5.

7 Generalised State Space Model of the Converter 155

^v ^v
g
u(s) d^ L/(1−D)2
C R
J d^

(1−D):1

Figure 5.19: Canonical Model of the Switching Converter

^v ^v
g
u(s) d^ Converter

Passive R
J d^ Circuit

(1−D):1

Figure 5.20: Canonical Model of the Switching Converter

5.7 Generalised State Space Model of the Converter

In the previous chapter we had seen the basis for the state space averaging
method. It was possible through this method to obtain the small signal linear
equivalent model for the converter. From the small signal linear model it was
possible to obtain the input and control transfer functions of the converter.
In many applications it will also be necessary to know the input and output
impedances of the converter. These functions are required to assess the perfor-
mance of the converter in a slightly different way with certain extra synthetic
inputs. Such a model of the converter is referred to as the generalized model
of the converter.

vg ig vo
Converter iz
d

Figure 5.21: Canonical Model of the Switching Converter

156 DC-TO-DC Converter – Dynamics

5.7.1 Generalised Model

The generalised model is set up with three external inputs to the converter as
shown in Fig. 21 The various input quantities are
v̂g : Source Modulation
dˆ : Control Duty Ratio Modulation
îz : Output Current Modulation
The out put quantities of interest are
v̂o : Output Voltage Variation
îg : Source Current Variation
From this setup we can selectively pair a set of input & ouput quantities to
obtain the following functions of interest.
v̂g (s)  ˆ 
Zin = d(s) = 0; îz = 0; : Input Impedance
îg (s)
v̂o (s)  ˆ 
Zo = d(s) = 0; v̂g = 0; : Output Impedance
îz (s)
v̂o (s)  ˆ 
F = d(s) = 0; îz = 0; : Audio Susceptibility
v̂g (s)
v̂o (s)  
Gv = v̂g (s) = 0; îz = 0; : Control Voltage Gain
ˆ
d(s)
îg (s)  
Gi = v̂g (s) = 0; îz = 0; : Control Current Gain
ˆ
d(s)
The mathematical model of the general setup with all the three inputs is
ẋ = A x + b vg + m iz (5.99)
vo = q x + k i z (5.100)
ig = p x (5.101)
x = State Vector; vg = Source Voltage;
d = duty Ratio; iz = External Current Input;
vo = Output Voltage; ig = Input Current;
We may carry out the averaging process as explained in the previous chapter
and obtain the following averaged matrices, perturbed variables, and small
signal model respectively.

Averaged Matrices

A = A1 D + A2 (1 − D) ; b = b1 D + b2 (1 − D) ;
m = m1 D + m2 (1 − D) ; k = k1 D + k2 (1 − D) ;
q = q1 D + q2 (1 − D) ; p = p1 D + p2 (1 − D) ;

Perturbed Variables

x = X + x̂ ; vo = Vo + v̂o ;
ig = Ig + îg ; vg = Vg + v̂g ;
5.7 Generalised State Space Model of the Converter 157

d = D + dˆ ; iz = îz ;

5.7.2 Linear Small signal Model

ẋ = A x̂ + b vg + f dˆ + m îz ;
f = (A1 − A2 ) X + (b1 − b2 ) Vg ;
v̂o = (q1 − q2 ) X dˆ + q x̂ + k îz ;
îg = (p1 − p2 ) X dˆ + p x̂ ;
With the above set up the dynamic performance functions of the converter
may be defined in a convenient mathematical form.

5.7.3 Dynamic functions of the Converter

Audio Susceptibility:

v̂o (s) n ˆ o
F = d = 0; îz = 0;
v̂g (s)
The audio susceptibility of the converter quantifies the amount of input vari-
ations that will reach the output as a function of frequency.
x̂˙ = A x̂ + b v̂g
x̂ = (sI − A)−1 b v̂g
v̂ = q x̂
F = q (sI − A)−1 b (5.102)

Input Admittance:

îg (s) n ˆ o
Yin = d = 0; îz = 0;
v̂g (s)
Input Admittance of the converter relates as to how the converter interfaces
with the load.
x̂˙ = A x̂ + b v̂g
x̂ = (sI − A)−1 b v̂g
îg = p x̂
îg = p (sI − A)−1 b

Yin = p (sI − A)−1 b (5.103)

Output Impedance:

v̂o (s) n ˆ o
Zo = d = 0; v̂g = 0;
îz (s)
The output impedance relates to the capacity of the converter to cater to
dynamic loads.
x̂˙ = A x̂ + m îz
158 DC-TO-DC Converter – Dynamics

x̂ = (sI − A)−1 m îz

v̂o = q x̂ + k îz
Zo = q (sI − A)−1 m + k (5.104)

Control Gain Functions:

v̂o (s) n o
Gv = îz = 0; v̂g = 0;
ˆ
d(s)
îg (s) n o
Gi = îz = 0; v̂g = 0;
ˆ
d(s)
The control transfer function relates to the gain between the control duty ratio
and the output variable.
x̂˙ = A x̂ + f dˆ
x̂ = (sI − A)−1 f dˆ
v̂o = q x̂ + (q1 − q2 ) X dˆ
v̂o = (q1 − q2 ) X dˆ + q (sI − A)−1 f dˆ
îg = p x̂ + (p1 − p2 ) X dˆ
îg = (p1 − p2 ) X dˆ + p (sI − A)−1 f dˆ
Gv = (q1 − q2 ) X + q (sI − A)−1 f (5.105)
Gi = (p1 − p2 ) X + p (sI − A)−1 f (5.106)

5.7.4 Circuit Averaged Model Quantities

With reference to Fig. 20, let the inputs be simultaneously adjusted such that
the output voltage is zero. Under such a condition, u(s) dˆ = −v̂g
x̂˙ = A x̂ + b v̂g + f dˆ ;
x̂ = (sI − A)−1 b v̂g + (sI − A)−1 f dˆ ;
v̂o = q x̂ + (q1 − q2 ) X dˆ = 0 ;
q (sI − A)−1 b + q (sI − A)−1 f dˆ + (q1 − q2 ) X dˆ = 0 ;
F v̂g + Gv dˆ = 0 ;
Gv
u(s) = (5.107)
F

îg = p x̂ + (p1 − p2 ) X dˆ ;
îg = (p1 − p2 ) X dˆ + p (sI − A)−1 f dˆ + p (sI − A)−1 b v̂g ;
J dˆ = Gi dˆ + Yin v̂g ;
v̂g
J = Gi + Yin ;
dˆ
J = Gi − Yin u(s) ;
Gv
J = Gi − Yin (5.108)
F
5.8 Some Examples 159

5.8 Some Examples

In the following sections, the system representation of the basic converters is
given in the form of the various matrices in the standard representation. The
dynamic performance indices (all the transfer functions) of the converters as
well as the circuit averaged model (duty cycle dependent current and voltage
sources - u(s) and J) quantities are given.

5.8.1 Buck Converter:

1
 
 0 −
 L 

A1 = A 2 = A 


 ;
 1 1 
−
C RC
1
    D  
 L
0
b1 = 

 ; b2 = 
 
;b = 
 L 
 ;
   
0 0 0
 
q1 = q 2 = q = 0 1 ;

0
 
 
m1 = m 2 = m =  1 ;


  C   
p1 = 1 0 ; p2 = 0 0 ;p = D 0 ;

k1 = k 2 = k = 0 ;
L
Define: Ds = 1 + s + s2 LC ;
R
1 1
 
 s + RC − 
L 
LC 
(sI − A)−1 =   ;
Ds 
 1


s
C

Audio Susceptibility:

D
F = q (sI − A)−1 b = (5.109)
Ds

Input Admittance:

D 2 1 + sCR
Yin = p (sI − A)−1 b = (5.110)
R Ds
160 DC-TO-DC Converter – Dynamics

Output Impedance:
sL
Zo = q (sI − A)−1 m = (5.111)
Ds

Control Gain:
Vg
Gv = q (sI − A)−1 f + (q1 − q2 ) X = (5.112)
Ds
DVg DVg (1 + sCR)
Gi = p (sI − A)−1 f + (p1 − p2 ) X = (5.113)
R RDs

Circuit Averaged Parameters:

Vg
u(s) = (5.114)
D
DVg
J= (5.115)
R

5.8.2 Boost Converter

1
 
0 0 0 −
 
 

 L 

A1 =   ; A2 =   ;
 1 
1
 
1 
0 − 
−
RC
 C RC
(1 − D)

0 −

 L 

A = 


 ;
 (1 − D) 1 
−
C RC

1 
= b =  L ;
 
b1 = b 2  
0
0
 
 
m1 = m 2 = m =   1 ;


C
k1 = k2 = k = 0 ; 
p1 = p 2 = p = 0 1 ;
 
q1 = q 2 = q = 0 1 ;
Vg
 

 (1 − D)L 

f =  ;
 

Vg
 
−
 
RC(1 − D)2
5.8 Some Examples 161

L 2 LC
Define: Ds = 1 + s + s ;
R(1 − D)2 (1 − D)2
1 (1 − D)
 
 s+ −
LC RC L 
(sI − A)−1
 
=   ;
(1 − D)2 Ds  (1 − D)
 

s
C

Audio Susceptibility:

1
F = q (sI − A)−1 b = (5.116)
(1 − D)Ds

Input Admittance:

1 1 + sCR
Yin = p (sI − A)−1 b = 2
(5.117)
R(1 − D) Ds

Output Impedance:

sL
Zo = q (sI − A)−1 m = (5.118)
(1 − D)2 Ds

Control Gain:

sL
1−
Vg R(1 − D)2
Gv = q (sI − A)−1 f + (q1 − q2 ) X = (5.119)
(1 − D)2 Ds

Vg (2 + sCR)
Gi = p (sI − A)−1 f + (p1 − p2 ) X = (5.120)
R (1 − D)3 Ds

Circuit Averaged Parameters:

!
Vg sL
u(s) = 1− (5.121)
D R(1 − D)2

Vg
J= (5.122)
R(1 − D)3
162 DC-TO-DC Converter – Dynamics

5.8.3 Buck-Boost Converter

1
 
0 0 0 −
 
 

 L 

A1 =   ; A2 =   ;
 1 
1

1 

0 − 
−
RC
 C RC
(1 − D)

0 −

 L 

A = 


 ;
(1 − D)
 1 
−
C RC

1    
D 
 L 
0
b1 =   ; b2 = 


;b = 
 L 
 ;
   
0 0 0
0
 
 
m1 = m 2 = m =   1 ;


C
k1 = k 2 = k = 0 ;
     
p1 = 1 0 ; p2 = 0 0 ;p = D 0 ;
 
q1 = q 2 = q = 0 1 ;
DVg
 

 (1 − D)L 

f = ;
 
 
Vg
 
−
 
RC(1 − D)2
L LC
Define: Ds = 1 + s 2
+ s2 ;
R(1 − D) (1 − D)2
1 (1 − D)
 
 s + RC − L
LC

(sI − A)−1 =
 
  ;
(1 − D)2 Ds  (1 − D)
 

s
C

Audio Susceptibility:

1
F = q (sI − A)−1 b = (5.123)
(1 − D)Ds
5.9 Dynamic Model of Converters Operating in DCM 163

Input Admittance:

D2 1 + sCR
Yin = p (sI − A)−1 b = 2
(5.124)
R(1 − D) Ds

Output Impedance:
sL
Zo = q (sI − A)−1 m = (5.125)
(1 − D)2 Ds

Control Gain:
sL
1−
Vg R(1 − D)2
Gv = q (sI − A)−1 f + (q1 − q2 ) X = (5.126)
(1 − D)2 Ds
DVg (1 + D + sCR)
Gi = p (sI − A)−1 f + (p1 − p2 ) X = 2
+ (5.127)
R(1 − D) R(1 − D)3 Ds

Circuit Averaged Parameters:

!
Vg sLD
u(s) = 2
1− (5.128)
(1 − D) R(1 − D)2
DVg
J= (5.129)
R(1 − D)3

5.9 Dynamic Model of Converters Operating in DCM

In the previous chapters we had seen the method of state space averaging
applied to the switched mode converters operating in CCM. In Chapter 4,
we had seen that the switched mode converters might operate under another
operating mode defined as the discontinuous inductor current mode (DCM)
of operation. For converters operating under DCM too, the method of state
space averaging may be extended. The following section explains the method.

5.9.1 Dynamic Model

In the DCM operating mode, the converter operates with three different sub-
circuits in each switching period. These three intervals are
dTs : Active switch of the converter ON.
d2 Ts : Passive switch of the converter ON.
(1 − d − d2 Ts : None of the switches in the converter is ON.
The circuit equations of the converter in state space format is then given by
Interval dTs :
(ẋ) = A1 x + b1 vg (5.130)