A Robust Adaptive Fuzzy Fast Terminal Synergetic
Voltage Control Scheme for DC/DC Buck Converter
*
Badreddine Babes1,2
1
Research Center in Industrial
Technologies (CRTI)
Algiers, Algeria
2
Department of Electrical Engineering,
Faculty of Technology, Setif- 1-University
Setif- Algeria
E-mail: elect_babes@yahoo.fr
Abstract—In this paper, an adaptive fuzzy fast terminal
synergetic voltage control scheme for DC/DC buck converter is
proposed based on recently developed synergetic theory and a
terminal attractor method. The advantages of presented
synergetic control include the characteristics of finite time
convergence, insensitive to parameters variation and chattering
free phenomena. Rendering the design more robust, fuzzy logic
systems are used to approximate the unknown parameters in the
proposed controller without calling upon usual model
linearization and simplifications. Taking the DC/DC buck
converter in continuous conduction mode as an example, the
algorithm of proposed synergetic control is analyzed in detail. All
the simulation results demonstrate the effectiveness and the high
dynamic capability of the proposed AF-FTSC control technique
over the FTSC strategy.
Keywords-component; synergetic control, fuzzy logic system;
terminal technique; finite time convergence; DC/DC buck
converter.
I. INTRODUCTION
Many nonlinear control approaches such as variable
structure technique has attracted community attention in the
last decades. Due to its inherent robust features, this control
technique has been extensively used in many nonlinear control
systems such as voltage regulation of DC/DC buck converter.
Problems of variable structure control are the chattering
phenomenon, steady state errors caused by high frequency
switching actions, and the fact that it needs fairly high
bandwidths for the controller, which makes digital control
realization unfeasible [1]. On the others hand, this article
introduces the fast terminal synergetic control (FTSC) method
which is utilized on the DC/DC buck converter voltage control
scheme. This approach has numerous advantages such as: it's
excellent suitable to digital control, it functions at fixed
switching frequency which reduces the burden of filtering
design, and it shows low chattering as well as the inherent
robustness features of sliding mode control [2].
However, the robustness of synergetic control structure is
not assured pending transient action when system states
trajectories have not achieved the attractor. Therefore, a new
technique to avoid this difficulty intrinsic to fast terminal
synergetic control, an adaptive fuzzy fast terminal synergetic
978-1-7281-2220-5/19/$31.00 ©2019 IEEE
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Amar Boutaghane1
Noureddine Hamouda1
Mohamed Mezaache1
Sami Kahla1
1
Research Center in Industrial
Technologies (CRTI)
Algiers, Algeria
E-mail: a.boutaghane@crti.dz
control (AF-FTSC) structure is suggested thus reducing the
reaching phase.
The rest of the manuscript is structured as follows. In
Section 2, the fundamental concepts related to synergetic
control theory and fuzzy logic systems are reviewed briefly. In
Section 3, the basic model of the DC/DC buck converter in
continuous conduction mode (CCM) is introduced. In Section
4, the adaptive fuzzy fast terminal synergetic control (AF-
FTSC) is developed for the DC/DC buck converter system. In
Section 5, simulation is performed on a DC/DC buck converter
to verify the effectiveness and the applicability of the proposed
AF-FTSC control technique over the FTSC strategy. In Section
6, the conclusions are given.
II. PRELIMINARIES
A. The Basis of Synergetic Control(SC) strategy
In this section, we briefly introduce the fundamentals of
synergetic control synthesis for a nonlinear dynamic system
expressed as
x = f (x, u, t) (1)
Basically, the synergetic control design structure begins
with the definition of a macro-variable ߪ as a function of the
state variables [3]
σ = σ ( x, t ) (2)
The control purpose is to oblige the system to work on a
pre-chosen manifold ߪ = 0.
Design a synergistic controller that would force the system
states to exponentially approach the preferred manifold with an
evolution constraint which can be declared as
 τ σ + σ = 0  ሺ͵ሻ
Where ߬ is a positive constant which imposes the designer
select speed convergence to the specified attractor.
Taking into account the chain of differentiation which is
given by
 dσ 
T
ξ ( x) = ª¬ξ 1 ( x), ξ 2 ( x),..., ξ L ( x) º¼ ∈ R L  ሺͳͲሻ
 σ = ⋅ x  ሺͶሻ
dx l
If y j are preferred as the free parameter, the above fuzzy
Substituting (1) and (3) into (4) gives (5) system (7) becomes an adaptive fuzzy system. Then, it can be
rewritten as
dσ
 τ f ( x, u , t ) + σ = 0  ሺͷሻ y ( x) = θ T ξ ( x) (11)
dx
Where θ is ( L × m ) matrix, θ j and indicates the ( L × 1) j-th
Resolving (5) for u provides the synergetic control law as column of the matrix θ .

 u = g ( x,σ ( x, t ),τ , t )  ሺ͸ሻ III. MODELING OF THE DC/DC BUCK CONVERTER

The corresponding circuit of the DC/DC buck converter is
The obtained control law (6) forces state trajectories to displayed in Fig. 1. The positive constants R, L, C, Vin and Vo
satisfy (3). Appropriate choice of the macro-variable (2) and are respectively load resistor, self-inductor, capacitor, input
judicious manifolds guarantees the performance and the voltage and output voltage.
pursued stability [4]. iL

B. The Basis of Fuzzy Logic Systems

Q L

It is known that fuzzy logic systems (FLSs) are universal

+
estimators and have exceptional functions in controller design Vin _ D C R Vo
and identification. A type-1 FLS involves four main parts:
fuzzifier, rule base, inference engine and defuzzifier. The main u
feature of the FLS is the aptitude to express the human-like
thinking and deal with the experience effectively through the
conditional fuzzy If-Then rules, which can be formulated as
5
O

If x1 is F1l , x2 is F2l ,..., xn is Fnl Fig. 1. The DC/DC buck converter.

 l l l
 ሺ͹ሻ
Then y1 is G , y2 is G , ..., ym is G 1 2 m The dynamic equations of a DC/DC buck converter in the
continuous conduction mode (CCM) are expressed as in [6]
where l = 1, 2,… , L, with L indicating the total number of
rules, x =[x1, x2,…, xn]T and y =[y1, y2,…, ym]T represent the ­ diL 1 Vin
input and output parameter vectors of fuzzy logic system, °° dt = − L Vo + L u
respectively. Fil and Gjl are the linguistic variables of the fuzzy  ®  ሺͳʹሻ
sets, described by their membership function vectors ° dVo = 1 i − 1 V
μ F ( xi ) and μG ( y j ) .Using the singleton fuzzier, product
l l
°̄ dt C
L
RC
o
i j

inference engine, and centre-average defuzzier, the inferred

Where iL denotes the inductor current and u is the duty ratio
output of the FLS can be expressed as [5]
of the DC/DC buck converter. Choosing the output voltage and
its derivative as system state variables, we get
¦ (∏ )
L l
n
i =1
μ F ( xi ) y j
l

 = θ Tj ξ ( x), j = 1, 2,..., m.  ሺͺሻ ­ x1 = Vo

i
y j ( x) = l =1

¦( ) °
L

∏ i =1 μ F ( xi )
n
l
 ® dVo  ሺͳ͵ሻ
°̄ x2 = x1 = dt
i
l =1

And:
∏ μ (x ) 
n

 Fil
ሺͻሻ
i =1 i
ξ ( x) = The state space average model of the DC/DC buck
¦ (∏ μ ( x ))
i L
n
i =1 Fil i converter can be rewritten as fellow
l =1
l
where y j is the point in V j at which μG ( y j ) achieves its ­ x1 = x2
l
j °
maximum value (assuming μG ( y j ) = 1 ).  ® x1 x2 Vin  ሺͳͶሻ
°̄ x2 = − LC − RC + LC u
l
j

T
θ j = ª« y j , y j ,..., y j º» ∈ R L is called the adjustable parameter
1 2 L

¬ ¼ IV. ADAPTIVE FUZZY FAST TERMINAL SYNERGETIC

T CONTROL (AF-FTSC) DESIGN
vector and ξ ( x) = ª¬ξ ( x), ξ ( x),..., ξ ( x) º¼ ∈ R is the vector
1 2 L L

If we suppose the reference tracking voltage to be Vref, then

of fuzzy primary function or the antecedent function vector. the tracking error and its derivative are as follows

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 e = x1 − Vref  ሺͳͷሻ fˆ ( x θ f ) and gˆ( x θ g ) be the fuzzy approximates of the vector
functions ƒ(x) and g(x), respectively. Then, the controller (23)
is improved as follows
 e = x2 − Vref  ሺͳ͸ሻ
1 ª  1 p º
uFTSC = «Vref − fˆ ( x θ f ) − σ − α e − β e( p / q ) −1e» ሺʹͶሻ
To allow the application of AF-FTSC algorithm to a gˆ( x θ g ) ¬ τ q ¼
DC/DC buck converter, a special variable called the nonlinear
macro-variable function needs to be introduced as [7] Where

fˆ ( x θ f ) =θ Tf ξ f ( x) ሺʹͷሻ
 σ = e + α e + β e p/q
 ሺͳ͹ሻ 
gˆ ( x θg ) =θ ξ ( x)
T
g g ሺʹ͸ሻ

Where  and  are the macro-variable constants, p and q are
positive odd numbers, that assure the following condition Where ξ f ( x) and ξ g ( x) are the fuzzy basis functions vector,
1<p/q<2. A constraint imposing desired dynamics to the
θ f and θ g are the parameters vector of fuzzy system.
macro-variable is selected as
τ σ + σ = 0  ሺͳͺሻ
Define the optimal estimation parameters of fuzzy system
as
Where߬ is a positive constant which imposes the designer
§ ·
θ *f = arg min ¨ sup fˆ ( x θ f ) − f ( x ) ¸ 
decide speed convergence to the preferred attractor. When the
macro-variable reaches ߪ = 0, the system dynamics (17) can be  ሺʹ͹ሻ
θf ∈ Ωf © x∈ R n ¹
expressed as follows
§ ·
 θ g* = arg min ¨ sup gˆ ( x θ g ) − g ( x ) ¸  ሺʹͺሻ
 e + α e + β e p / q = 0  ሺͳͻሻ θg ∈ Ωg © x∈ R n ¹

On integrating (19), and through setting suitable parameters Where f and g represent constraint sets for f and g,
Ƚ, Ⱦ, p and q, the convergence time of the system from any respectively.
given initial condition e(0) Į 0 to the attractor ߪ = 0 is finite-
time tr ı 0 and is given by Defining the minimum estimation error as
1− ( p / q )
p § α e(0) +β ·
 tr = ln ¨ ¸ ሺʹͲሻ
α ( p − q) ¨© β ¸  ε = ¬ª fˆ ( x θ *f ) − f ( x ) ¼º + ¬ª gˆ ( x θ g* ) − g ( x ) ¼º u  ሺʹͻሻ
¹ 
The time derivative of ߪ can be rewritten as Substituting (29) into (18), the dynamic of macro-variable
is obtained as follows
d p/q
σ = 
e + α e + β ሺʹͳሻ σ = ª¬ fˆ ( x θ *f ) − fˆ ( x θ f )º¼ + ª¬ gˆ ( x θg* ) − gˆ ( x θg )º¼ u − σ + ε ሺ͵Ͳሻ
e 1
dt  τ 
Combining (18) and (21), leads to (22) Leading after some simple manipulations to
p ( p / q) −1 1
 e +α e + β
 e e =− σ  ሺʹʹሻ
σ = (θ *f T − θ Tf ) ξ ( x) + (θg*T − θgT ) ξ ( x)u − σ + ε  ሺ͵ͳሻ
q τ 1

For the controller design we set the following simplification τ
Or in a more compact form
V x x
g ( x) = in , and f ( x ) = − 1 − 2
LC 1
LC RC
 σ = θTf ξ ( x) + θgTξ ( x)u − σ + ε  ሺ͵ʹሻ
τ
Solving for the terminal synergetic control algorithm uFTSC,
Where θf = θ f − θ f and θg = θ g − θ g
* *
guides to (23)

1 ª  1 p ( p / q ) −1 º
«Vref − f ( x) + σ − α e − β e e»
uFTSC = ሺʹ͵ሻ Define the Lyapunov function candidate V as
g ( x) ¬ τ q ¼ 
1§ 1 1 ·
Generally, the nonlinear system functions ƒ(x) and g(x) are  V = ¨ σ 2 + θTf θf + θgTθg ¸  ሺ͵͵ሻ
difficult to determine precisely. So, a fuzzy logic system using 2© r1 r2 ¹
the universal approximation theorem is used to estimate the
nonlinear and unknown functions f(x) and g(x) in (23). Let Where r1 and r2 are positive constants.

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The time derivative of V can be written as the proposed AF-FTSC algorithm has better performance in
terms of the settling time relatively to the FTSC controller.
1  1 
 V = σσ + θ Tf θ f + θgT θg  ሺ͵Ͷሻ 40
r1 r2 Vref

Substituting (32) into (34), we can obtain (35) 30

Output voltage (V)

§ 1 · 1  1 
V = σ ¨θTf ξ ( x) + θgTξ ( x)u − σ + ε ¸ + θTf θf + θgTθg ሺ͵ͷሻ 20
© τ ¹ r1 r2 FTSC
 AF-FTSC
 
In which we make use of θf = θf and θg = θg to obtain (36)
10

0
1
τs
1
r1
(1
r2
)
V = − σ + σε + θTf r1σξ (x) + θf + θgT r2σξ (x)u + θg ሺ͵͸ሻ ( ) 0 0.01 0.02 0.03
Time (s)
0.04 0.05 0.06

(a)
To make V ≤ 0 , we choose the adaptive laws as

θf = −r1σξ ( x) 
8
 ሺ͵͹ሻ

Inductor current (A)

AF-FTSC
6
FTSC

 θg = −r2σξ ( x)u  ሺ͵ͺሻ 4

Then (36) becomes iL
2

1 1
 V ≤ − σ + σε ≤ − σ ≤ 0  ሺ͵ͻሻ 0
τ τ 0 0.01 0.02 0.03 0.04 0.05 0.06
Time (s)
(b)
The block diagram of the designed AF-FTSC controller is Fig. 3. Simulation results of for a nominal start-up response.
presented in Fig. 2.
Vref
Fig. 4 shows the simulation responses of Vo when the load
resistance steps from nominal value of 20  to 5  and vice-
DC/DC Buck Converter System Vo versa. It is evident from Fig. 4 that under load resistance
­ x1 = x2 changes the AF-FTSC algorithm can respond faster than the
° _+
® x1 x2 Vin FTSC algorithm. Also, due to the independence of AF-FTSC
°̄ x2 = − LC − RC + LC u control law to load resistance R, the proposed controller shows
e a robust behavior against drastic changes of the load resistance.
FA-FTSC Controller
1 ª  1 p ( p / q ) −1 º
«Vref − f ( x θ f ) − σ − α e − β e
u FTSC = ˆ e » 40
gˆ ( x θ g ) ¬ τ q ¼
Decreasing of the load
30
Output voltage (V)

Adaptive Law
θf = −r1σξ ( x) Macro-Variable
σ = e + αe + βep/ q
θ = −r σξ ( x)u
20
f 2 Increasing of the load FTSC
AF-FTSC
10
Fig. 2. Block diagram for proposed AF-FTSC controller

V. SIMULATION RESULTS 0
0 0.01 0.02 0.03 0.04 0.05 0.06
In this section, some computer simulations are conducted Time (s)
using MATLAB/Simulink software to show the control Fig.4. Simulation results for a step-load response.
performance of the designed AF-FTSC control technique over
the FTSC strategy [7]. The DC-DC buck converter utilized in Figs 5(a)–5(c) depicts the output voltages tracking
simulation study has the following component values: L= 5 performance of the proposed AF-FTSC and FTSC controllers.
mH, C=1100 F, R = 20–5 , Vin= 50 V. The main parameters
used in designing controllers are:  =100, Ⱦ =150, p/q =7/9, It is intuitive to see that under reference changes the
ɒ=0.005, r1=2.106 and r2=3.5.105. proposed AF-FTSC controller can respond faster than the
The start-up transient response of Vo and iL during the FTSC controller. Also, the above simulation comparisons
changes in the desired output voltage from 0 V to 30 V is effectively confirm the advantage of the proposed AF-FTSC
shown in Fig. 3.(a) and 3.(b), respectively. It is observed that algorithm over FTSC algorithm.

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 40 VI. CONCLUSIONS
FTSC
AF-FTSC
In this manuscript, an AF-FTSC control law has been
30 developed and implemented to deal with the voltage tracking
Output voltage (V)

problems of the DC/DC buck converter. The proposed control

Vref
algorithm has been designed by using techniques of the
20
synergetic theory of control and the terminal attractor
technique, which assures finite time convergence of the output
10 voltage to the desired voltage.
The unknown parameters in the proposed controller can be
0 approximated precisely by using the fuzzy system with suitable
0 0.01 0.02 0.03 0.04 0.05 0.06
Time (s)
adaptive laws. The stability of the system is also proved using
direct Lyapunov theorem.
(a)
Simulation results demonstrate the robustness and
40 effectiveness of the proposed AF-FTSC control technique over
FTSC
AF-FTSC
the FTSC strategy.
30 Vref
Output voltage (V)

20 REFERENCES

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