ElectricalEngineeringResearch(EER),Volume3,2015

ANewModelingMethodandController
DesignforaDCDCZetaConverter
ElshanDavaranHagh1,EbrahimBabaei*2,LeilaMohammadian3
FacultyofElectricalandComputerEngineering,UniversityofTabriz,Tabriz,Iran
*CorrespondingAuthor:ebabaei@tabrizu.ac.ir

Abstract

Inthispaper,anewmethodbasedonsignalflowgraphtechniqueandMasonsgainformulaareappliedtomodeladcdcZeta
converter. The model is the transfer functions from control to output and from input to output. Zeta converter is a rather
complexsystem,whichhasfourpassiveelementsandmayperformineitherbuckorboostoperatingmodes.Comparedwith
other converters in the same group, such as Cuk and SEPIC converters, the dynamic modelling and analysis of the Zeta
converterhavebeennotreportedintheliterature.Formodellingtargetandtogetridofcomplexequationsinmodelling,anew
method based on signal flow graph approach is applied to manipulate the equations. After modelling and doing dynamic
stability analysis in continuous conduction mode, and prove the necessity of a controller design for it. A model based PID
controllerisdesignedfortheconverterandthesimulationresultsarepresentedtoverifythecorrectnessoftheachievedmodel
andmodelbasedcontrollerandthesignalflowgraphperformance.

Keywords

MasonGainFormula;ModelBasedController;Modelling;StabilityAnalysis;SignalFlowGraph;ZetaConverter

Introduction

Nowadays, the dcdc converters have mostly used in many applications such as a power supply in electronic
systems. In the portable devices with the battery, the converter converts the input voltage to the proper output
voltagetouseitbytheelectronicload.Thebatteryvoltagecanvaryinawiderangedependingonachargelevel.
Atthelowchargelevel,itmaydropbelowtheloadvoltage.Thus,tocontinuesupplyingtheconstantloadvoltage,
the converter must be able to work in both stepup and stepdown modes. In this paper, the Zeta converter is
chosentoinvestigate.Zetaconverterisaforthorderdcdcconverterwhichiscapableofbuckingorboostingthe
inputvoltage.Inordertoprovideaninsideviewoftheconvertersaction,andobtaintheneededinformationfor
controllerdesign,modellingplaysanimportantrole[1].
Modellingdcdcconvertersisaneffectivewaytogetopenloopfrequencyresponseandinvestigatethestabilityof
the closedloop systems. Modelling is the first stage for designing compensator or controller circuits. Previous
workspresentdifferentmodelsfordcdcconverters[2].Consideringthatthepowerelectronicconvertersinclude
nonlinearelementslikeswitchesanddiodes,thenmodellingofthemneedslinearization.So,applyingaveraging
and linearization techniques has a special importance. After linearization, the inside model of the system is
extractableandthereforeinvestigatingthefrequencyresponsewillbepossible[35].Modellingdcdcconvertersby
using small signal linearization and averaging techniques cause complexity in the obtained equations. Solving
these equations for basic converters like; buck, boost and buckboost is not a problem, but for high order
converters,dealingwiththemwillbemoredifficult[6].In[78],inordertoderiveamathematicalmodelofadc
dcconverterandstudythetransientstatesofit,acombinationofLaplaceandZtransformshasbeenemployed.A
converterincludingswitchesisanonlinearsystem,butitcanbedecomposedtotwolinearcircuits;oneforonstate
and the other for offstate of the switch. These two linear circuits are illustrated by means of two signal flow
graphs.Compositionoftwosubgraphsbyusingswitchingbranchesreachestothegraphofthewholeconverter.
Switching branches are the only nonlinear parts of the converters. Thus modelling process is limited to the
switching branches. In [9 12], a signal flow graph method has been presented for modelling a dcdc converter,
then by using Masons gain formula any desired transfer function of the system might be extracted and used to
design any proper controller, but the presented graph method gets a sophisticated process to achieve the small

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ElectricalEngineeringResearch(EER),Volume3,2015

signal model. The proposed technique in this paper, gives greatly simplified mathematical and graphical
representationofthesystemandisbasedonsignalflowgraphoftheconverter.Thismethodhasgreatadvantage
becauseofsimplicityandbeingcapableofgivinganydesiredtransferfunctionofthesystemtodesignacontroller
foradeterminedvariable.Graphicalmodellingtechniqueisusedforsurveyingnonlinearanddynamicbehaviorof
switchingconverters.Thistypeofconverterhasdifferentconfigurationsandallhavelinearsubsystems[13].The
aim of this paper is to derive the model of the Zeta converter by using the proposed signal flow graph based
method. The openloop system has some disadvantages. For example, the output cannot be compensated or
controlledifthereisavariationordisturbanceattheinput.ForthecaseofZetaconverter,thechangesintheinput
voltageortheloadcurrentwillcausetheconvertersoutputvoltagetodeviatefromthedesiredvalue.Todesigna
proper controller or compensator a good model of the system is needed to investigate the stability by using
differenttools.Oneofthesetoolsisfrequencydomainanalysis[1415].Inordertogetfrequencyresponseofthe
converters,aftermodellingtherootlocusplotsandthefrequencydomainresponseinformofBodemagnitudeand
phasediagramsareachievedandanalyzed.

Manycontrolstrategieshavebeenpresentedtoobtainthedesiredoutputvoltageindcdcconverters.Inpast,the
controllerdesignwasbasedonusingsmallsignallinearization.LinearPIDandPIcontrollersoftheconvertersare
usuallydesignedbyusingstandardfrequencyresponsetechniquesbasedonsmallsignalmodeloftheconverter
by using linear control theories such as ZieglerNichols method, root locus technique, hysteresis method, Bode
plotandetc.TheZieglerNicholsmethodisanexperimentalonethatiswidelyused.

Themaincontributionofthispaperistoderivethemodeloftheconverterusingthepresentedsignalflowgraph
method and then designing a model based controller for the Zeta converter. In this process, by applying the
mentionedsignalflowgraphtechniqueandMasonsgainformula,theinputtooutput,controltooutputtransfer
functionsareobtained.Then,thefrequencydomainresponsesinformofBodemagnitudeandphasediagramsare
achievedand the proper tuned PID controller isdesigned. Atlast, the simulation results based on thepresented
modelingandcontrollingmethodsarebroughttoshowthegoodperformanceandbehaviorofthemodelingand
controlmethods.
vC vC
S S
L2 io iL2 L2 io
iL2 iL1
iL1 C C
vi

vi L1 D D
vCi Ci vCo Co R vo vCi
Ci L1 vCo Co R vo

(a)Thepowercircuit(b)Equivalentcircuitinonstate.

S vC

iL2 L2 io
iL1
C

vi
vCi
Ci L1 D vCo Co R vo

(c)Equivalentcircuitinoffstate.
FIG.1.ZETACONVERTER.

Review on DC-DC Zeta Converter

The power circuit of the Zeta converter shown in Fig. 1(a) has one switch, one diode, two inductors and two
capacitors.Inthisfigure, vi and vo arethesourcevoltageandtheoutputorloadvoltage,respectively. vCi , vC and
vCo are the voltages on capacitors Ci , C and Co , respectively. iL1 and iL 2 are inductors currents. The load is

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ElectricalEngineeringResearch(EER),Volume3,2015

supposedasaresistor, R .Zetaconvertercanperformtogenerateapositivevoltageoftheinputvoltagewhichcan
belessorhigherthaninput.Theconverteractsintwooperatingmodes,oneofthemisrelatedtoonstateandthe
otheristheoffstateoftheswitch.Figs.1(b)and1(c)illustratetheequivalentcircuitsoftheonstateandoffstate
operatingmodes,respectively.

Extraction of the State Equations

Here, the openloop performance characteristics of the converterare tested. The starting point is the extractinga
mathematicalandanalyticalmodelofthesystem.Themodelisamathematicaldescriptionofthebehaviourofthe
realsystemthatisenoughforperformingstabilitytest.
The state equations are extracted by using kirchhoffs voltage and current laws for the two cases of on and off
states of the switch. These equations are calculated in loops and nodes with just one passive element, so all
obtained equations are first order ones. One of the advantages of this method is in high order circuits, with
increasingtheorderofthecircuitandenergysavingelements,theallextractedstateequationswillbeofthefirst
orderandreducethecomplexityoftheequationsandeasetheanalysis.Thestateequationsareextractedfortwo
operatingmodes.Thefirstmodeiswhentheswitchisonandthediodeisoff,andthesecondmodereferstothe
casethattheswitchisinoffstateandthediodeconducts.ThestateequationsforthecircuitshowninFig.1(b)are
asfollows:
diL1
L1 vi (1)
dt

diL 2
L2 vi vC vo (2)
dt
dvC
C iL 2 (3)
dt

vo vCo (4)

dvCo v
Co iL 2 o (5)
dt R

SubstitutingEq.(4)inEq.(5),thefollowingequationisachieved:
dvo v
Co iL 2 o (6)
dt R

Thestateequationsforthecasethattheswitchisoffandthediodeconducts(Fig.1(c))areasbelow:
diL1
L1 vC (7)
dt
diL 2
L2 vo (8)
dt
dvC
C iL1 (9)
dt

vo vCo (10)

dvC o v
Co iL 2 o (11)
dt R

SubstitutingEq.(10)inEq.(11),thefollowingequationisachieved:
dvo v
Co iL 2 o (12)
dt R

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ElectricalEngineeringResearch(EER),Volume3,2015

Extraction of the Averaged State Equations

Thestateequationsattheontimeintervaloftheswitchismultipliedby d andattheofftimeintervalismultiplied
by 1 d ,thentheyareaddedtoeachother. d isconsideredastheswitchconductioncoefficientand 1 d asthe
switchnonconductioncoefficient. d canvaryin0and1interval.

In the following equations, the variables in form of x are average values which are different from the
instantaneousvariablesinformof x .Asmentionedabove,Eq.(1)toEq.(3)andEq.(6)aremultipliedby d ,and
Eq.(7)toEq.(9)andEq.(12)aremultipliedby 1 d .Thensumofthecoupleswillbecalculatedandtheresultis
the averaged state equations. Hence, the averaged equations are related to both on and off time intervals of the
switchasfollows:
diL1
L1 dvi (1 d )vC (13)
dt
diL 2
L2 d vi d vC vo (14)
dt
dvo v
Co iL 2 o (15)
dt R
dvC
C d iL 2 (1 d ) iL1 (16)
dt

Small Signal Linearization

In averaged state equations, dc and ac variables are substituted and rewritten with X and x , respectively.
Consideringallvariablesinformof x X x ,Eq.(13)toEq.(16)arerewrittenasbelow:

L1s (iL1 I L1 ) ( D d )(vi Vi ) (1 D d )(vC VC ) (17)

L2 s (iL 2 I L 2 ) ( D d )(vi Vi ) ( D d )(vC VC ) vo Vo (18)

v V
Co s (vo Vo ) iL 2 I L 2 o o (19)
R R

Cs (vC VC ) ( D d )(iL 2 I L 2 ) (1 D d )(iL1 I L1 ) (20)

Theproductoftwodcvariablesisadconeandtheproductofonedcandoneacvariableisanacvariable,alsothe
productoftwoacvariablesiszero.Thus,Eq.(17)toEq.(20)areobtainedasbelow:

L1siL1 Dvi (Vi VC )d (1 D)vC (21)

L2 siL 2 Dvi (Vi VC )d DvC vo (22)

vo
Co svo iL 2 (23)
R

CsvC DiL 2 ( I L 2 I L1 )d (1 D)iL1 (24)

Usingdcequations, VC , I L1 and I L 2 valuesversus Vi and D arecalculatedasfollows:

DVi
VC (25)
1 D

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ElectricalEngineeringResearch(EER),Volume3,2015

DVi
Vo DVi DVC (26)
1 D

Vo DVi
I L2 (27)
R R (1 D)

DI L 2 (1 D ) I L1 (28)
2
D Vi D
I L1 I L2 (29)
1 D R(1 D) 2

Considering VC , I L1 and I L 2 valuesandreplacingtheminEq.(21)toEq.(24)andsimplifyingthem,thesmallsignal

acequationsarecalculatedasbelow:

D Vi 1 D
siL1 vi d vC (30)
L1 L1 (1 D) L1

D Vi D 1
siL 2 vi d vC vo (31)
L2 L2 (1 D) L2 L2

1 1
svo iL 2 vo (32)
Co RCo

D Vi 1 D
svC iL 2 d iL1 (33)
C RC (1 D) 2
C

Proposed Signal Flow Graph

TheacsmallsignalequationsgiveninEq.(30)toEq.(33)areusedtoplotthesignalflowgraphasshowninFig.2.

In these equations, there are four variables; vo , iL1 , iL 2 and vC , and two inputs; d and vi . The graph is depicted
forallindependentvariables ( sx , x ) byusingnodesandpathsbetweentwonodes.Inordertoextractthetransfer
functionsfromsignalflowgraph,theMasongainformulawillbeused.

D 1 D D

L2 L1 1
C
L2
D 1 1 D 1 D 1 1 1
L1 s C s L2 s Co s
vi siL1 svC svCo
iL1 vC siL 2 iL 2 vo
Vi 1
L1 (1 D ) DVi
d Vi RC o
RC (1 D ) 2
L2 (1 D )

FIG.2.SIGNALFLOWGRAPHFORZETACONVERTER.

Extracting Transfer Functions Based on the Proposed Method

Forcalculatingthetransferfunctions,firstthegainofdistinctloops,nontouchingloopsandforwardpathsfrom
eachinputtooutputareextractedasTable1.

Transfer functions vo vi and vo d are calculated by using Masons gain formula yout yin Pk k . In this
n

k 1
formula, n isthenumberofforwardpathsfrominputtotheoutputand iscalculatedasfollows:

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ElectricalEngineeringResearch(EER),Volume3,2015

1 (distinct loops gain)

(double nontouching loops gain)
(tripple nontouching loops gain)

Omitting the path Pi1 , 1 1 is obtained, and omitting the path Pi 2 , 2 1 Loop1 is obtained. Replacing the
obtainedvalues,thetransferfunction vo vi willbeasshowninTable1.Omittingthepath Pd 1 , 1 1 isobtained,
and omitting the path Pd 2 , 2 1 is obtained. Also, removing Pd 3 , 3 1 Loop1 is achieved. Replacing the
obtainedvalues,thetransferfunction v d willbeobtainedasgiveninTable1.
o

TABLE1.TRANSFERFUNCTIONEXTRACTIONPROCESSFROMSIGNALFLOWGRAPHOFZETACONVERTER

Distinctloops Distinctloopsgain Nontouchingloopsgain

(1 D) 2
Loop1
L1Cs 2 (1 D) 2
Loop1,3
Loop1 : siL1 , iL1 , svC , vC , siL1 2 L1L2CCo s 4
D
Loop2 : svC , vC , siL 2 , iL 2 , svC Loop2
L2Cs 2 (1 D) 2
Loop1,4
Loop3 : siL 2 , iL 2 , svo , vo , siL 2 1 RL1CCo s 3
Loop3 2
Loop4 : svo , vo , svo L2Co s 2 D
Loop2,4
1 RL2CCo s 3
Loop4
RCo s
Forwardpaths
Pathsfrom vi to vo Gain
2
D (1 D)
Pi1
Pi1 : vi , siL1 , iL1 , svC , vC , siL 2 , iL 2 , svo , vo L1L2CCo s 4
Pi 2 : vi , siL 2 , iL 2 , svo , vo D
Pi 2
L2Co s 2
Forwardpaths
Pathsfrom d to vo Gain
ViD
Pd 1
Pd 1 : d , siL1 , iL1 , svC , vC , siL 2 , iL 2 , svo , vo L1L2CCo s 4
2
ViD
Pd 2 : d , svC , vC , siL 2 , iL 2 , svo , vo Pd 2
(1 D) 2 RL2CCo s 3

Pd 3 : d , siL 2 , iL 2 , svo , vo Vi
Pd 3
(1 D) L2Co s 2
Transferfunctionfrom vi to vo
vo P
i i
vi
Pi1 Pi 2 (1 Loop1 )

1 Loop1 Loop2 Loop3 Loop4 Loop1,3 Loop1,4 Loop2,4

D 2 D(1 D)
s
L2Co L1L2CCo
1 3 (1 D) 2 D 1 2 (1 D) 2 (1 D) 2
2 2
D
s4 s s s
RCo L1C L2C L2Co RL1CCo RL2CCo L1L2CCo

Transferfunctionfrom d to v o

vo P
d d

d
Pd 1 Pd 2 Pd 3 (1 Loop1 )

1 Loop1 Loop2 Loop3 Loop4 Loop1,3 Loop1,4 Loop2,4

2 V
2
Vi Vi D
s s
i

(1 D ) L2 o
C (1 D ) 2
RL CC 1 2 o
L L CC
2 o

1 (1 D) 2 D 2 1 (1 D) 2 D
2
(1 D) 2
s s s s
4 3 2

RCo L1C L2C L2Co RL1CCo RL2CCo L1L2CCo

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ElectricalEngineeringResearch(EER),Volume3,2015

TABLE2.SIMULATIONPARAMETERS TABLE3.INFORMATIONOBTAINEDFROMPOLESANDZEROSOFTHE
TRANSFERFUNCTIONOF vo vi
L1 L2 C C1
Poles Zeros

18.9 H 18.9 H 14 F 11.2 F 1.15 103 6.54 103

Value 4.03 104 i
2.45 104 i 9.69 104 i
Co Ro vi d Damping 0.047 0.0673 0
Overshoot(%) 86.3 80.9 100
6.5 F 10 12V 0.57 Frequency(rad/s) 2.46 104 9.71 104 4.03 104

5
x 10 Root Locus
200

Phase (deg) Magnitude (dB)

4

2 0

0 -200
180

-2 0

-4 -180
-15000 -10000 -5000 0 5000 3 4 5 6
10 10 10 10
(a)ROOTLOCUS(b)BODEDIAGRAMS
FIG3.RESPONSEOFTRANSFERFUNCTIONOF vo vi

Simulation Results

Insimulation,theparametersofZetaconverterareconsideredasgiveninTable2.

FrequencyResponseAnalysisfor vo vi TransferFunction

Therootlocus,magnitudeandphaseBodediagramsforextractedtransferfunctionof vo vi areshowninFig.3.
TheinformationobtainedfromthesediagramsisgiveninTable3.
ConsideringtherootlocusshowninFig.3(a),itisunderstoodthat vo vi hasfourcomplexpolesinlefthandside
of the imaginary axis and two complex zeros on imaginary axis. Considering Bode diagrams (Fig. 3(b)), the
magnitudecurveofthefunctionbeginswithaconstantvalueof 2.64dB ( DC gain) andatthefrequencyof 24.6 kHz
duo to the poles 1.15 103 2.45 104 i , an undershoot occurs in magnitude curve and its slope becomes
40 dB / dec andthephasecurvebeginsfrom 0o andaphasereductionof 180o takesplace.Atthefrequencyof
40.3kHz duotothezeros 4.03 104 i onimaginaryaxis,anovershootoccursinmagnitudecurveand 40 dB / dec
isaddedtoitsslope.So,theslopebecomeszeroand 180o isaddedtophasecurveduotothementionedzeros.
Finallyatfrequency 97.1 kHz becauseofthepoles 6.54 103 9.69 104 i ,anundershootoccursinmagnitudecurve
and its slope becomes 40 dB / dec and at the phase curve a phase reduction of 180o takes place and the phase
becomes 180o .
Consideringtheplottedresponsesforallvaluesofthegain,thetransferfunction vo vi isstableandgainmargin
becomes . Considering Bode diagram, when the magnitude is 0 dB , the phase equals to 171o , so the phase
marginwhichequalstothedifferenceof 180o andthisphasewillbe 9o .

2)FrequencyResponseAnalysisfor vo d TransferFunction

TherootlocusandBodediagramsfortheextractedtransferfunctionof vo d areshowninFig.4.Theinformation
obtainedfromthesediagramsisgiveninTable4.

ConsideringtherootlocusshowninFig.4(a),itisunderstoodthat vo d hasfourcomplexpolesinlefthandside

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ElectricalEngineeringResearch(EER),Volume3,2015

oftheimaginaryaxisandtwocomplexzerosrighthandplane.FromBodediagrams(Fig.4(b)),gainmarginofthe
systemis 37.5 dB andthephasemarginis 2.52o .So,thetransferfunctionisunstableandneedsacompensatorin
normalconditions.
Fromrootlocusdiagrams,thementionedsystemhastwocomplexzerosinrighthandsideoftheimaginaryaxis.
Inordertohaveamorestablesystemthepropercontrollershouldbedesignedforthementionedtransferfunction.
InnextsectiondesigningtheproposedmodelbasedPIDcontrollerwillbeexplained.
100

Phase (deg) Magnitude (dB)

5
x 10 Root Locus
4
0
2
-100
0 360

-2 0

-4 -360
-2 -1.5 -1 -0.5 0 0.5 1 3 4 5 6
10 10 10 10
(a)ROOTLOCUS(b)BODEDIAGRAMS

FIG4.RESPONSEOFTRANSFERFUNCTIONOF vo d

TABLE4.INFORMATIONOBTAINEDFORMPOLESANDZEROSOFTHETRANSFERFUNCTIONOF vo d

Poles Zeros
1.15 10 3
6.54 10 3
2.7 103
Value
2.45 10 i 4
9.69 10 i 4
4.03 104 i
Damping 0.047 0.0673 0.0669
Overshoot(%) 86.3 80.9 123
Frequency(rad/s) 2.46 104 9.71 104 4.03 104

Step Response
120

100

controller plant
80 refrence output
Amplitude

error C (s) T ( s)
60
40
20
0 FIG.6.THEWHOLESYSTEMCONFIGURATIONWITHTHE
0 0.5 1 1.5 2 2.5 3 3.5 4(msec)
PIDCONTROLLER
FIG.5.STEPRESPONSEOFTHEOPENLOOPSYSTEM

The Proposed Model-Based Controller

Fig.5showsthestepresponseofthesystem.Thisshowsthattheopenloopsystemdoesnotrejectdisturbanceson
theinputvoltageandcannotregulatetheoutputvoltage.
Atthefollowing,amodelbasedPIDcontrollerbyusingZieglerNicholstuningmethodwillbeexplained.
ThewholeconfigurationofthecontrollerbesidethecontrolledsystemisplottedinFig.6.Inordertocontrolthe
converterbasedonthepreviouslyextractedmodel,thePIDcontrollerisaddedtothecontrolledtransferfunction
oftheconverter.

ThePIDcontrollersarewidelyusedbecausetheyhaveonlythreeparametersthathastobetunedfortheprocess
control.TheinputofaPIDcontrollerisanerrorsignalwhichisthedifferencebetweenthemeasuredvalueanda
desired reference signal for a process variable. The controller minimizes the error by tuning three constant
parametersnamelytheproportionalterm ( K P ) ,theintegralterm ( K I ) andthedifferentialterm ( K D ) .Becauseof
itssimpleconfiguration,thePIDcontrolleristhemostcommonlyusedcontrolmethodinindustry.Theimportant

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ElectricalEngineeringResearch(EER),Volume3,2015

aimsofthePIDcontrollersare:
eliminatingsteadystateerrorofthestepresponse(duetotheintegralaction)
reducingthepeakovershoot(providingdampingduetoderivativeaction)
There are many methods for tuning the PID parameters or gains. The most famous method for achieving the
mentionedgoalisZieglerNicholstuningmethod.Table6showstheparametersobtainedforthecontroller.
Fig.7showsthestepresponseofthesystemafterapplyingthedesignedPIDcontroller.

Fig.8showstheBodediagramsofthesystembeforeandafterapplyingthedesignedPIDcontroller.Fig.9shows
the Nyquist diagram of the closed loop system. The results prove the stability of the obtained system with the
proposedcontroller.StabilityoftheobtainedcontrolledsystemiswellillustraitedinFig.9.

Fromthesimulationresults,itisobviousthatthedisturbanceisrejectedandthiscontrollerbehavesverydesirably
intimedomain.Checkingthebodediagramsdepictsthatthesystemhasbecomeastableone.Also,calculations
bring out the gain margin as 16.2 dB and a phase margin of 89.7 deg which are favorite frequencydomain
response characteristics. Then, applying the proposed controller, the converter system becomes stable and
regulated.
TABLE6.PIDPARAMETERSOBTAINED Bode Diagram
Phase (deg) Magnitude (dB) 100
KP 0
0
KI 8.0306
KD 0 -100

Rise time of closed loop response 0.00422 360

Settling time of closed loop response 0.00748 180
0 open loop
Overshoot of closed loop response 0
-180 closed loop
Gain Margin of closed loop response 16.2 -360
1 2 3 4 5 6
Phase Margin of closed loop response 89.7 10 10 10 10 10 10

Closed loop stable? Yes FIG.8.BODEDIAGRAMSOFTHEOPENLOOPAND

CLOSEDLOOPCONVERTERSYSTEM

Step Response Nyquist Diagram
1
1

0.8 0.5
Imaginary Axis
Amplitude

0.6
0
0.4
-0.5
0.2

0 -1
0 0.002 0.004 0.006 0.008 0.01 0.012 -1 -0.5 0 0.5 1
FIG.7.STEPRESPONSEOFTHECLOSEDLOOPCONVERTER FIG.9.NYQUISTDIAGRAMOFTHECLOSEDLOOP
SYSTEM CONVERTERSYSTEM

Conclusions

In this paper, modelling and analyzing of the Zeta converter operating in continuous conduction mode were
presented. Application of the proposed based on signal flow graph method and Masons gain formula for
extractingassociatedtransferfunctionsandmodellingadcdcZetaconverterwasinvestigated.Inthisprocess,for
modelling the average and small signal linearization techniques were employed. Extracting the final transfer
functionsfrominitialstatespaceequationsweredescribedstepbystep.Applicationofsignalflowgraphmethod
andMasonsrulehelpstosolvethehighordercomplexequationssimply.Thepresentedmethoddealswiththe
equationswithmorestatevariablesaswell.Inthispaper,thetransferfunctionsfrominputtooutputandcontrolto
output were obtained. Then, by using the proposed method the poles, zeros, rootlocus plot and Bode diagrams
were extracted and the achieved frequency response was analyzed. Finally, the efficiency of the proposed tuned

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ElectricalEngineeringResearch(EER),Volume3,2015

PID controller as a model based technique to design a proper control system is shown. The proposed control
systememploysthePIDcontrollerwithaspecialadjustmentforpropersettingofthecontrolresponses.

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