2013 12th International Conference on Machine Learning and Applications

An Evaluation Study on Circuit Parameter Conditions of Neural Network

Controlled DC-DC Converter

Hidenori Maruta∗ , Masashi Motomura∗ , Fujio Kurokawa∗

∗ Graduate School of Engineering
Nagasaki University
1-14, Bunkyo-machi, Nagasaki, Japan

Abstract—This study aims to evaluate the behavior of
neural network control method for digitally controlled dc–
dc converters when the circuit parameter condition varies
from which is in the training of the neural network. Learning
based methods, which include the neural network control, are
constructed and tuned using the training data to control given
plants. They can provide the effective control since they are
tuned as the dedicated one, however, they have difficulties
when the parameters of components in the plant are changed
from original ones, which are used to obtain the training
data. Therefore, they may lose the effectivity in control if
the the parameters in plant are changed. In the case of
controlling dc–dc converters, the circuit parameter condition
such as capacitance, reactor and so forth, are varied in the
case that the specification of the circuit design is changed.
Moreover they are changed by the environmental condition
such as temperature, aging degradation and so forth. In this
study, we study the effectivity of neural network control method
for dc–dc converters when the circuit parameters are changed
from the ones which are used in the training. When the circuit
parameters are changed from original one, we evaluate that
whether the neural network can control without any tuning,
such as re–training of the neural network. From evaluation
results, we confirm that the neural network control can work
effectively even in such situation and it reveals that the neural
network control has the robustness against the change of the
circuit parameter condition.
Keywords-digitally controlled dc–dc converter, neural net-
work
I. I NTRODUCTION
The role of dc–dc converter becomes very important
since the electric equipment is widely used and its energy
consumption is serious issue in these days. To realize the
high performance dc–dc converter specification, we need a
superior control method which satisfies the performance both
in steady–state and transient state simultaneously. Especially,
the digital control gathers attention due to the fact it can
be small, simple and widely applicable method for dc–
dc converter design[1][2][3][4] and other power electronics
applications.
To design the control in dc–dc converter, the PID control
is widely used and realized by digital one conventionally.
However, designing the gain parameters in PID control is
difficult to satisfy the requirement to them are different from
in steady–state and transient state. Even in digital control,
it becomes high cost to design and tune the suitable control
parameters from above reason. Therefore, the new approach
is required which can avoid the issue about designing
optimal control parameters in the PID control.
To address such issue, there exist several researches
which employ the neural network method to control dc–dc
converters[5][6][7][8][9]. The neural network is realized in
fully digital control, not in analog one and it is the control
method which shows the flexibility and availability of digital
control. We also proposed a neural network based method in
coordination with the PID control[10]. In that method, we
combined the neural network and PID controls and realized
superior characteristics both in steady–state and transient
state simultaneously. The neural network control contributed
to improve the transient response dramatically. Our previous
result suggests that the neural network based control method
have a potential to address the issue mentioned above.
However, the effectivity of it compared with the traditional
control method is not clear enough. The neural network
control is one of the method which is the training based one.
When the circuit parameter condition is varied, the neural
network cannot be optimal since the its condition differs
from when it is trained. Such change of condition sometime
occurs by the aging degradation of the circuit components
and specification change of the circuit design in the con-
verter. Therefore, we need to evaluate the characteristics and
effectivity of the neural network control against the change
of the circuit parameter condition.
In this study, we evaluate the effectivity of neural network
control method when the circuit parameter condition is
varied from original one which is used in the training of
neural network. The results show that the neural network
can keep the effectivity in such situation without re-training
of it and re-tuning of the control parameters. This means that
the neural network method provides the function to design
the control parameters simply and easily.
II. O PERATION P RINCIPLE OF N EURAL N ETWORK
C ONTROL OF DC–DC C ONVERTER
In this section, we briefly introduce the neural network
control method of dc–dc converters employed in this study.

978-0-7695-5144-9/13 $31.00
$26.00 © 2013 IEEE 249
DOI 10.1109/ICMLA.2013.131
 Drive Digital Control Drive
Converter Circuit
Circuit Circuit Circuit

A/D Conversion
L PID Neural Network

control Reference Control

T Modification
E
r
C e
in P term
i D R o

Figure 2. Control diagram of the neural network and PID control.

Figure 1. Digitally controlled buck converter used in this study.

Table I i i +1
Data Acquisition
C IRCUIT PARAMETERS OF DC – DC SWITCHING CONVERTER .

Circuit Parameter Symbol Value

Input Voltage Ei 20 V
Desired Output Voltage Eo∗ 5V
Output Capacitor C (C0 ) 940 μF
Inductor L (L0 ) 189 μH Training Digital
Switching frequency fS 100 kHz and
Prediction Circuit

A. Circuit Design of DC–DC Converter i-th look-up table

Figure 1 shows a digitally controlled dc-dc switching Stack

buck converter used in this study. Symbols represent circuit
parameters as shown in Table I. Additionally, Tr represent
a switch; D represents a diode; R represents a load, re-
spectively. The values of parameters are varied since the
aging degradation of the circuit components and specifica-
tion change of the converter design in the converter. These
changes affects the response of the system and the tuned
control parameters for original specification become non–
optimal.
We expect that the neural network control addresses such
issue without any tuning or re–retraining of it. If it can
be done, we can say that the neural network control can
be robust against such issue and provide a suitable control
method for dc–dc converters in the field use.
In the digital control circuit, the output voltage eo is
detected for the feedback control. The digital controller
consists of the conventional PID and neural controllers as
mentioned before. It generates the digital PWM signal to
control the dc–dc switching converter. The detail of the
digital controller is described in the following section. It
is noted that the suffix n denotes the n-th switching period
in this study.
B. Neural Network Control Design of DC–DC Converter
The neural network is popular and well–known method
as a time series predictor. We already proposed the control
method of dc–dc converter using the neural network in
coordination with the PID feedback control[10]. In this
method, the control parameters KP , KI and KD in the PID
control , which are the proportional, integral and differential
coefficients respectively, are tuned firstly without neural
memory
Stacked Look-Up Tables
Figure 3. Training and control procedure of the neural network control[10]
.
network and remains as same values in the training and
performing of the neural network control. It was shown
that this method is simple and very effective to improve
the transient response of dc–dc conveter. Here we describe
about the neural network control method[10] employed in
this study in detail.
To improve the transient response, the proportional (P)
control term in the PID control is dominant. The reference
value in the P term is usually the fixed value and set to be
the desired output voltage. The neural network control term
is performed as a function to modify the reference value
in the P term. Figure 2 shows the control diagram of the
reference modification of the neural network control. The
neural network controller modifies the reference NR in the
P term to reduce the error between the output voltage and
the desired one. The neural network structure adopted here
is three layered hierarchical one. The activation function in
whole layers are the sigmoid function and weight parameters
in the neural network are trained by back propagation
algorithm. The training data are the output voltage obtained
in the transient state of dc–dc converter.
Figure 3 shows the training and control process. The
neural network is trained as a predictor of the output voltage

250
 Reference Modification after several training
After 3rd training
After 2nd training
After 1st training
Transient State
Figure 4. Reference modification by neural network control and its effect
to output voltage[10] .
eo,n in the n-th switching period to modify the reference to
the difference between the observed eo,n and its predicted
value eoˆ, n using its three former data eo,n−1 , eo,n−2 , eo,n−3 .
This training repeatedly proceeds as following. Firstly, the
neural network is trained to predict eˆo with data obtained
when the PID control is only adopted. The predicted values
of the neural network are stacked into the memory as the first
look-up table. Next, the reference in the P control term is
modified with the first look-up table and the on-time duration
NTon ,n of the PWM signal is calculated by using the PID
control and first neural network control.
 
NTon ,n = NB − KP {Neo ,n−2 − NR + NeoDif ,n }

−KI (Neo ,n−2 − NR )
−KD (Neo ,n−2 − Neo ,n−3 )
Here NB is the bias term, NR is the reference for the
feedback control, respectively. The reference in the P control
term is modified using Eq. (2).
NeoDif ,n = NR − Ne(1)
oEst ,n
(1)
Here NeoEst ,n is the predicted value of Neo ,n in the first
look-up table. Figure 4 shows the effect of reference mod-
ification with neural network control. Using both PID and
the neural network controls (first look–up table), the neural
network is trained again and the second look-up tables is
obtained in the same manner. It is noted that the parameters
in the PID control remain same ones in the whole process.
Since the suppression of the first undershoot is effective
and dominant to improve the transient response, the duration
of the neural network control is devised as shown in Fig. 4.
As shown in Fig. 4, the neural network control is performed
from the time when the step change in load occurs until the
output voltage reaches its first undershoot.
After M times training, the reference modification NeoDif
becomes the accumulated term of M look-up tables as Eq.
(3), which replaces NeoDif ,n in Eq. (1).
M 
 
NeoDif ,n = NR − Ne(i)
oEst ,n
(3)
i=1
(i) (i)
Here NeoEst ,n is the predicted value of Neo ,n in the i-th
look-up table. Figure 4 also show the effect of reference
modification after several training. In this study, the training
of the neural network proceeds repeatedly three times (i.e.
M = 3).
III. S IMULATION E XPERIMENT
We evaluate the effectivity and robustness of the neural
network control method described in Sec. II when the circuit
parameter condition of dc–dc converter is varied. In the
experiment, we suppose that the condition in the case of
(i) aging degradation of the circuit components, and (ii)
specification change of the design in the converter circuit.
Under such condition changes, we evaluate the neural net-
work control method by its improvement in the transient
response of dc–dc converter.
In whole experiments, transient responses are evaluated
in the case that the step change of the load from 25 Ω to 5
Ω occurs. Using this condition, the circuit parameters C and
L are varied and their variations are limited to keep stable
characteristics in steady–state. The simulation software is
PSIM used in the experiments.
To compare transient characteristics, the circuit param-
eters in Table I are used as the original ones. Using this
original parameters, the control parameters KP , Ki , KD are
optimally tuned and the the neural network is trained for this
setting. Those parameters and trained neural network are not
(1) changed, i.e., the robustness against the change of circuit
parameters are evaluated. In this original setting, the control
parameters are KP = 4, Ki = 0.015, KD = 4, respectively.
Figure 5 shows the transient responses of the conventional
PID control and the neural network control. Table II sum-
(2) marizes transient characteristics in the original setting.
A. Evaluation for Aging Degradation of Circuit Components
In this section, the circuit parameter condition is var-
ied under the assumption of aging degradation of circuit
components. To evaluate on this assumption, we vary the
value of output capacitor from original one (C0 ) to C =
0.9C0 , 0.8C0 , 0.7C0 respectively since the natural decrease
of the capacitor is considered as the aging degradation.
We mention again that the control parameters and neural
network remains same and are not tuned for these variations.
Table III summarizes transient characteristics of the output
voltage eo for each aging degradation condition. Figure 6 ,
7 , 8 show the results of the output voltage in the cases of
C = 0.9C0 , C = 0.8C0 , C = 0.7C0 respectively.
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 Table II
T RANSIENT RESPONSES OF CONVENTIONAL PID AND NEURAL NETWORK CONTROL IN ORIGINAL SETTING .

Method Overshoot of eo (%) Undershoot of eo (%) Settling Time in 1% (ms.)

PID 3.2 1.7 2.7
PID + NN 2.0 0.8 1.4

Table III
T RANSIENT RESPONSES OF CONVENTIONAL PID AND NEURAL NETWORK CONTROL IN AGING DEGRADATION .

Circuit Parameter Method Overshoot of eo (%) Undershoot of eo (%) Settling Time in 1% (ms.)
9 PID 3.3 1.9 2.6
C= C
10 0 PID + NN 2.1 1.1 2.3
8 PID 3.6 2.1 2.5
C= C
10 0 PID + NN 2.3 1.4 2.2
7 PID 3.8 2.4 3.2
C= C
10 0 PID + NN 2.6 1.8 3.1

5.4 5.4
eo

5.4 5.4
eo

Overshoot: 1.7%
5.2 5.2
5.2 5.2
Overshoot: 1.9%

㼼1% 㼼1%
5.0 5
5.0 5

4.8 4.8
4.8 4.8

Undershoot: 3.2% Undershoot: 3.3%

tst: 2.7ms
4.6 4.6
4.6
tst: 2.6ms
0 5.0
4.6

10.0
0.2 0.205 0.21 0.215 0.22 0.225

15.0 20.0 25.0

0.2 0.205 0.21 0.215 0.22 0.225
Time (s) Time (s)

0 5.0 10.0 15.0 20.0 25.0

t (ms) t (ms)

(a) Conventional PID control (a) Conventional PID control

5.4 5.4
eo

5.4 5.4
eo

Overshoot: 0.8%
5.2 5.2
5.2 5.2
Overshoot: 1.1%

㼼1% 㼼1%
5.0 5
5.0 5

4.8 4.8
4.8 4.8

Undershoot: 2.0% Undershoot: 2.1%

tst: 1.4ms
4.6 4.6
4.6
tst: 2.3ms
0 5.0
0.2 0.205 0.21 0.215 0.22 0.225 4.6

10.0 15.0 20.0 25.0

0.2 0.205 0.21 0.215 0.22 0.225
Time (s) Time (s)

0 5.0 10.0 15.0 20.0 25.0

t (ms) t (ms)

(b) Neural network control (b) Neural network control

Figure 5. Transient responses of (a) conventional PID control and (b) Figure 6. Transient responses of (a) conventional PID control and (b)
neural network control in original setting. neural network control in aging degradation (in the case of C = 0.9C0 ).

From these results, we can confirm that, without any inductor L and output capacitor C to different ones. In this
re–tuning and re–training, the neural network control can experiment, we vary those values to (i) C = 12 C0 , L = L0
contribute to improve the transient characteristics of the and (ii) C = 23 C0 , L = 32 L0 as examples of specification
output voltage. Therefore, the neural network method can be change.
robust against aging degradation conditions. This property is Table IV summarizes transient characteristics of the out-
very effective since it is natural that dc–dc converters always put voltage eo for each specification change of design.
suffer from aging degradation in the field use. Figure 9 and 10 show the output voltage in both specifi-
cation changes of design.
B. Evaluation for Specification Change of Design From these results, we can confirm that the neural network
In this section, the circuit parameter condition is varied control can contribute to improve the transient characteristics
under the assumption of specification change of design. without re–training even when the circuit parameters are
To realize the change of condition, we vary the values of varied largely.

252
 Table IV
T RANSIENT RESPONSES OF CONVENTIONAL PID AND NEURAL NETWORK CONTROL IN SPECIFICATION CHANGE OF DESIGN .

Circuit Parameter Method Overshoot of eo Undershoot of eo Convergence Time

1 PID 4.6 3.3 4.4
C= C ,
2 0
L = L0
PID + NN 3.3 2.7 4.2
2 3 PID 4.7 3.4 5.1
C= C ,
3 0
L= L
2 0 PID + NN 3.1 2.2 4.7

5.4 5.4
eo

5.4 5.4
eo

Overshoot: 2.1%
5.2 5.2
Overshoot: 2.4%
5.2 5.2

㼼1%
㼼1%
5.0 5

5.0 5

4.8 4.8

4.8 4.8

Undershoot: 3.6%
Undershoot:3.8%
tst: 2.5ms
4.6 4.6
tst: 3.2ms
4.6
0.2 0.205 0.21 0.215 0.22 0.225
Ti me (s)
4.6

0 5.0 10.0 15.0 20.0 25.0 0.2 0.205 0.21

Time (s)
0.215 0.22 0.225

0 5.0 10.0 15.0 20.0 25.0

t (ms)
t (ms)

(a) Conventional PID control (a) Conventional PID control

5.4 5.4
eo

5.4 5.4
eo

Overshoot:1.4%
5.2 5.2

Overshoot: 1.8%
5.2 5.2

㼼1%
㼼1%
5.0 5

5.0 5

4.8 4.8

4.8 4.8

Undershoot:2.3%
tst: 2.2ms Undershoot: 2.6%
4.6 4.6
0.2 0.205 0.21
Time (s)
0.215 0.22 0.225

tst: 3.1ms
0 5.0 10.0 15.0 20.0 25.0 4.6 4.6
0.2 0.205 0.21
Time (s)
0.215 0.22 0.225

0 5.0 10.0 15.0 20.0 25.0

t (ms)
t (ms)
(b) Neural network control
(b) Neural network control
Figure 7. Transient responses of (a) conventional PID control and (b)
neural network control in aging degradation (in the case of C = 0.8C0 ). Figure 8. Transient responses of (a) conventional PID control and (b)
neural network control in aging degradation (in the case of C = 0.7C0 ).

C. Summary of Experiments
rameter condition is varied from intentional natural reasons.
In the evaluation, our assumptions on the variation of the We need to confirm that the neural network can perform to
circuit parameter condition are intentional one by the speci- provide superior characteristics even in such cases since it
fication change and natural one by aging degradation. From is also affected from such condition change.
above results, we confirm that the neural network control In the experiment, we perform the neural network control
provides the robust and effective function to improve the under the variation of the circuit parameter condition which
transient response even when the circuit parameter condition is the intentional or natural one. The results suggest that it
is varied. This means that the neural network control method can be work well even in such case without re–training of it
simplify the control parameter design for dc–dc converter, and re–tuning of the control parameters. Therefore, we can
in which we need a high–cost tuning effort in the field use. conclude that the neural network control method is effective
It is noted that the evaluation result also reveals that other to design the control in dc–dc converters.
versions of the neural network control method are effective
for the change of the circuit parameters[11][12]. ACKNOWLEDGMENT
IV. C ONCLUSION This work was partially supported by JSPS KAKENHI
In this study, we evaluate the effectivity of the neural net- Grant Number 24360112.
work control method when the circuit parameter condition
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253
 5.4 5.4
eo
5.4 5.4
eo

Overshoot: 3.3% Overshoot: 3.4%

5.2 5.2 5.2 5.2

㼼1% 㼼1%

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(a) Conventional PID control (a) Conventional PID control

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(b) Neural network control (b) Neural network control

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