$a ([BNC:687 [pooree com Tapmnenn pole (alto Mt) BZ Px OORT Scan MoUs INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL Iv J ss Sonar Coro! 3002.1 14 (DOL WI Fae. 887) Sliding mode control of DC-to-DC power converters using integral reconstructors H. Sira-Ramirez!*, R. Marque2-Contreras” and M. Fliess* CINPESTAUIPS, paramere ingeiet Hlri, Sso de Mecano te TAS 4 2808, Can San Pr Zutons AP 0, 07300 Meson, DIE ese ns, CVRS. CMR NS, Ene cae Spier Cashin, SUMMARY A sliding mode feedback controller, based on integral reconstructs is developed forthe regulation of the host DC-to-DC power converter ceuit conduction in vontinvous conduction made. The feedback ‘eonrol scheme uses only output capacitor voltage meusurements a3 well as knowledge of the avaiable ‘input signal. represented by the switch postions. The robustness of the feedback scheme is tested with sibusvely large, unmodeled, sudden load resistance vanations. Copyright 2002 John Wiley & Sons. ta: KEY WORDS: jntcpral reconstructs: sling modes: DC-to-DC power converters 1. INTRODUCTION, Sliding mode control of DC-to-DC Power Converters. in continuous conduction mode, has been extensively treated in the literature over the last 15 years, Initial steps were given by Venkatarramanan er al. (1 for the “boost” converte cieuit. The dferential geometric aspects of sliding mode control were later exploited by Sirs-Ramizee and Ilie-Spong (2, in order to obtain a systematic controller design procedure for a lurger class of switched bilinear circuits. The ‘eader is referred to the several existing authoritative books on Power Electronics (sce References (3-S]) for interesting practical operation details and available feedback conteol methods. A survey of important developments in the regulation of this ubiquitous class of Power supplies can be found in the book edited by Bose [6], For other control methods applicable to DC-to-DC Power Converters, the reader is referred to the book by Ortega eta {7} *Corespondeice Prof H. Sis amie. CINVUSTAY IPN. Dept. de Ines Ket Seeion de Mectroic ANTPN 2508, Colonia Sun Pero Zactenca AP 178) 739 Men. BI Metue (Contact gran sponsor; CONACYT, Msc, contrat pant number 32481, Received $ November 200) Copsright + 2002 John Wiley & Sons. Lid Revised 9 pri 2007 Accepted 1? November 200RNC : 687 W SIRA.RAMIREZ. R MARQUEZ.CONTRERAS AND M. FLIESS sand to the recent article by Escobar er al. [8] where comparisons of several nonlinear feedback jcantzol schemes are experimentally carried Out, A recent book by Utkin er a. [9] contains an interesting. and rather complete. account of sliding mode control of these useful power slecteonies devices Tn this article, we propose « new sliding mode feedback control option for the “boost ‘converter circuit. The approach is based on the recently inteoduced ideal of Integral Reconsiruetors. ot aso ealled. Generalized PY eonivollers (see References [10 13)). This control technique side-steps the need for say asymptotic observers. oF onctine caleulations based on samplings and timesiseretizations. in the Feedback regulation of observable linear dynamic systems, The extension of the integral vesonstruetor-based feedback control technique (© the nonlinear arena is here accomplished in the context of the switched regulation of a DC'DC power converter cireuit, of the “boost” type. operating in continuous conduction mode. The hase idea resides in obtaining « nonlinear integeal input-output parameterization. oF integral reconstructor, of the unmeasured system state variable and proceed to use it in the sliding surface synthesis. Due to a constant bias, arising from the unknown value ofthe initial state, the Uefinitive sliding surface expression incorporates a compensating output error integral control saction. The integral reconstruetor-based siding moe scheme is shown to exhibit the stabilizing features ofthe traditional sliding mede control. but it curas out to be vastly superior as far as robustness. with respect to unmodelled parameter variations, is concerned. The feedback «ontrol scheme is thus based only on the available output voltage and the applied input signal without need for asymptotic observers or oncline calculations. based on sampled values of ‘measured signals. This gives traditional 'op-amps', and modern integrated analog circuits, a renewed importance in the feedbuck regulation of power electronics circuits. Section 2 presents the "boost’ converter model and establishes the Feedback contral objectives 1t also revisits the rationale behind the traditional sliding mode control approach for the regulation of the boost converter. In Section 3 we introduce the sliding made controller based fon integral reconstructors and proceed to analytically derive its asymptotically stabilizing [roperties, Section 4 presents some digital computer simulations illustrating the performance of the proposed feedback controler In ths section we also examine the robustness ofthe proposed feedback control scheme when the cicuitis subject to unmodelled sudden, large load variations {up to $00 per cent ofits nominal value). The obtained results are highly encouraging for actual implementation. Section 5 is devoted to present the conclusions of this Work and gives some suggestions for further research, 2, CONTROL OF THE BOOST CONVERTER USING INTEGRAL RECONSTRUCTORS, 2M. The boast converter made Consider the boost’ converter circuit, shown in Figure 1. The system is desribed by the set of equations mun te S o wa —- 2 Cops + 2002 Jon Wiley & Som, La In J. Rab Nake Cont 202 ELERINC : 687 SLIDING MODE CONTROL 3 Figure |. The "hoo eonverer iret where =) represents the inductor current and <> isthe output capacitor voltage. The control Input. eopresenting the switch position Function. i disceete-valued signal taking values i the set 10. 11. The system parameters are constituted by: L. which is the inductance of the input circuit: C the capacitance of the output filter and R. the output load resistance. The external voltage source has the constant value £. We assume that the circuits in continuous conduction ‘mode. ie. the average value of the inductor custent never drops to zero, due to load variations ‘We introduce the following state normalization und time scale transformation afk 2 way e The normalized mosis ths given by ® Where now. with an abuse of notation, the ~" represents derivation with respect to the normalized time. +. The variable xy is the normalized inductor current, x> is the normalized output voltage and u, still represents the switch position function, The constant system parameters are all comprised now in the cireuit ‘quality’ parameter, denoted by Q and given by the strictly positive quantity, R\/C/E. Its assumed thatthe only system variable available for measurement isthe output capacitor voltage «. ‘The operating normalized equilibrium point [or the system can be computed in the following idealized manner: Assume that by means of an infinite frequency discontinuous control input & constant value, i: = V, of the output capacitor voltage and of the inductor current are achieved. To this constant equilibrium state value. it corresponds a constant equivalent control oF areraye control input, denoted by ug, which is obtained from the first equation in (3). as ig = 1/¥V, The corresponding normalized equilibrium value of the inductor current, according to the second equation of (3) is then given by £ = V°/Q. Note that since, fg, must be bounded within the closed interval (0.1), then, necessarily, the achievable normalized constant voltage values, for xs, ane strictly greater than | The normalized “boost” circuit equations exhibit two important properties which should be remarked, We summarize these properties in the Tollowing proposition.RNC : 687 HW SIRA-RAMIREZ, R. MARQUEZ.CONTRERAS AND M_FLIESS Propasition 2.1 Tn an average sense. the output capacitor voltage variable v: 18 8 nummininun phase output ‘arable, while the input inductor current is minim phase output variable, Proof Take the average 0 (pul capacitor voltage, 92. as the system output, 4e. jonstant value, Fy. on the output results in Imposing ‘iserage control input of the form, Mi) = Ha/(siQ) Under normal. non-saturated, operating vonditions. the control input satistes Deatsiy 10. One is lead to the following asymptotically stable zero dynamics Q nt ) =11/2)s}. satisfies the finear differential equation given by. 2/OKW — 10), with W= 1/203, Thus 1 — W exponentially asymptotically. The [hysically significant corresponding equilibrium point ofthe variable. x is located at the valuc > 0. This is, clearly, the only achievable equilibrium given the non-negative nature of the average control input values. o Os Note that the quantity, IWtx) we ‘The two facts. in the above proposition, have motivated indirect feedback control schemes based fon inductor current revulation. or. alternatively. stored energy regulation (see References (14,15). 22: Control objectives and traditional sliding mode conurol ‘The control objective consists in sustaining, by means of discontinuous feedback contro, an average constant equilibrium value of the normalized output capacitor voltage, x2. given by the desired value: 82 = Vy ‘A traditional solution to the proposed contol problem consists in adopting the following sliding mode control scheme (see Reference [3}). Consider siding surface co-ordinate function (x) whose zero level set value idealy duces an average constant equilibrium value on the normalized inductor current, given by §; = 13/0. The sliding surface may then beset to be of the form tre Ratu waives HO Consign © 290 John Wie & So. Li v1 Rabaot Nalin Con 2903 12RNC: 687 SLIDING MODE CONTROL ‘The ideal sliding dynamics corresponding (0 a1} 0 is given, us pointed out above, by the following nonlinear asymptotically stable zero dynamics for the output capacitor voltage: The required sliding mode conteoller achieving Hinite time vonvergence 10 the switching line cs1= Ais given by 1 for eters 0) we o 0 tor aren The discontinuous feedback controller (6) is easily derived from the general reaching condition: 124-<0, (see Reference [16)) which. in our ease, yields, ¢¢ = a}—uny + 1) Stating from 2er0 initial conditions one has, o(<10))<0. Thus the choice u =O results in a growing normalized inductor current governed by s =I and a zero output voltage governed by &y =—s2/R, xx(0) = 0), Thus the cutent sy grows. while a(x) approaches 2ero and x remains at zero. If 2 = 0 is overshot, then, sven the achieved positive value of xy, wis et to Land the output voltage starts growing while the Serivative of xy starts decreasing, i. ¢ decreases back 10 zero, The sustained condition 2 = 0 causes the voltage (0 rapidly grow towards is equilibrium value, / > 1, according to the asymptotically stable zero dynamics (5). The sliding surface is then reachable (rom the zero initial conditions. More generally, considering the product o¢ = a{—ux: +1),at any value ofthe state vector in «a vieinity of the sliding surface, we see that when @ <0. the choice w = 0 yields & positive second Tactor in the previous produet. Therefore, 2¢is negative. Similarly, when «is postive, the choice w= 1 yields a negative value for the factor (—uxs+ 1 ‘The product a¢ is again negative. ‘We summarize the previous results in the following proposition, xy [since now x» is larger than 1 Proposition 2.2 The discontinuous feedback policy (6, creates. infinite time, a sliding reyime on the sing surface (4. The discontinuously controled motions induce an average constant valve of the normalized inductor curtent. xj, given by si =13/Q, and a corresponding ideal sliding dynamics for the output capacitor voltage, x. whose trajectories asymptotically reach the desired constant voltage value, & = Vs Figure 2 illustrates the traditional sliding mode controlled motions for typical converter circuit with high frequency sampling rate Unfortunately. the above controller is based on a measurement of the inductor current, or. equivalently, of its normalized value, x. In practice, and within the domain of DC/DC power convertors, the inductor current, x). is known to be a had signal to measure precisely, This is ‘due to the high-frequency switching commanding the inductor current time derivative and the high-pass filter nature of the input circuit. For this reason, a scheme which is based on the non ‘minimum phase output variable, =x, is usually preferable. How this can be achieved is expluined in Section 3. by invoking the philosophy of integral reconstructors-based feedback control. recently developed within the linear systems context. In the next paragraphs. we examine the robustness, with respect to load resistance variations, of the traditional sliding ‘mode controller in the indie regulation of the output capacitor voltage (Copyngh ©3902 Joh Wik de Sons, Ll oe J abst Nonlinear Con 803: YEARNC: 687 H. SIRA.RAMIREZ, R. MARQUEZ CONTRERAS AND M, FLIESS co 1005 onto Figure 2. Traditional siding mode controled responses of the “hoost converter circu 2.3, Robusmess of traditional sliding mode eontrol 1a load variations Sliding mode control is known to be a robust feedback control technique with respect to ‘unmodelled external uncertain signals and plant parameter variations. However, when used in san indirect scheme such as it isin our ease. the invariance of the sliding motions with respect to the minimum phase variable may bring in undesirable feedback performance in the output capacitor voltage ideal sliding dynamics, It should be clear from the system equations (1) that if the inductor current is kept constant a sudden, unmodelled variation ofthe parameter Q, due to oad resistance variation, will inevitably lead the ideal sliding motions towards an undesirable ‘equilibrium value. Figure 3 shows the undesirable performance of the sliding mode-based control scheme with respect to a sudden. and permanent. variation of the load resistance value in a typical “boost converter. As expected, the output voltage significantly varies when the load parameter is subject to a sudden unmodelled variation. 3. A SLIDING MODE CONTROLLER BASED ON INTEGRAL RECONSTRUCTORS. The normalized system (3) is observable, in an average sense, {rom the measured normalized ‘output variable » = 13. This is easily verified since the “observability’ matrix awn [0 ! L a CConseeht S002 Joh Wiley & Sons, La nd, Rest Nemtner Control 2002: 121-14Tancveay | RING: 687 | SLIDING MODE CONTROL 7 ‘ial a(t) y 1 d fel} doo ooo O00 ON ORO oo, [41 R= 15009 aon] ott) ont] _|R=309 sont tral sas} om om om om Sop om om On Figure 3. Sliding mode conirolad“hoost” converter performance to vnmedklled load variations is rank 2 for all average values of u which are not identically equal to zero, Since the average value of the input. under ideal sliding mode conditions. is tg = 1/¥4> 0, the observability condition is clearly met ‘An integral input output parameterization. oF an integral constructor, of the normalized Inductor current, xy{7) is ditcetly obtained [rom the first equation of (3). nl = (= wentpnde me ® sale ‘The integral reconstructor of xy. in Equation (8), may be considered to be a open-loop estimate’ ofthe normalized inductor current x; whichis biased by an unknown constant value, represented by the imitial condition xy(0), We denote by (2), the integral reconstruction of x; in Equation (8), ie, It is clear that the celation linking the estimated value & of xy to its actual value, is just asven by a 1) +410) 10) We use estimate (9) of the inductor current. v1. in the sliding surface definition, (4), and proceed to complement the expression with an integral controb action, computed on the basis of ‘he output voltage stabilization error, y= Vi {Gonsnph «2002 John Wik & Sama, i Int. J Hatt Nine Canto 200: WERNG: 687 HW SIRA-RAMIREZ, R_ MARQUEZ-CONTRERAS AND M. FLIESS ‘Consider then the Following integral reconstructor-based sliding mode controller: {, for ay. u g1>0 an 0 for ashe ! dia gie [0 upnimndy= aa genet somo “ with iy strictly postive design constant to be chosen late, ‘The modified sliding surface co-ordinate funetion, 4, can also be equivalently writen in terms of the, non-measuted, aetua Slates 1.6) = 44 = 910) + hos ua poo) In spite of the unknown value of x,(0), expression (14) is found to be useful for our analysis purposes ‘The time derivative of any of the two equivalent expressions of the modified sliding surface co-ordinate function (14), oF (12). i given by ae.u= un hole Fad as) Note that on 1 = VIO sO) ~hos ‘The equivalent control, corresponding to the modified sliding surface co-ordinate function is ow given by the inductor current, xy, is given by the expression gg = hates Had (16) A sliding regime locally exists on dy, 0-I us > ¥a— inf 1 Va renin EME fr 9ctoct Thus. the set of values for ky that guarantees a larger region of cxistence of a sliding regime corresponds to the condition. ky € (0.1). The Following ehoice of. ky, as a strictly positive constant, within the interval: O Va I/ko, the time deswatve, ¢ is positive and the product dé is negative Suppose now that is positive. then, the contra input is given by w= 1. The time derivative of the sliding surface co-ordinate is, =r haly= Vy). Thus, for all 1>(0— QV = hy) = Vy (Va—D/(1~ kr, the product a is, again, negative. We onclude that a sliding fepime exists on the modified siding surface, $= 10,08) o(9.1.€) =}, which s locally reachable infinite time, by means ofthe proposed Uiseontinuous control law (1). The ideal sliding dynamics, obtained from the ieariance conditions, & obiained as 6. is now + (0) — hog (20) fies the non-singularity condition. > 1 >0, ‘The only constant equilibrium point. (7), of the ideal closed-loop sliding dynamics (20) is ven by (0) en {ucemains to be proved that the nature of the stability of the equilibrium point with respect to ‘deal sliding trajectories starting on the sliding surface S, It may be verified that such an equilibrium point is not attractive {rom every point the sliding surface. We prove, thus, local ‘asymptotic stability, which sulices for our purposes. By resorting to tangent linearization of the ideal sliding Uyniamies. we can indeed see that the equilibrium point (21) i locally asymptotically stable 02 Joba Wiley & Som, La It 4. Rast Nin CorRNC : 687 Ww 1H, SIRA.RAMMREZ, R_MARQUEZ-CONTRERAS AND M.FLIESS The ent linearization of the ideal sliding dynamies 1 is given by where {5 == si(Oi/ky and 4 = r= Hy. Since Weky< 1/ Py. the linearized system (22) is ssymptotically stable 10 zero. The result follows Note that t small value of the des Juncarized avera parameter, ka, not only inereases the damping in the version of the closed-loop system. but i also lowers the corresponding natural frequency. This results. generally speakin gence of the controlled motions towards the origin of the incremental variables and, hence. a slower convergence of the vonlinear controlled system output towards the desired constant equilibeium, Figure 4 depicts the local asymptotically stble nature ofthe desired equilibrium point for the ideal sliding Jynamics (22). The ideal sliding trajectories are shown in the local sliding surface co-ordinates é.y for a typical converter parameter Q and for the design values, ky, Vs, used below in the Simulation Results section, ‘We summarize the proven result in the following proposition. in a slower conv Proposition 3.1 Consider a “boost” converter, represented in normalized form by (3), in which itis desired to stabilize the measured output variable, r= vs, towards the given constant value, V3 >0. Suppose thatthe control input, u. is also available for measurement. Then, the following integral reconstructor-based sliding mode controller, using only input-output, information: at for dina) >0 0 for atru<0 aying= KO ~ Menstpnndp— Zh hs (3) GSM a) L 0. Oeb< ge Figure 4 Local asymptotic stability of the ea i Uynamics towards the desired equilibrium point 202 Joh Wiley A Som. Li on J. Re Niner Conta 003: WtRNC : 687 SLIDING MoDE CONTROL " st sliding motion on the sur s Hom dldtr.ae on ‘which iS reyehable from the origin in finite time, The induced sliding motions on the sliding ramilold. §, ideally, locally asymptotically stabilize the trajectories of the circuit variables J. vy and ¢ towards the equilibrium values ‘where x10) is the unknown initial state of the normalized inductor eurrent variable xy. The sliding motions exist on. $. whenever the regulated values ofthe output. r.satisfy the inequality vty Ht} es Figure 5 depicts the integral reconstructor-based sliding mode feed! stabilization of the normalized "boost’ converte circuit, nick control scheme for the 4, SIMULATION RESULTS Simulations were performed on a typical “boost’ converter circuit with parameter values aiven by L=20mk. wr, R=00. E ‘This parameter values yield a value of Q given by Q wiven by 1 = 6.32 % 10, sv 0.9486 and a time normalization factor boost Do/De Power Converter! Fipure 5. Integral reconstructor-basc sling mode control scheme for the ization of the “boos! [Cans © 2002 John Wiley & Som LL Inv J Rois Senta Cte 20% YEARNC : 687 H.SIRA.RAMIREZ. R. MARQUEZ-CONTRERAS AND M. FLIESS 1 was Uesired 0 bring the “boost” converter trajectories from unknown initial conditions luaken to be. for the simulation purposes. «)(0)= 105 and xx{0)= 0.8) towards the final desired value ef #; = 30 V. with corresponding 2) = 2 A. The simulations, shown in Figure 6 depict the Performanee of the proposed sliding mode plus integral reconstructor-based feedback control ‘ a EXO) : ca — a 0 tne) 100 OF O02 009 O14 005 006 a7 G08 Oe 010 | eersc 0 ae ‘tme|s) 0 01 One O68 08 On6 096 0x7 008 048 10 04 sou! co) 00x 00 061 0.02 099 004 065 006 07 ae ot@ 010 tie Figure 6, Controlled “boost converter performance m0 Oo ES or 0) Oe Oe OTe a aout seu imei we tae too oot ome ore igure 7. Controlled "boos converter petformance 10 unmodeled lo variations of 500 per cent. Capsiht © 502 Joba Wikey & Sim. Lt oe 4 Rab Somer Comal 32. 21-14RNC : 687 SLIDING MODE CONTROL 13 scheme on the behaviour of the considered DC'DC “boost converter circuit. The underlying sampling frequency was set to be 158.22 KHz, and the value of the design constant ko Was Set (0 be ky =O <1) = 05. 41. Rodusiness 10 load eartations In onder to test the robustness of the proposed GPF sling mode control scheme, we let the load fesistor R undergo a sudden unmodelled and permanent variation of SOD per vent of its nominal value of 30. This vanation took place. approximately. at time, = 1.0633 s, while the system vas mot yet stabilized 10 the desied voltage value, Figure 7 shows the excellent recovering Features of the proposed controller 10 the imposed load variation, 5. CONCLUSIONS In this article we have extended the integral reconstructor-based control technique to the realm of sliding mode control, within the context of a speciic nonlinear physical example of wide Interest in the Power Electronics area, We have proposed an asymptotically stabilizing sliding ‘made controller which only requires measurements of the non-minimum phase state variable of the converte, represented by the output capacitor voltage. The integral reconstructor-based ‘controller's motivated by the usual indirect design ofthe traditional siding surface co-ordinate Function in terms of the normalized inductor current variable stabilization error. An integral reconstrvctor of the normalized inductor current variable, exhibiting a constant “ofbset error. is synthesized in terms ofan integral ofa simple nonlineat function ofthe available input and the measured output signals. The sliding surface synthesis uses this “open loop" estimate of the inductor current in combination with a suitable integral output stabilization error compensation term, The integral input-output parameterized sliding surface is shown to be locally reachable ‘nd, once «sliding regime is established. a locally asymptotically stable ideal sliding dynamics is jobtained on the sliding manifold which converges to the desited equilibrium values for the normalized circuit variables, ‘Through computer simulations. the proposed control scheme wis shown to be remarkably robust with respect to unusually large unmodelled loud parameter variations of up to $00 per cent. Note that for an extremely large load itis possible thatthe inductor current drops to the 2ero value. thus saturating the controller action to yield fixed switch position and a consequent temporary. or permanent, loss of feedback, Strategies to efficiently emerge from, and avoid. such situations, ae known as operation in discontinuous conduction mode. These are the object of sustained studies in the current literature. Our approach, while being quite robust in this respec. is not devised to entirely avoid such possibility ‘A needed extension of the results. here presented. requires the use of a more complete model ‘including parasitic voltages in the diodes, as well as internal resistances in the inductor. in the transistors cealzing the switch. and in the extcenal voltage source, These imperfections should uso include # non-ideally constant external voltage source. ‘The 1ame integra! recounts uctor-based sliding mode control technique is applicable to Buck’ converters. ‘Buck-Boost’ converters, uninterruptible power supplies and. possibly. to the ‘Cuk’ converter. An interesting topic for further study is represented by the integral CConymaht + 2008 John Wie & Sons. Li J Rata Sonar Contos 202 otRNC: 687 4 H SIRA.AARIRIZ, R-MARQULL-CONTRERAS AND M. FLIESS reconstructorcbsed AC voltage generation problem using traditional DC/DC Power Converters (see Reference [18 The authors are grateful fo anonymous viewers tor thee kind obsersations snd suggestions to improve the article Venhaturamanan Satara: A. Ck S Shing ak wo of CAD power somes: Frage 1 Srrkamce Ht lSprp M. Shing tons isch tvs, EEE Trot Cis wd Stone Hh, CAS SHNIOTO IN ‘spt 1G. Sb. Vegbee GC Primi a Por Brana Addo icy: Rowing MA HT Rosh A Poe Ecenanin Cerin Des Sopra Pes Hal eons ond, Bose 8. Morn Power Heron Enamel sd ipnns IEEE Pre. New Yorks 1 (tig Lonia Akl FS Ramer Past ad Ca of Exley Sree, Si aber G, Ortega SRamser M. Vian JP, Zn 1 An experimental compar of seer noone tre power converte TEEE Cowrn Svs Sacne PON By Uke Vs Calder Sh Sing ae Curl Frame roms Flr & Frans Landon, 198 Flt M Maret, Deiea Site edbacks whew rp shure apd gentlaed PID cpus te Noli Cua the Yew SWB. Lavy te ial hfrmate Snes en A Canna Lave F” Respond W (ih. Sprger: London. 208 Fs Marquez R. 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