate is proposed, which improves the convergence
rate of the system and makes the system have better dynamic
performance. In reference [7], a control strategy combining
sliding mode variable structure control with PI controller is
proposed. The inner loop adopts sliding mode control with
inductance current as feedback and the outer loop adopts PI
controller with output voltage as feedback, which improves
the stability and dynamic performance of boost converter in
wide range. In reference [8], the real-time estimated values
of load resistance and input voltage are obtained by
designing estimation law through state observer. The sliding
surface is designed by using the estimated value information,
and the control law is obtained by combining the exponential
reaching rate. An adaptive sliding mode controller is
designed to make the output voltage of the converter follow
the reference value, which makes the system more robust. In
reference [9], a fuzzy sliding mode controller for high
frequency switching power supply is designed, which
overcomes the shortcomings of traditional controller, such as
excessive overshoot, long adjustment time and weak
robustness to external interference. Reference [10][11]
proposed the adaptive method, but the design is more
complex. In addition, in order to avoid the chattering
problem of the first-order sliding mode surface, a higher-
order sliding mode control method is proposed by some
scholars [12][13]. At the same time, the new control method
combining sliding mode control with other control strategies
has also made great progress [14][15].
In this paper, the second-order state space model of boost
converter is obtained by state averaging method. On this
basis, the state space model of the third-order sliding mode
controller is given by introducing the dynamic deviation state
variable of the load voltage. The exponential reaching rate is
applied to the third-order sliding mode controller. Finally,
316
 the feasibility and effectiveness of the control strategy are x3 il (6)
verified by simulation.
By deriving equation (4), equation (5) and equation (6),
II. STATE SPACE MODEL OF BOOST CONVERTER we can get
The basic topology of boost converter is shown in Figure
1, which is divided into two modes: on mode and off
mode. x1 x2 (7)
il L
D

ic dv0 vi  v0
1 d
x2  u (8)
Ui Vg
C R U0 RC d
dt LC

v0 v
x3 il  u i (9)
Fig. 1. Boost converter topology. L L
Ui is the DC input voltage, L is the inductance, D is the Simultaneous (7) ~ (9), the mathematical model of the
freewheeling diode, Vg is the switch control voltage, C is the third-order sliding mode controller is obtained
capacitor, R is the load, U0 is the load voltage. Assuming
that the boost converter operates in CCM mode, the state
space equation of the boost converter with respect to ª º ª º ª º
inductance current and load voltage is «0 1 0» « 0 » «0»
ª x1 º « » ª x1 º « » « »
«x » v v
« 2»
«0  1 0 » «« x2 »»  «« 0 i »» u  «« 0 »» (10)
ª 1 º ª 1º « RC » LC
ªxº «0  0 ª vi º «¬ x3 »¼ « » «¬ x3 »¼ « » « »
«I » L » ª il º « L » ª il º
« »« »« » « »u  « L » (1) «0 0 0» «  v0 » « vi »
«x» «1 1 » ¬u0 ¼ « 1 « » «¬ »¼ «¬ L »¼ «¬ L »¼
0»¬ 0¼
u
¬U ¼   ¬« 0 ¼»
«¬ C RC »¼ «¬ C »¼
Change equation (10) into standard form
Where u is the control variable, when the switch is on,
u = 1; When the switch is off, u = 0.
x Ax  B
Bu  D (11)
Let u 1 u
Let the sliding surface of the system be
vi v0
il  u (2)
L L s k1 x1  k2 x2  k3 x3 (12)

In order to satisfy the existence and accessibility of

(1  u)il v0 (vi  v0 )u v0 sliding
g surface, the design of sliding surface must satisfy
v0
C

RC ³ LC dt  RC (3)
lim ss  0 . The derivation of equation (12) leads to
s o0

III. SLIDING MODE CONTROL STRATEGY

s k1 x1  k2 x2  k3 x3
In the third-order sliding mode controller discussed in
k2 k k C  k2 (13)
this paper, the output voltage error x1, output voltage error (  k1 )v0  (k1  2 )v0  3 uvi
change rate x2 and inductance current x3 are selected as state RC RC LC
variables, then x1, x2 and x3 can be described as state
variables When s > 0, u = 1, and the output switch of boost
converter is on, then

x1 vref  v0 (4)
k2 k k C  k2
s (  k1 )v0  (k1  2 )v0  3 vi  0 (14)
RC RC LC

dv0 1 When s < 0, u = 0, and the output switch of boost

x2 x1   ic
dt C converter is off, then
(5)
1 v0 v0 (vi  v0 )u
RC ³ LC
(  il u )  dt
C R k2 k
s (  k1 )v0  (k1  2 )v0 ! 0 (15)
RC RC

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 The conditions of sliding mode accessibility of the U ( s)
U( ss H s sgn
g s)  ks 2
sgn( H s  ks 2  0 (18)
system are obtained by the equation (14) and equation (15)

It shows that the controller meets the design requirements

k k k k C
0  ( 2  k1 )v0  (k1  2 )v0  2 3 vi (16) By using simultaneous equations (11) and (13), we can
RC RC LC get

When designing the coefficients k1, k2, k3 of sliding

surface, equation (16) is one of the necessary conditions. LC ª k2 k3vi º
u 1 «(k1  RC )v0  L  s » (19)
k2 (v0  vi )  k3Cv0 ¬ ¼
IV. DSIGN OF INDEX CONVERGENCE RATE
When designing the sliding mode controller of boost The expression of sliding mode variable structure control
converter, the system should have good robustness, that is, it quantity u can be obtained by substituting the exponential
has good dynamic performance and can reach the sliding approach rate
mode surface quickly; At the same time, it needs to have a
good steady-state performance to reduce the chattering of the
system, which is the significance of the design index
­  LC
reaching rate. °u 1
k2 (v0  vi )  k3Cv0
In this paper, the exponential reaching rate °
s H sgn
sgn(s)  ks is applied to the third-order sliding mode ° ª k2 k3 vi º
«(k1  RC )v0  L  H  ks » , s ! 0
sg °
controller. When the sliding surface is far away from the ° ¬ ¼
sliding surface, the larger the exponential reaching rate
u ® (20)
°u LC
1
parameter k is, the faster the reaching speed is, and the ° k2 (v0  vi )  k3Cv0
shorter the reaching time is. However, if the k value is too °
° ª k2 k3 vi º
«(k1  RC )v0  L  H  ks » , s  0
large, the system will still maintain a large speed when
° ¬ ¼
approaching the sliding surface, which will lead to the ¯
increase of chattering. When the sliding surface is close to
the sliding surface, the smaller the exponential reaching rate
parameter H is, the smaller the chattering is. However, if H V. SIMULATION VERIFICATION
is too small, it will be affected by the value of k , so it can Through Matlab/Simulink simulation software, the third-
not make the chattering small enough. order sliding mode controller based on exponential reaching
rate and PID controller are respectively applied to boost
According to Lyapunov principle, let converter for comparison, as shown in Figure 2.
Select the parameters of boost converter:Vi=10V,
U ( s) s2 / 2 (17) Vref=20V, L=330­H, C=2200­F, R=30¡, The parameters
of sliding surface are selected as follows: k1 =800, k 2 =1,
We can get k3 =16, k =800, H =400, to verify.

Fig. 2. Simulation diagram of boost converter system.

In order to verify that the sliding mode algorithm based

on exponential reaching rate can improve the system
performance, when compared with PID algorithm. The A. Start Response
system is divided into two stages, start-up response stage and Figure 3 shows the start response comparison waveforms
input voltage mutation stage. of the two schemes.

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Fig. 3. Output voltage in start-up phase.
It can be seen that the maximum impact voltage of load is
25V, the minimum is 19.5V and the final stability is 20V
under the sliding mode control method based on exponential
convergence rate; The maximum impact voltage of load is
27V and the minimum is 19v, and the load is stable at 20V.
The results show that the dynamic response
characteristics of the system with exponential reaching rate
sliding mode control method are better than PID control in
response speed and overshoot. Under the control of this
scheme, the system can enter the expected voltage value
faster and operate stably near the steady-state value.
However, PID control can increase the overshoot and
prolong the corresponding time.
B. Sudden Change of Input Voltage
After stable operation, the input voltage of the system
changes from 10V to 14V in 1s. Figure 4 shows the
comparison waveforms of output voltage dynamic response
of the two schemes under input voltage mutation.
Fig. 4. Output voltage of input mutation
It can be seen from the analysis in Figure 4 that the
output voltage of the two control schemes changes suddenly
at the moment when the input voltage changes suddenly.
However, under the control of the proposed scheme, the
overshoot amplitude of the output voltage of the system is
significantly smaller, and it can return to the original stable
value more quickly and run smoothly, and the transition
time is significantly shorter; the output voltage overshoot of
PID sliding mode control system is larger and the transition
time is longer.
The simulation results show that the controller has
strong robustness and excellent dynamic characteristics, and
the converter has good dynamic response characteristics
when the input voltage changes, which ensures the safe and
reliable operation of the converter
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VI. CONCLUSION
Firstly, the state space model of boost converter is
established, then the mathematical model of third-order boost
converter is established by introducing voltage dynamic
deviation, and the exponential reaching rate is introduced to
improve its dynamic performance. On this basis, the
simulation is compared with PID algorithm, the simulation
results show that the control method can effectively improve
the dynamic performance of the system and enhance the
robustness of the system. It shows the feasibility and
effectiveness of the control algorithm.
ACKNOWLEDGMENT
This research is supported by the foundation project:
Xi’an Shiyou University’s Graduate Innovation and Practical
Ability Training Program.
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