IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 56, NO.

3, MARCH 2009 697

Modeling and Performance Analysis of the DC/DC
SeriesParallel Resonant Converter Operating
With Discrete Self-Sustained Phase-Shift
Modulation Technique
Jorge Luis Sosa, Miguel Castilla, Jaume Miret, Member, IEEE, Luis Garca de Vicua, and Jos Matas
AbstractA dynamic study of the dc/dc seriesparallel resonant
converter operating with a discrete self-sustained phase-shift mod-
ulation technique is presented. The study includes the synthesis
of a suitable averaged large-signal dynamic model and the design
of a nonlinear feedback controller based in the inputoutput
linearization approach. The proposed controller and modulation
type provide some outstanding features: zero-voltage switching
operation for the whole load range, narrowed frequency variation
range, fast transient response, and robustness in relation to ex-
ternal parameter variations. Experimental and simulation results
are reported to validate the theoretical predictions and conrm
the superior performance of the nonlinear controller when it is
compared with a conventional linear controller.
Index TermsNonlinear controller, seriesparallel resonant
converter (SPRC), zero-voltage switching (ZVS).
I. INTRODUCTION
N
OWADAYS, power resonant converters are proposed
for different applications, including electronic ballast,
dc power supplies, and induction heating [1][3]. Resonant
topologies are very attractive solution because they show
quasi-sinusoidal voltage and/or current waveforms that reduce
both switching losses and electromagnetic interference. More-
over, when resonant converters operate with adequate modu-
lation techniques, they guarantee zero-voltage switching (ZVS)
and/or zero-current switching (ZCS). The conventional variable
switching frequency (VFM) or phase-shift modulation (PSM)
techniques have been used to accomplish this task. However,
the VFM technique requires a wide range variation of the
switching frequency in order to maintain ZVS operation over
a wide load range [3]. Moreover, the PSM technique loses
ZVS condition under both light load operation and wide input
voltage deviation [3]. To overcome these drawbacks, the self-
sustained PSM (SSPSM) technique has been recently proposed
[4]. The SSPSM technique controls the switching frequency
Manuscript received February 28, 2008; revised October 1, 2008. First
published October 31, 2008; current version published February 27, 2009. This
work was supported by the Program Alban, a European Union Program of High
Level Scholarships for Latin America, under Grant E03D04853VE.
J. L. Sosa is with the Scientic Instrumentation Laboratory, Universidad de
los Andes, Mrida 5101, Venezuela (e-mail: jorluiso@yahoo.com).
M. Castilla, J. Miret, L. Garca de Vicua, and J. Matas are with the
Department of Electronic Engineering, Universitat Politcnica de Catalunya,
Vilanova i la Geltr 08800, Spain.
Digital Object Identier 10.1109/TIE.2008.2008330
to simultaneously guarantee both output-voltage regulation and
ZVS operation. Their main advantages are as follows: narrow
frequency variation and ZVS condition for the whole load
range, thus minimizing the losses in the power switches. The
problem of controlling high frequency switching converters is
a very important issue in practical applications. To deal with it,
different control methods which include linear and nonlinear
techniques have been reported [5][14]. Among them, the
nonlinear techniques have been receiving special attention due
to the improvement of the transient response, robustness, and
stable behavior against load and input voltage variations [6],
[10][14]. However, these control techniques suffer at least one
of the following limitations: 1) The nonlinear control law is
complex, which makes the practical control implementation
difcult and 2) the closed-loop bandwidth is reduced, resulting
in excessive control delay. To alleviate these problems, the main
concepts of both inputoutput linearization and sliding mode
control are combined in [15] to design the control scheme for
a ZCS seriesparallel resonant converter (SPRC). The resulting
controller is simple and provides fast, linear, and robust perfor-
mance. This promising control design approach was applied in
[16] to a ZVS SPRC operating with SSPSM technique.
This paper is an extension of [16]. Its main contributions are
as follows: 1) a simple and fast control scheme for the ZVS
SPRC; 2) a design methodology for the control parameters; and
3) the experimental performance validation [which includes a
comparison with the standard proportionalintegralderivative
(PID) control scheme]. This paper is organized as follows.
Section II briey reviews the standard SSPSM technique.
Section III proposes a discrete version of the SSPSM tech-
nique. Section IV explains the dynamic modeling process ap-
plied to the SPRC. Section V presents the procedure to obtain a
nonlinear controller based on both the sliding motion principle
and the inputoutput linearization concept. Sections VI and VII
verify the characteristics of the proposed model and controller
based on selected simulation and experimental results. A per-
formance comparison with the standard PID control scheme is
also provided. Section VIII contains the conclusion of this
paper.
II. REVIEW OF THE SSPSM TECHNIQUE
The SSPSM may be used in several load resonant converter
topologies. This paper considers the dc/dc full-bridge SPRC,
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698 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 56, NO. 3, MARCH 2009
Fig. 1. Full-bridge SPRC.
Fig. 2. Principal waveforms for conventional SSPSM.
which diagram is shown in Fig. 1. The main waveforms of this
converter operating with SSPSM technique are shown in Fig. 2.
The SSPSM uses two control angles
1
and
2
. The rst angle
is xed and takes control over the operating frequency. In fact,
it denes the phase shift among the resonant current i
L
and the
voltage V
ao
(the voltage of the switch S2).
The second angle
2
varies continuously to perform the
output-voltage regulation. In fact, the variation of the phase
shift among the resonant current i
L
and the voltage V
bo
(the
voltage of the switch S4) modies the output voltage. Assuming
the ltering effect of the resonant tank, the rst harmonic of the
inverter output voltage V
ab1
can be expressed by the following
relationship [18]:
V
ab1
(
2
) =
4 V
in

cos

2
2

. (1)
More details about the operation principle of the SSPSM tech-
nique can be found in [4].
III. DISCRETE SSPSM TECHNIQUE
This section presents a discrete version of the SSPSM
technique. The new modulation approach is suitable for the
application of control schemes with variable structure.
Fig. 3. Proposed discrete SSPSM (
2
is a discrete variable changing between

2 min
and
2 max
).
The discrete nature of the SSPSM is obtained by selecting
the angle
2
between two possible discrete valuesthe angles

2min
and
2max
. In that case, the rst harmonic of the inverter
output voltage V
ab1
now can be expressed as
V
ab1
(u) =
4 V
in

(k
1
+ (k
2
k
1
) u) (2a)
where
k
1
= cos

2min
2

k
2
= cos

2max
2

. (2b)
Note that u is a new control variable that can take two
discrete values (1, 0). Moreover, the suitable value of u is
selected for the controller for each period of V
ab
. Fig. 3
shows the main waveforms of the proposed discrete SSPSM
technique.
IV. AVERAGED LARGE-SIGNAL DYNAMIC MODEL
This section presents an averaged large-signal model for
the dc/dc full-bridge SPRC converter operating with discrete
SSPSM technique. The model will be used hereinafter for the
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SOSA et al.: MODELING AND ANALYSIS OF THE DC/DC CONVERTER OPERATING WITH MODULATION TECHNIQUE 699
control design. Assuming ideal components, the state space
model of the SPRC can be expressed as
di
L
dt
=
1
L
s
[
ab

cs

cp
] (3a)
d
cs
dt
=
i
L
C
s
(3b)
d
cp
dt
=
1
C
cp

i
L

i
f
n
sign(
cp
)

(3c)
di
f
dt
=
1
L
f

abs(
cp
)
n

o

(3d)
d
o
dt
=
1
C
o

i
f


o
R

(3e)
where n is the transformer relation ratio.
The averaged method is based on the extended describing
functions [15], which approximates the resonant state variables
to sinusoidal functions with slow time-varying amplitude and
phases as follows:
i
L
=I
L
sin(
s
t) (4a)

cs
=V
cs
sin(
s
t
s
) (4b)

cp
=V
cp
sin(
s
t
p
). (4c)
The nominal solution (4) is replaced into the model (3). Next,
a harmonic linearization and a harmonic balance are imposed to
the resulting description, yielding the following averaged large-
signal dynamic model:
d

i
L
dt
=
1
L
s

2
V
ab1

cs
cos
s

cp
cos
p

(5a)
d
cs
dt
=

i
L
C
s
cos
s
(5b)
d
cp
dt
=
1
C
p

i
L
cos
p

8

i
f

2
n

(5c)
d

i
f
dt
=
1
L
f

cp
n

o

(5d)
d
o
dt
=
1
C
o

i
f


o
R

(5e)
d
s
dt
=
s

i
L
C
s

cs
sin
s
(5f)
d
p
dt
=
s

i
L
C
p

cp
sin
p
(5g)
where
s
is the angular switching frequency, and the variables
with upper bar symbol represent local averaged values. Note
that the value of the voltage V
ab1
is given by (2) when the
converter operates with the discrete SSPSM technique.
V. NONLINEAR CONTROLLER DESIGN
This section presents a nonlinear control scheme for the
dc/dc SPRC converter with discrete SSPSM technique. The
control conguration is derived, combining the basic con-
cepts of inputoutput linearization and sliding mode control
[15][17].
A. Control Conguration
The rst step to determine the sliding surface is to nd the
relative degree of the output voltage
o
. The relative degree
is dened as the smallest number of differentiations of the
state variable with regard to the time until the control variable
appears explicitly in the process [17]. From the averaged large-
signal model (5), it can be determined that the relative degree is
four, since

d
i

o
dt
i

=0, for i = 1, 2, 3 (6)

d
i

o
dt
i

=0, for i = 4. (7)

In this case, the dynamic behavior of the output voltage in
open loop can be represented as follows:
a
4

d
4

o
dt
4
+ a
3

d
3

o
dt
3
+ a
2

d
2

o
dt
2
a
1

d
2

cp
dt
2
= 0
(8)
where
a
4
=n C
o
L
f
C
eq
; a
3
= n C
eq
L
f
(9a)
a
2
=n C
eq
; a
1
= C
eq
; C
eq
=

2
8
C
p
. (9b)
In order to nd a proper sliding surface, the output voltage
is forced to follow a fourth-order linear dynamic response. In
that case, the desired closed-loop output-voltage dynamics can
be expressed as
b
4

d
4

o
dt
4
+b
3

d
3

o
dt
3
+b
2

d
2

o
dt
2
+b
1

d
o
dt
+b
o
(
o

ref
)=0
(10)
where the coefcients b
i
cannot be zero, and the term b
o

ref
guarantees the absence of steady-state errors.
In sliding mode, the converter dynamics is forced to evolve
around the sliding surface S according to the invariance con-
dition

S = 0 [17]. Based on this property, the sliding surface
can be found in order to guarantee the desired dynamics (10).
Now, subtracting (10) from (8) and equalizing the result for the
invariance condition, the following is obtained:

S = (b
4
a
4
)
d
4

o
dt
4
+ (b
3
a
3
)
d
3

o
dt
3
+ (b
2
a
2
)
d
2

o
dt
2
+ b
1

d
o
dt
+ b
o
(
o

ref
) + a
1

d
2

cp
dt
2
= 0. (11)
Choosing the surface parameter according to the following
constriction:
b
4
=a
4
b
3
= a
3
b
1
= a
1
+ k
p
b
o
=k
i
a
1
= k
c
b
2
= a
2
+ k
d
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700 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 56, NO. 3, MARCH 2009
and integrating (11), the nal expression for the sliding surface
is obtained as
S = k
d

d
o
dt
+ k
p

o
+ k
i

(
o

ref
) dt + k
C

d
cp
dt
.
(12)
Finally, using the reaching condition S

S < 0 [14], [17], the
control law is obtained as
u =

0, for S < 0
1, for S > 0.
(13)
It is interesting to observe that the sliding surface
(12) is simple to implement. Only two voltages must be
sensed, and it might be implemented using basic electronic
functions.
B. Control Design
The closed-loop ideal dynamics can be found by using the
equivalent control concept [13], [14]. Replacing the expression
of this theoretical variable into the open-loop model (5), the
ideal sliding dynamic can be expressed as
d

i
Leq
dt
=

1
n

k
d
C
o

i
f
dt
+

k
d
R C
o
k
p

d
o
dt
+k
i
(
o

ref
)

(14a)
d
cp
dt
=
1
C
eq

i
Leq

i
f
n

(14b)
di
f
dt
=
1
L
f

cp
n

o

(14c)
d
o
dt
=
1
C
o

i
f


o
R

(14d)
d
cs
dt
=
8

2
i
Leq
cos
s
C
s
cos
p
(14e)
d
s
dt
=
s

8

2
i
Leq
sin
s
C
s

cs
cos
p
(14f)
d
p
dt
=
s

i
Leq
sin
p
C
eq

cp
cos
p
(14g)
where the new state variable i
Leq
is dened by means of the
following nonlinear transformation:
i
Leq
=

2
8
i
L
cos
p
. (15)
Note that the ideal dynamics is composed by two subsystems:
a linear one given by (14a)(14d) and a nonlinear one given
by (14e)(14g). Moreover, the linear subsystem is uncoupled
from the nonlinear one. As a result, the stability analysis can be
performed by studying the two subsystems separately. For the
rst case, using the well-known linear techniques, we obtain
that the system is stable if the following constrictions are
accomplished:
k
d
>C
o
(16a)
TABLE I
POWER STAGE PARAMETERS
Fig. 4. Comparison of the output lter current generated by the state space
and averaged large-signal model at the converter startup.
Fig. 5. Comparison of the series capacitor voltage generated by the state space
and averaged large-signal model at the converter startup.
0 <k
p
<
k
d
C
o
R
(k
d
+ nC
eq
) (16b)
0 <k
i
<
k
p
R
C
eq
L
f
(C
eq
+ k
d
k
p
C
o
R). (16c)
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SOSA et al.: MODELING AND ANALYSIS OF THE DC/DC CONVERTER OPERATING WITH MODULATION TECHNIQUE 701
Fig. 6. Family of root locus diagrams for the following: (a) 0.005 < k
p
< 0.08, k
i
= 1300, and k
d
= 12e 6. (b) 1 < k
i
< 5e6, k
p
= 0.08, k
d
= 12e 6.
(c) 12e 6 < k
d
< 22e 6, k
i
= 1300, and k
p
= 0.08. (d) Nonlinear subsystem k
p
= 0.08, k
i
= 1300, k
d
= 12e 6, and 15 < R < 60 .
Equations (14e)(14g) represent the internal dynamics of the
system. Using the zero dynamics approach [17], the stability
of the internal dynamics is veried by means of small-signal
linearization. In that case, we observe that the internal system
is stable and independent of the control parameters; therefore,
no extra design constrictions are found.
VI. SIMULATION RESULTS
This section tests some aspects of the proposed model and
control scheme for the dc/dc SPRC with discrete SSPSM
technique. Table I lists the power stage parameters used in the
simulation process.
A. Model Verication
A comparison of the averaged waveforms generated by the
averaged model (5) and the resonant waveforms given by the
state space model (3) has been carried out. Figs. 4 and 5 show
the performances of both models. Note that, in both cases, there
is a good matching among the two waveforms. Also observe
that some differences between the two models become visible,
particularly at the converter startup. These differences are given
by the model approximations. Therefore, we can conclude that
the averaged model accurately reproduces the low-frequency
dynamics of the state space model.
B. Effect of the Control Parameters on Pole Placement
In the control design, the coefcients k
p
, k
i
, k
d
, and k
C
are chosen in order to both adjust the transient response and
ensure the system stability. In this sense, the effect of the
control parameters over the pole placement is evaluated. Fig. 6
shows a family of root locus plots considering a large variation
of the control parameters. The poles
1
to
4
correspond to
the poles of the linear subsystem given by (14a)(14d).
a
,

b
, and
c
are the poles of the internal dynamics [small-
signal linearization of (14e)(14g)]. It is interesting to note
that restrictions (16) have been observed when selecting the
control parameters, resulting in a stable operation. Moreover,
the pole
a
is located at the origin [see Fig. 6(d)], which can be
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702 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 56, NO. 3, MARCH 2009
Fig. 7. Experimental setup.
TABLE II
CONTROLLER PARAMETERS
attributed to the self-sustained characteristic of the modulation
technique.
VII. EXPERIMENTAL RESULTS
A. Experimental Setup
A 25-W prototype of the dc/dc SPRC was built and tested.
Fig. 7 shows a simplied scheme of the implemented controller
and modulation strategy. The controller performs (12) and
(13), providing the discrete values of the control angle
2
.
The modulator is based on a constant amplitude sawtooth signal
generator, synchronized with the input resonant current i
L
.
The comparison of the sawtooth with the discrete control
signal
2
results in the pulses that set and reset two ip-ops
whose outputs dene the gate signals of the inverter. The main
circuit and controller parameters are listed in Tables I and II,
respectively.
Fig. 8 shows the steady-state waveforms of the voltage V
ab
and the resonant current. Note that ZVS is clearly achieved.
B. Discrete Angle Selection
The discrete angle
2
plays an important role in the controller
performance. If
2
is not properly selected, the sliding motion is
lost, and the output-voltage regulation has a poor performance.
Fig. 8. Steady-state waveforms of the voltage V
ab
and the resonant current
i
L
. (Ch1) Inverter output voltage V
ab
= 5 V/div. (Ch2) Resonant current
i
L
= 1 A/div.
In this sense, the angle
2max
must be chosen above the
maximum value of
2
that generates
o
= V
ref
; moreover, the
angle
2min
must be chosen below the minimum value of
2
that generates
o
= V
ref
.
Fig. 9 shows the values of the steady-state output voltage
as a function of the control angle
2
. It is worth pointing out
that
2
must be higher than 90

and less than 40

to reach the
desired output voltage (i.e.,
2min
< 40

, and
2max
> 90

).
The experimental results shown in Figs. 1012 corroborate this
point. Figs. 10 and 11 show the load transient response when
the aforementioned inequalities are not observed.
In that case, the sliding motion is lost, producing a low-
frequency ripple in the output voltages of 200 and 300 mV
pp
,
respectively. Fig. 12 shows the load transient response when the
inequalities are accomplished. In that case, the sliding motion
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SOSA et al.: MODELING AND ANALYSIS OF THE DC/DC CONVERTER OPERATING WITH MODULATION TECHNIQUE 703
Fig. 9. Steady-state output voltage for two load conditions as a function of the
control angle
2
.
Fig. 10. Output-voltage transient response for
2 min
= 20

and
2 max
=
90

. (Ch1) Load Current (500 mA/div). (Ch2) Control angle (100

/div).
(Ch3) Output-voltage ac coupling (200 mV/div).
is maintained, and the output-voltage ripple is reduced to
100 mV
pp
.
C. Control Performance Evaluation
A performance comparison of the proposed controller and a
conventional PID controller has been carried out. The param-
eters of both controllers have been experimentally tuned to
obtain the optimal dynamic behavior. Figs. 13 and 14 shows
the load transient response for both controllers. It is worth to
point out that the proposed controller is faster, giving lower re-
covery time and voltage overshooting. However, its steady-state
output-voltage ripple is noticeably higher due to the chattering
effect of the sliding motion over the switching surface (12).
As a consequence, the proposed controller is a good control
solution for applications with fast dynamic loads. If ripple is a
Fig. 11. Output-voltage transient response for
2 min
= 80

and
2 max
=
180

. (Ch1) Load Current (500 mA/div). (Ch2) Control angle (100

/div).
(Ch3) Output-voltage ac coupling (200 mV/div).
Fig. 12. Output-voltage transient response for
2 min
= 20

and
2 max
=
180

. (Ch1) Load Current (500 mA/div). (Ch2) Control angle (100

/div).
(Ch3) Output-voltage ac coupling (200 mV/div).
concern for some applications, higher switching frequency can
be selected in order to mitigate its effect.
VIII. CONCLUSION
A dynamic analysis of the dc/dc SPRC converter operat-
ing with a discrete modulation technique has been presented.
An averaged large-signal model has been developed, which
accurately predicts the low-frequency dynamics of the reso-
nant converter. Both a switching surface and a control law
have been deduced from the averaged model, combining the
basic concepts of inputoutput linearization and sliding mode
control. The design of the control parameters has been carried
out, taking into consideration a stability analysis (pole place-
ment) and the existence of a sliding motion on the switching
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704 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 56, NO. 3, MARCH 2009
Fig. 13. Output-voltage transient response for conventional PID con-
troller. (Ch3) Output-voltage ac coupling (100 mV/div). (Ch4) Load current
(500 mA/div). Time scale: 500 s/div.
Fig. 14. Output-voltage transient response for the proposed nonlinear con-
troller. (Ch1) Output-voltage ac coupling (100 mV/div). (Ch2) Load current
(500 mA/div). Time scale: 500 s/div.
surface. Selected experimental results highlight the features
of the proposed controller: good output-voltage regulation and
extremely fast transient response.
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Jorge Luis Sosa received the B.S. and M.S. degrees
in electrical engineering from the Universidad de
Los Andes, Mrida, Venezuela, in 1993 and 1997,
respectively, and the Ph.D. degree fromthe Technical
University of Catalonia, Barcelona, Spain, in 2007.
Since 1999, he has been a Professor with the
Scientic Instrumentation Laboratory, Universidad
de los Andes, where he teaches courses in elec-
tronics. His research interests are nonlinear control
of power converters, uninterruptible power systems,
and power electronics.
Miguel Castilla received the B.S., M.S., and Ph.D.
degrees in telecommunication engineering from the
Universitat Politcnica de Catalunya, Barcelona,
Spain, in 1988, 1995, and 1998, respectively.
Since 2002, he has been an Associate Profes-
sor with the Department of Electronic Engineering,
Universitat Politcnica de Catalunya, Vilanova i la
Geltr, Spain, where he teaches courses in analog cir-
cuits and power electronics. His research interests are
in the areas of power electronics, nonlinear control,
and renewable energy systems.
Authorized licensed use limited to: UNIVERSITAT POLIT?CNICA DE CATALUNYA. Downloaded on March 27, 2009 at 10:02 from IEEE Xplore. Restrictions apply.
SOSA et al.: MODELING AND ANALYSIS OF THE DC/DC CONVERTER OPERATING WITH MODULATION TECHNIQUE 705
Jaume Miret (M01) received the B.S. degree in
telecommunications, the M.S. degree in electronics,
and the Ph.D. degree fromthe Universitat Politcnica
de Catalunya, Barcelona, Spain, in 1992, 1999, and
2005, respectively.
Since 1993, he has been an Assistant Profes-
sor with the Department of Electronic Engineering,
Universitat Politcnica de Catalunya, Vilanova i la
Geltr, Spain. His research interests include dcac
converters, active power lters, and digital control.
Luis Garca de Vicua received the M.S. and Ph.D.
degrees in telecommunications engineering from
the Universitat Politcnica de Catalunya, Barcelona,
Spain, in 1980 and 1990, respectively, and the Dr.Sci.
degree from the Universit Paul Sabatier, Toulouse,
France, in 1992.
He is currently an Associate Professor with the
Department of Electronic Engineering, Universitat
Politcnica de Catalunya, Vilanova i la Geltr, Spain,
where he teaches courses in power electronics. His
research interests include power electronics model-
ing, simulation and control, active power ltering, and high-power-factor acdc
conversion.
Jos Matas received the B.S., M.S., and Ph.D.
degrees in telecommunications engineering from
the Universitat Politcnica de Catalunya, Barcelona,
Spain, in 1988, 1996, and 2003, respectively.
Since 1990, he has been an Associate Profes-
sor with the Department of Electronic Engineer-
ing, Universitat Politcnica de Catalunya, Vilanova
i la Geltr, Spain. His research interests include
power-factor-correction circuits, active power lters,
uninterruptible power systems, distributed power
systems, nonlinear control, and renewable energy
systems.
Authorized licensed use limited to: UNIVERSITAT POLIT?CNICA DE CATALUNYA. Downloaded on March 27, 2009 at 10:02 from IEEE Xplore. Restrictions apply.