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Lyapunov-based control of single-phase AC-DC power converter for BEV

charger

Conference Paper · November 2017

DOI: 10.1109/EITech.2017.8255296

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 3rd International Conference on Electrical and Information Technologies ICEIT’2017

Lyapunov-Based Control of Single-Phase AC-DC

Power Converter for BEV Charger
A. Rachid1, Student Member, IEEE, H. El Fadil2, F.Z. Belhaj3, K. Gaouzi4, F. Giri5
1,2,3,4
ESIT Team, LGS Laboratory ENSA, Ibn Tofail University, 14000 Kénitra, Morocco.
5
Laboratoire d’Automatique de Caen, Université de Caen, Bd Marechal Juin, B.P 8156, 14032, Caen, France.
1
rachidaziz03@gmail.com, 2elfadilhassan@yahoo.fr, 3fz.blhj@gmail.com, 4khawla.gaouzi@gmail.com, 5giri@greyc.ensicaen.fr

Abstract—In this paper, we consider the problem of controlling
single-phase ac-dc power converter for BEV (battery electric
vehicle) charger. The control objectives are threefold: i) ensuring
a unitary power factor (UPF) in grid-side, ii) regulating the dc-bus
voltage to its constant reference in dc-side, and iii) ensuring
asymptotic stability of the closed loop system. Based on the
nonlinear model of the studied system a nonlinear controller is
designed using Lyapunov approach. In order to validate the
effectiveness of the proposed nonlinear controller, several
numerical simulations are performed using the Matlab/Simulink
software.
Keywords—ac-dc power converter; BEV charger; unitary power
factor; nonlinear model; Lyapunov-based control1
I. INTRODUCTION
Nowadays, Battery Electric Vehicles (BEVs) can be an
alternative to the classical vehicle with thermal engine. Indeed,
the BEVs can provide an ideal solution to reduce the
environmental impact of transports and reduce energy
dependency because they have low energy consumption and
zero local emissions [1].
On the other hand, the batteries of these vehicles can store a
considerable amount of electrical energy, which can be
exploited to regulate and stabilize the power grid. This
interactivity between vehicles and the power grid, called
Vehicle-to-Grid (V2G), should be one of the key technologies
in the future of Smart Grids [2]. The term V2G refers to the
concept where BEVs provide energy services while are
connected to the power grid. According to common practice, this
term V2G implicitly includes both power flows: Grid-to-Vehicle
(G2V) called charging mode and Vehicle-to-Grid (V2G) called
discharging mode (cf. Fig.1) [3].
Discharging V2G
Smart
Grid
BEV Charging G2V
Fig. 1. Energy flow during G2V and V2G operating modes
However, to ensure these two operating modes (G2V and
V2G), the BEV must establish a bidirectional connection with
the power grid. This functionality will allow them to inject
energy into the power grid in addition to allowing battery
charging [4]. Such a connection will be established via a BEV
charger, which is a key component for BEV.
Typically, a BEV charger includes two converters: a ac-dc
power converter ensuring a power factor correction (PFC)
followed by a dc-dc power converter. Generally, these
converters operate only in charging mode (G2V). They are
unidirectional. So, to enable V2G functionality the converters
must be bidirectional [5].
A typically block schema of such bidirectional battery
charger is illustrated by Fig.2.
Fig. 2. Diagram block of bidirectional battery charger
However, in the G2V operation mode, the bidirectional ac-
dc power converter operates as a boost rectifier with a unitary
PFC and the bidirectional dc-dc power converter operates in the
buck mode. On the other hand, in the V2G operation mode, the
bidirectional ac-dc power converter operates as an inverter with
the possibility to tune the injected reactive power in the grid but
the bidirectional dc-dc power converter operates in the boost
mode [5].
In this work, the problem of controlling single-phase ac-dc
power converter during the G2V operating mode (charging
mode) is dealt with. It is worth noting that, in this mode, the
studied power converter operates as a boost PFC rectifier. After
a nonlinear modeling of the studied system, a nonlinear
controller is designed using Lyapunov approach.

This work was supported by the Moroccan Ministry of Higher Education

(MESRSFC) and the CNRST under grant number PPR/2015/36.

978-1-5386-1516-4/17/$31.00 ©2017 IEEE

 3rd International Conference on Electrical and Information Technologies ICEIT’2017
The rest of the paper is organized as follows: in section 2,
the boost PFC ac-dc power converter is described and
modelled; section 3 is devoted to design a nonlinear
Lyapunov-based controller; in section 4 the controller
performances are illustrated by several numerical simulations.
A conclusion and references list end the paper.
II. SYSTEM OVERVIEW AND MODELING
A. System overview
The electrical circuit of the studied system is illustrated by
Fig.3. It consists on full-bridge bidirectional ac-dc power
converter [6]–[13]. It includes a filtering inductance L, four
switches (‫ܭ‬ଵ ǡ ‫ܭ‬ଶ ǡ ‫ܭ‬ଷ ƒ†‫ܭ‬ସ ) and a dc-bus voltage filtering
capacitor C. This converter is supplied by a single-phase
power grid and operates as a boost rectifier. According to
Fig.2, the current ݅ௗ௖ represents the input current of the dc-dc
power converter.
࢏ࢊࢉ
— ͳെ—
i L, r
۹૚ ࡷ૜
v ࡯
࢜ࢊࢉ
ͳെ— —
ࡷ૛ ࡷ૝
Fig. 3. Electric schema of the ac-dc power converter
The converter should be adequately controlled in order to
ensure the following two objectives: unitary power factor
(UPF) in grid-side and dc-bus voltage regulation in dc-side.
To this end, one needs the model of the studied system which
will be presented in the next subsection.
B. System modeling
We consider a full-bridge boost rectifier illustrated by
Fig.3, which consists of two arms. Each arm is made up by
two switches which must operate in complementary way. The
switching signal u is generated by a PWM circuit and takes
values in the finite set {0,1}[14], [15].
Using Kirchhoff's laws and taking into account that u can
take the binary values 1 or 0, the instantaneous model of the
studied system is given by follows equations
ௗ௜
‫ܮ‬  ൌ െ‫ ݅ݎ‬െ ሺʹ‫ ݑ‬െ ͳሻ‫ݒ‬ௗ௖ ൅ ‫ݒ‬
ௗ௧
ቐ ሺͳሻ
‫ܥ‬
ௗ௩೏೎
ൌ ሺʹ‫ ݑ‬െ ͳሻ݅ െ ݅ௗ௖
ௗ௧
where v is the power grid voltage and ݅ௗ௖ is the input current
of the dc-dc power converter.
For control design purpose, it is more convenient to
consider the following averaged model, obtained by averaging
the model (1) over one switching period [16]
௥
‫ݔ‬ሶଵ ൌ െ ‫ݔ‬ଵ െ
ሺଶఓିଵሻ
‫ݔ‬ଶ ൅ 
௩
ቐ ௅ ௅ ௅
ሺʹሻ
ሺଶఓିଵሻ పҧ೏೎
‫ݔ‬ሶ ଶ ൌ ‫ݔ‬ଵ െ
஼ ஼
where ‫ݔ‬ଵ and ‫ݔ‬ଶ denote the average grid current ଓҧ and the
average dc-bus voltage‫ݒ‬ҧௗ௖ , respectively. The control input
for the model (2) is the function μ (average value of‫)ݑ‬,
called duty ratio function.
III. CONTROLLER DESIGN
In this paper, the controller design of the ac-dc power
converter will be done in order to ensure two objectives. The
first one is to enforce a unitary power factor (UPF) in ac-side,
which means that the power grid current ݅ሺ‫ݐ‬ሻ must be
sinusoidal and in phase with the power grid voltage‫ݒ‬ሺ‫ݐ‬ሻ. The
second one is the dc-bus voltage regulation in dc-side.
The model illustrated by equations (2) shows clearly that
the studied system is nonlinear. Therefore, a Lyapunov-based
approach is adopted in this work [17]–[22].
Let first define the following tracking errors
݁ ൌ ‫ݔ‬ଵ െ ‫ݔ‬ଵ‫כ‬
൜ ଵ ሺ͵ሻ
݁ଶ ൌ ‫ݔ‬ଶ െ ‫ݔ‬ଶ‫כ‬
where ‫ݔ‬ଵ‫ כ‬and ‫ݔ‬ଶ‫ כ‬denote the references of the state variables
‫ݔ‬ଵ and‫ݔ‬ଶ , respectively. Recall that the control objective is to
regulate the dc-bus voltage ‫ݔ‬ଶ to its desired constant value
ܸௗ௖௥௘௙ and to enforce the input current ‫ݔ‬ଵ to be sinusoidal and
in phase with the AC power grid voltage v. Then, the
reference signals are of the following form
‫ݔ‬ଵ‫ כ‬ൌ ߙ‫ݒ‬ሺ‫ݐ‬ሻ
൜ ‫כ‬ ሺͶሻ
‫ݔ‬ଶ ൌ ܸௗ௖௥௘௙
with D is any real positive parameter (although transient
time-variation are allowed).
The control objective is to enforce the two errors to vanish.
To this end the following Lyapunov function candidate is
proposed
ଵ ଵ
ܸ ൌ ݁ଵଶ ൅ ݁ଶଶ ሺͷሻ
ଶ ଶ
It is clear that this function is a positive definite and
radially unbounded function. Its time derivative is
ܸሶ ൌ ݁ሶଵ ݁ଵ ൅ ݁ሶଶ ݁ଶሺ͸ሻ
For asymptotic stability of the equilibrium ሺ݁ଵ ǡ ݁ଶ ሻ ൌ
ሺͲǡ Ͳሻ one can seeks that ܸሶmust be negative definite. It is
obvious that this goal is reached if the derivatives of the two
errors in (6) are chosen as follows
݁ሶଵ ൌ െܿଵ ݁ଵ
൜ ሺ͹ሻ
݁ሶଶ ൌ െܿଶ ݁ଶ
 3rd International Conference on Electrical and Information Technologies ICEIT’2017

where ܿଵ andܿଶ are positive design parameters. TABLE I. SYSTEM PARAMETERS

Indeed, with this choice the derivative (6) becomes Parameter Value
Grid RMSVoltage V 230V
ܸሶ ൌ െܿଵ ݁ଵଶ െ ܿଵ ݁ଶଶሺͺሻ Grid frequency f 50Hz

Filtering inductor‫ܮ‬
‫ܮ‬ 5mH
which shows that the equilibrium (0,0) is globally
asymptotically stable and, in turn, gives ݈݅݉ ݁ଵ ൌ Ͳand Inductor ESR r 0,1:
௧՜ஶ
݈݅݉ ݁ଶ ൌ Ͳ. The vanishing of the two errors clearly ensures Switching Frequency fS 15KHz
௧՜ஶ
the UPF and the dc-bus voltage regulation. DC Bus Capacitor C 2000μF
It follows, using (3) and (7), that DC Bus Voltage Vdcref 400V

Lyapunov constant ࢉ૚ 10 000

‫ݔ‬ሶଵ ൌ െܿଵ ݁ଵ ൅ ‫ݔ‬ሶଵ‫כ‬
൜ ሺͻሻ Lyapunov constant ࢉ૛ 10
‫ݔ‬ሶ ଶ ൌ െܿଶ ݁ଶ ൅ ‫ݔ‬ሶ ଶ‫כ‬

By combining the first equations of (2) and (9), the control

law ߤcan be obtained as follows ݅ௗ௖ ‫ݒ‬ሺ‫ݐ‬ሻ

ଵ ௅ ௥ ௩ ‫ݑ‬
ߤൌ ൅ ሺെ ‫ݔ‬ଵ ൅ ܿଵ ݁ଵ ൅ െ ‫ݔ‬ሶଵ‫ כ‬ሻሺͳͲሻ PWM Diagram
AC-DC Power ‫ݔ‬ଵ
ଶ ଶ௫మ ௅ ௅ Converter ቄ‫ݔ‬
(Fig.5) ͳെ‫ݑ‬ (Fig.3) ଶ

The objective now is to determine the parameter D

ሶ
involved in (4). Considering that ‫ݔ‬ሶ ଶ‫ כ‬ൌ ܸௗ௖௥௘௙ ൌ Ͳand ߤ Lyapunov-based
controller
combining the second equations of (2) and (9), one obtains (10) & (14) ܸௗ௖௥௘௙

ሺʹߤ െ ͳሻ‫ݔ‬ଵ ൌ െܿଶ ݁ଶ ‫ ܥ‬൅ ଓҧௗ௖ ሺͳͳሻ

݅ௗ௖ ‫ݒ‬ሺ‫ݐ‬ሻ

By applying the power conservation principle, also called Fig. 4. Simulation bench of the ac-dc power converter
PIPO (Power In equal to Power Out) [23], [24] to the power
converter one gets
ߤ
+ ‫ݑ‬
‫ݔݒ‬ଵ ൌ ሺʹߤ െ ͳሻ‫ݔ‬ଵ ‫ݔ‬ଶ ሺͳʹሻ -
૚െ࢛ ͳെ‫ݑ‬
which gives, using (3), (4) and (11)

ߙ‫ ݒ‬ଶ ൅ ‫݁ݒ‬ଵ ൌ ሺെܿଶ ݁ଶ ‫ ܥ‬൅ ଓҧௗ௖ ሻ‫ݔ‬ଶ ሺͳ͵ሻ Fig. 5. PWM Diagram

The left-hand term of (13) shows a double singularity,
which can be eliminated by neglecting the term in ‫ݒ‬ሺ‫ݐ‬ሻ
compared to that in ‫ ݒ‬ଶ ሺ‫ݐ‬ሻ and then dividing by the averaged
value of ‫ ݒ‬ଶ ሺ‫ݐ‬ሻ instead of its instantaneous value. The
parameter D is then obtained as follows
௫మ
ߙൌ ሺെܿଶ ݁ଶ ‫ ܥ‬൅ ଓҧௗ௖ ሻሺͳͶሻ
௏మ
The next section is devoted to the validation of the
proposed controller performances using simulation.
IV. SIMULATION RESULTS
In order to validate the proposed nonlinear controller
performances, several numerical simulations are performed
using the Matlab/Simulink software. The system parameters
are listed in Table I. The simulation bench is shown by Fig.4
and the PWM diagram is given by Fig.5.
Fig. 6 to Fig. 10 illustrate the performances of the
proposed nonlinear controller in presence of a constant
reference signal ܸௗ௖௥௘௙ ൌ ͶͲͲܸ and a constant load current
݅ௗ௖ ൌ ͷǤ
All figures show clearly that the control objectives are
achieved: UPF in grid-side and a dc-bus voltage regulation in
dc-side. Indeed, Fig.6 show that the input current ݅ሺ‫ݐ‬ሻ is
sinusoidal and Fig.7 illustrates that ݅ሺ‫ݐ‬ሻ and the power grid
voltage‫ݒ‬ሺ‫ݐ‬ሻ are in phase. In the other hand, Fig.8 shows that
the dc-bus voltage‫ݒ‬ௗ௖ tracks perfectly its constant
referenceܸௗ௖௥௘௙ . Finally, Fig.9 and Fig.10 show the control
lawɊ and the parameterD, respectively.
In order to confirm the robustness of the proposed
nonlinear controller, a variation of the load current ݅ௗ௖ is
performed. The corresponding profile is shown by Fig.11.
Fig.12 to fig.15 illustrate the controller behavior in presence
of the current ݅ௗ௖ changes.
Fig.12 shows clearly that the input current݅ሺ‫ݐ‬ሻ is
remaining sinusoidal whereas at time 0.6s its amplitude has
 3rd International Conference on Electrical and Information Technologies ICEIT’2017

doubled due to the variation of the current݅ௗ௖ . Fig.13

illustrates that the power grid current ݅ሺ‫ݐ‬ሻ and the power grid 10

DC Bus current i (A)

dc
voltage ‫ݒ‬ሺ‫ݐ‬ሻ still in phase despite the variation of the load 8
current݅ௗ௖ . Fig.14 shows that the dc-bus voltage tracks
perfectly its constant reference while the value of its ripple has 6

doubled. Fig.15 illustrates the obtained control law μ. Finally,

Fig.16 shows that the parameter D varies according to the 4
0.5 0.52 0.54 0.56 0.58 0.6 0.62 0.64 0.66 0.68 0.7
variations of the load current݅ௗ௖ . time(s)

20 Fig. 11. dc-bus current ݅ௗ௖ profile

Grid current i(A)

10
30

0 20

Grid current i(A)

10
-10
0

-20 -10
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
time(s) -20
-30
Fig. 6. Grid current ݅ሺ‫ݐ‬ሻ 0.5 0.52 0.54 0.56 0.58 0.6 0.62 0.64 0.66 0.68 0.7
time(s)

20
Fig. 12. Grid current ݅ሺ‫ݐ‬ሻ in presence of load current ݅ௗ௖ step changes
v ( t)
200
Grid voltage v(V)

10

Grid current i(A)

40
i( t) i(t) v(t)
0 0 30

Grid voltage v(V)

200

Grid current i(A)

20
-200 -10 10
0 0
-20 -10
0 0.01 0.02 0.03 0.04 0.05 0.06 -20
time(s) -200
-30
-40
0.55 0.56 0.57 0.58 0.59 0.6 0.61 0.62 0.63 0.64 0.65
Fig. 7. Grid voltage ‫ݒ‬ሺ‫ݐ‬ሻ and grid current ݅ሺ‫ݐ‬ሻ
time(s)

420
Fig. 13. Grid voltage ‫ݒ‬ሺ‫ݐ‬ሻ and grid current ݅ሺ‫ݐ‬ሻ, in presence of load current
DC Bus Voltage v (V)

400
݅ௗ௖ step changes
dc

380
360 vdc (t)
420
DC Bus Voltage v (V)

340 Vdcref
dc

400
320
300 380
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time(s) vdc (t)
360
Vdcref

Fig. 8. dc-bus voltage ‫ݒ‬ௗ௖ 340

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time(s)
1

0.8 Fig. 14. dc-bus voltage ‫ݒ‬ௗ௖ in presence of load current ݅ௗ௖ step changes
Control law P

0.6
1
0.4
0.8
Control law P

0.2
0.6
0 0.4
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time(s) 0.2

Fig. 9. Control law μ 0

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time(s)
0.041
Fig. 15. Control law μ in presence of load current ݅ௗ௖ step changes
0.04
Parameter D

0.08
0.039
Parameter D

0.038 0.06

0.037
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0.04
time(s)

0.02
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Fig. 10. Parameter D time(s)

Fig. 16. Parameter D in presence of load current ݅ௗ௖ step changes

 3rd International Conference on Electrical and Information Technologies ICEIT’2017
V. CONCLUSION
In this paper was presented a single-phase ac-dc power
converter aiming its integration in BEV charger with V2X
functionality. With this characteristic, the BEV will be able
to deliver back a part of the stored energy in the batteries to
the power grid, aiming to contribute to mitigate power quality
problems.
The studied system consists of a full bridge operated as boost
PFC rectifier. The control objectives are to ensure a unitary
power factor in ac-side and enforce the dc-bus voltage to
track its constant reference. After a nonlinear modelling of
the ac-dc power converter, a nonlinear controller is designed.
To do this, a Lyapunov-based controller is elaborated. It is
shown, using numerical simulations, that the proposed
nonlinear controller achieves the control objectives. As future
work, the ac-dc power converter will be controlled as a PFC
inverter in order to ensure a V2G operating mode.
ACKNOWLEDGMENT
The authors gratefully acknowledge the support of the
Moroccan Ministry of Higher Education (MESRSFC) and
the CNRST under grant number PPR/2015/36.
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