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ABSTRACT
A voltage-mode controlled boost converter running in continuous conduction mode is
more difficult to stabilize than a buck converter due to the boost converter’s inherent
Right Half Plane-zero (RHP-zero). The boost converter’s double-pole and RHP-zero
are dependant on the input voltage, output voltage, load resistance, inductance, and
output capacitance, further complicating the transfer function. Understanding the
transfer function and having a method to stabilize the converter is important to achieve
proper operation.
Contents
1 Transfer Function of Boost Converter ........................................................... 2
2 Method for Stabilizing the TPS61030 ............................................................ 6
3 Example 1; High Output Current (2 A) With Tantalum Capacitor ........................... 11
4 Example 2; High Output Current (2 A) With Ceramic Capacitor ........................... 14
5 Example 3; Low Output Current (Io=0.4 A) With Ceramic Capacitor ...................... 17
6 Conclusion ......................................................................................... 19
Appendix A State Space Averaging Method ....................................................... 19
List of Figures
1 Boost Converter Block Diagram .................................................................. 2
2 Bode plot of the Double-Pole Transfer Function ............................................... 3
3 Bode plot of the RHP-Zero Transfer Function .................................................. 3
4 Bode-Plot of Boost Converter ..................................................................... 4
5 Block Diagram of a Typical Boost Converter ................................................... 5
6 Bode-Plot Illustration of Stability Criteria ........................................................ 6
7 Feedback network and Feed Forward Compensation Network .............................. 8
8 Example of Transfer Function of Feedback Network and Feed Forward
Compensation Network ............................................................................ 9
9 Flow Chart of Design Process ................................................................... 10
10 Block Diagram of Converter ..................................................................... 11
11 Mathcad Calculated Bode-Plot of Transfer Function for High Current With Tantalum
Output Capacitor .................................................................................. 12
12 Measured Bode-Plot and Load Transient Waveform With Tantalum Capacitor
(VIN=3.0 V, Vo=3.6 V, Io=2 A, C=100 µF × 2 tantalum capacitor) ........................... 13
13 Block Diagram of Converter ..................................................................... 14
14 Mathcad Calculated Bode-Plot of Transfer Function for High Output Current and
Ceramic Output Capacitor ....................................................................... 15
15 Measured Bode-Plot and Load Transient Waveform With Ceramic Capacitor
(VIN=3.0 V, Vo=3.6 V, Io=2 A, C=100 µF × 2 Ceramic Capacitor)........................... 16
16 Block Diagram of Converter ..................................................................... 17
17 Mathcad Calculated Bode-Plot of Transfer Function for Low Output Current and
Ceramic Output Capacitor ....................................................................... 18
18 Measured Load Transient Waveform ........................................................... 18
SLVA274 – May 2007 Voltage Mode Boost Converter Small Signal Control Loop Analysis Using the TPS61030 1
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æ s ö æ s ö
çç1 + ÷÷ × çç1 - ÷
÷
w w
×è
v̂ O Z1 ø è RHP - zero ø
G dv = @ G do
d̂ s s2
1+ + 2
w0 × Q w0 (1)
Where
VIN Vo2
G do » =
(1 - D) 2 VIN (2)
1
wZ1 =
rC × C (3)
(1 - D) 2 × (R - rL ) R æV ö
2 æ R æ VIN ö
2 ö
çf ç ÷ ÷
ç RHP- zero » 2p × L ç V
wRHP - zero » » × çç IN ÷ or
L L è Vo
÷
ø
÷ ÷
è è o ø ø (4)
1 rL + (1 - D)2 × R 1 V æ 1 V ö
w0 » × » × IN or ç fO » × IN ÷÷
L×C R L × C Vo ç 2p LC Vo ø
è (5)
w0
Q[
rL 1
)
L C ǒR)rcǓ (6)
Equation 1 consists of a double-pole, RHP-zero and ESR-zero. For this discussion, the ESR-zero will be
ignored because it is at a much higher frequency than the double-pole frequency and RHP-zero. Figure 2
shows a Bode plot of the double-pole transfer function.
2 Voltage Mode Boost Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274 – May 2007
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Double-pole
1 V
fo = × IN
2p LC Vo
Gain 0dB
-40dB/dec
0°
The double pole frequency ƒO depends on the input voltage (VIN) and the output voltage (Vo) as well as
inductance (L) and output capacitance (C).
Figure 3 shows a Bode plot of the RHP-zero, ƒRHP-zero transfer function.
2
R æ VIN ö
fRHP _ zero = ×ç ÷
2pL çè Vo ÷ø
Gain
c
B /de
+20d
0°
-90°
Phase
It is also important to note that ƒRHP-zero depends on load resistance (R) and inductance (L) as well as
input voltage (VIN) and output voltage (Vo). Complicating loop gain stabilization is the fact that while the
RHP-zero phase begins to drop at 0.1 ׃RHP-zero, the gain increases at 20 dB/dec from ƒRHP-zero. The
following example helps illustrate the RHP-zero complexity.
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2
1 VIN R æ VIN ö
fo = × fRHP _ zero = ×ç ÷
2p LC Vo 2pL çè Vo ÷ø
fBW
Gain -4
0d
DC gain B/
de
c
-20dB/dec
0°
+20dB/dec
180°
Phase
Phase margin becomes small or -90°
negative by RHP-zero impact
As shown in Equation 7 and Equation 8, the ƒO and ƒRHP-zero depend on VIN, Vo, R (Io), L, and C. A larger
load current Io (smaller load resistance R) has a significant impact on ƒRHP-zero, bringing it closer to ƒo,
which decreases stability margin.
4 Voltage Mode Boost Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274 – May 2007
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G dv (s) =
Dv O (s)
= c(sI - A ) -1
¶A
X(s) +
¶c
X(s) =
{
(R + rC )(sCrC + 1) - (sL + rL )(R + rC ) + D' 2 R 2 }
× RVi
DD ¶D ¶D P(s){D' R(D' R + rC ) + rL (R + rC )} (9)
Where,
2
NJ 2
Nj
P(s) + s 2LCǒR ) rcǓ ) s LǒR ) rcǓ ) r LCǒR ) r cǓ ) DȀRrcCǒR ) rcǓ ) rLǒR ) rcǓ ) DȀRǒDȀR ) rcǓ
(10)
L
r vo
L
VIN VO
r
C
d
- FB
+
Gerror( s )
GFB _ ffc( s )
Error Amp
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fBW £ 2 · f z
-4
0 dB
/d dec
GO ec dB/
Gain dec +20
dB/
+20
fz f fp
BW
Phase boost contribution by
compensation circuit
0°
- 90°
Phase
- 180°
- 270°
f f f
o RHP- zero
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Where,
P total_loss + Pout ǒ1h * 1Ǔ
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2.4 [STEP 4] Maximize Phase Boost Effect of Feed Forward Compensation Network
Figure 7 shows the feedback network and feed-forward compensation (ffc) network. The complete transfer
function, zero frequency and pole frequency equations are shown in Equation 20 through Equation 22,
respectively.
Compensation Network
Vo
1 ) sC i ǒR1 ) R iǓ
Ci = 10 pF G(s) +
Ri = 100 kW
R1
R2
ǒ
1 ) R1 ) sC i R1 ) R i )
R1Ri
R2
Ǔ (20)
FB 1
ƒz +
2pC i R1 ) R iǓ
ǒ
Internal ffc (21)
R2
ƒp + 1
R1R2)RiR2)R1Ri
2pC i
Figure 7. Feedback network and Feed Forward R1)R2 (22)
8 Voltage Mode Boost Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274 – May 2007
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15 45°
0 0°
Gain( AFB(w)fp ))) Phase( AFB(w)fp )))
15 45°
30 90°
3 4 5 6
100 1 .10 1 .10 1 .10 1 .10
fp - Hz
1 1
fz = fp =
2 × p × Ci × (R1 + R2) æ (R1× R2)+ (R i × R2)+ (R1× R i )ö
2 × p × Ci × ç ÷
è R1 + R2 ø
f z = 1.105 ´ 10 4 fp = 5.84 ´ 10 4
Figure 8. Example of Transfer Function of Feedback Network and Feed Forward Compensation Network
In order to simplify the calculation, assume the maximum frequency for phase boost from the feed-forward
network is 2 × ƒz.
fBW £ 2 × fZ (23)
Where
Go
fBW @ fo × 10 30 (24)
æ 5 × R2 ö æ 5 × R2 ö÷
Vo2
G o (dB) = 20 logç G do × ÷ = 20 ´ logçç ×
÷
è R1 + R2 ø è VIN R1 + R2 ø (25)
Noting that the double-pole has a –40-dB/dec theoretical roll-off, but –30 dB/dec was used to approximate
the damping effects of the output capacitor's ESR and the inductor's DCR.
Using Equation 5 and Equation 23 through Equation 25 we can get,
2
æ Go ö
1 ç 1 VIN 10 30 ÷
L ³ ×ç × × ÷
C ç 2p Vo 2 × fZ ÷
ç ÷
è ø (26)
As shown in Equation 5 ƒo, and therefore ƒBW, becomes the highest frequency when input voltage VIN is at
maximum. Therefore, Lmin is calculated when VIN is at maximum.
2
æ Go
ö
1 ç 1 VIN_ MAX 10 30 ÷
Lmin = ×ç × ×
C ç 2p Vo 2 × fz ÷÷
è ø (27)
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Spec;
VIN(min) - VIN(MAX)
Vo/Io
Vo_ripple
Transient
NO
Check L >2.2 mH
YES
[STEP 5] Evaluation;
(1) Bode- plot
(2)Load transient test
result
10 Voltage Mode Boost Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274 – May 2007
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Error Amp FB
-
+
R2
GND
G o(dB) + 20 log ǒ V 2o
Vi R1 ) R2
Ǔ
5 R2 + 9.5(dB)
(30)
2
æR VIN _ min ö 2
L MAX = C × ç min × ÷ = 200 mF ´ æç 1.8 ´ 3 ö÷ = 4.5 mH(MAX)
ç 10 Vo ÷ è 10 3.6 ø
è ø (31)
2 2
æ Go ö æ Go ö
1 ç 1 VIN _ MAX 10 30 ÷ 1 ç 1 3.3 10 30 ÷
L min = ×ç × × ÷ = ´ç ´ ´ ÷ = 1mH(min)
C ç 2p Vo 2 × fZ ÷ 200 mF ç 2p 3.6 2 ´ 11k ÷
ç ÷ ç ÷
è ø è ø (32)
PInductance_loss
r L_MAX + + 0.24W2 + 33 mW
I 2in_MAX 2.67 A
(33)
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40 120
20 60
40 120
60 3 4
180
5
100 1 .10 1 .10 1 .10
Calculation condition is ; fq
4
Vin = 3 Vo = 3.6 R = 1.8 C = 2 ´ 10- rl = 0.05 rc = 0.025
6 5 5 - 11
R1 = 1.24´ 10 R2 = 2 ´ 10 Ri = 1 ´ 10 Ci = 1 ´ 10
Figure 11. Mathcad Calculated Bode-Plot of Transfer Function for High Current With Tantalum Output
Capacitor
12 Voltage Mode Boost Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274 – May 2007
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f RHP -zero
=29kHz
Small ringing
Phase Vout=3.6V fo
Gain 28.5° =3.6kHz
28.5deg (50mV/div)
2A
L=6.8 mH
L=6.8uH M=8
L=6.8uH Iout (1A/div)
0A
0.5ms/div
f RHP -zero
No ringing =51kHz
Phase
fo
Gain 43.5°
43.5deg
=4.7kHz
L=3.9
L=3.9uH
mH
L=3.9uH M=11
(meet
M>10)
Figure 12. Measured Bode-Plot and Load Transient Waveform With Tantalum Capacitor
(VIN=3.0 V, Vo=3.6 V, Io=2 A, C=100 µF × 2 tantalum capacitor)
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Error Amp FB
-
+
R2
GND
The next example uses the same parameters as the previous example but with a ceramic output
capacitor.
VIN = 3.0 V–3.3 V
Vo = 3.6 V
Io = 2 A
With ceramic capacitors on the output, special attention is needed for stability due to the low ESR. The
target of the frequency separation is M>15 as shown by Equation 17.
Following the calculation process,
2
æR VIN _ min ö
L MAX _ ceramic = C × ç min × ÷ = 2 mH
ç 15 V ÷
è o ø (34)
2 2
æ Go ö æ ö Go
1 ç 1 VIN _ MAX 10 30 ÷ 1 ç 1 3.3 ÷ 10 30
L min_ ceramic = ×ç × × ÷ = ´ ç ´ ´ ÷ = 1 mH(min)
C ç 2p Vo 2 × fZ ÷ 200 mF ç 2p 3.6 2 ´ 11kW ÷
ç ÷ ç ÷
è ø è ø (35)
From the calculation results, the range of inductance is 1 µH to 2 µH. Choose 2.2 µH due to minimum
inductance requirement in the data sheet.
14 Voltage Mode Boost Converter Small Signal Control Loop Analysis Using the TPS61030 SLVA274 – May 2007
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40 120
20 60
40 120
60 3 4
180
5
100 1 .10 1 .10 1 .10
Calculation condition is ; fq
C = 2 ´ 10-
4 3
Vin = 3 Vo = 3. 6 R = 1.8 rl = 0.05 rc = 5 ´ 10-
6 5 5 11
R1 = 1.24 ´ 10 R2 = 2 ´ 10 Ri = 1 ´ 10 Ci = 1 ´ 10-
Figure 14. Mathcad Calculated Bode-Plot of Transfer Function for High Output Current and Ceramic
Output Capacitor
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f RHP -zero
Ringing =29 kHz
Phase
fo
Gain Vo=3.6V =3.6 kHz
15°
15deg
(50mV/div)
L=6.8
L=6.8uH
mH
L=6.8uH M =8
2A
Iout (1A/div) 0A
0.5ms/div
f RHP-zero
Little ringing =51 kHz
Phase
fo
Gain 25° =4.7 kHz
L=3.9
L=3.9uH
mH
L=3.9uH
M =11
f RHP-zero
No ringing =95 kHz
Phase
Gain 47°
47deg
fo
=6.4 kHz
L=2.2
L=2.2uH
mH
L=2.2uH M =15
(meet
M> =15)
Figure 15. Measured Bode-Plot and Load Transient Waveform With Ceramic Capacitor
(VIN=3.0 V, Vo=3.6 V, Io=2 A, C=100 µF × 2 Ceramic Capacitor)
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Error Amp FB
-
+
R2
GND
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40 120
20 60
((
Gain A w ( fq) , 6.8×10- ))
6 0 0 ((
Phase A w ( fq) , 6.8×10- ))
6
20 60
40 120
60 180
3 4 5
100 1 .10 1 .10 1 .10
fq
Calculation condition is ;
-5 -3
Vin = 3 Vo = 3.6 R = 9 C = 4.7´ 10 rl = 0.25 rc = 5 ´ 10
6 5 5 - 11
R1= 1.24´ 10 R2= 2 ´ 10 Ri= 1 ´ 10 Ci= 1 ´ 10
Figure 17. Mathcad Calculated Bode-Plot of Transfer Function for Low Output Current and Ceramic
Output Capacitor
Figure 18 shows the measured transient response. The inductor used is 6.8 µH, 0.81 A_sat, 212 mΩ,
Based on the transient waveform, the application is stable.
No ringing
Vo (50 mV/div)
0.4 A
Io (0.2A/div)
0A
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Conclusion
6 Conclusion
A transfer function for a voltage-mode boost converter in continuous-conduction mode was developed
using state space averaging model. From the transfer function, the challenges of stabilizing a
voltage-mode boost converter were explained, and a design procedure for achieving loop stability was
provided.
rC - iC rC vo
L iL iC
i iC R VIN R
VIN R
+ +
VC C VC C
- -
State 1 [SW: ON, RC: OFF] State 2 [SW: OFF, RC: ON]
di L
di Vin = L + rL i L + vO (A5)
Vin = L L + i L rL . (A1) dt
dt
dv C
dv iC = C . (A6)
iC = C C . (A2) dt
dt
vO
vC = -iC ( R + rC ) . (A3) i L = iC + . (A7)
R
vO = vC + rC iC . (A4)
vO = vC + rC iC . (A8)
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Reference
By State Space Averaging Method, the state averaging equations are described as follows.
dX
= AX + bV in
dt
é iL ù
vO = cX . where X = ê ú. (A9)
ëv C û
The state equation is derived as below.
é 1 D ' R × rC D' R ù
- (r + ) - é1ù
d é iL ù ê L L R + rC R + rC ú é iL ù ê ú
êv ú = ê D' R 1
ú ê ú + L Vin
dt ë C û ê - ú ëvC û ê 0 ú
êë ë û
C ( R + rC ) C ( R + rC ) úû
(A10)
é D' R × rC R ù é iL ù
vO = ê úê ú
ë R + rC R + rC û ëvC û
AC analysis (small signal transfer function)
Gdv transfer function from Duty to Output voltage is derived as follows.
G dv (s) =
Dv O (s)
= c(sI - A ) -1
¶A
X(s) +
¶c
X(s) =
{
(R + rC )(sCrC + 1) - (sL + rL )(R + rC ) + D' 2 R 2 }
× RVi
DD ¶D ¶D P(s){D' R(D' R + rC ) + rL (R + rC )}
Where
{ }
P( s) = s 2 LC(R + rC ) 2 + s L(R + rC ) + rL C(R + rC ) 2 + D' RrC C(R + rC ) + rL (R + rC ) + D' R(D' R + rC )
A.1 Reference
1. Understanding Boost Power Stages in Switchmode Power Supplies (SLVA061), Everett Rogers, Texas
Instruments, March 1999.
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