Implementing Sliding Mode Control for Buck Converter

M. Ahmed, M. Kuisma, K. Tolsa, P. Silventoinen

Department of Electrical Engineering
Lappeenranta University of Technology, P.O. Box 20,5385 1 LPR, Finland

Abstract - The theory of sliding mode control (SMC) to applying SMC to switch mode power supply, let us take a
switch mode power supplies have been widely investigated brief look on the theory of SMC.
in literature, but most of the papers have focused on the
theoretical aspects of this control without any practical 11. SLIDINGMODECONTROL
implementations.
This paper links the theory to practical power supply Let us define the following control law:
design. Analysis and experimental study of Buck
converter is presented, and nonlinear state feedback RegionI: (x,+ c x , ) < O 3 U=-1,and
control is derived to achieve desired output voltage. The
paper focuses on modelling a control circuit in Region 11: (x, + cx,) > 0 2 U = +1,
Matlab/SimulinkTM and implementing it to the Buck
converter. Next, a prototype with SMC is build up. The Where c is lower than q (system eigenvalues). The
output voltage and inductor current of the both models switching boundaries are then xzand the line xz+cxl.
are compared in steady state mode and under line and The system structure changes whenever the system
load variations. representative point (P) enters a region defined by the
The efficiency is also calculated from the measurements switching boundaries. The immediate consequence of this
made with the prototype. All these measurements showed property is that, once (P) hits the switching line, the control
advantageous results. law ensures that the (P) does not move away from the
switching line xzfcxl=O, which is called the sliding - line; the
Keywords-Buck Converter, Sliding mode control (SMC) above discussion could be explained in Fig. 1.

I. INTRODUCTION

The sliding mode control (SMC) has been proposed to

improve the robustness and the dynamic response in switch
mode power supplies. The theory of SMC to switch mode
power supply has been widely investigated in literature, but
most of the papers have focused on the theoretical aspects of
this control without any practical implementations. This
paper links the theory to practical power supply design. The
SMC is a control approach, which complies with the non-
linear nature of switch-mode power supplies. This control
technique offers several advantages compared to traditional
control methods: Stability, even for large line and load
variations, robustness, good dynamic response and simple
implementation.
One of the most important features of the sliding mode
regime in variable structure systems (VSS) is the ability to
achieve responses that are independent of the system
parameters, the only limit being the canonical form
description of the system. From this point of view, the Buck
DC/DC converter is suitable for the application of the SMC, Fig. 1. Sliding regime in VSS (switching line with hysteresis).
since the Buck converter hlfils the statement: “the system is
controllable if every state variable can be affected by an input When sliding mode exists, the resultant system
signal”. performance is completely different from that dictated by any
The output voltage and its derivative are both continuous of the substructures of the VSS. Performance can be, under
and accessible for measurement. Before going forward for particular conditions, made independent of the properties of

0-7803-7754-0/03/$17.00 02003 IEEE 634

the substructures employed and dependent only on the preset To construct the simulation model for the sliding mode
control law. (In this example the boundary X~+CXI=O). controlled Buck converter, system model for the main power
If the switching boundary is not ideal, i.e. the commutation circuit has to be made. For the Buck converter, it is
fiequency between the two substructures is finite, then the convenient to use a system description, which involves the
overall system trajectory is as shown again in Fig. 1. output error and its derivative [l], i.e.
If the width of the hysteresis around the switching line
goes to zero, then the system behaviour returns to ideal. This x, = v - v
phenomenon is called chattering. To have more detailed (1)
description of the properties of SMC, the reader should refer a% - dv - ic
x, =-----
to PI, PI, and PI. [ dt * dt C

111. SLIDING MODECONTROL OF BUCKDC/DC CONVERTER The system equations, in terms of state variables xland x2,
and considering a continuous conduction mode (CCM)
The question arises, how SMC could be implemented for operation can bewritten as:
switch mode power supplies? Fig. 2 shows a block diagram

1
showing the implementation of this control for DC/DC XI =x2
converters. For most DCDC converters used in practice, the
motion rate of the current is much faster than the motion rate x 2 =-X,-x,+Lu--
V'

of the output voltage. Using cascaded control structure with LC RC LC LC

two control loops can solve the control problem: an inner
current control loop and an outer voltage control loop. The Where v': O/P voltage of the lin ar control.
voltage control is usually realized with standard linear control U : Is a discontinuous input, which can assume
techniques, where as the current control is implemented using the values 0 (switch off) or l(switch on).
either PWM or hysteresis control. Here we use the sliding
mode approach for the control of inductor current. Direct imdementation of the simulation model of the
SMC-Buck cbnverter can be derived from equations (1) & (2)
and the control block diagram presented in Fig. 3.

B. Prototype Model
I
I
I
vi" - DC/DC
- Straightforward prototype implementation of the Simulink-
I
I
Converter vo I model was constructed in the Laboratory of Applied
I
I
I
I
Electronics, Lappeenranta. Fig. 4 shows the overall picture of
I
I
I
I
the prototype build up in the laboratory.
I

A. Simulation Model

Fig. 3 explains in detail the internal structure of the control

part in Fig. 2 used as a control for the three basic converters
(Buck, Boost, Buck-Boost) in Matlab/SimulinkTM.

Inductor
Output
voltage

Fig. 3. The simulation block diagram for the controller, controller includes Fig. 4. The prototype model of, the Buck converter with the sliding mode
the sliding mode current controller (inner loop in block) and the voltage control build in the Electronics laboratory at Lappeenranta University of
control loop (PI control). Technology.

635
 The block diagram of the model and the main components for the prototype model. Both models are in steady state. The
used in the design are presented in Fig. 5, and the operation voltage ripple is approximately 1 volt taking the spikes into
of the prototype can be described as follows: account for the prototype model, while the actual ripple for
The output voltage is subtracted from the reference voltage both models is approximately 0.5 volt. The peak-to-peak
using op-ampl. The voltage difference signal is integrated inductor current is 1.75 A for Matlab/SimulinkTMand 1.95 A
using op-amp2. The output of this amplifier generate signal 1. for prototype model. The both models were tested under line
Op-amp3 is used to detect the inductor current with a shunt variation as shown in Fig. 8 and 9 respectively; the input was
resistor, generating signal 2. In next stage, signal 1 and 2 are changed from 20 volt to 28 volt. The settling time for both
compared using a comparator (LM11 l), where hysteresis is models is approximately 20 ms, which is the time, required to
used to control the switching frequency. The output level of returns to steady state. The two models where tested under
the LM111 signal should be translated to a voltage difference load variation where the load changes from 10 SZ to 13 SZ, and
between gate-source of the switching device IRF530. High the maximum overshoot of the output voltage is 0.7 volt, this
side MOSFETDGBT driver IR2 117 is used for this purpose. is shown in Fig. 10 and 11 respectively.
The efficiency of the circuit was also measured to check
the power losses in the prototype model. The results showed
that our non-optimized prototype had 93.5 % efficiency.
I lntegrator
V. CONCLUSION
Subtractor op-amp 2
op-amp 1
I I l l h

I" j"":."-----."
+c'\
I
i\
-I- \Siena]
FL2244lE
1
A general-purpose SMC for DC/DC converter is presented.
The application of the SMC techniques to D O C converter
is analyzed in detail with respect to Buck converter. The
i' sliding motion is performed in the inner current loop. The
t.7- Subtractor structure of this loop is similar for all types of power
op-amp 3
.-
converters.
A simulation model in Matlab/simulinkTmfor the system is
build, and then implementation of this model in a prototype is
explained. The simulation and prototype model showed, that
this control can stabilize the power supply, and that the
Drive output voltage and inductor current can return to steady state
even when it is effected by line and load variation, with a
..
signal very small overshoot and settling time. The efficiency of the
"2'17 Signal 3
prototype model showed acceptable results. SMC is gaining
increasing importance as a design tool for the robust control
of linear and non-linear systems. Its strength results from the
Fig. 5. Simplified block diagram of the Buck converter with sliding mode
ease and flexibility of the methodology for its design and
control showing the component used in the prototype design and how the implementation. SMC provides inherent order reduction,
signal is generated at each stage. robustness against system uncertainties disturbances, and an
implicit stability proof, so it could be said that the design
The converter main circuit had the following parameters allows high performance control system at low cost.
shown in table 1.
REFRENCES
TABLE I.
MAINCIRCUIT
THECONVERTER PARAMETERS [I] V.Utkin, J.Guldner, and J. Shi, Sliding Mode Control in
Electromechanical Systems,ISBNO-7484-0116-4(cased),Taylor &
I Parametername I Symbol I Value Francis 1999.
24 volts [2] G. Spiazzi, P. Mattavelli, L. Rossetto, L. Malesani, "Application of
Output voltage 12 volts Sliding Mode Control to Switch-Mode Power Supplies," Joumal of
Circuits, Systems and Computers (JCSC), Vo1.5, No.3, September 1995,
pp.337-354.
Inductor [3] G. Spiazzi, P. Mattavelli, L. Rossetto, "SlidingMode Control of DC-DC
Load resistance 13 R Converters," 4 " Congress0 Brasileiro de Elettronica de Potencia
100 kHz (COBEP), BeloHorizonte, December 1997, pp.59-68.
I frequency [4] Bondarev, A.G. and S.A.Bondarev, N.E. Kostileva and
V.I.Utkin,"sliding modes in systems with asymptotic state observer",
IV. TESTRESULTS Automation and remote control, 1985.
[5] P. Mattavelli, L. Rossetto, G. Spiazzi, P. Tenti, General-purpose
sliding-mode controller for DCDC converter applications, Proc. of
Fig. 6 shows the output voltage and inductor current of the IEEE Power. Electronics Specialists Conference, (PESC), Seattle.
Simulinkih4atlabTMmodel, and Fig. 7 shows the same graph June1 993, pp.609-610.

636
 ..............................................................
pk-pk
0.5 volt
...... mean
12 volt C h l Mean
12.2 v
. . . . . . . . . . Chl Pk-Pk
O f i
0.02860.02860.02860.02860.02860,02860.02860.02860.02860.02860.0287 104V
Time(s)

1 : : ;: : : : : I : :
-c 0 ’.......................................................................
: : : : :loous: : : : :
’
:
I I I I I I I I I C I
0.02860.02@E0.0286
0.02860.m860.0~0.02860.m860.0286 0.02860.0287
Time(6)

Fig. 6. Output voltage and inductor current of Buck converter in steady state Fig. 7. Output voltage and inductor current of Buck converter in steady state
Matlab/SimulinkTM model, x-axis length is IOOus and its clear there are ten prototype model, the x-axis length is 1Ous/div. Channel 1, which is for output
switching cycle, and the switching frequency is 1OOkHz. voltage, is 2v/div. Channel 2, which is for inductor current, is 0.5 Ndiv.

I$: 2 0 nms

I
1 19 6ms
C h l MdX
4 I 2mv

f
Chl Min
425mV

> I

.
5 :
s” 11.9 i........:........
......... 1------..i.. ......i.. .......L ............. i
0 :
: Setiling time!Ts=20mi !
1 1 6 *................................... i...................................

11.7‘-.---.--i.-----.-i--------i--------i------.--~--------~--~---~
’........ a

M 4 OOmS AExt/lOI 31 3 V
0.1 0.105 0.11 0.115 0.12 0.125 0.13 0.135 0.14 2 6 S e p zoo
Time(s) ci+- 12 88OOms 0 2 1 2 10

Fig. 8. Output voltage of the Buck converter Matlab/SimulinkTMmodel, Fig. 9. Output voltage of the Buck converter prototype model, where the
where the input voltage takes a step change from 20 volt to 28 volt, the input voltage take a step change from 20 volt to 28 volt, the settling time is
settling time is 20 ms. The length of x-axis is 40 ms, which is the same 20 ms and it is the same as for Matlab/SimulinkTM model. The x-axis length
length of Fig. 7. is 4 ms/div.

A 19 Sms
<&’ -16OpS
Chl Max
s32mv

Chl win
-696mV

3 : i Sejtling t i m i ~ s = 2 0 & i
11 1‘...“...-................. :--

’
”.””
200mV t
1 -*.

M4.00ms A EXt
;
J
1
766mV
2 6 S e p ZOO
a+-7.04000ms 0 1 :47: 57

Fig. IO. Output voltage of the Buck converter Matlab/SimulinkTMmodel, Fig. 11. Output voltage of the Buck converter prototype model, where the
where the load take a step change from 10 R to 13 R, the settling time is load take a step change from 10 R to 13 R, the x-axis is 4 ms/div and settling
20ms, and a maximum overshoot of 0.7 volt. The length of x-axis is 40 ms. time is 19.8 ms. The x-axis length is 4ms/div, and y-axis is 200mv/div and
maximum overshoot of 0.7 volt is recorded.

637