Advanced Textbooks in Control and Signal Processing

Series Editors

Professor Michael J. Grimble, Professor of Industrial Systems and Director

Professor Michael A. Johnson, Professor of Control Systems and Deputy Director
Industrial Control Centre, Department of Electronic and Electrical Engineering,
University of Strathclyde, Graham Hills Building, 50 George Street, Glasgow G1 1QE, UK

For further volumes:

http://www.springer.com/series/4045
Seddik Bacha • Iulian Munteanu
Antoneta Iuliana Bratcu

Power Electronic Converters

Modeling and Control
with Case Studies
Seddik Bacha Iulian Munteanu
Grenoble Electrical Engineering Control Systems Department
Laboratory Grenoble Image Speech Signal Control
Saint Martin D’Heres, France Systems Laboratory
Saint-Martin d’Hères, France

Antoneta Iuliana Bratcu

Control Systems Department
Grenoble Image Speech Signal Control
Systems Laboratory
Saint-Martin d’Hères, France

ISSN 1439-2232
ISBN 978-1-4471-5477-8 ISBN 978-1-4471-5478-5 (eBook)
DOI 10.1007/978-1-4471-5478-5
Springer London Heidelberg New York Dordrecht
Library of Congress Control Number: 2013952983

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I tmurt-iw, tamurt idurar
I yizmawen-is
To our families
Foreword

In my 30-year experience as researcher in the field of power converters, I have

witnessed how the interest of the industry in the power electronics area and the
corresponding applications of the power converters have had an exponential
growth. In this sense, currently we can find power converter applications such as
mobile devices, battery chargers and advanced lighting systems, transportation
systems (electric or hybrid cars, trains or airplanes), energy storage systems,
integration of renewable energy sources and power quality and power distribution
systems.
In general, we can say that these are just a few examples where power converters
have been of paramount importance for the development of new markets with the
goal of improving the system performance in terms of efficiency, robustness,
versatility, reduced volume, low maintenance and cost. Today power converters
are ubiquitous and have penetrated most of the strategic sectors of the modern
industries.
Power converters development requires from a concurrent expertise on many
areas, like semiconductors, circuits design, advanced mathematics, modeling and
control of the converters among others. The new markets frequently have to deal
with nonlinear loads, with a complex behavior and consequently requiring from the
designer a deep knowledge of advanced techniques to achieve the system stability,
controllability and new performances that are required to be met in a very competi-
tive market. The challenges of this new market can only be overcome by a deep
knowledge of the converters, where a mathematical model is fundamental to
achieve a precise control. In this sense, I think that this book is an important, in
time, contribution to help engineers to achieve these goals. The book gives a global
view of the available modeling and control design techniques, which can be very
helpful to both the novice and the expert. In this sense, the book can be considered
as self-contained, starting with the most basic techniques moving to the most
advanced ones and presenting numerous application examples that help in the
clarification of complex concepts.

vii
viii Foreword

This work represents an advanced textbook that covers most of the aspects of
power converters modeling, as well as the most widely used control approaches,
selected upon their already proven effectiveness.
The book offers a teaching perspective ex nihilo, beginning from the basics of
electricity laws and switches’ behavior and arriving at obtaining dynamical models
of converters ready to be used for control purposes. It also provides the reader with
the tools for designing various types of control structures for a wide range of
switching converters (with both DC and AC stages).
Presentation of the theoretical approach and then of a pragmatic one in case of
each modeling and control method is a particular feature of the authors’ pedagogi-
cal vision. Each chapter – except for the introductory chapters – contains at least a
case study illustrating the concepts dealt with within the chapter.
The book’s main audience is composed of the master students, but it remains
open for all specialists in the field, from both academia and industry. The book is
divided into two parts, respectively dedicated to modeling and control of power
electronic converters.
The first part begins with an introductory chapter on the modeling topics. The
switched (topological) model – based on physical description by differential
equations and on the classical assumption of perfect switches – is described in
Chap. 3. This model succeeds in capturing the time-varying nature of the system; it
can be used for building other models (e.g., averaged or sampled-data models) or
directly for simulation purpose and/or electromagnetic-compatibility analysis (e.g.,
switching harmonics). It can also be employed in sliding-mode control laws design.
The classical (state-space) averaged model for large- and small-signal behavior of
DC-DC converters is studied and its limitations are assessed within Chap. 4.
Knowing the limitations of this classical model, two alternatives are explored:
first, the generalized averaged modeling, which is extended to high-order harmonic
dynamics (i.e., to converters having also AC power stages), second, the reduced-
order modeling based upon mode separation, which is suitable for describing the
discontinuous-conduction operation or for modeling order reduction in order to
mitigate the complexity (Chaps. 5 and 6 respectively).
The second part of the book exploits the results presented in the first part, that is,
it shows how the different models can be used for control purpose. The basics of
linear and nonlinear control approaches aspects have been presented after recalling
the prerequisites in Chaps. 7 and 10 respectively.
The use of the linear control approach is separately detailed for the DC-DC
power converters and for the converters having AC stages. Whereas for the DC-DC
converters the control design relies mainly upon PI and lead-lag control in Chap. 8,
for converters integrating AC stages some more sophisticated approaches – like use
of dq or combined dq-stationary frameworks or of resonant controllers – are
necessary, like detailed in Chap. 9.
The nonlinear control applied to power electronic converters is relatively new in
the field (beginning of 1990s). The electrical engineers are not familiar with these
aspects for several reasons, among which the first and most important one is the
difficult apprehension of the dedicated tools. The authors have strived to provide an
Foreword ix

intuitive way to achieve such kind of control laws. However, the theoretical aspects
have been developed in parallel to sustain this intuitive approach. The examples and
case studies illustrate each of the control methods.
The nonlinear control approaches have been divided into two families: continu-
ous and discontinuous. The class of continuous nonlinear control methods is
represented by the feedback-linearization control, dealt with in Chap. 11; and the
energy-based control laws, stabilizing control and passivity-based control, which
are exposed in Chap. 12. Combinations of these two classes are obviously possible.
The second class consists in the variable-structure control, also known as sliding-
mode control; it is amply presented in Chap. 13. This kind of control is widely used
in power electronics for its intrinsic robustness. Its limitations are mainly due to
structural limits, internal dynamics and arbitrary switching frequency, issues that
are extensively addressed in the book.
As a conclusion of the above analysis, the textbook Power Electronic Converters
Modeling and Control: With Case Studies proposes a collection of concepts,
organized in a synergic manner such that to ease comprehension of the control
design. The book’s contribution goes towards completing the already existing
literature by offering a useful integration of control techniques, worthy to be
read, understood and employed in the most various applications.

Sevilla Leopoldo Garcı́a Franquelo

February 2013
Series Editors’ Foreword

The topics of control engineering and signal processing continue to flourish and
develop. In common with general scientific investigation, new ideas, concepts and
interpretations emerge quite spontaneously, and these are then discussed, used,
discarded or subsumed into the prevailing subject paradigm. Sometimes these
innovative concepts coalesce into a new sub-discipline within the broad subject
tapestry of control and signal processing. This preliminary battle between old and
new usually takes place at conferences, through the Internet and in the journals of
the discipline. After a little more maturity has been acquired by the new concepts,
archival publication as a scientific or engineering monograph may occur.
A new concept in control and signal processing is known to have arrived when
sufficient material has evolved for the topic to be taught as a specialised tutorial
workshop or as a course to undergraduate, graduate or industrial engineers.
Advanced Textbooks in Control and Signal Processing are designed as a vehicle
for the systematic presentation of course material for both popular and innova-
tive topics in the discipline. It is hoped that prospective authors will welcome
the opportunity to publish a structured and systematic presentation of some of the
newer emerging control and signal processing technologies in the textbook series.
The problem of modelling and the control of power electronic systems is that
they have a circuit topology that includes continuous time elements such as
resistors, inductors, capacitors and voltage and current sources that are interfaced
with electronic devices like diodes, and electronic switches typically thyristors,
transistors, and MOSFETs. This leads to system types that involve both continuous
time and discontinuous discrete time switching system behaviour. As with most
branches of technology, the desire to use the power of computer based simulation
technology leads firstly to the development of sets of mathematical models; how-
ever, these devices are used in the control of other systems and there are already
classical control solutions in existence. Consequently, it is a short step to use the
new models to assess and further develop classical control solutions, and then

xi
xii Series Editors’ Foreword

proceed to investigate the use of advanced control methods in the designs; however,
a key challenge is to introduce more analytical and computer-based approaches
without losing sight of the real-world applications and the practical limitations and
constraints that arise. This advanced-course textbook Power Electronics
Converters Modeling and Control: With Case Studies by Seddik Bacha, Iulian
Munteanu and Antoneta I. Bratcu achieves these objectives extremely well.
The textbook is structured into two parts:
• Part I, Modelling, comprises five chapters and, beginning from that simplest of
questions, “What is a model?”, passes through four chapters devoted to switched
models, classical averaged models, equivalent averaged generator models and,
finally, generalised averaged models. The model approaches use the state-space
model formalism that has many practical and pedagogical advantages, not the
least of which is the straightforward step to constructing MATLAB®/Simulink®
model simulations.
• Part II, Control, comprises seven chapters in total. The opening chapter of this
part presents a general overview of control in power electronics. There are then
two chapters on approaches to linear system control methods. The second of
these linear control chapters looks specifically at DC–AC and AC–DC power
converter control. There then follow four chapters based on more advanced
control and nonlinear methods. As with the linear control chapters, this group
of chapters begins with a general overview of relevant mathematical methods
and the remaining three chapters tackle specific nonlinear control approaches:
feedback linearization, energy-based methods, and variable-structure (sliding-
mode) control designs respectively.
A notable feature of the book is the frequent use in every chapter of examples
and case-study material. Throughout the textbook there are continual references to
what is practical, and the advantages and disadvantages of the modelling and
control methods described. For the student reader, each essential study chapter is
provided with problems where the first few problems have solutions given, and then
the student is invited to tackle some problems without solutions.
The authors of this textbook have worked together for over a decade or so, and
have much relevant experience in power electronics and related subjects. Professor
Bacha has been teaching and researching this subject area since 1990. Most
importantly, he has taught the material of this advanced course textbook at Master’s
level for a number of years. Doctors Munteanu and Bratcu have worked within the
field of control engineering and have an interest in wind energy systems. Indeed,
they co-authored (with N-A. Cutululis and E. Ceangă) the excellent Advances in
Industrial Control series monograph Optimal Control of Wind Energy Systems
(ISBN 978-1-84800-079-7, 2008) on this very topic.
Readers might like to complement this fine addition to the Advanced Textbooks
in Control and Signal Processing series with a research monograph on power
Series Editors’ Foreword xiii

electronics that is published in the Advances in Industrial Control series entitled

Dynamics and Control of Switched Electronic Systems: Advanced Perspectives for
Modelling, Simulation and Control of Power Converters and edited by Francesco
Vasca and Luigi Iannelli (ISBN 978-1-4471-2884-7, 2012).

Industrial Control Centre M.J. Grimble

Glasgow, Scotland, UK M.A. Johnson
February 2013
Preface

Modern power electronics has evolved into a new era of electrical energy
processing. In this context, power electronic controlled systems have become
indispensable to the proper operation of power systems. Control systems theory
and signal processing have become, in the last decades, vectors of research and
technological innovation in the field of power electronics. Following this trend, this
textbook applies control systems theory to the field of power electronics and is
intended to be a reference for students and professionals working in the power
systems field. It provides the reader with the tools for obtaining various models and
control structures for a wide range of switching converters (with both DC and AC
stages). The subject covers not only linear control techniques that use the ubiqui-
tous proportional–integral controller, devised as early as the 1980s, but also more
modern nonlinear continuous or variable-structure control.
The textbook Power Electronic Converters Modeling and Control: With Case
Studies originates from the course “Modeling and control of power electronic
structures”, taught by Professor Seddik Bacha to bachelor engineers and masters
in electrical engineering at Grenoble Institute of Technology and Joseph Fourier
University in France since 1994. Its content has been enriched by topics and case
studies issued from research work and theses developed at Grenoble Electrical
Engineering Laboratory in France in switching converters and renewable energy
conversion control. Its writing has begun following the encouragements of Profes-
sor Jean-Paul Hautier, former General Administrator of École Nationale Supérieure
des Arts et Métiers in France.
Like its main topics, the presentation style of this textbook places it at the
intersection of power electronics, control systems and signal processing, partially
covering some industrial electronics areas. The spirit of the writing assumes that
students possess basic knowledge within the aforementioned disciplines. Within the
book, each problem is approached in both theoretical and practical fashion,
employing illustrative examples. Case studies issue from close-to-real-world
problems and are treated in a most complete way. Simulations and comments
therein are placed so as to allow insight into what concerns switching
converter–control structure closed-loop operation.

xv
xvi Preface

Effort has been made to synthesize information from a quite well-developed

domain possessing a rich bibliography, merge key terms, achieve the case studies
and to unify visions, notations and styles to obtain a presentation both power
engineers and control engineers can comprehend.
The discourse of this book was heavily influenced by the experience Dr. Iulian
Munteanu and Dr. Antoneta Iuliana Bratcu had as students and co-workers of
Professor Emil Ceangă from Dunărea de Jos University of Galaţi in Romania.
We appreciate his helpful suggestions, which have inspired the pedagogical pre-
sentation of many control approaches within this book.
We thank Professor Leopoldo Garcı́a Franquelo from University of Sevilla in
Spain for evaluating our work and endorsing this textbook. We also thank Professor
Jean-Pierre Rognon from Grenoble Institute of Technology in France for his helpful
comments and suggestions, which improved the quality of this text.

Grenoble, France Seddik Bacha

January 2013 Iulian Munteanu
Antoneta Iuliana Bratcu
Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 1
1.1 Role and Objectives of Power Electronic Converters
in Power Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 1
1.2 Requirements of Modeling, Simulation and Control
of Power Electronic Converters . . . . . . . . . . . . . . . . . . . . . . . .. 2
1.3 Scope and Structure of the Book . . . . . . . . . . . . . . . . . . . . . . .. 4
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 4

Part I Modeling of Power Electronic Converters

2 Introduction to Power Electronic Converters Modeling . . . . . . . . . 9

2.1 Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1.1 What Is a Model? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1.2 Scope of Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2 Model Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2.1 Switched Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2.2 Sampled-Data Models . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.2.3 Averaged Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2.4 Large-Signal and Small-Signal Models . . . . . . . . . . . . . . 15
2.2.5 Behavioral Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2.6 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.3 Use of Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.3.1 Relations Between Various Types of Models . . . . . . . . . 22
2.3.2 Relations Between Modeling and Control . . . . . . . . . . . . 23
2.3.3 Other Possible Uses of Models . . . . . . . . . . . . . . . . . . . . 24
2.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

xvii
xviii Contents

3 Switched Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.1 Mathematical Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.1.1 General Mathematical Framework . . . . . . . . . . . . . . . . . 27
3.1.2 Bilinear Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.2 Modeling Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.2.1 Basic Assumptions. State Variables . . . . . . . . . . . . . . . . 30
3.2.2 General Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.2.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.3 Case Study: Three-Phase Voltage-Source
Converter as Rectifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4 Classical Averaged Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.2 Definitions and Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.2.1 Sliding Average . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.2.2 State Variable Average . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.2.3 Average of a Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.2.4 Complete Power Electronic Circuit Average . . . . . . . . . . 58
4.3 Methodology of Averaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.3.1 Graphical Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.3.2 Analytical Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
4.4 Analysis of Averaging Errors . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.4.1 Exact Sampled-Data Model . . . . . . . . . . . . . . . . . . . . . . 63
4.4.2 Relation Between Exact Sampled-Data
Model and Exact Averaged Model . . . . . . . . . . . . . . . . . 64
4.5 Small-Signal Averaged Model . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.5.1 Continuous Small-Signal Averaged Model . . . . . . . . . . . 67
4.5.2 Sampled-Data Small-Signal Model . . . . . . . . . . . . . . . . . 68
4.5.3 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.6 Case Study: Buck-Boost Converter . . . . . . . . . . . . . . . . . . . . . . 71
4.7 Advantages and Limitations of the Averaged Model.
Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
5 Generalized Averaged Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
5.2 Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
5.2.1 Fundamentals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
5.2.2 Relation with the First-Order-Harmonic Model . . . . . . . 100
5.2.3 Relation with Classical Averaged Model . . . . . . . . . . . . 101
5.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
5.3.1 Case of a State Variable . . . . . . . . . . . . . . . . . . . . . . . . 102
5.3.2 Case of a Passive Circuit . . . . . . . . . . . . . . . . . . . . . . . 103
Contents xix

5.3.3 Case of a Coupled Circuit . . . . . . . . . . . . . . . . . . . . . . 104

5.3.4 Switching Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
5.4 Methodology of Averaging . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
5.4.1 Analytical Approach . . . . . . . . . . . . . . . . . . . . . . . . . . 107
5.4.2 Graphical Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
5.5 Relation Between Generalized Averaged Model
and Real Waveforms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
5.5.1 Extracting Real-Time-Varying Signal from GAM . . . . . 110
5.5.2 Extracting GAM from Real-Time-Varying Signal . . . . . 111
5.6 Using GAM for Expressing Active and Reactive
Components of AC Variables . . . . . . . . . . . . . . . . . . . . . . . . . 112
5.7 Case Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
5.7.1 Current-Source Inverter for Induction Heating . . . . . . . . 117
5.7.2 Series-Resonant Converter . . . . . . . . . . . . . . . . . . . . . . 121
5.7.3 Limitations of GAM: Example . . . . . . . . . . . . . . . . . . . 124
5.7.4 PWM-Controlled Converters . . . . . . . . . . . . . . . . . . . . 129
5.8 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
6 Reduced-Order Averaged Model . . . . . . . . . . . . . . . . . . . . . . . . . . 149
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
6.2 Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
6.3 General Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
6.3.1 Example with Alternating Variables:
Current-Source Inverter for Induction Heating . . . . . . . . . 153
6.3.2 Example with Discontinuous-Conduction Mode:
Buck-Boost Converter . . . . . . . . . . . . . . . . . . . . . . . . . . 156
6.4 Case Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
6.4.1 Thyristor-Controlled Reactor Modeling . . . . . . . . . . . . . . 160
6.4.2 DC-DC Boost Converter Operating
in Discontinuous-Conduction Mode . . . . . . . . . . . . . . . . 164
6.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

Part II Control of Power Electronic Converters

7 General Control Principles of Power Electronic Converters . . . . . . 179

7.1 Control Goals in Power Electronic Converter Operation . . . . . . . 179
7.2 Specific Control Issues Related to Power Electronic
Converters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
7.3 Different Control Families . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
7.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
xx Contents

8 Linear Control Approaches for DC-DC Power Converters . . . . . . . 187

8.1 Linearized Averaged Models. Control Goals
and Associated Design Methods . . . . . . . . . . . . . . . . . . . . . . . . 187
8.2 Direct Output Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
8.2.1 Assumptions and Design Algorithm . . . . . . . . . . . . . . . . 189
8.2.2 Example of a Buck-Boost Converter . . . . . . . . . . . . . . . . 191
8.3 Indirect Output Control: Two-Loop Cascaded
Control Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
8.3.1 Assumptions and Design Algorithm . . . . . . . . . . . . . . . . 195
8.3.2 Example of a Bidirectional-Current
DC-DC Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
8.3.3 Two-Loop Cascaded Control Structure for DC-DC
Converters with Nonminimum-Phase Behavior . . . . . . . . 204
8.4 Converter Control Using Dynamic Compensation
by Pole Placement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
8.4.1 Assumptions and Design Algorithm . . . . . . . . . . . . . . . . 208
8.4.2 Example of a Buck Converter . . . . . . . . . . . . . . . . . . . . 211
8.5 Digital Control Issues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
8.5.1 Approaches in Digital Control Design . . . . . . . . . . . . . . . 214
8.5.2 Example of Obtaining Digital Control Laws
for Boost DC-DC Converter Used
in a Photovoltaic Application . . . . . . . . . . . . . . . . . . . . . 216
8.6 Case Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
8.6.1 Boost Converter Output Voltage Direct Control
by Lead-lag Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
8.6.2 Boost Converter Output Voltage Direct Control
by Pole Placement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
8.7 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
9 Linear Control Approaches for DC-AC
and AC-DC Power Converters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
9.1 Introductory Issues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
9.2 Control in Rotating dq Frame . . . . . . . . . . . . . . . . . . . . . . . . . . 238
9.2.1 Example of a Grid-Connected Single-Phase
DC-AC Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
9.3 Resonant Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
9.3.1 Necessity of Resonant Control . . . . . . . . . . . . . . . . . . . . 248
9.3.2 Basics of Proportional-Resonant Control . . . . . . . . . . . . . 250
9.3.3 Design Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
9.3.4 Implementation Aspects . . . . . . . . . . . . . . . . . . . . . . . . . 261
9.3.5 Use of Resonant Controllers in a Hybrid dq-Stationary
Control Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
9.3.6 Example of a Grid-Connected
Three-Phase Inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
Contents xxi

9.4 Control of Full-Wave Converters . . . . . . . . . . . . . . . . . . . . . . . 269

9.5 Case Study: dq-Control of a PWM Three-Phase
Grid-Tie Inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
9.5.1 System Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
9.5.2 Comments on the Adopted Control Structure . . . . . . . . 278
9.5.3 Design of the Inner Loop (Current) Controllers . . . . . . 279
9.5.4 Simulations Results Concerning the Inner Loop . . . . . . 280
9.5.5 Design of the Outer Loop (Voltage) Controller . . . . . . 283
9.5.6 Simulations Results Concerning the Outer Loop . . . . . 284
9.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
10 General Overview of Mathematical Tools
Dedicated to Nonlinear Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
10.1 Issues and Basic Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
10.1.1 Elements of Differential Geometry . . . . . . . . . . . . . . . 297
10.1.2 Relative Degree and Zero Dynamics . . . . . . . . . . . . . . 301
10.1.3 Lyapunov Approach . . . . . . . . . . . . . . . . . . . . . . . . . . 303
10.2 Overview of Nonlinear Control Methods for Power
Electronic Converters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
11 Feedback-linearization Control Applied
to Power Electronic Converters . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
11.1 Basics of Linearization via Feedback . . . . . . . . . . . . . . . . . . . . 308
11.1.1 Problem Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
11.1.2 Main Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
11.2 Application to Power Electronic Converters . . . . . . . . . . . . . . . 311
11.2.1 Feedback-Linearization Control
Law Computation . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
11.2.2 Pragmatic Design Approach . . . . . . . . . . . . . . . . . . . . 313
11.2.3 Examples: Boost DC-DC Converter
and Buck DC-DC Converter . . . . . . . . . . . . . . . . . . . . 314
11.2.4 Dealing with Parameter Uncertainties . . . . . . . . . . . . . 318
11.3 Case Study: Feedback-Linearization Control
of a Flyback Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
11.3.1 Linearizing Feedback Design . . . . . . . . . . . . . . . . . . . 319
11.3.2 Outer Loop Analysis . . . . . . . . . . . . . . . . . . . . . . . . . 322
11.3.3 Outer-Loop PI Design Without Taking
into Account the Right-Half-Plane Zero . . . . . . . . . . . 324
11.3.4 Outer-Loop PI Design While Taking
into Account the Right-Half-Plane Zero . . . . . . . . . . . 324
11.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
xxii Contents

12 Energy-Based Control of Power Electronic Converters . . . . . . . . . 337

12.1 Basic Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
12.2 Stabilizing Control of Power Electronic Converters . . . . . . . . . 339
12.2.1 General Nonlinear Case . . . . . . . . . . . . . . . . . . . . . . . 340
12.2.2 Linearized Case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
12.2.3 Stabilizing Control Design Algorithm . . . . . . . . . . . . . 343
12.2.4 Example: Stabilizing Control Design
for a Boost DC-DC Converter . . . . . . . . . . . . . . . . . . . 343
12.3 Approaches in Passivity-Based Control. Euler–Lagrange
General Representation of Dynamical Systems . . . . . . . . . . . . . 351
12.3.1 Original Euler–Lagrange Form
for Mechanical Systems . . . . . . . . . . . . . . . . . . . . . . . 352
12.3.2 Adaptation of Euler-Lagrange Formalism
to Power Electronic Converters . . . . . . . . . . . . . . . . . . 353
12.3.3 General Representation of Power Electronic
Converters as Passive Dynamical Systems . . . . . . . . . . 354
12.3.4 Examples of Converter Modeling
in the Euler–Lagrange Formalism . . . . . . . . . . . . . . . . 356
12.4 Passivity-Based Control of Power Electronic Converters . . . . . . 357
12.4.1 Theoretical Background . . . . . . . . . . . . . . . . . . . . . . . 357
12.4.2 Limitations of Passivity-Based Control . . . . . . . . . . . . 360
12.4.3 Parameter Estimation: Adaptive
Passivity-Based Control . . . . . . . . . . . . . . . . . . . . . . . 360
12.4.4 Passivity-Based Control Design Algorithm . . . . . . . . . 361
12.4.5 Example: Passivity-Based Control of a Boost
DC-DC Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
12.5 Case Study: Passivity-Based Control of a Buck-Boost
DC-DC Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
12.5.1 Basic Passivity-Based Control Design . . . . . . . . . . . . . 370
12.5.2 Damping Injection Tuning . . . . . . . . . . . . . . . . . . . . . 371
12.5.3 Study of Closed-Loop Small-Signal Stability . . . . . . . . 373
12.5.4 Adaptive Passivity-Based Control Design . . . . . . . . . . 376
12.5.5 Numerical Simulation Results . . . . . . . . . . . . . . . . . . . 377
12.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
13 Variable-Structure Control of Power Electronic
Converters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
13.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
13.2 Sliding Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
13.3 General Theoretical Results . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
13.3.1 Reachability of the Sliding Surface:
Transversality Condition . . . . . . . . . . . . . . . . . . . . . . 397
13.3.2 Equivalent Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
13.3.3 Dynamics on the Sliding Surface . . . . . . . . . . . . . . . . 399
Contents xxiii

13.4 Variable-Structure Control Design . . . . . . . . . . . . . . . . . . . . . . 400

13.4.1 General Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
13.4.2 Application Example . . . . . . . . . . . . . . . . . . . . . . . . . 400
13.4.3 Pragmatic Design Approach . . . . . . . . . . . . . . . . . . . . 404
13.5 Supplementary Issues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
13.5.1 Case of Time-Varying Switching Surfaces . . . . . . . . . 406
13.5.2 Choice of the Switching Surface . . . . . . . . . . . . . . . . . 406
13.5.3 Choice of the Switching Functions . . . . . . . . . . . . . . . 408
13.5.4 Limiting of the Switching Frequency . . . . . . . . . . . . . 409
13.6 Case Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
13.6.1 Variable-Structure Control of a Single-Phase
Boost Power-Factor-Correction Converter . . . . . . . . . . 413
13.6.2 Variable-Structure Control of a Three-Phase
Rectifier as a MIMO System . . . . . . . . . . . . . . . . . . . . 423
13.7 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430
Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440

General Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445