Lecture No.

Control and Instrumentation

for
Power Electronic systems
(EEE G545)
BITS Pilani Aditya R. Gautam
EEE
Pilani Campus
 Mathematical modelling
of
physical systems
This lecture is prepared using following books:

Chapter 7: Erickson, Robert W. Fundamentals of Power Electronics. New York, NY: Chapman & Hall, 1997. ISBN:
9780412085413.

Chapter 2: Nagrath I. J. and M. Gopal, Control Systems Engineering, New Age International Publishers, Sixth Edition,
2017

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 State-space representation
of
Mathematical model of Physical systems
(Very useful in advanced controller design: linear/nonlinear, optimal, state-feedback controller)

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Example of electrical system: Armature controlled dc motor

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Mathematical relations

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Mathematical relations (continued…)

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Final differential equations of motor

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Mathematical model of armature controlled dc motor

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(A) State-space representation of armature controlled dc motor

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Generalized State-space representation of Single-input single-output (SISO) systems
Set of first-order differential equations (state-equations) Output equation

Vector-Matrix Form

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Generalized State-space representation of Multi-input Multi-output (MIMO) systems

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Basics of Laplace Transform

==

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Laplace transform of differential function

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Laplace transform of integral function

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 Block Diagram Representation of
Mathematical model of Physical systems
using Laplace Transform
(Very useful in frequency domain design/ s-domain design of controller)

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Example of same electrical system: Armature controlled dc motor

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Convert equations on blocks to develop complete block diagram

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(B) Block diagram of of armature controlled dc motor

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Block diagram rules

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Block diagram rules

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To obtain State space parameters to transfer function

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Dynamic model of power converter
(Power converter is nonlinear system)

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Moving average of state variables

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State Variables and their average values in power converters

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 STEPS FOR BASIC AC MODELLING APPROACH

Note: Averaging and Linearization are key steps in modelling PWM converters
Example: BASIC AC MODELLING APPROACH of Buck-Boost Converter
STEP#1 Write down equations for each subintervals (inductor voltage and capacitor current and input-port)

ON-time of OFF-time of
transistor transistor

𝒅 𝒊 (𝒕)
𝒗  𝑳 (𝒕 )= 𝑳
𝒅 𝒊 (𝒕 )
= 𝒗 𝒈 (𝒕 ) 𝒗  𝑳 ( 𝒕 )= 𝑳 = 𝒗 (𝒕 )
𝒅𝒕 𝒅𝒕

 𝒊 ( 𝒕 ) =𝑪 𝒅𝒗 𝑪 (𝒕 ) =− 𝒗 ( 𝒕 ) 𝒊  𝑪 ( 𝒕 ) =𝑪
𝒅𝒗 𝑪 ( 𝒕 ) 𝒗 (𝒕 )
=− 𝒊 ( 𝒕 ) − 𝑪
𝑪
𝒅𝒕 𝑹 𝒅𝒕 𝑹

 𝒊 𝒈 (𝒕 )=𝒊 (𝒕 ) 𝒊  𝒈 (𝒕 )=𝟎
 Basic AC modeling approach: average ON-time and OFF time equations

𝒅 𝒊 (𝒕 ) 𝒅 𝒊 (𝒕)
𝒗  𝑳 (𝒕 )= 𝑳 = 𝒗 𝒈 (𝒕 ) 𝒗  𝑳 ( 𝒕 ) = 𝑳 = 𝒗 (𝒕 )
𝒅𝒕 𝒅𝒕

𝒅𝒗 𝑪 (𝒕 ) 𝒗 (𝒕 )
 𝒊 ( 𝒕 ) =𝑪 𝒅𝒗 𝑪 (𝒕 ) =− 𝒗 ( 𝒕 ) 𝒊  𝑪 ( 𝒕 ) =𝑪 =− 𝒊 ( 𝒕 ) − 𝑪
𝑪
𝒅𝒕 𝑹 𝒅𝒕 𝑹

 𝒊 𝒈 (𝒕 )=𝒊 (𝒕 ) 𝒊  𝒈 (𝒕 )=𝟎
STEP#2 Replace RHS of equations by their average value

Average of RHS equations Average of RHS equations

𝒅 𝒊 (𝒕)   ( 𝒕 )= 𝑳 𝒅 𝒊 ( 𝒕 ) = ¿ 𝒗 ( 𝒕 ) >  
𝒗
𝒗  𝑳 ( 𝒕 )= 𝑳 = ¿ 𝒗 𝒈 ( 𝒕 ) >¿𝑻 ¿ 𝑳
𝒅𝒕 𝑻 𝒔

𝒅𝒕 𝒔

𝒅𝒗 𝑪 ( 𝒕 ) ¿ 𝒗 𝑪 ( 𝒕 )> ¿𝑻
𝒅𝒗 𝑪 (𝒕 ) ¿ 𝒗 ( 𝒕 ) >¿𝑻 𝒊  𝑪 ( 𝒕 ) =𝑪 =− ¿𝒊 ( 𝒕 ) >¿𝑻 − ¿ 𝒔

𝒊  𝑪 ( 𝒕 ) =𝑪 =− ¿ 𝒔
𝒅𝒕 𝒔
𝑹
𝒅𝒕 𝑹

𝒊 𝒈 ( 𝒕 )=¿ 𝒊>¿𝑻 ¿ 𝒔

𝒊  𝒈 (𝒕 )=𝟎
 We have subinterval equations
but how to do averaging of these equations in a
complete cycle?
 Basic idea of Averaging
(of subintervals)
Averaged variable=On-time *variable (On-time)+Off-time *variable (Off-time)

𝒕 +𝑻 𝒔 𝒕 +𝒅𝑻 𝒔 𝒕 +𝑻 𝒔
  𝟏 𝟏 𝟏
¿ 𝒙 ( 𝒕 ) >¿𝑻 = ∫ 𝒙 (𝝉 ) 𝒅 𝝉= ∫ 𝒙 𝒐𝒏 ( 𝝉 ) 𝒅 𝝉 + ∫ 𝒙 𝒐𝒇𝒇 ( 𝝉 ) 𝒅 𝝉 ¿
𝒔
𝑻𝒔 𝑻𝒔
𝑻𝒔 𝟎
𝑻𝒔 𝒅𝑻 𝒔

The average is nonlinear in nature.

 Basic AC modeling approach: average AC model
STEP#3 For simplicity we can rename the LHS part of differential equations using ‘on’
and ‘off’ subscripts.
𝒅 𝒊 (𝒕)   ( 𝒕 )= 𝑳 𝒅 𝒊(𝒕 )
 
𝒗 ( 𝒕 )= 𝑳 = ¿ 𝒗 𝒈 ( 𝒕 ) >¿𝑻 ¿ 𝒗 =¿ 𝒗 ( 𝒕 ) >  𝑻
𝑳 𝒐𝒏
𝒅𝒕 𝒔
¿
𝒅𝒕 𝒔

𝒅𝒗 𝑪 (𝒕 ) ¿ 𝒗 ( 𝒕 ) >¿𝑻   ( 𝒕 ) =𝑪 𝒅𝒗 𝑪 ( 𝒕 ) =− ¿ 𝒊 ( 𝒕 ) >¿ − ¿ 𝒗 ( 𝒕 )> ¿𝑻 ¿ ¿

𝒊  𝒊 𝒔

𝑪 𝒐𝒏 ( 𝒕 ) =𝑪 =− ¿ 𝑪 𝒅𝒕
𝒔
𝒐𝒇𝒇 𝑻
𝑹 𝒔
𝒅𝒕 𝑹

𝒊  𝒈 ( 𝒕 ) =¿ 𝒊 (𝒕 )>¿ 𝑻 ¿
𝒐𝒏 𝒔
  𝒊 ¿ (𝒕 )=𝟎
 
STEP#4 Use averaging formula given above to get final average differential equations.
For example:   𝒗 𝑳 ( 𝒕 ) > ¿𝑻 =𝒅 (𝒕 ) 𝒗 𝑳 ( 𝒕 ) + ( 𝟏 −𝒅 ( 𝒕 )) 𝒗 ¿ ( 𝒕 ) ¿
¿ 𝒔 𝒐𝒏

Final nonlinear average AC model:

  𝒅 <𝒊 ( 𝒕 ) >¿𝑻
𝑳 𝒔
= 𝒅 ( 𝒕 ) ¿ 𝒗 𝒈 ( 𝒕 ) >¿𝑻 +(𝟏 − 𝒅 ( 𝒕 ) )¿ 𝒗 ( 𝒕 ) >  𝑻 ¿ ¿
𝒅𝒕 𝒔 𝒔

 ¿ 𝒊 𝒈 (𝒕 )> ¿𝑻 𝒔 = 𝒅 ( 𝒕 ) 𝒊 ( 𝒕 ) + ( 𝟏 − 𝒅 (𝒕 ) ) . 𝟎 ¿
HOW TO LINEARIZE THE NONLINEAR AVERAGE AC MODEL?
Linearization:
STEP# 1 Choose the quiescent points or operating points
Which are Quiescent points of Buck-Boost converter ?
 
Suppose Buck-boost converter is derived at some quiescent points or steady-
state points or operating points

 Note: Quiescent points can be obtained by making derivative terms zero in nonlinear average AC model and
replacing AC values [for example d(t), v(t), by their DC values (D, V, etc). These DC values are actually quiescent
points which can be obtained by solving above equations.
Linearization:
STEP# 2 Perturbation about quiescent points
 Suppose converter is derived at some quiescent points or steady-
state points operating points
 ¿ 𝒙 ( 𝒕 ) >¿ =𝑿 + ^𝒙 (𝒕 )¿
𝑻𝒔

  (t)   (t)

  (t) ¿^
  𝒗 ( t )∨≪∨𝑽 ∨¿

  (t)  
(t)|

  (t)  (t)| |

  (t) ^
  𝒈 ( t )∨≪∨𝑰 𝒈∨¿
¿𝒊

 
 Linearization:
STEP#3 Develop Perturbed nonlinear AC model [+(t)]

 )

  Note: AC variable=Quiescent point + small-signal disturbance

+
 Linearization:
STEP#4 Separate the Terms
Perturbed nonlinear model: DC terms +First-order AC terms+ Higher-order AC terms

Higher-order AC terms
DC terms First-order AC terms (cross-product nonlinear terms)

)]
 

Note: Collect only First-order AC terms to develop final linear model.

 Linearization:
STEP#5 Collect only the First-order Terms, this will give you
small signal linear AC model

Small-signal linear average AC model: First-order AC terms only

  𝒊
^ 𝒈 ( t ) =¿
 Linear Equivalent circuit

Development of Linear Average AC Equivalent Circuit

of
Nonlinear Buck-boost converter
Using
the developed linear small-signal AC model
Equivalent circuit:
STEP#1 Converter each equation in its equivalent circuit form

Small-signal Linear average AC equivalent circuit: First equation

Small-signal Linear average AC equivalent circuit: Second equation

 
Small-signal linear average AC equivalent circuit: Third equation
  𝒊
^ 𝒈 ( t ) =¿
 Equivalent circuit:
STEP#2 Arrange circuit from input to output port in sequence
Small-signal Linear average AC equivalent circuit
( t ) =¿  𝑪 𝒅 𝒗
^ ( t
=¿
𝒅𝒕

STEP#3 Replace the current and voltage (function of D or D’) by its equivalent ideal transformer

These are AC
Check the dot polarity
transformers
Equivalent circuit: Canonical form

These are AC
Check the dot polarity
transformers

Now find different transfer functions using this circuit?

 TRANSFER FUNCTIONs of Buck-Boost converter
STEP#3: Find equivalent circuits corresponding to their transfer functions
( 𝒂 ) 𝑻𝒓𝒂𝒏𝒔𝒇𝒆𝒓 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 𝒊𝒏𝒑𝒖𝒕 𝒗𝒐𝒍𝒕𝒂𝒈𝒆 ( 𝒍𝒊𝒏𝒆 ) 𝒕𝒐 𝒐𝒖𝒕𝒑𝒖𝒕 𝒗𝒐𝒍𝒕𝒂𝒈𝒆 ,𝑮 𝒗𝒈 ( 𝒔 )

 𝑭𝒊𝒏𝒅 𝑻𝒓𝒂𝒏𝒔𝒇𝒆𝒓 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 , 𝑮 𝒗𝒈 ( 𝒔 )

 
( 𝒃 ) 𝑻𝒓𝒂𝒏𝒔𝒇𝒆𝒓 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 𝒄𝒐𝒏𝒕𝒓𝒐𝒍 𝒊𝒏𝒑𝒖𝒕 ( 𝒅𝒖𝒕𝒚 ) 𝒕𝒐 𝒐𝒖𝒕𝒑𝒖𝒕 𝒗𝒐𝒍𝒕𝒂𝒈𝒆 , 𝑮 𝒗 𝒅 ( 𝒔 )

 𝑭𝒊𝒏𝒅 𝑻𝒓𝒂𝒏𝒔𝒇𝒆𝒓 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 , 𝑮 𝒗 𝒅 ( 𝒔 )

 𝒗
^ 𝒈 ( 𝑠 ) , 𝒊^ 𝒍𝒐𝒂𝒅 ( 𝑠 ) =𝟎

Use superposition theorem

( 𝒄 ) 𝑻𝒓𝒂𝒏𝒔𝒇𝒆𝒓 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 𝒄𝒐𝒏𝒕𝒓𝒐𝒍 𝒍𝒐𝒂𝒅 𝒄𝒖𝒓𝒓𝒆𝒏𝒕 𝒅𝒊𝒔𝒕𝒖𝒓𝒃𝒂𝒏𝒄𝒆 𝒕𝒐 𝒐𝒖𝒕𝒑𝒖𝒕 𝒗𝒐𝒍𝒕𝒂𝒈𝒆 , 𝑮 𝒗 𝒊 ( 𝒔 )
𝒍𝒐𝒂𝒅

 𝑭𝒊𝒏𝒅 𝑻𝒓𝒂𝒏𝒔𝒇𝒆𝒓 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 , 𝑮 𝒗𝒊 𝒍𝒐𝒂𝒅 ( 𝒔 )

 𝒗
^ 𝒈( 𝑠 ), 𝒗
^ 𝒓𝒆𝒇 (𝑠 )=𝟎

 𝒁 𝒐𝒖𝒕 ( 𝒔 ) =− 𝒗
^ (𝑠)
𝒊^ 𝒍𝒐𝒂𝒅 (𝑠)  

𝑖^ 𝑙𝑜𝑎𝑑
Relation of output voltage disturbance and its causes and other transfer functions

 𝒗 ^ (𝒕 ) −
^ ( 𝒔 ) =𝑮 𝒗𝒈 ( 𝒔 ) 𝒗^ 𝒈 ( 𝒔 ) +𝑮 𝒗𝒅 ( 𝒔) 𝒅   𝒁 𝒐𝒖𝒕 (𝒔 ) 𝒊^ 𝒍𝒐𝒂𝒅 ( 𝒔)
 Open-Loop Transfer Function (OLTF) or LOOP-GAIN,
The loop-gain is defined as the product of small-signal gains of
forward and feedback paths in feedback loop

𝑮
  𝒄 (𝒔 )  𝟏
𝑽𝑴
  Gvd

G(s)
Forward path
  LOOP-GAIN, Feedback path

 H

 Loop Gain, Very important in control design because it contains

design transfer function i.e. Gc.
  Effect of on disturbances in feedback loop
Relation between loop-gain and disturbances
 𝒗 ( 𝒔 ) =𝒇 ( 𝒗 𝒈 ( 𝒔 ) , 𝒊 𝒍𝒐𝒂𝒅 ( 𝒔 )  ¿, 𝒅𝑮(𝒗𝒈𝒔)( 𝒔) ) 𝒗 𝒈 ( 𝒔 ) +𝑮 𝒗𝒅 ( 𝒔 ) 𝒅 ( 𝒔 ) − 𝒁 𝒐𝒖𝒕 ( 𝒔) 𝒊 𝒍𝒐𝒂𝒅 ( 𝒔)
Perturbed form,

𝑽 + ^𝒗 (𝒔)=𝑮𝒗𝒈 ( 𝒔 ) (𝑽 ¿ ¿ 𝒈+𝒗^ 𝒈 (𝒔))+𝑮𝒗𝒅 ( 𝒔 ) (𝑫+𝒅^ ( 𝒔) )−𝒁 𝒐𝒖𝒕 ( 𝒔 ) (𝑰 ¿¿𝒍𝒐𝒂𝒅+𝒊^ 𝒍𝒐𝒂𝒅 (𝒔))¿¿

  Eq. 1
Eliminate d(s)
[ 
Perturbed form,
[  Eq. 2

Use Eq. 1 and Eq. 2 and eliminate duty-cycle terms,

𝑽 +^
𝒗 (𝒔)=𝑮 𝒗𝒈 ( 𝒔 ) (𝑽 ¿ ¿ 𝒈 + 𝒗
^ 𝒈 (𝒔 ))+𝑮 𝒗𝒅 ( 𝒔 ) ¿ ¿
𝟏 𝟏
𝑮 𝒗𝒈 ( 𝒔 ) 𝑽 𝒈+𝑻 ( 𝒔) 𝑽 𝒓𝒆𝒇 − 𝒁 𝒐𝒖𝒕 ( 𝒔 ) 𝑰 𝒍𝒐𝒂𝒅 𝑮 𝒗𝒈 ( 𝒔 ) 𝒗
^ 𝒈 ( 𝒔)+𝑻 ( 𝒔) 𝒗^ 𝒓𝒆𝒇 − 𝒁 𝒐𝒖𝒕 ( 𝒔 ) 𝒊^ 𝒍𝒐𝒂
𝑯 ( 𝒔) 𝑯 ( 𝒔)
𝒔)= +
𝟏+𝑻 ( 𝒔) 𝟏+ 𝑻 ( 𝒔)

Here,
 
  Effect of on disturbances in feedback loop
Relation between loop-gain and disturbances
𝟏 𝟏
𝒗𝒈 ( 𝒔 ) 𝑽 𝒈+𝑻 ( 𝒔) 𝑽 𝒓𝒆𝒇 − 𝒁 𝒐𝒖𝒕 ( 𝒔 ) 𝑰 𝒍𝒐𝒂𝒅 𝑮 𝒗𝒈 ( 𝒔 ) 𝒗
^ 𝒈 ( 𝒔)+𝑻 ( 𝒔) 𝒗^ − 𝒁 𝒐𝒖𝒕
𝑯 ( 𝒔) 𝑯 ( 𝒔) 𝒓𝒆𝒇
+
𝟏+𝑻 ( 𝒔) 𝟏+ 𝑻 ( 𝒔)
Steady-state part Transient/disturbance part
  𝟏
𝑮 𝒗𝒈 ( 𝒔 ) 𝒗
^ 𝒈 (𝒔)+𝑻 (𝒔) ^ 𝒓𝒆𝒇 − 𝒁 𝒐𝒖𝒕 ( 𝒔 ) 𝒊^ 𝒍𝒐𝒂𝒅 ( 𝒔)  
𝒗
𝑯 (𝒔)
𝒗
^ ( 𝒔)=
𝟏+𝑻 (𝒔)
 

𝑮 𝒗𝒈 ( 𝒔 )   T( s)  
( 𝑠)= ^ 𝒈 (𝑠)𝒗 ^ ( 𝑠)=
𝒗  ^ ( 𝑠)= − 𝒁 𝒐𝒖𝒕 ( 𝒔 )   𝒊^
^𝒗 𝒓𝒆𝒇 (𝑠)𝒗 (𝑠)
𝟏 +𝑻 (𝒔) 𝑯 ( 𝒔)(𝟏+𝑻 ( 𝒔 ) ) 𝟏+𝑻 ( 𝒔) 𝒍𝒐𝒂𝒅
   𝒗
^ 𝒈 ( 𝑠 ) , 𝒊^ 𝒍𝒐𝒂𝒅 ( 𝑠 ) =𝟎  𝒗
^ 𝒈( 𝑠 ), 𝒗
^ 𝒓𝒆𝒇 (𝑠 )=𝟎

Need to design Open-loop Transfer function (OLTF) or T(s)

Such that T(s) is large which is obtained by designing controller transfer function accordingly.

Note: It is noted that “Transfer function from Disturbance to Output is multiplied by factor, “
 
Canonical form of some other converters