Proceedings of

ICISIP 2005
DESIGN OF FUZZY SLIDING MODE
CONTROL FOR DC-DC CONVERTER
5.PruscIVi '.L.Kamcsh lumar. .lma` anUM.LhIdambaram`
U&3Dept. a/Electrical Lng.,~nnoUniversity
Chennai, India, arulselvi_lk3@ahoo.co.in
1
'
Dept. a/Chemical !og,Indian Institute a/Technology
Chennai, India.
Abstract
This paper presents a variable structure tpe Sliding Mode
Control (5l,) uno:r curlent mode control/or dc-dc boost
,pe converter haVing non-minimum phase chamferistic. The
robustness o]the proposed conh'oller is veriied/or load and
line variations. To reduce the chaffering and to improve
stability a Fuzzy S|tagMode Control (FS\JC) is designed.
.i detailed derivation of cOn/rot law is presented by using
Flippov's method and LyapllrlO\. HCthCd/oI SMC and FSil1C
respectively. Simulations QU LarfiCd alit !Ising AITLABI
SIAlfIN sciware. The simulation restllts are presented
Key Word: Sliding Mode Control (S,HC);
Fuzzy Sliding Mode Control (FS\fC)
Switch Mode Poe :)'Upp
(
v /`.\1PS);
Pulse Widfh Modulation (li|\);
Flippov ' Jllethod; Lyapllnov Method
1. INTRODlJCTION
Switch-Mode Po\\r Supplics (SMPS) are non-linear and
time-varying systems, and thuh the design of high
performance control is usuall\' a challenging isSue. The
control should emure s'stelll stability in any operating
condition vi0 good, stalIc <nd dynamic pcrfonnances in
tenns of rejection of input voltage disturbances and lfHd
changes. Thesc charactenstics should be maintained even
Wlder large iput voltage <nd load current changes under
parameter variation (robustness). Two |eth'ds of control
impkmented for dc-de converters are Voltage mode control
and Currcnt mode control [1). Voltage mode c1t\l is
designed hased on classical c!ntr\l approach and uses state
space-averaging mcthod. This method derives an equilent
model by circuit-av\mging all the system variables in a
>VitLhing period [2]. Frm the average model, a suitable
sl1wll bignHl model 15 deri\'ed by perturbation and
linearizatlon around piccisc operating point. Control
tec1mique dcsigned baSed lln this model, does not produce
satisfactory rcsults for widc variation of s
y
stem parameters.
To over com\ this, 11ultiloop !I1trLl teclmiques, such as
curent mode control has been implemented to improve
powcr converter bcha\iour j2]-j3 J. Current mode control
consists of tlVO loops. The outer oltage loop is designed,
based on dassical control te!hniqLe and the inner current
contol is designed based on PWM or SMC. The sliding
mode approach for variable structure s'stel1 [3]-[5] offers an
alternative way to implCIent a control action that exploits the
inherent variable structure 1tre of SMS. [n particular. the
converter switches are d1iNen as a fUntio1 of the
instantaneous values of the state yariahles to to:ccthe svstel1
trajectory to stay on a suitable selected surfac\ on the phase
space. Ths control teLh|iquC offers converter stability even
for large supply and load \'arialions, robustness, good
dynamic response and implementation is Si)ple.
In this paper 1 atte|pt is ade to design a (i) sliding
mode control boundary layer and Oi) fuzzy sliding mode
control a non-minimum phase boost type dc dc converter.
For a detailed derivation of sliding mode and FSMC are
presented. The outer loop controlkr is designed based on
Ziegler Nichol's technique [7]. The d\sed loop current mode
control block diagram is shown Fig.l .
SlIC!
FS [C
H
Fig. 1: Block diagram of the do.cd loop current mode contral for boost
converter
Simulation ehults for SMC UL presented for load and
line variations. Comparative study is l1lmle betwecn SMC and
FSMC. It is obsered that chattering is reduced and stability
is improved ith H FSMC.
2. CIRCUIT DESCRIPTON
The boost-type dc-dc s\\itching converter operating in the
contiuous conduction mode is sho\\'n in Fig.2. The dynamics
of this converter is analyscd using state a1iabl
e
technique.
0-7803-8840-215/$20.00 205 IEEE ZJ
Poceedigs of
IeISIP - 2005
Here iL (t) and v
c
(t; are chosen as the state variables [8].
When the switch is on, the dynamics of the inductor current
lie
.

"
'
Fig 2. Boost -type de-de switching converter
i
L
(1) and the capacitor voltage \'
c
(t) are
diL I
t
) I .
-=-(V ~1 (I)R )
. dt L
[ L L
dvc(t) _ -VO
dt CRO
v.

|\\
,`'
Wen the switch is of, the dvnamics equation are
di
L I
t
) _ I
|V ''' `_
dt l
.
dv_(I) l
Vo
--=-(lL(1)--)
dt C
RO
'*`
(4)
In both cases, capacitor voltage Vc(t) and output voltage Vo
are related via the following e
q
ution:
, dvc (I
Vo = R
c
C -+ \'
c
(l) (5)
'dt
The simulin model of the boost converter is developed using
equtIOn (1
)
-(5). The nominal converter parameters are given
in Table 1.
TALE 1: CONVERTER PATE
Vm VA
L
RL
C R Fs
Input Output l\lilli
Voltage Voltage 1tm Q jlJ Q Q kHz
10 20 170 0.1 1000 0.25 100 Ino
Thl load line characteristics of boost converter are non
liear [Jj. Hence the voltage mode control fails Io give
satisfactor results for wide range of operation. In this paper
design of current mode control is discussed.
3. DERN ATIONOF5LU!NGMODE CONTO1LAW
The efectiveness of the sliding mode control for boost
converter is verified by considering the following transfer
function.
G
(
s
)
V
O(
s
)
=
58823.5(1-.00068s)
d(s) s
2
+1.7s+1471
(6)
The phase variable canonical foml derived from (6) is
given by
[0
A
-1471
For boost converter V" and Z_ l
L
are
considered. Similarly the errors el and ez are given by
e =V f--V
O
I
re
e _ `,rc!1
(7)
(8)
The sliding surface is defined in the error space. It
is a function of the tra
c
king eror between the plant state and
the desired, bouded, reference signal. The sliding surface is
given by
G e
\"
During sliding mode, using the principle of sliding
mode te following conditions are satisfied
( = 0anJUo/dt = G dc/UU0 (0;
Substituting for eror in tenns of reference signal
ad te plant states into G(de/dt)= 0 ,the Filippov's average
ot sWltch controlr9], u.q is given by
.
-I
[
]
u
e
q
= (G8) G Y
d
-AY
d
+Ae (ll)
Substituting this control law into
(12)
will give the error dynamics as given in (13) and (14):
ZJ
e='
d
-AY
d
+Ae-B(GBf
l
G['
d
-Avd +Ae: (J3)
e= l-B(GB)
-
I
G }'
d
-AY'
d
+Ae)
(14)
When sliding mode occurs on f "Ge =0, the variable
stmctme system is insensitive to any disturbances. Therefore
with the assumption that Y d and AYdare distmbance to the
system, the invariance condition is derived from (14) as
}'
d
=0
and A
d
=0 ,.:
lican be seen that the perfonnance characteristics of the
tIor tniectory in (14) can be mel bv suitably choosing the
eigen values of Acq in
(16)
The mtrix G is derived such that the eigen values of Ae
have cerain ncpaic real \alw:s. This would guarantee the
asymptotic convergence of error to zero at the desired rate.
1hcsliding moueunction is ota:ncdfrom G mutri.
Tlc|trix _ is chosen to sati sfy 6)and it is give1 by
l
-I
A
-
0
o ]
-0.000001
Fnm equati\n (16), thL llatrix G can be obtained as
G ++. .|
The control law is of the limn
u M sgn (c) y
where y = Xl
sgn (c) .for I - 0
.
01
o for L - 0.01
Hence the sliding surface L is give1 by
where G | (JOOOOO L 02 I and M 1

(18)
(19)
The control law for SMC is obtained by referring
(17) to (19) and it is give1 by
4. SIlWLATION ANDRESVLTS
Proceedings of
fCISIP - 2005
The Fig.3 shows s!mulink model for implementing
variable lIur
I

,


.
_

: ...

.
_.
.... _:- .-
""-I I i

. -
.
, Tn

Fig': Simulink model implementing Sliding mode control
The regulated' output voltage and in
d
uctor current
wavcfofl for a step change in reference voltage from 20 to
25 volts pplied at ..:seconds and .:to 20 volts applied at 3
seconds are show in FigS The corresponding sliding
fnction c and switching pulse are shown i Fig.6 and Fig.7
respectively. It is observed thaC when C is within the
hOUdary layer .01, switching pulse of constant 'ON' time
is g<nerateu. But when C exceeus the positive bounuu
r
, the
switch is fully ON util it rcaches -.0 I and vice versa for
negative bOUdar. Also it is ohserved that the cont rollLr
tracks the output with zero stCady >latc Crror with settling
time of 1.5 second. The dynamic perftmnance is also studied
for load vriation and supply voltage disturbance. The results
are shown in Figures 8 and 9 respective1'. The statC phase
trajector of inductor current and cpacitor voltage is shown
in Fig. 10. It is observed that controller is iMmuncto supply,
load variations and parameter variations by producing
constant switchiMg pulses buIwith chattering.
5, FUZZY SLIING MOD: CONTOL
The draw back of sliding mode control is produces it
chattering in the manipulated variable. This can be reduced
by using bOUl1dary la'ers In this case, the hitting phase
control forces the states ito the rcgion bounded with the
bounding layers and not onto the slidig surface. To
overcome the diffculties and to speed up the response a
fuzy sliding mode control is designe
d
for the boost converter
and the results are compared with the SMC.
The input of the fuzzy logic sliding mode cotroller )L
o(I1 and ^o(k) and the output of thc fuzz' slidi ng mode
controller is chnge i duty ratio `u(I The range of c(k),
L\O(k) and 6u(k) are lakcn us O.5, .05 and 0 Io I
respectively. The oL1and Lc(k) are fuzzified with gaussian
member with 5 labels as shown in Fig. 4.a. The membership
fUction for 6u(k) is divided into 5 labels using triangular
mcmbcrship function as shown in Fig. 4..[lOJ-[lI]. The
fuzy sliding control is implemented using lllamdani type
inference"
,.+
ZJ
Proteedings of
ICISIP 205
t
fl
05 |J
|i
OS
-Ca (k)
Fig 4.a : Membership function for ark) and 6a(k)
F
Fig .tb: t!embership function for ,u(kl
The rule table can be established using Lyapunov function as
given bv
Equation (21) i mplies that the initiUl state of the control
3ystem is nol ! the 3liding surface. The rate of increase of
V[cr (K)] is defed as follows:
tvrc(K)]=Vlc(k+1 )]-Vlc(k)] (22)
o(k}Ao(k)+ ' ta(ki
where cc () c(k+ .) (k) |``)
If the condition t.V[ c(k)] < U is satisfied and o(k) = 0 is a
stable Oliding surface, any state trajectory will be driven
towards the oigi1 of the state space, along the sliding
surface.
Hence, a fuzzy logic LLntr ol law is developed in an ttempt to
accomplish the above objective. The rule for i
t
h iteration is
given by
if ((k) is PB and t.a(k) is PB then cu(k) = PB |`+!
T . )2: TH )|3 h\] ;L
'c
NB
NS Z
PS
PB
W
NB NB NB NS Z 'PS
NS NB NS Z PS PS
Z NS Z PS PS PB
PS Z PS PS PB PB
PB PS PS PB PB PB
The final control output is given by
u(k)= uCk-l) cu(k)
whre M=u(k)
|?1
(26)
This output is used to control the duty ratio of the
switching pulse. Simulation is carried out using Fig.3
i mplementing the FSMC. It will be proved that better result is
produced using FSMC in tenns or reduced chattering and
settling time.
The egulatd output voltage and inductor current
waveform for a step change in r eference voltage from 20 to
25 volts applied at 1.5 seconds and 25 to 20 volts applied at 3
beconds shQ.\I in Fig.II. The corresponding sliding
function switching pulsL and FSMC output sho" in
Fig. 12 and Fig.13 respectively. It 1S ohsClycd that whtn l 1>
within the bouda layer .0 I, switch pulse of constant
'ON' time is generated. But when e^ceed the p\sitive
boundary, the swttch (s fully ON until it reaches -.01 and vice
versa for negative boundary. The value of gin M is varied
from 0 to I depends on a nd L\c. From Fig. 12 and 13. It is
observed that, if is less than 0.1 the gain value M is , 3 and
when C is greater tlk'n 0.1 M is arounu 0.65 when C is with
the 0.1 M is maintained at 0.7. Also it is observed tht te
controller tracks the output with LI\ steady stale error with d
settli1g time of 1.5 secLnd. Te dynamic perfonllance is also
studied for load variation and supply voltage dis turbance. The
rsult s are shovl in Figures 14 and 15 respcctivel'. It is
obsered that controller is imnllme to supply_ load and
parameter variations bv producing constant switching pulses
at steady state with reduced chattering. \o1pa1ed to SMC.
6. CONCLUSION
In this papCr a Sliding Mode Controller and FSMC are
dLAelopLd and verified in simulation for DC ~ DC Boost
converter It is observed that SMC is rbust to supply, load
and parameter variation. It produces zero steudy state wit
more chattering. Eul FSMC pduces the smne results with
less chatterig. It is concluded that FSMC is better choice for
voltage regulation of boost converter with parameter
variation, loUd and supply disturbances.
ZZ
0
REFERENCES
[1] Ne Mohan and M.Underland, Power Electronics
Converters, Application and Design, Joh Wiley and
Sons, 1995.
[2] Timoth' LSKVaranina, Power Electronics Hand
Book, CRC Press LLC, 2000.
[3] Muhammad H.Rashid, Powcr Elcctronics Handbook,
Acadamic Press, 200 I.
[4] M.Aluned, M.Kuislul1a, Implementing sliding mode
Control for Buck Converter, IEEE, 2003.
[5] Pradeep K.Nandam, p.c.Sen, "Industrial Applications
of Sliding Mode Control", IEEE, ] 995.
[6] P.Mattavelli, L.Rossetto, "General-Purpose-Sliding
Mode controller for DCIC converter Application 's",
IEEE, 1993.
[7] S.Arulselvi, G.Uma and M.Chidambaram, "Design of
PID controller based on IMC, Z-N, Luyben and
Syntesis methods for Boost Converter with RHS
z"ero",3,d Interational Conference on Upcoming
Engineers, Toronto, Canada, May 13-14,2004.
[81 Juing-huieSu, Jian Chen, "Learng. Feedback
Controller Design of SWItching Converter via
MATLAB/SlMULIN IELL, 2000.
|9] A.Davari, ADonti, '|abIc Robust Tracking of Non
Minimum phase systems". IEEE, 1998.
[101 CL.H. Wang, F.Y Sung, "Improved Fuzy Sliding
Mode Conti+I for a linear Servo motor System", 1.
Control Engineering Practice. Vol. No.2, pp 219-227,
1997.
[I I] S.Arulselvi, A.Biju and G.Uma;'Design ind
Simulation of Fuzzy Logic Controller for a Constant
Frequency Quasi-Resonant DC-DC Converter", IEEE
ICISIP, Chennai, India, pp.472-476, 2004.
Results for SMC


I I l I
""-r . j ' ' l
I, I .1
Time( seconds)
Fig. 5. Wavefons of aJ Regulated Output Volt3ge bJ inductor curent
For hoost converter wit reference output olLge change 20 to 25
volts effected at 1.5 second and 25 to 20 volts efected M: seconds.
ZZJ
! i
- -

Time( seconds ;
Proceeings of
ICISIP ~ 2005
Fig. 6. Wavefonns of a) Switching pulse and b) Sliding function (a) for
reference voltage change 25 l0 20 Volts efeted at 3 seconds.
Time(seconds)
Fig. 7. WavefolUls of oj SW.itching pulse and b) Sliding Function (a) for
reference volt.lge l'om 20 to 25Vnlts applied 1.5 seconds
Time (Seconds)
Fig. 8. Regulated output voltage for lO%for [Dad variation (From 1000
to 900 applied at 2 seonds and settles within 1 second.
O
>

O

'
O
2
Time (seconds) =
Fig. 9. Regulated output voltage for 10" of or supply " oltage disturance
(from \0 to 11 Volt applied at 2 seconds and settles within 1 seond.
Poceedigs of
ICISIP - 205
'
.:l
C
e

C
|
.. '

.
=
<
.
.

.
l
D
M
'"
. ,'
Capacitor voltage (Volts)
Fig. 10. Phase plane trajector of boost converter for Opeating
Condition Xd (for20v. 4ampsj.
Results for FSMC
-r
|
|

I
\``
I
Time (econds) --
::rl
l

,
'
,

'-, :. ;, ' .
1:me(seconds)
Fig.ll. Wavefons of a) Regulated Output Voltage b) inductor current fo
boost COnVetCJwith reference output "oltage change 20 to 2S volts efeted
01 1.5 SOOHU 8H Z3 lO zU volts efected at seonds.
Fig.l2. Waveforms of a) Fuzzy output and
b) Sliding fnction (0) 0) Switching pUl Se for reference voltage change
2S tl 20 Volts effected at 3 seconds.
ZZZ
o
Fig.B, Waveforms of a) Fuzzy output and b) Sliding fnction (a) 0)
Switching pulse for reference voltage change 2S to 20 Volts effected at
.3 seclnds.

W
N
.
C
>

|
"

O
"

'1
)

Time (seonds)
Fig. . Regulated output volge for 1IDt 8UQQ1jvariation (From
lOon to 900 aplied at 2 second. and sttle. within 1 second.
Time (seonds)-
Fig. IS. Regulated output voltage for lO%for load voltage disturbance
(from 10 to 11 Volts applied at 2 seconds and seltles within 1 seond.