91

CHAPTER 4

DESIGN, MODELING AND IMPLEMENTATION

OF DISCRETE CONTROLLER FOR
BUCK-BOOST CONVERTER

The main objective of this chapter is to explain the design,

modeling and implementation of Discrete PID controller for Buck-Boost
converter. The derivation of Analog PID controller using Ziegler-Nichols
tuning method is described. The conversion of continuous S-domain transfer
function into Discrete Z-domain using bilinear transformation method is
implemented. Finally Buck-Boost converter with closed loop Digital
compensator is simulated, and experimental results are verified with
simulation results.

4.1 DESIGN OF BUCK-BOOST CONVERTER

Buck-Boost converter is a type of switched mode power supply that

combines the principles of the buck converter and the boost converter in a
single circuit. The buck converter described in power supplies produces a DC
output in a range 0 V to just less than the input voltage. The boost converter
will produce an output voltage ranging from the same voltage as the input, to
a level much higher than the input. There are many applications however,
such as battery-powered systems, where the input voltage can vary widely,
starting at full charge and gradually decreasing as the battery charge is used
up. At full charge, where the battery voltage may be higher than actually
 92

needed by the circuit being powered, a buck regulator would be ideal to keep
the supply voltage steady. However as the charge diminishes the input voltage
falls below the level required by the circuit, and either the battery must be
discarded or re-charged; at this point ideal alternative would be the boost
regulator. By combining these two regulator designs it is possible to have a
regulator circuit that can cope with a wide range of input voltages either
higher or lower than the needed by the circuit. Fortunately both buck and
boost converter use very similar components; they just need to be re-arranged,
depending on the level of the input voltage. Such kind of advantages appears
only in simple buck-boost converter. Hence buck-boost converter is chosen.

This converter is broadly used for energy management applications

and the switching devices and passive components such as inductors and
capacitors introduce nonlinearities in the converters. As a result, the linear
control techniques cannot be straightly applied for analysis. The schematic
diagram of Buck-Boost converter is shown in Figure 4.1. The converter
provides an output voltage that may be greater than or less than the input
voltage. As the polarity of the output voltage is always opposite to that of the
input voltage, it is also called as inverting converter. V0 is the output voltage
and VS is the input voltage.

The relationship between the input voltage and the output voltage is
expressed as

−V s d
V0 = (4.1)
1−d

The value of inductor L and capacitor C can be found by

Vs d
I = (4.2)
fS L
 93

Figure 4.1 Schematic diagram of Buck-Boost converter

I0 d
ΔVc = (4.3)
fS C

Based on the above equation the parameters designed for Buck-

Boost converter is shown in Table 4.1.

Table 4.1 Design values of Buck-Boost converter

Sl.No Parameters Design Values

1 Input Voltage VS 14 V
2 Output Voltage V0 21 V
3 Inductance L 11 μH
4 Capacitance C 10 μF
5 Load Resistance R 14 Ω
6 Switching frequency fS 400 KHz

The buck-boost converter has been designed for 31 W resistive

load. Load voltage is fixed for 21 V have a reasonable value for load current
which worked out for 1.5 A, and hence load resistance of 14 Ω is calculated
as per the ohm’s law. Having of fixed all these parameters, the input voltage
is set to be 14 V for buck-boost converter, as input has to be lower than the
output voltage (21 V). The output response of the open loop conventional
 94

Buck-Boost converter for input voltage 14 V and duty cycle 60 % is

illustrated in Figure 4.2. In the output response, output voltage 19.85 V is
obtained instead of 21 V. It also consists of more overshoot and oscillation.
In order to reduce the steady state error, over shoot and oscillation, Discrete
PID contoller is introduced in the Buck-Boost converter.

35

30

25

20
Vo (V)

15

10

-5
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01
Time (Sec)

Figure 4.2 Output response of open loop conventional Buck-Boost

converter

4.2 MODELING OF BUCK-BOOST CONVERTER

After designing of Buck-Boost converter, modeling is done using

State-space averaging technique. The state vector for the Buck-Boost
iL
converter is defined as x(t) = , where iL is the current through an
VC
inductor, and VC is the voltage across the capacitor. The Buck-Boost
converter is illustrated by the following set of State-space equations in
continuous time domain:

x t = A1 x t + B1 VS t , S = 1

x t = A2 x t + B2 VS t , S = 0 (4.4)
 95

Where S = 1 represents ON condition of the switch and S = 0

represents OFF condition of the switch. Implement the double pole double
throw switch by one strongly controlled MOSFET switch S and one passive
diode D controlled by the current in the circuit, so that the switch S and diode
D are always in complementary state as shown in Figure 4.3. The switch S is
turned ON/OFF by control signals only.

Figure 4.3 Equivalent circuit of Buck-Boost converter

Mode 1: When MOSFET switch S is ON, output voltage V0 is negative hence

diode D is OFF (reverse biased) and load is not connected to input. The
equivalent circuit of Buck-Boost converter for mode 1 is shown in Figure 4.4.
iC =iR form a loop.

Applying Kirchoff’s law to the mode 1 circuit is as follows:

di L Vs
=
dt L

dV C −V C
= (4.5)
dt RC

Here iL and VC are the state variables of x1 and x2 respectively, hence the
coefficient matrices for mode 1 is defined as,

x t = A1 x t + B1 VS t (4.6)
 96

Figure 4.4 Equivalent circuit of Buck-Boost converter for mode 1

0 0
A1 = 0 −1 (4.7)
RC

1
B1 = L (4.8)
0

Mode 2: During mode 2 operation switch S is OFF as set by external control

VL
signal applied to switch S. Since iL = dt, no need to actively control the
L

diode D with any control signals then it is automatically turned ON by iL,

when it flows to the left and turned OFF, when iL flows to the right. The
equivalent circuit of Buck-Boost converter during mode 2 operation is shown
in Figure 4.5.

Figure 4.5 Equivalent circuit of Buck-Boost converter for mode 2

Applying Kirchoff’s voltage and current law to the mode 2 equivalent circuit
 97

di L −V C
=
dt L

dV C iL VC
= − (4.9)
dt C RC

x t = A2 x t + B2 VS t (4.10)

−1
0
L
A2 = 1 −1 (4.11)
C RC

0
B2 = (4.12)
0

The A and B matrices are the weighted averages of actual matrices

describing the switched system given by the following equations. By
substituting the values of L and C in state equations, the state coefficient
matrices for the Buck-Boost converter is obtained as follows,

d−1
0 0 −36363.64
L
A= 1−d −1
=
28571.4 −5102
C RC

d
54545.45
B= L =
0 0

C= 0 1

E = [0] (4.13)

The modeling of the converters is discussed above, which is lead to

derive transfer function of the Buck-Boost converter. The transfer function of
the Buck-Boost converter is as follows,

−4.547x10 −12 S+1.558x10 9

tf = (4.14)
S 2 + 5102S+1.039x10 9
 98

Root locus analysis is a graphical method for observing impact of

the roots of a system changing in accordance with the variation of a certain
system parameter, commonly a gain within a feedback system. The rule is
that any roots on the right hand side of the plane make a system unstable and
also the complex roots cause some amount of oscillation. Figure 4.6 shows
the root locus plot for the Buck-Boost converter. In this plot, the poles are
placed at left half of the complex plane. Hence the Buck-Boost converter
output should be oscillatory. To correct this problem, transfer function should
be modified so that the poles will be placed in the real axis left half plane. In
order to do the above, the controller is introduced in Buck-Boost converter
which makes the converter more stable, robust and exhibits good dynamic
behavior with improved efficiency of the system.

Figure 4.6 Root locus response for the conventional Buck-Boost

converter in S-domain

4.3 DESIGN OF ANALOG PID CONTROLLER

The Analog PID control scheme has been employed successful in

many industrial control systems. In a closed loop system, PID controller
 99

block provides the compensation in the feedback control of the Buck-Boost

converter. The closed loop control with Analog PID control and Buck-Boost
converter is illustrated in Figure 4.7.

Figure 4.7 Analog PID controller for Buck-Boost converter

The continuous time PID controller can be expressed in Laplace

transfer function as:

1 KI
U S = KP 1 + + TD s E S = K P + + KD S (4.15)
TI S S

where U(S) is the control output, and E(S) is the error (difference between
reference voltage Vref and output voltage V0). The value of KP, TD and TI are
tuned depending on the present error, accumulation of past errors and
prediction of future error respectively.

By proper choice of these tuning parameters a controller can be

adapted for a specific converter to obtain a good behavior of the controller
system. Pole-zero cancellation technique is the most suitable one to remove
unstable poles in the transfer function. In order to introduce pole-zero
cancelation technique, the Analog PID controller equation can be re-written
in the form as:

K K
K D S 2 + P S+ I
KD KD
G S = (4.16)
S
 100

This form is easy to determine the closed loop transfer function.

1
H S = (4.17)
S 2 +2ξω o S+ω o 2

KI
= ωo 2 (4.18)
KD

KP
= 2ξωo (4.19)
KD

KD
Then G S H S = (4.20)
S

where ξ the damping ratio and ωo is the natural frequency oscillation of the
system. The Buck-Boost converter under consideration is of second order and
the desired poles can be easily placed by assuming the following converter
specifications,

4
Settling time ≈ ≤ 1ms
ξω o

Max Peak Overshoot ≈ 100e− ξπ 1 − ξ2 ≤ 1% (4.21)

By using the above equation and conditions, the derived Analog

PID controller values of Buck-Boost converter is KP = 0.009, KI = 143.54 and
KD =1.40625x10-7 and ωo = 37416 rad /sec. Then the Analog PID controller
equation for Buck-Boost converter is

1.406e −7 (S 2 +64102.5S+1.021x10 9 )
U S = (4.22)
S

In order to check the robustness of the controller, the step input is

used and the output response has been illustrated in the Figure 4.8. It is very
well apparent that the system settles down faster and the Analog PID
controller is very much remarkable as it can realize the stability of the Buck-
Boost converter.
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Step Response
1

0.8
Amplitude
0.6

0.4

0.2

0
0 0.005 0.01 0.015 0.02 0.025
Time (sec)

Figure 4.8 Step response of Buck-Boost converter with Analog PID

controller

4.4 DESIGN OF DISCRETE PID CONTROLLER

Digital controllers are superior in performance and lower in cost

compared to Analog counterparts. Digital controllers are extremely flexible,
easy to handle nonlinear control equations involving complicated
computations or logical operations. A very much extensive class of control
laws can be used in Digital controllers than in Analog controllers. Digital
controllers are able to perform complex computations with constant accuracy
at very high speed and have almost any desired degree of computational
accuracy alternatively with little increase in cost.

Digital controller is introduced in the design of Buck-Boost

converter to obtain a tight voltage regulation, robustness, fast switching
transient and improved dynamic performance for Buck-Boost converter.
Digital controller offers many extra features compared to analog controller.
Digital controller has low component aging, low cost, zero drift characteristic,
high reliability and controllability.
 102

Discrete PID controller is designed for the proposed Buck-Boost

converter. The designing of the controller involves two steps, initially design
an Analog PID controller for Buck-Boost converter using Ziegler-Nichols
tuning method and finally approximate the behavior of an Analog PID
controller with a Digital PID controller which converts continuous domain
into Discrete domain. In the Discrete domain, the controller compensates the
error signal and tracks the accurate output.

The Digital controller is simple to design for all types of

converters, it does not produce any limit cycle oscillation for any resolution
of DPWM, and also the performance of proposed controller is very good. The
controller parameters such as rise time, settling time and peak overshoot are
very low. It has very little steady state error and ripple voltage only. For any
uncertainty in input voltage and load, the controller continuously tracks the
reference and produces a constant output voltage and proves its enhanced
robustness. The errors caused by component variations up to certain limits
are proportionately rectified by Digital compensator by varying the duty cycle
of the converter to produce the constant output voltage.

The continuous time domain controller as mentioned in the above

Equation (4.22) is transformed into the Discrete time domain using
Trapezoidal method. Thus the designed Discrete PID controller transfer
function can be obtained as follows:

0.4771Z 2 −0.9238Z+0.4471
U Z = (4.23)
Z(Z−1)
 103

Figure 4.9 Root locus response of Discrete PID controller for Buck-
Boost converter in Z-domain

In order to analyse the stability of the Discrete controlled Buck-

Boost converter, the root locus plot is drawn for Equation (4.23). The root
locus response of the Discrete controlled Buck-Boost converter is depicted in
Figure 4.9, it is clearly obvious that the poles are placed neither outside the
unit circle nor at -1. Multiple poles have not occurred. All poles are placed in
the right half of the Z-plane, thereby satisfying the stability condition of the
transfer function for the proposed controller.

4.5 SIMULATION RESULTS AND DISCUSSION

The proposed closed loop response of the Buck-Boost converter is

simulated using Matlab/Simulink. Simulation has been carried out by making
use of the experimental values. In order to obtain the positive output voltage,
the output voltage polarity has been changed. The aim of this work is to
design a robust controller in spite of variations in load and uncertainty. The
variation in the reference voltage modifies the duty cycle of the PWM pulses,
in order to obtain the desired output voltage from the converter. Discrete PID,
Analog PID, Discrete PI and Analog PI controllers are designed for the same
 104

Buck-Boost converter. The simulation result of the controllers for Buck-Boost

converter is tabulated in Table 4.2.

Table 4.2 Comparison of the controllers for Buck-Boost converter

Settling Rise Steady Output

Peak Over
Controller Time Time State Ripple
shoot (%)
(ms) (ms) Error (V) Voltage (V)
Without
1 57 0.1 0.5 Less
controller
Discrete PID 3 0 2 0.001 0
Discrete PI 10 10 2 0.02 Less
Analog PID 25 2 18 0.01 More
Analog PI 28 10 20 0.03 More

The performance of the various controllers using the same

Buck-Boost converter is given in table. The Buck-Boost converter with and
without controller, whose input voltage is 14 V, and the reference voltage of
21 V is activated. The output voltage obtained using Discrete PID controller
settle down at 3 ms with a rise time of 2 ms. The controller parameters under
considerations are settling time, peak overshoot, rise time, steady state error
and output ripple voltage which is compared against its Discrete PI, Analog
PI, and Analog PID controllers. The controlled parameters of all other
controllers are listed in the Table 4.2 and it can be observed that these
parameters are very high when compared with the Discrete PID controller.
Steady state error observed from the Discrete PID controller is much lesser
than 1 % and no overshoot or undershoots are apparent. The results thus
obtained with Discrete PID controller for Buck-Boost converter is in
concurrence with the mathematical calculations. It is proved that the Digital
system shows enhanced results than the Analog controllers.
 105

Figure 4.10 Comparison between output voltage response of Discrete

PID and Analog PID controller for Buck-Boost converter

The output voltage response of the Analog PID controlled

Buck-Boost converter is compared against the Discrete PID controlled Buck-
Boost converter is illustrated in Figure 4.10. The converter input voltage is
14 V and the reference output voltage is 21 V. Analog PID controller has
more overshoot, steady state error and ripple voltage. It has more rise time
and has not reached settling accurately. The Discrete PID controller has less
rise time and settling time, peak overshoot is less than 1 % with negligible
steady state error without ripple voltage. From this response, it is very well
understood that the performance parameters are excellent in Discrete PID
controller compared to Analog PID controller.

The simulation has been carried out for Buck and Boost converter
by varying the input voltage, simultaneously varying the load resistance
reflects the change in the corresponding output voltage and output current as
shown in Figure 4.11 and Figure 4.12 respectively. In the Buck response in
the Buck-Boost converter whose reference voltage is 7 V, the input voltage
and load resistance is first set as 16 V, 18 Ω respectively until 0.04 s and then
varied from 16 V to 14 V, 18 Ω to 14 Ω, and again at 0.08 s, 14 V is varied to
12 V, 14 Ω is varied to 10 Ω and finally they are set as 14 V, 14 Ω at 0.12 s as
 106

shown in Figure 4.11. In the output voltage response, varying the input
voltage and load resistance has not affected the output voltage.

Figure 4.11 Output response of the Discrete PID controlled Buck-Boost

(Buck performance) converter

In the Boost operation of the Buck-Boost converter, the same

variation in the input voltage and load resistance has not affected the output
voltage. For Boost operation the reference voltage is 21 V. also response for
variation in input voltage and load resistance with reference to 21 V are
illustrated in Figure 4.12. In the Figure 4.11 and Figure 4.12, the
corresponding output voltage and output current waveforms are taken. In the
output voltage response, undershoots or overshoots cannot be noticed and the
steady state error is also not noticeable.
 107

Figure 4.12 Output response of the Discrete PID controlled Buck-Boost

(Boost performance) converter

In order to check the dynamic performance of the controller, the L,

C and R values are varied and the output response of the system is indicated
in Table 4.3. The load resistance is varying from 13 Ω to 25 Ω, inductance L
is varying from 10 µH to 20 µH, and the capacitance is varying from 15 µF to
30 µF. The table confirms that the system is very much dynamic in tracking
the reference voltages in spite of the variations in inductance L, capacitance C
and Load resistance R values. It is understandable that the Discrete PID
controlled Buck-Boost converter is sharp enough to track the output voltage
irrespective of the variations in the load.
 108

Table 4.3 Output response of Discrete PID controlled Buck-Boost

converter with varying converter parameters

L Reference Output
R(Ω) C(µF)
(µH) Voltage (V) Voltage(V)
13 10 15 8 8
16 12 18 8 8.002
20 16 21 8 8.001
22 14 24 16 16.001
24 18 27 16 16.001
25 20 30 16 16.002

The output response of the Discrete PID controlled Buck-Boost

converter for load variations are depicted in Table 4.4. The nature of load is
varied as R, RL, and RLE and varying nature has not affected the output
voltage of the converter is evident.

Table 4.4 Output response of Discrete PID controlled Buck-Boost

converter for load variations

Load Reference Output

S. No
R (Ω) L (H) E (V) Voltage (V) Voltage (V)
1 14 - - 21 21
2 18 - - 21 20.998
3 10 - - 7 6.996
-3
4 14 5 x 10 - 7 7.001
5 18 10 x 10-3 - 21 21.002
6 20 1 x 10-3 2 21 20.997
7 9 5 x10-3 3 7 7.001
In Table 4.4, the load resistance is varied as 14 Ω, 18 Ω and 10
Ω, the converter will be able to produce the output voltages as 21 V, 20.998 V
and 6.996 V for the reference voltages of 21 V, 21 V and 7 V respectively.
Then the simulation is carried for the inductance of 5 mH and 10 mH, added
 109

to the resistance of 14 Ω and 18 Ω, the output voltage is obtained in the order

of 7.001 V and 21.002 V respectively for the fixed reference voltages of 7 V
and 21 V. Again the output has been captured using RLE load with a
resistance of 20 Ω, inductance of 1 mH and an ideal voltage source of 2 V,
the controller is able to track the output voltage at 20.997 V for the preset
reference of 21 V. In the same way, an output voltage of 7.001 is tracked for
the preset reference of 7 V , whose RLE values are 9 Ω, 5 mH and 3 V.
From the table, it is evident that the controller is capable of responding to the
load variation and can produce output voltage equal to the reference voltage.

Table 4.5 Efficiency comparison between conventional Buck-Boost and

Discrete PID controlled Buck-Boost converter

Load Conventional Buck-Boost Discrete PID Controlled

Resistance (VS = 21 V) Buck-Boost (VS = 21 V)
R (Ω) Iin (A) V0(V) I0(A) %η Iin (A) V0(V) I0(A) %η
6 4.42 18.975 3625 96.97 4.62 21 3.003 97.5
10 2.9 19.45 1.945 93.18 3.24 20.995 2.099 97.3
14 2.253 19.616 1.402 87.16 2.501 20.996 1.495 97.15
18 1.875 19.76 1.098 82.67 2.125 20.995 1.375 97.04
22 1.625 19.84 0.9014 78.61 1.85 20.994 1.195 96.9
26 1.45 19.89 0.7649 74.95 1.65 20.993 1.065 96.83

The efficiency of the conventional Buck-Boost converter and the

proposed Discrete PID controlled Buck-Boost converter are formulated in
Table 4.5. The load resistance is varied between 6 Ω to 26 Ω, the efficiency
of the conventional Buck-Boost converter is varied from 96.97 % to 74.95 %,
whereas the efficiency of the Discrete controlled Buck-Boost converter
efficiency has been varied from 97.5 % to 96.83 %. The table clearly justifies
that the proposed Discrete PID controlled Buck-Boost converter is more
efficient than the conventional Buck-Boost converter and also the efficiency
 110

of the Discrete controlled Buck-Boost converter has been almost constant

with the variations in the load. In the conventional Buck-Boost converter, if
load is increased, the efficiency gradually decreases which is not desirable.

4.6 HARDWARE RESULTS AND DISCUSSION

The Buck-Boost converter with Discrete PID controller has been

implemented using LabVIEW (Laboratory Virtual Instrumentation
Engineering Work Bench) as a controller platform. The designed values are
given in Table 4.6. LabVIEW is primarily used as a platform for
implementing any closed loop system and it can also be used for the
improvement of a control system. It is extensively used software, intended for
analyzing the projects experimentally with a shorter duration due to its
programming flexibility along with the integrated tools especially designed
for testing, measurements and control.

Table 4.6 Experimental values

Description Design Values

Switching frequency fS 20 KHz
Input voltage VS 14 V
Inductor L 550 nH
Capacitor C 700 nF
Load resistor R 14 Ω
MOSFET S IRF840
Diode D 1N 4001
DAQ NI 9221
The function of DC is substantiated well in the experimental study
and the LabVIEW also provides the most feasible solution for the controller
platform. To evaluate the performance, the reference voltage of 21 V is set in
the Discrete PID controlled Buck-Boost converter, for which the output is
obtained as 21.04 V. The steady state error thus observed is very small, in the
 111

order of 0.04 V and the system settles down fast in the rate of 1.5 ms. The
acquisition of the error signal from the hardware takes place instantaneously,
when the program is running and at the same time the controlled signal from
the LabVIEW package is also generated in short span of time without any
delay or time lag.

In the experiment, the input voltage to the Discrete PID controlled

Buck-Boost converter is 12 V, reference voltage is set as 21 V and the load
resistance is taken as 14 Ω then the output voltage is 21.1 V as shown in
Figure 4.13. It has less rise time and settling time for the time period of 1.5
ms and has oscillation at the initial period , but has settled down in the end.
No undershoot or overshoot is obvious. Steady state error is 0.1 V which is
less than 1%. The input voltage is taken at channel 2 and the output voltage is
taken at channel 3.

Figure 4.13 Output voltage obtained for 12 V input, R0 = 14Ω, and

Vref = 21V

Similarly the input voltage is 18 V, for 21 V reference and the load

resistance is 14 Ω, then the corresponding voltage is depicted in Figure 4.14.
It can be observed that there are no undershoots or overshoots but steady state
error has occurred in very minimum order. The figures obviously prove that
 112

the change in input voltage and load resistance has not changed the output
voltage.

Figure 4.14 Output voltage obtained for 18 V input, R0 = 14 Ω, and

Vref = 21V

Figure 4.15 Output voltage obtained for 14 V input, R0 = 14 Ω to 12 Ω,

and Vref = 21V

The output voltage obtained for the reference voltage of 21 V, input

voltage of 14 V, and the step change in load resistance is varied from 14 Ω to
12 Ω is depicted in Figure 4.15. The observed output voltage is 20.95 V. It
can be observed that there are no undershoots or overshoots but steady state
 113

error has occurred in very minimum order. The figures obviously prove that
the change in load resistance has not changed the output voltage.

`Figure 4.16 Output voltage obtained for 14 V to 12 V input, R0 = 14 Ω,

and Vref = 21V

Similarly the output voltage obtained for the step change in input
voltage as 14 V to 12 V with the reference voltage of 21 V, and the load
resistance of 14 Ω is portrayed in Figure 4.16. The observed output voltage is
21.6 V. It can be observed that there are no undershoots or overshoots but
steady state error has occurred in very minimum order. The figures obviously
prove that the change in input voltage has not changed the output voltage.

In the Discrete controlled Buck-Boost converter, the input voltage

is given as 14 V, the obtained output voltages for the references of 21 V along
with their switching pulses are shown in Figure 4.17. In the experiment the
input voltage is taken at channel 1 and PWM pulses are taken at channel 2.
Channel 1 indicates output voltage as 20.95 V and channel 2 shows their
corresponding PWM pulses with the duty cycle of 60.03 %.
 114

Figure 4.17 Duty cycle obtained for 21 V reference

In the same experiment, duty cycle obtained for 8V reference is

illustrated in Figure 4.18. The obtained output voltage is 7.98 V along with
their PWM switching pulses with the duty cycle of 36.3 %. From the output
waveforms, it is clearly understood that the output observed shows better
performance, thereby ensuring that the controller is more appropriate and can
be tuned to track the references in spite of the variation in input voltage. The
Discrete controller changes the duty cycle according to the change in
reference voltage and is not subjected to any change in the input voltage.

Figure 4.18 Duty cycle obtained for 8 V reference

 115

4.7 CONCLUSION

A PID controller has been designed for the Buck-Boost converter

under both continuous time domain and Discrete time domain using Ziegler-
Nichols tuning method and bilinear linear transformation technique
respectively. The mathematical analysis, simulation study and experimental
results show that the controller thus designed achieves excellent output
voltage regulation, higher efficiency, good stability and better dynamic
performance.

In the next chapter the design of Discrete controller for Double

Frequency Buck converter is discussed in detail.