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Modeling of a Non-ideal Zeta Converter Operating in Continuous and

Discontinuous Conduction Modes

Preprint · August 2018

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Leandro B K Fisch Roberlânio Oliveira Melo

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 Modeling of a Non-ideal Zeta Converter
Operating in Continuous and Discontinuous
Conduction Modes
Anderson J. Balbino, Caio G. S. Moraes, Leandro B. K. Fisch, and Roberlânio O. Melo
Federal University of Santa Catarina, Department of Electrical and Electronic Engineering
Power Electronics Institute - INEP, P. O. Box 5119, Florianópolis, SC - 88040-970, Brazil
e-mails: andersonjbalbino@hotmail.com, caio.guimoraes@gmail.com, leandrofisch1@gmail.com, roberlaniomelo@gmail.com

Abstract—This paper presents the dynamic modeling of a circuit averaging approach is also employed for Discontinuous
non-ideal Zeta converter operating in both continuous and Conduction Mode (DCM) analysis.
discontinuous conduction modes. Initially, it is obtained the
large-signal average model for continuous conduction mode II. OVERVIEW OF SSA TECHNIQUE
employing the state-space averaging technique. Then, the
small-signal AC model is derived adding small AC variations in Considering a single-ended DC-DC converter operating
the dynamics quantities, which allows to obtain all the transfer in CCM, there are two operation subintervals within one
functions relevant to the converter. The same transfer functions switching period (Ts ). Let d be the duty cycle, then, the first
are obtained from the linearized average circuit for comparative subinterval is between (0, dTs ) and the second one is between
purposes. Furthermore, the circuit averaging approach is also (dTs , Ts ). The state-equations for these two subintervals are:
used to obtain the model for discontinuous conduction mode.
Finally, simulation results are presented in order to validate the 
ẋ = A1 x + B1 u
models. (1)
y = H1 x + E1 u
Keywords: non-ideal, zeta converter, dynamic modeling, 
ẋ = A2 x + B2 u
(2)
y = H2 x + E2 u
I. INTRODUCTION
In order to determine the averaged behavior of the converter
The Zeta converter presented in Figure 1a is a fourth order over one switching period, (1) and (2) are weighed average by
converter capable of producing a non-inverted DC output the duty cycle as:
voltage greater or lower in magnitude than DC input voltage. 
hẋi = Ahxi + Bhui
In relation to the input, this converter can be seen as a Buck- (3)
y = Hhxi + Ehui
Boost-Buck converter [1]. Otherwise, from the point of view
of the output, it can be seen as a Boost-Buck-Boost converter, where: A = A1 d + A2 (1 − d), B = B1 d + B2 (1 − d), H =
which is similar to the Sepic characteristic. For this reason, H1 d + H2 (1 − d) and E = E1 d + E2 (1 − d).
the Zeta converter is also known as Dual-Sepic [2]. It is Provided that the natural frequencies of the converter, as
important to highlight that the isolated Zeta converter can be well as the variation frequencies of the converter inputs, are
derived from Forward as well, changing the rectifier diode by much slower than the switching frequency, then the state-space
a decoupling capacitor [3]. averaged model that describes the converter in equilibrium is
All of these features make it possible to use Zeta con- given by (4), which results in (5) [10].
verter in a wide range of applications, such as multiple- 
0 = AX + BU
output switch-mode power supplies, power factor correctors, (4)
Y = HX + EU
and solar battery charge controllers [4]-[7]. Recently, due to
X = −A−1 BU

distributed systems advances, some inverter topologies for
(5)
grid-connection based on Zeta converter was proposed in the Y = (−HA−1 B + E)U
literature [8], [9].
In most cases, the converters have non-linear character-
In this context, it is noticed that Zeta converter has a signifi- istics. The system linearization can be done by perturbing
cant importance in power electronic applications. Nevertheless, the converter variables around this quiescent operating point,
only a few works about its dynamic modeling are found in the according to (6).
literature. Therefore, this paper presents a complete analysis of
this converter operating in both continuous and discontinuous hxi = X + x̂
conduction mode. For this, it is used state-space averaging hui = U + û
(SSA) and circuit averaging techniques in Continuous Conduc- (6)
hyi = Y + ŷ
tion Mode (CCM) for comparative purpose. Furthermore, the d = D + dˆ =⇒ d0 = D0 − dˆ
 Here, û and dˆ are small AC variations in the input vector
rs S1 rC1 C1 rL2 L2
and duty cycle. The vectors x̂ and ŷ are the resulting small AC
-
variations in the state and output vectors. Assuming that these rL1 vC1+ D1
iL2 io
AC variations are much smaller than the quiescent values, rC2

+
a linear model can be determined by replacing (6) into (3), vin iL1 L1 Vf R vo

+
-
which results in: rf C2 -vC2

x̂ = Ax̂ + B û + [(A1 − A2 )X + (B1 − B2 )U ] dˆ




 | {z } (a) Zeta converter structure

Bd
(7) rs rC1 C1 rL2 L2
 ŷ = H x̂ + E û + [(H1 − H2 )X + (E1 − E2 )U ] dˆ
- io

rL1 vC1+

iL2
 | {z }
Ed rC2

+
Once the system represented in (7) is linear, the small-signal vin iL1 L1 R vo

+
transfer functions relevant to the converter can be found by C2 vC2 -
-
applying the Laplace transform. Moreover, each disturbance
can be analyzed individually, where the output behavior related
to the duty cycle variations is obtained by considering the input (b) Equivalent circuit when switch is turned on
as constant (i.e. û = 0):
rC1 C1 rL2 L2
ŷ(s) -
ˆ
= H(sI − A)−1 Bd + Ed (8) rL1 vC1+ iL2 rC2
io
d(s)

+
Vf R vo
vin iL1 L1

+
On the other hand, considering the duty cycle as constant, it rf C2 vC2 -
is obtained the output behavior related to the input variations: -

ŷ(s)
= H(sI − A)−1 B + E (9) (c) Equivalent circuit when switch is turned off
û(s)
III. MODELING OF ZETA CONVERTER IN CCM BY Fig. 1: Operation of Zeta converter in CCM
SSA TECHNIQUE
In order to define the state equations in canonical form,
given by (3), it is necessary to determine the differential δ = 1, the converter circuit of Figure 1b is obtained and (13)
equations of the converter in terms of state variables and will represent the on-state equation. When the switch is open,
inputs. Since the Zeta converter has four energy storage δ = 0, the resulting equivalent circuit is shown in Figure 1c
elements, it is considered four state variables, given by the and (13) will represent the off-state equation.
vector x in (10).
 T diL1 rs δ + (rC1 + rf )(1 − δ) + rL1 δ
x = iL1 iL2 vC1 vC2 (10) =− iL1 − vC
dt L1 L1 1
The input voltage vin and the diode forward voltage drop rs δ + rf (1 − δ) δ (1 − δ)
Vf are independent sources, which should be placed in the − iL2 + vin − Vf
L1 L1 L1
input vector u, as follows:
  diL2 rs δ + rf (1 − δ) δ
vin =− iL1 + vC
u= (11) dt L2 L2 1
Vf
(R + rC2 ) [(rs + rf )(1 − δ) + rL2 ] + RrC2
Once the purpose of this work is to obtain the transfer − iL2
(R + rC2 )L2
functions that relate the currents iL1 and iL2 , as well as the R(1 − δ) δ (1 − δ)
output voltage vo to the duty cycle and input voltage, then, − vC2 + vin − Vf
(R + rC2 )L2 L2 L2
the output vector y is given by:
dvC1 (1 − δ) δ
  = iL1 − iL
iL1 C1 2
 
iL1 dt C1
y =  iL2  = 
 iL2 
 (12)
vo
RrC2 R
iL2 + R+r v dvC2 R 1
R+rC2 C
C2 = iL2 − vC
2
dt (R + rC2 )C2 (R + rC2 )C2 2
The next step is to write the state equations for each (13)
subinterval. To express the equations in a compact form, it From (5) and (7), the averaged matrices for the steady-state
was used the switching function δ. When the switch is closed, equations and the linear small-signal state-space equations are:
  −rs D−(rC
1
+rf )D 0 −rL1 −rs δ−rf D 0 Note that if all parasitic resistors and the diode volt-

L1 L1 age drop are assumed to be zero, (18) will be reduced to
 M = Vo /Vin = D/(1−D), as long as the same expression
 −rs D−rf D 0 −(R+rC2 )[(rs +rf )D 0 +rL2 ]−RrC2

 L2 (R+rC2 )L2
for the ideal Zeta converter [1].
A=

 D0 −D
B. Small-signal Transfer Functions
C1 C1


 The linear small-signal AC model is obtained according to
R (7). In this way, the following matrices must be defined:
0 (R+rC2 )C2
−D

L1 0 (A1 − A2 )X =


D −R   η[DV −D0 V ][D(r +r )−D0 (R+r )+r −r ] 
L2 L2 (R+rC2 )  in f L1 C1 C2 D s

...

 (14) L1 RD 02
 
0 0
  
  η[DVin −D0 V ][D0 (R+rC )−DrL −D0 rC )+rD −rs ] 
f
  2 1 1  (19)
  L2 RD 02 
0 −1 =
 
(R+rC2 )C2 
0
−η.[DVin −Vf D ]
 
 
D −D 0   RC1 D 02 
L1 L1  
0
 
−D 0 
 
D
 L2 L2  iT
B= (15)
h
 Vin +Vf Vin +Vf

0
 (B1 − B2 )U = L1 L2 0 0 (20)
 0 

 
0 0 Ed = [0] (21)

1 0 0 0
 Thus, replacing (14), (16), (19), (20) and (21) into (8), and
  solving the necessary mathematical calculations, one obtains
ˆ as
the transfer functions that relate v̂o , îL1 and îL2 to d,
0 1 0 0
 
H=  (16)



 expressed in (22)-(24), respectively.
RrC2 R
0 R+rC2 0 R+rC2
v̂o (s) avd s3 + avd 2 vd
2 s + a1 s + a0
vd
T GSSA
vd (s) = = 34 (22)
ˆ b4 s + b3 s3 + b2 s2 + b1 s + b0

E= 0 0 (17) d(s)
A. Steady-State Equations
îL1 (s) ai1 d s3 + ai21 d s2 + ai11 d s + ai01 d
Given the averaged matrices (14)-(17), the steady-state GSSA
i1 d (s) = = 3 4 (23)
ˆ
d(s) b4 s + b3 s3 + b2 s2 + b1 s + b0
solution of the converter can be obtained from (5):

D îL2 (s) ai2 d s3 + ai22 d s2 + ai12 d s + ai02 d

− R1 GSSA = 3 4
   
IL1 R(1−D) i2 d (s) = ˆ
(24)
  


 d(s) b4 s + b3 s3 + b2 s2 + b1 s + b0
   
1
− M1R
  
 IL2   V
in

   R 
The transfer functions that relate v̂o , îL1 and îL2 to v̂in are
  =M η 





 
VC1 

 rL2 rL1 M 1 rL2

rL1 

determined by replacing (14)-(17) into (9), as can be seen in
  1 +

 R − R −( M + MR − )
R 
 VD

(25)-(27), respectively. All the constants ai and bi are defined
   
VC2

1
 in Appendix B.
1 −M
v̂o (s) avv s3 + avv 2 vv
2 s + a1 s + a0
vv

Vf
 GSSA
vv (s) = = 34 3 2
(25)
Vo = M η Vin − v̂in (s) b4 s + b3 s + b2 s + b1 s + b0
M
(18)
îL1 (s) ai1 v s3 + ai21 v s2 + ai11 v s + ai01 v
GSSA
i1 v (s) = = 3 4 (26)
1 v̂in (s) b4 s + b3 s3 + b2 s2 + b1 s + b0
where: η = rL2 rC 1 rL1 rf rs
1+ R + R M+ R M2 + DR M + 1−D M
D îL2 (s) ai2 v s3 + ai22 v s2 + ai12 v s + ai02 v
and M = GSSA
i2 v (s) = = 3 4 (27)
1−D v̂in (s) b4 s + b3 s3 + b2 s2 + b1 s + b0
 rs S1 rC1 C1 iL2 rs ' is rC1' C1 iL2 is C1 iL2
a p a p a p
is -
rL1 vC1+ rL1 - +
vC1 + vC1
- + rtot
D1 -
vD +
iL1 L1 vD
iL1 L1 Vf iL1 L1 Vf
-
rf rf' Vf

c c c
(a) (b) (c)
Fig. 2: Averaged switching cell for CCM: (a) original switching cell with parasitics; (b) full-order averaged stage with modified
parasitics; and (c) final averaged stage

IV. MODELING OF ZETA CONVERTER IN CCM BY Assuming that natural time constants of the converter are
CIRCUIT AVERAGING TECHNIQUE much longer than the switching period, averaging (30) and
Circuit averaging is another well-known technique for (31) over the switching period yields:
converter modeling. Based on [10], the key step in circuit
averaging is to replace the converter switches as voltage and his i = (hiL1 i + hiL2 i)d (32)
current sources, to obtain a time-invariant circuit topology.
Once a time-invariant circuit is obtained, then the converter
hvD i = (hvin i + hvC1 i)d (33)
waveforms can be averaged over one switching period to
remove the switching harmonics. Finally, to get the equivalent average-value cell, the transis-
However, when the circuit includes parasitic resistances and tor and diode are replaced by dependent current and voltage
drop voltage sources, some considerations must be done. In sources, whose values are defined by (32) and (33).
[11], a simple and systematic method for including parasitic
components into static and dynamic models of PWM convert- B. Including Parasitics
ers operating in CCM was presented. This method relies on According to the energy conservation principle , the power
the principle of energy conservation and uses reflection rules loss in the resistance is characterized by the RMS value rather
to simplify the model. than the average-value of the current [11]. To accomplish this,
the discrepancy between the RMS and the average values of
A. Averaged Circuit Model respective currents should be considered. Assuming slowly-
From Figure 1a, the switching cell with the parasitics is varying inductor currents, the RMS value of the switch current
extracted, as shown in Figure 2a. The next step is to determine is determined from (30), as follows:
the average values of the switch and diode waveforms. √
Initially, it is considered the converter as ideal and the Isrms = (hiL1 i + hiL2 i) d (34)
capacitors relatively large to neglect voltage ripple. Then, in
steady-state conditions, the average inductors voltage is equal Thus, the power loss in the switch on-resistance (rs ) is
to zero and the average capacitors voltage is equal to the output found as:
voltage (Vo ). Hence, some relationships can be obtained [1]:
Prs = rs Is2rms = rs (hiL1 i + hiL2 i)2 d (35)
Vo D
Mv = = (28) To preserve Prs in the average-value model, the resistance
Vin 1−D
should be modified such that its power loss resembles the
Is IL1 D actual power, as can be seen in (36).
Mi = = = (29)
Io IL2 1−D
2
Prs = rs0 his i2 = rs0 [(hiL1 i + hiL2 i)d] (36)
For a single switching period, the current through the active
switch and the voltage across the diode are given by (30) and Hence, the modified resistance (rs0 ) can be easily derived
(31), respectively. from (35) and (36), resulting in (37).

i + iL2 0 < t ≤ dTs (hiL1 i + hiL2 i)2 d rs
is = L1 (30) rs0 =
0 dTs < t ≤ Ts 2 rs =
d
(37)
[(hiL1 i + hiL2 i)d]
Applying the same principle to the diode and capacitor

vin + vC1 0 < t ≤ dTs
vD = (31) resistances, it is determined (38) and (39), respectively.
0 dTs < t ≤ Ts
 rf rtot
rf0 = (38)
1−d io
VinD +

+
2 2
hiL1 i (1 − d) + hiL2 i d
0
rC 1
= 2 rC1 (39) Vin Iin (1-D) - R vo
[hiL1 i(1 − d) − hiL2 id] -
Vf
The inductor resistance is not modified, since its average
and RMS currents are the same by assuming slowly-varying
inductor current. (a)
Figure 2b shows the resultant averaged model of the
(îL1+îL2)D
switching cell including parasitics. This circuit can be further C1 rtot L2
simplified using the reflection rule. Here, the same energy
conservation principle is applied, wherein the parasitics can - + + îL2 îo
vC1 - vinD rC2
be moved from one branch to another by considering the (IL1+IL2)d

+
vin +
C2 vC2R -vo
difference of average-value currents in each branch. Therefore, L1 vC1D

+
the equivalent resistance rtot , including the resistance of the -
îL1 -
inductor L2 , is given by +
- (Vin+VC1)d

rs d rL1 d2 rC d rf (b)
rtot = 2
+ + 1 + + rL2 (40)
(1 − d) (1 − d)2 1−d 1−d
Fig. 4: Circuit models of Zeta converter. (a) Linear DC model
Finally, replacing the final averaged stage of the Figure 2c and (b) Linear small-signal model.
into the equivalent circuit of the Figure 1a, it is obtained
the averaged circuit model of the non-ideal Zeta converter,
as shown in Figure 3. Substituting (41)-(44) into (32), and neglecting second order
components, (50) is obtained.
is C1 rtot L2
- + Is + îs = (IL1 + IL2 )D + (IL1 + IL2 )dˆ+ (îL1 + îL2 )D (50)
vC1 iL2 io
rC2 Likewise, substitution of (41), (45), (47) and (48) into (33)
+

iL1 +
vin L1 -
vD R vo yields:
+

v C -
Vf C2 - 2
ˆ
VD +v̂D = (Vin +VC1 )D+(Vin +VC1 )d+(v̂ in +v̂C1 )D (51)

A bilinear circuit model of the Zeta converter may be

Fig. 3: Averaged circuit model of non-ideal Zeta converter.
analyzed from (50) and (51). Applying the principle of su-
perposition, it is possible to derive the linear circuit models
C. DC and Small-signal Circuit Linear Models for DC and small-signal operation as shown in Figure 4a and
To construct a small-signal model, it is considered that all 4b, respectively.
From Figure 4a the DC voltage gain of the non-ideal Zeta
circuit variables are composed of their DC value plus an AC
converter is expressed as:
component, resulting in the following expressions:
  
Vo D Vf R
d = D + dˆ (41) = − (52)
Vin 1 − D Vin R + rtot
his i = Is + îs (42) Thus, considering the relationships given by (28) and (29),
it is obtained (53)-(55), which describe the converter behavior
hiL1 i = IL1 + îL1 (43) in equilibrium.
hiL2 i = IL2 + îL2 (44)   
D R
hvC1 i = VC1 + v̂C1 (45) VC1 = VC2 = Vin − Vf (53)
1−D R + rtot
hvC2 i = VC2 + v̂C2 (46)   
Vo Vin D Vf R
hvD i = VD + v̂D (47) IL2 = = − (54)
R R 1−D R R + rtot
hvin i = Vin + v̂in (48)   
D Vin D Vf R
hvo i = Vo + v̂o (49) IL1 = − (55)
1−D R 1−D R R + rtot
 The state equations that describe the circuit of Figure 4b
are presented in (56). v̂o (s) avv s3 + avv 2 vv vv
6 s + a5 s + a4
GCAvg
vv (s) = = 74 (63)
v̂in (s) b9 s + b8 s3 + b7 s2 + b6 s + b5
dîL1
L1 = −(1 − D)v̂C1 + Dv̂in + (Vin + VC1 )dˆ
dt îL1 (s) ai1 v s3 + ai21 v s2 + ai11 v s + ai01 v
GCAvg
i1 v (s) = = 3 4 (64)
  v̂in (s) b9 s + b8 s3 + b7 s2 + b6 s + b5
dîL2 RrC2
L2 = − rtot + îL2 + Dv̂C1
dt R + rC2
R îL2 (s) ai2 v s3 + ai62 v s2 + ai52 v s + ai42 v
− v̂C + Dv̂in + (Vin + VC1 )dˆ GCAvg
i2 v (s) = = 7 4 (65)
R + rC2 2 (56) v̂in (s) b9 s + b8 s3 + b7 s2 + b6 s + b5
V. SIMULATION RESULTS IN CCM
dv̂C1
C1 = (1 − D)îL1 − DîL2 − (IL1 + IL2 )dˆ In order to validate the obtained models, a Zeta converter
dt operating in CCM was simulated with the parameters sum-
dv̂C2 R 1 marized in Table I. Figure 5 shows a comparison among the
C2 = îL2 − v̂C switched model, the state space model and the circuit averaged
dt R + rC2 R + rC2 2
model, under a perturbation of 2.5% in the duty cycle. Still,
Since the system is linear, it is possible to apply Laplace the Figure 6 shows the same comparison, however, considering
transform in (56) and obtain the following matrix representa- a perturbation of 10% in the input voltage.
tion: As can be seen in these figures, both dynamic models track
accurately the converter waveforms, validating the developed
 CAvg
GCAvg

Gi1 v (s) analysis.
i1 d (s)
 
îL1 (s)
   
   CAvg CAvg
  TABLE I: Zeta converter parameters for DCM operation
 îL (s)  
 2   Gi2 v (s)  v̂in (s)
Gi2 d (s)
 =


  (57) Parameter Symbol Value
  CAvg  ˆ Input voltage Vin 17.7 V
v̂C (s) 
 1   GCAvg
v1 v (s) Gv2 d (s) d(s) Duty cycle D 0.438
  


 Switching frequency fs 30 kHz
v̂C2 (s) CAvg Input inductor L1 655 µH
GCAvg
v2 v (s) Gv2 d (s) Input capacitor C1 215 µF
Output inductor L2 510 µH
Notice that (57) contains all small-signal transfer functions Output capacitor C2 15 µF
related to the input voltage, as well as the duty cycle. However, Load resistance R 1.37 Ω
the control-to-output and the line-to-output transfer functions Input inductor series resistance rL1 10 mΩ
Input capacitor series resistance rC1 10 mΩ
are determined as a linear combination of two others, as shown Output inductor series resistance rL2 10 mΩ
in (58) and (59) respectively, due to the presence of the output Output capacitor series resistance rC2 10 mΩ
capacitor resistance. Switch on resistance rs 10 mΩ
Diode forward resistance rf 10 mΩ
Diode forward voltage Vf 0.7 V
v̂o (s) RrC2 R
= GCAvg
i2 d (s) + GCAvg
v2 d (s) (58)
ˆ
d(s) R + rC2 R + rC2 VI. MODELING OF ZETA CONVERTER OPERATING
IN DISCONTINUOUS CONDUCTION MODE
v̂o (s) RrC2 R In this section, the static and dynamic models of Zeta
= GCAvg
i2 v (s) + GCAvg (s) (59)
v̂in (s) R + rC2 R + rC2 v2 v converter operating in discontinuous conduction mode (DCM)
According to the aforementioned, the transfer functions that are developed. The averaged switch modeling approach [10] is
relate v̂o , îL1 and îL2 to dˆ and v̂in are expressed in (60)-(65). applied in order to derive an equivalent circuit that represents
In addition, all the coefficients are arranged in Appendix C. the averaged terminal waveforms of the switch network.
A. Modeling the switch network
v̂o (s) avd s3 + avd 2 vd
6 s + a5 s + a4
vd
From Figure 1a it is possible to rearrange Zeta converter
GCAvg
vd (s) = = 74 (60)
ˆ
d(s) b9 s + b8 s3 + b7 s2 + b6 s + b5 electrical circuit, as can be seen in Figure 7, where rs , rf and
Vf are not considered on DCM modeling. Also, it is defined
îL1 (s) ai1 d s3 + ai21 d s2 + ai11 d s + ai01 d the instantaneous quantities of the switch network v1 (t), i1 (t),
GCAvg
i1 d (s) = = 3 4 (61) v2 (t) and i2 (t), as illustrated in Figure 7.
ˆ
d(s) b9 s + b8 s3 + b7 s2 + b6 s + b5
It is pointed out that Zeta converter operating in DCM
presents an additional stage in comparison with CCM, where
îL2 (s) ai2 d s3 + ai22 d s2 + ai12 d s + ai02 d both switch S1 and diode D1 are off. The duration of this
GCAvg
i2 d (s) = = 3 4 (62) stage is defined as (d1 (t) + d2 (t))Ts ≤ t < Ts .
ˆ
d(s) b9 s + b8 s3 + b7 s2 + b6 s + b5
 13.4 8.5 10

8
vo (V)

iL1 (A)

iL2 (A)
13 9.5

Det. Sim. 7.5 Det. Sim. Det. Sim.

SSAvg SSAvg SSA
12.6 CAvg CAvg 9 CAvg
7
0.05 0.054 0.058 0.062 0.05 0.054 0.058 0.062 0.050 0.054 0.058 0.062
Time (s) Time (s) Time (s)
(a) (b) (c)
Fig. 5: Comparison among switched model (Det. Sim.), state space model (SSAvg) and circuit averaged model (CAvg) in
CCM operation under a perturbation of 2.5% in the duty cycle.

14.5 8.5 10.5

10
vo (V)

8
iL1 (A)

iL2 (A)
13.5
Det. Sim. 9.5 Det. Sim.
7.5 Det. Sim.
SSA SSA
SSA
CAvg CAvg
CAvg 9
12.5 7
0.051 0.054 0.058 0.062 0.051 0.054 0.058 0.062 0.050 0.054 0.058 0.062
Time (s) Time (s) Time (s)
(a) (b) (c)
Fig. 6: Comparison among switched model (Det. Sim.), state space model (SSAvg) and circuit averaged model (CAvg) in
CCM operation under a perturbation of 10% in the input voltage.

i1 Switch i2 i1
network ipk
-
+

v1 S1 D1 v2
- i2 t
+

ipk
r C1 C1 r L2 L2
vin - io
rL1 vC1+ i L2
rC2 v1 t
+

i L1 L1 R vo vin+vO
+

-
C2 -vC2 vin

v2 t
Fig. 7: Switch network of Zeta converter. vin+vO
vO

During stage 1, while S1 conducts, the inductors L1 and d1TS d2TS d3TS t
L2 currents increase with a slope of vin /L1 and vin /L2 ,
respectively. At the end of this topological state, the input TS
port current i1 (t) attains its peak value given by (66):
Fig. 8: Switch network voltage and current waveforms.
vin
ipk = d1 (t)Ts (66)
Leq
2
d1 2 (t)Ts hv1 (t)i ∆
where Leq = (L1 L2 )/(L1 + L2 ) is the equivalent inductance. hi2 (t)i = = f2 (d1 , v1 , v2 ) (68)
2Leq hv2 (t)i
The DCM averaged switch model can be derived based on
waveforms of Figure 8. Furthermore, the average current of
both input and output ports in a whole switching period Ts Notice that (67) states that the average input current hi1 (t)i
can be expressed as (67) and 68), respectively. is proportional to the applied input voltage hv1 (t)i. In other
words, the low-frequency components of the switch network
d1 2 (t)Ts ∆ input port obey Ohm’s law, where the effective resistance
hi1 (t)i = hv1 (t)i = f1 (d1 , v1 , v2 ) (67) Re (d1 ) is determined in (69).
2Leq
 i1 i2
R
PR = PRe (73)
- R + rL2

+
v1 Re(d1) p v2 As stated in (71), the switch network consumes no net
-

+
io power, i.e., its average input and output powers are equal.
r C1 C1 r L2 L2 Then, from (72) and (73), and replacing d1 (t) by its quiescent
vin - + value D1 , the Zeta converter static gain can be determined as
rL1 vC1 iL 2 rC2 (74):

+
iL1 L1 R vo

+
- s
C2 vc 2 Vo R Re (D1 ) ∆
- = = MDCM (74)
Vin rL1 + Re (D1 ) rL2 + R
(a) C. Small-Signal AC Model
^ ^
i1 i2 In the large-signal circuit of Figure 9a, the averaged switch
- network is nonlinear. Thus, the small-signal AC model can be
+

v^1 r1 d^1j1 ^
v^1g2 d^1j2 r2 v2 obtained by perturbation and linearization of (70) and (71).
- Hence, the small-signal switch network input port equation
+

^
r C1 C1 r L2 L2 io can be written as:
v^in - +
^
rL1 v^C1 iL2 iˆ1 (t) = dˆ1 (t)j1 +
vˆ1 (t)
+ vˆ2 (t)g1 (75)
rC2
+

^ v^o
r1
iL1 L1 R
+

v^C2
- where:
C2
- 
1 ∆ ∂f1 (D1 , hv1 i , V2 )  1
= = (76)
(b) r1 ∂ hv1 (t)i 
hv1 i=V1 R e (D1)

Fig. 9: DCM Zeta converter: a) large-signal non-linear model


∆ ∂f1 (D1 , V1 , hv2 i) 
and (b) small-signal AC linear model. g1 = =0 (77)
∂ hv2 (t)i 
hv2 i=V2

∆ ∂f1 (hd1 i , V1 , V2 )  2V1
j1 = = (78)
2Leq ∂ hd1 (t)i 
hd1 i=D1 D1 Re (D1 )
Re (d1 ) = 2 (69)
d1 (t)Ts With the DC term expressed in (79):
As a result, (67) and (68) can be rewritten in function of
Re (d1 ): V1
I1 = (79)
Re (D1 )
hv1 (t)i
hi1 (t)i = (70) On the other hand, the small-signal switch network output
Re (d1 )
port equation is:
2
hv1 (t)i ∆
hi2 (t)i hv2 (t)i = = hp(t)i (71) vˆ2 (t)
Re (d1 ) iˆ2 (t) = dˆ1 (t)j2 + vˆ1 (t)g2 − (80)
r2
The average power hp(t)i expressed in (71) is independent
of load characteristics, and can be defined in terms of the ef- where:
fective resistance and switch network input voltage. Therefore,
Figure 7 can be replaced by its averaged large-signal model

1 ∆ ∂f2 (D1 , V1 , hv2 i)  1
(called loss-free resistor model) described in (70) and (71), as = = (81)
r2 ∂ hv2 (t)i 
hv2 i=V2 Re (D1 )MDCM 2
shown in Figure 9a.

∆ ∂f2 (D1 , hv1 i , V2 )  2
B. Static Gain g2 = = (82)
∂ hv1 (t)i 
hv1 i=V1 R e (D1 )M DCM
Letting inductors and capacitors become a short-circuit and
open-circuit in Figure 9a, respectively, it is possible to obtain 
∆ ∂f2 (hd1 i , V1 , V2 )  2V1
the DCM static model of Zeta converter. Moreover, the power j2 = = (83)
∂ hd1 (t)i 
hd1 i=D1 D1 Re (D1 )MDCM
flowing into the effective resistance and the load are given by
(72) and (73): With the DC term expressed in (84):
2
V12

vin 1
PRe = Re (d1 ) (72) I2 = (84)
rL1 + Re (d1 ) Re (D1 ) V2
 In addition, the loss-free resistor model of Figure 9a can By the end, solving (89), it is possible to determine the
be redrawn as in Figure 9b, considering its linear small-signal transfer functions that relates îL1 (s), îL2 (s) and v̂o (s) to
AC model described in (75) and (80). ˆ
v̂in (s) and d(s), as expressed in (90)-(95). The constants xi
The state equations that describe the equivalent circuit of and zi are arranged in Appendix D.
Figure 9b are those presented in (85)-(88), where the constants
ki are defined in Appendix D. x3 s3 + x2 s2 + x1 s1 + x0 s0
GDCM
vo d (s) = (90)
z4 s4 + z3 s3 + z2 s2 + z1 s1 + z0 s0
dîL1 x7 s3 + x6 s2 + x5 s1 + x4 s0
L1 = îL1 k1 + v̂in k2 − îL2 r2 + dˆ1 k3 − v̂C1 (85) GDCM
iL1 d (s) = (91)
dt z4 s4 + z3 s3 + z2 s2 + z1 s1 + z0 s0
dîL1 x11 s3 + x10 s2 + x9 s1 + x8 s0
L2 = −îL2 k4 + v̂in k5 − îL1 r2 + dˆ1 k6 − v̂C2 k7 (86) GDCM
iL2 d (s) = (92)
dt z4 s4 + z3 s3 + z2 s2 + z1 s1 + z0 s0
dv̂C1 x15 s3 + x14 s2 + x13 s1 + x12 s0
C1 = îL1 − v̂in k8 − dˆ1 j1 (87) GDCM
vo vin (s) = (93)
dt z9 s4 + z8 s3 + z7 s2 + z6 s1 + z5 s0
dv̂C2 x19 s3 + x18 s2 + x17 s1 + x16 s0
C2 = îL2 k9 − v̂C2 k10 (88) GDCM
iL1 vin (s) = (94)
dt z9 s4 + z8 s3 + z7 s2 + z6 s1 + z5 s0
Once the system is linear, Zeta converter transfer functions x23 s3 + x22 s2 + x21 s1 + x20 s0
GDCM
iL2 vin (s) = (95)
can be found by applying Laplace Transform in Equations z9 s4 + z8 s3 + z7 s2 + z6 s1 + z5 s0
(85)-(88), which can be written in the matrix form as (89): D. Simulation Results
In order to validate the transfer functions defined in (90)-
(95), a Zeta converter operating in DCM was simulated with
  
îL1 (s) sL1 − k1 r2 1
 îL2 (s)   r2 sL 2 + k 4 0 the parameters illustrated in Table II. Figure 10 depicts the
 v̂C1 (s)  =  −1 ...
  
0 sC1 perturbation in the output voltage, as well as in the inductor
v̂C2 (s) 0 −k9 0 currents, under a step of 2.5% in the duty cycle. Besides,
−1      Figure 11 exhibits the same comparison considering a step of
0 
 k2 k3 
 5% in the input voltage.
k7 k k
 
5  6  As can be observed in Figures 10 and 11, the dynamic mod-
   
...  ·  −1 · v in +  · d
 −j1   (89)
0  

 r1 
 els tracks the simulated Zeta converter waveforms, validating
sC2 + k10 0 0
 
the developed models.

340 0.18 0.25

0.14
0.15
iL1 (A)

iL2 (A)

335
vo (V)

0.1
330 Det. Sim. Det. Sim. 0.05 Det. Sim.
Avg. Value 0.06 Avg. Value Avg. Value
DCM model DCM model DCM model
325 0.02 -0.05
0.045 0.047 0.049 0.051 0.053 0.055 0.045 0.047 0.049 0.051 0.053 0.055 0.045 0.047 0.049 0.051 0.053 0.055
Time (s) Time (s) Time (s)

(a) (b) (c)

Fig. 10: Comparison among switched model (Det. Sim.) and switch modeling approach (DCM model) in DCM operation under
a perturbation of 2.5% in the duty cycle.

0.18 0.25
345
0.14
0.15
iL1 (A)

iL2 (A)
vo (V)

335 0.1
Det. Sim. Det. Sim. 0.05 Det. Sim.
Avg. Value 0.06 Avg. Value Avg. Value
DCM model DCM model DCM model
325 0.02 -0.05
0.045 0.047 0.049 0.051 0.053 0.055 0.045 0.047 0.049 0.051 0.053 0.055 0.045 0.047 0.049 0.051 0.053 0.055
Time (s) Time (s) Time (s)

Fig. 11: Comparison among switched model (Det. Sim.) and switch modeling approach (DCM model) in DCM operation under
a perturbation of 5% in the input voltage.
 TABLE II: Zeta converter parameters for DCM operation transfer the input power to the output. According to Figure 12,
Parameter Symbol Value the line-to-output transfer function is:
Input voltage Vin 311 V
Duty cycle D1 0, 4 Gvd (s)
Switching frequency fs 100 kHz Gvin d (s) = = M (D)He (s) (96)
Input inductor L1 10 mH Gvv (s)
Input capacitor C1 543 nF
Output inductor L2 5 mH
The ideal Zeta converter static gain M (D) is:
Output capacitor C2 92 nF
Load resistance R 5 kΩ D
M (D) = (97)
Input inductor series resistance rL1 10 mΩ 1−D
Input capacitor series resistance rC1 10 mΩ
Output inductor series resistance rL2 10 mΩ Moreover, the equivalent low-pass filter transfer function
Output capacitor series resistance rC2 10 mΩ He (s) can be written as:

Gvin d (s) sL1 L2

VII. C ONCLUSION He (s) = → 2 (98)
M (D) s L1 L2 (C1 + C2 ) + L1 + L2
This work has presented a methodology to develop the static
Coefficients e(s) and j(s) of voltage and current sources
and dynamic models of a non-ideal Zeta converter operating
depicted in Figure12 can be obtained through [12]:
in both CCM and DCM. It was obtained the CCM models
employing the SSA and circuit averaging techniques, as well Gvd (s)
as the averaged switch modeling approach for DCM model. e(s) = (99)
He (s)M (D)
It is noticed that both techniques applied in CCM result in
an accurately response when compared with switched model j(s) = Gi1 d (s) + Gi2 d (s) − e(s) (Gi1 v (s) + Gi2 v (s)) (100)
behavior. However, the circuit averaging technique involves A PPENDIX B
manipulation of circuits rather than equations, and hence this C ONSTANTS FOR THE CCM O PERATION - SSA T ECHNIQUE
technique gives a more physical interpretation of the model.
On the other hand, in cases with higher order converters In the following are presented the numerator constants of
SSA technique is easier to apply, due to the benefit that state the transfer functions (22)-(24).
equations of the original converter can be written.
avd
0 = −R(IL2 rC1 − Vf d − Vin − VC1 + IL1 rs + IL2 rs +
Finally, for Zeta converter operating with the specifications
DVC1 + DVf d + DVin − DIL2 rC1 + DIL1 rL1 + DIL2 rL1 )
shown in Table II, there is no motivation to include the non-
idealities into the DCM model due to their negligible impact avd
1 = −R(DIL1 L1 + DIL2 L1 − C1 VC1 rC1 − C2 VC1 rC2 −
on the dynamics. C1 VC1 rL1 − C1 V f drC1 − C2 V f drC2 − C1 V f drL1 −
2 2
C1 Vin rC1 −C2 Vin rC2 −C1 Vin rL1 +C1 IL2 rC 1
−C1 DIL2 rC 1
+
A PPENDIX A C1 DVC1 rC1 + C2 DVC1 rC2 + C1 DV f drC1 + C2 DV f drC2 +
C ANONICAL E QUIVALENT M ODEL C1 DVin rC1 + C2 DVin rC2 + C2 IL2 rC1 rC2 + C1 IL2 rC1 rL1 −
The equivalent small signal AC circuit of CCM Zeta con- C1 IL1 rD rL1 − C1 IL2 rD rL1 + C1 IL1 rC1 rs + C1 IL2 rC1 rs +
verter in the canonical form is shown in Figure 12 [10], C2 IL1 rC2 rs + C2 IL2 rC2 rs + C1 IL1 rL1 rs + C1 IL2 rL1 rs −
where M (D) represents the ideal static gain. It is important C2 DIL2 rC1 rC2 + C2 DIL1 rC2 rL1 + C2 DIL2 rC2 rL1 )
to highlight that Buck, Boost and Buck-Boost converters have avd
2 = R(C1 L1 VC1 + C1 L1 Vf d + C1 L1 Vin −
a second order output low-pass filter, while in Cuk, Sepic and C1 IL2 L1 RC1 + C1 IL1 L1 RD + C1 IL2 L1 RD − C1 IL1 L1 Rs −
Zeta converters this filter is a fourth-order one [12]. C1 IL2 L1 Rs + C1 C2 VC1 rC1 rC2 + C1 C2 VC1 rC2 rL1 +
C1 C2 V f drC1 rC2 + C1 C2 V f drC2 rL1 + C1 C2 Vin rC1 rC2 +
2
He(s) C1 C2 Vin rC2 rL1 − C1 C2 IL2 rC r
1 C2
− C2 DIL1 L1 RC2 −
C2 DIL2 L1 RC2 − C1 C2 DVC1 rC1 rC2 − C1 C2 DV f drC1 rC2 −
1:M(D) C1 C2 DVin rC1 rC2 − C1 C2 IL2 rC1 rC2 rL1 +
^ C1 C2 IL1 rC2 rD rL1 + C1 C2 IL2 rC2 rD rL1 −
e(s)d(s) Effective C1 C2 IL1 rC1 rC2 rs −C1 C2 IL2 rC1 rC2 rs −C1 C2 IL1 rC2 rL1 rs −
^
v ^ low-pass Ro ^
vo C1 C2 IL2 rC2 rL1 rs + C1 C2 DIL2 rC2 1 rC2 )
in j(s)d(s)
filter
avd
3 = C1 C2 L1 RrC2 (VC1 + Vf d + Vin − IL2 rC1 + IL1 rD +
IL2 rD − IL1 rs − IL2 rs )

Fig. 12: General dynamical equivalent circuit model in the
canonical form.
Firstly, it is well-known that the converter’s low-pass filter
is responsible to eliminate the switching harmonics, as well as
ai01 d = IL1 rD + IL2 rD + IL1 rL2 + IL2 rL2 + DVC1 + DVf d +
DVin + IL1 R + IL2 R − DIL1 R − DIL2 R + DIL1 rC1 −
DIL1 rL2 − DIL2 rL2
ai11 d = IL1 L2 + IL2 L2 − DIL1 L2 − DIL2 L2 + C1 RVC1 +
C1 RVf d + C1 RVin + C1 VC1 rL2 + C1 V f drL2 + C1 Vin rL2 +
 2
C1 DIL1 rC 1
+ C2 DRVC1 + C2 DRVf d + C2 DRVin +
C1 DVC1 rC1 + C2 DVC1 rC2 + C1 DV f drC1 + C2 DV f drC2 +
C1 DVin rC1 + C2 DVin rC2 + C1 IL1 RrC1 + C2 IL1 RrC2 +
C2 IL2 RrC2 + C1 IL1 RrD + C1 IL2 RrD + C2 IL1 RrD +
C2 IL2 RrD + C2 IL1 RrL2 + C2 IL2 RrL2 − C1 IL1 Rrs −
C1 IL2 Rrs + C1 IL1 rC1 rD + C1 IL2 rC1 rD + C2 IL1 rC2 rD +
C2 IL2 rC2 rD +C1 IL1 rC1 rL2 +C2 IL1 rC2 rL2 +C2 IL2 rC2 rL2 +
C1 IL1 rD rL2 + C1 IL2 rD rL2 − C1 IL1 rL2 rs − C1 IL2 rL2 rs +
C2 DIL1 rC1 rC2 − C2 DIL1 rC2 rL2 − C2 DIL2 rC2 rL2 +
C2 DIL1 RrC1 − C2 DIL1 RrC2 − C2 DIL2 RrC2 −
C2 DIL1 RrL2 − C2 DIL2 RrL2
ai21 d = C1 L2 VC1 + C1 L2 Vf d + C1 L2 Vin + C2 IL1 L2 R +
C2 IL2 L2 R + C1 IL1 L2 rC1 + C2 IL1 L2 rC2 + C2 IL2 L2 rC2 +
C1 IL1 L2 rD + C1 IL2 L2 rD − C1 IL1 L2 rs − C1 IL2 L2 rs +
C1 C2 RVC1 rC2 + C1 C2 RVC1 rL2 + C1 C2 RV f drC2 +
C1 C2 RV f drL2 + C1 C2 RVin rC2 + C1 C2 RVin rL2 +
C1 C2 VC1 rC2 rL2 + C1 C2 V f drC2 rL2 + C1 C2 Vin rC2 rL2 −
C2 DIL1 L2 R − C2 DIL2 L2 R − C2 DIL1 L2 rC2 −
C2 DIL2 L2 rC2 + C1 C2 DRVC1 rC1 + C1 C2 DRV f drC1 +
C1 C2 DRVin rC1 +C1 C2 DVC1 rC1 rC2 +C1 C2 DV f drC1 rC2 +
C1 C2 DVin rC1 rC2 + C1 C2 IL1 RrC1 rC2 + C1 C2 IL1 RrC1 rD +
C1 C2 IL1 RrC2 rD + C1 C2 IL2 RrC1 rD + C1 C2 IL2 RrC2 rD +
C1 C2 IL1 RrC1 rL2 + C1 C2 IL1 RrD rL2 + C1 C2 IL2 RrD rL2 −
C1 C2 IL1 RrC2 rs − C1 C2 IL2 RrC2 rs − C1 C2 IL1 RrL2 rs −
C1 C2 IL2 RrL2 rs +C1 C2 IL1 rC1 rC2 rD +C1 C2 IL2 rC1 rC2 rD +
C1 C2 IL1 rC1 rC2 rL2 + C1 C2 IL1 rC2 rD rL2 + ai02 v = −D(D − 1)
C1 C2 IL2 rC2 rD rL2 − C1 C2 IL1 rC2 rL2 rs − ai12 v = (C1 D − C1 D2 )rC1 + C2 DR + C2 DrC2 + C1 DrL1 −
2 2
C1 C2 IL2 rC2 rL2 rs + C1 C2 DIL1 RrC 1
+ C C
1 2 DI r r
L1 C1 C2
ai31 d = C1 C2 L2 (R+rC2 )(VC1 +Vf d +Vin +IL1 rC1 +IL1 rD +
IL2 rD − IL1 rs − IL2 rs )
ai02 d = (DIL2 − IL2 )rC1 + VC1 + Vf d + Vin − IL1 rs − IL2 rs −
DVC1 − DVf d − DVin − DIL1 rL1 − DIL2 rL1
ai12 d = C2 RVC1 − DIL2 L1 − DIL1 L1 + C2 RVf d + C2 RVin +
C1 VC1 rC1 + C2 VC1 rC2 + C1 VC1 rL1 + C1 V f drC1 +
C2 V f drC2 +C1 V f drL1 +C1 Vin rC1 +C2 Vin rC2 +C1 Vin rL1 −
2 2
C1 IL2 rC + C1 DIL2 rC − C2 DRVC1 − C2 DRVf d −
1 1
C2 DRVin − C1 DVC1 rC1 − C2 DVC1 rC2 − C1 DV f drC1 −
C2 DV f drC2 − C1 DVin rC1 − C2 DVin rC2 − C2 IL2 RrC1 −
C2 IL1 Rrs − C2 IL2 Rrs − C2 IL2 rC1 rC2 − C1 IL2 rC1 rL1 +
C1 IL1 rD rL1 + C1 IL2 rD rL1 − C1 IL1 rC1 rs − C1 IL2 rC1 rs −
C2 IL1 rC2 rs − C2 IL2 rC2 rs − C1 IL1 rL1 rs − C1 IL2 rL1 rs +
C2 DIL2 rC1 rC2 − C2 DIL1 rC2 rL1 − C2 DIL2 rC2 rL1 +
C2 DIL2 RrC1 − C2 DIL1 RrL1 − C2 DIL2 RrL1
ai22 d = C1 L1 VC1 + C1 L1 Vf d + C1 L1 Vin −
C1 IL2 L1 RC1 + C1 IL1 L1 RD + C1 IL2 L1 RD − C1 IL1 L1 Rs −
C1 IL2 L1 Rs + C1 C2 RVC1 rC1 + C1 C2 RVC1 rL1 +
C1 C2 RV f drC1 + C1 C2 RV f drL1 + C1 C2 RVin rC1 +
C1 C2 RVin rL1 + C1 C2 VC1 rC1 rC2 + C1 C2 VC1 rC2 rL1 +
C1 C2 V f drC1 rC2 + C1 C2 V f drC2 rL1 + C1 C2 Vin rC1 rC2 +
2 2
C1 C2 Vin rC2 rL1 − C1 C2 IL2 RrC 1
− C1 C2 IL2 rC r
1 C2
− C2 D2 L2 rC2 − 2C2 DL2 R + C1 DL1 RC1 − C1 DL2 rC1 −
C2 DIL1 L1 R − C2 DIL2 L1 R − C2 DIL1 L1 RC2 −
C2 DIL2 L1 RC2 − C1 C2 DRVC1 rC1 − C1 C2 DRV f drC1 −
C1 C2 DRVin rC1 −C1 C2 DVC1 rC1 rC2 −C1 C2 DV f drC1 rC2 −
C1 C2 DVin rC1 rC2 − C1 C2 IL2 RrC1 rL1 + C1 C2 IL1 RrD rL1 +
C1 C2 IL2 RrD rL1 − C1 C2 IL1 RrC1 rs − C1 C2 IL2 RrC1 rs −
C1 C2 IL1 RrL1 rs − C1 C2 IL2 RrL1 rs − C1 C2 IL2 rC1 rC2 rL1 +
C1 C2 IL1 rC2 rD rL1 + C1 C2 IL2 rC2 rD rL1 −
C1 C2 IL1 rC1 rC2 rs −C1 C2 IL2 rC1 rC2 rs −C1 C2 IL1 rC2 rL1 rs −
2 2
C1 C2 IL2 rC2 rL1 rs + C1 C2 DIL2 RrC 1
+ C1 C2 DIL2 rC r
1 C2
ai32 d = C1 C2 L1 (R+rC2 )(VC1 +Vf d +Vin −IL2 rC1 +IL1 rD +
IL2 rD − IL1 rs − IL2 rs )
The numerator constants of the transfer functions (25)-(27)
are given below:
avv
0 = −DR(D − 1)
avv
1 = DR(C1 rC1 + C2 rC2 + C1 rL1 − C1 DrC1 − C2 DrC2 )
avv
2 = C1 DR(L1 + C2 rC1 rC2 + C2 rC2 rL1 − C2 DrC1 rC2 )
avv
3 = C1 C2 DL1 RrC2
ai01 v = D2
ai11 v = (C1 D2 )rC1 + C1 DR + C1 DrL2 + C2 D2 R + C2 D2 rC2
ai21 v = C1 D(L2 + C2 RrC2 + C2 RrL2 + C2 rC2 rL2 +
C2 DRrC1 + C2 DrC1 rC2 )
ai31 v = C1 C2 DL2 (R + rC2 )
C2 D2 R − C2 D2 rC2
ai22 v = C1 D(L1 + C2 RrC1 + C2 RrL1 + C2 rC1 rC2 +
C2 rC2 rL1 − C2 DRrC1 − C2 DrC1 rC2 )
ai32 v = C1 C2 DL1 (R + rC2 )
The denominator constants of the transfer functions (22)-
(27) are determined as follows:
b0 = (−D2 + D)rC1 + R + rD + rL2 − DrD − 2DrL2 + Drs +
D2 R + D2 rL1 + D2 rL2 − 2DR
b1 = L2 + D2 L1 + D2 L2 − 2DL2 − C1 D2 rC 2
1
+ C1 RrC1 +
C2 RrC2 + C1 RrD + C2 RrD + C1 RrL1 + C2 RrL2 +
C1 rC1 rD + C2 rC2 rD + C1 rC1 rL2 + C2 rC2 rL2 + C1 rD rL1 +
2
C1 rD rL2 +C1 rL1 rL2 +C1 DrC 1
−C2 D2 RrC1 +C2 D2 RrC2 +
C2 D2 RrL1 + C2 D2 RrL2 − C2 D2 rC1 rC2 + C2 D2 rC2 rL1 +
C2 D2 rC2 rL2 − C1 DRrC1 + C2 DRrC1 − 2C2 DRrC2 −
C1 DRrD − C2 DRrD − 2C2 DRrL2 + C1 DRrs + C2 DRrs +
C2 DrC1 rC2 − C1 DrC1 rD − C2 DrC2 rD + C1 DrC1 rL1 −
C1 DrC1 rL2 − 2C2 DrC2 rL2 − C1 DrD rL1 − C1 DrD rL2 +
C1 DrC1 rs + C2 DrC2 rs + C1 DrL1 rs + C1 DrL2 rs
b2 = C1 L1 R + C2 L2 R + C1 L2 rC1 + C2 L2 rC2 +
C1 L1 rD + C1 L2 rD + C1 L1 rL2 + C1 L2 rL1 + C2 D2 L1 RC2 +
2C2 DL2 rC2 − C1 DL1 RD − C1 DL2 rD + C1 DL1 Rs +
C1 DL2 rs + C2 D2 L1 R + C2 D2 L2 R + C1 C2 RrC1 rC2 +
C1 C2 RrC1 rD + C1 C2 RrC2 rD + C1 C2 RrC1 rL2 +
C1 C2 RrC2 rL1 + C1 C2 RrD rL1 + C1 C2 RrD rL2 +
C1 C2 RrL1 rL2 + C1 C2 rC1 rC2 rD + C1 C2 rC1 rC2 rL2 + ai42 d = (VC1 + Vin )(1 − D)
C1 C2 rC2 rD rL1 + C1 C2 rC2 rD rL2 + C1 C2 rC2 rL1 rL2 +
C1 C2 DRrC 2
+ C1 C2 DrC 2
r − C1 C2 D2 RrC2
− The numerator constants of the transfer functions (63)-(65)
1 1 C2 1
2 2
C1 C2 D rC1 rC2 − C1 C2 DRrC1 rC2 − C1 C2 DRrC1 rD − are given below:
C1 C2 DRrC2 rD + C1 C2 DRrC1 rL1 − C1 C2 DRrC1 rL2 −
C1 C2 DRrD rL1 − C1 C2 DRrD rL2 + C1 C2 DRrC1 rs + avv
7 = C1 C2 DL1 RrC2
C1 C2 DRrC2 rs + C1 C2 DRrL1 rs + C1 C2 DRrL2 rs − avv
6 = C1 L1 DR
C1 C2 DrC1 rC2 rD +C1 C2 DrC1 rC2 rL1 −C1 C2 DrC1 rC2 rL2 −
avv
5 = C2 DRrC2 (1 − D)
C1 C2 DrC2 rD rL1 − C1 C2 DrC2 rD rL2 + C1 C2 DrC1 rC2 rs +
C1 C2 DrC2 rL1 rs + C1 C2 DrC2 rL2 rs avv
4 = DR(1 − D)

b3 = C1 (L1 L2 + C2 L1 RrC2 + C2 L2 RrC1 + C2 L1 RrD + a7i1 v = C1 C2 DL2 (R + rC2 )

C2 L2 RrD + C2 L1 RrL2 + C2 L2 RrL1 + C2 L2 rC1 rC2 +
C2 L1 RC2 rD + C2 L2 rC2 rD + C2 L1 RC2 rL2 + C2 L2 rC2 rL1 +
C2 DL1 RC1 rC2 − C2 DL2 rC1 rC2 − C2 DL1 RC2 rD −
C2 DL2 rC2 rD + C2 DL1 RC2 rs + C2 DL2 rC2 rs +
C2 DL1 RrC1 − C2 DL2 RrC1 − C2 DL1 RrD − C2 DL2 RrD +
C2 DL1 Rrs + C2 DL2 Rrs )
ai61 v = C1 D(L2 + C2 RrC2 + C2 Rrtot + C2 rC2 rtot )
ai51 v = (C2 D2 )rC2 + C1 DR + C1 Drtot + C2 D2 R
ai41 v = D2
ai72 v = C1 C2 DL1 (R + rC2 )

b4 = C1 C2 L1 L2 (R + rC2 ) ai62 v = C1 L1 D
ai52 v = C2 D(R + rC2 )(1 − D)
A PPENDIX C ai42 v = D(1 − D)
C ONSTANTS FOR THE CCM O PERATION - C IRCUIT
AVERAGING T ECHNIQUE The denominator constants of the transfer functions (60)-
(65) are determined as follows:
In the following are presented the numerator constants of
the transfer functions (60)-(62). b9 = C1 C2 L1 L2 (R + rC2 )

avd b8 = C1 L1 (L2 + C2 RrC2 + C2 Rrtot + C2 rC2 rtot )

7 = C1 C2 L1 RrC2 (VC1 + Vin )

avd b7 = (C2 L2 −2C2 DL2 +C2 D2 L1 +C2 D2 L2 )rC2 +C1 L1 R+

6 = L1 R(C1 VC1 + C1 Vin − C2 DIL1 rC2 − C2 DIL2 rC2 )
C2 L2 R + C1 L1 rtot − 2C2 DL2 R + C2 D2 L1 R + C2 D2 L2 R
avd
5 = (C2 RVC1 + C2 RVin − C2 DRVC1 − C2 DRVin )rC2 −
DIL1 L1 R − DIL2 L1 R b6 = L2 + D2 L1 + D2 L2 − 2DL2 + C2 Rrtot + C2 D2 Rrtot +
C2 rC2 (R + rtot )(D − 1)2 − 2C2 DRrtot
avd
4 = R(VC1 + Vin )(1 − D)
b5 = (R + rtot )(D − 1)2
ai71 d = C1 C2 L2 (VC1 + Vin )(R + rC2 )
A PPENDIX D
ai61 d = (C2 IL1 L2 + C2IL2 L2 − C2 DIL1 L2 − C2 DIL2 L2 + C ONSTANTS FOR THE DCM O PERATION
C1 C2 RVC1 +C1 C2 RVin +C1 C2 VC1 rtot +C1 C2 Vin rtot )rC2 +
The constants applied in state Equations (85)-(88) are
C1 L2 VC1 + C1 L2 Vin + C2 IL1 L2 R + C2 IL2 L2 R +
defined as follows:
C1 C2 RVC1 rtot + C1 C2 RVin rtot − C2 DIL1 L2 R −
k1 = −rL1 + rC1 − r2
C2 DIL2 L2 R
−rC1 r2
k2 = + + r2 g2
ai51 d = (C2 DVC1 + C2 DVin + C2IL1 R + C2 IL2 R + r1 +rL1 r1 +rL1

C2 IL1 rtot + C2 IL2 rtot − C2 DIL1 R − C2 DIL2 R − k3 = −j1 rC1 + r2 (j1 + j2 )

C2 DIL1 rtot − C2 DIL2 rtot )rC2 + IL1 L2 + IL2 L2 − k4 = r2 + rL2 + rC2 R
R+rC2
DIL1 L2 − DIL2 L2 + C1 RVC1 + C1 RVin + C1 VC1 rtot + r2
C1 Vin rtot + C2 DRVC1 + C2 DRVin + C2 IL1 Rrtot + k5 = r1 +rL1 + r2 g2
C2 IL2 Rrtot − C2 DIL1 Rrtot − C2 DIL2 Rrtot k6 = r2 (j1 + j2 )
ai41 d
= (IL1 + IL2 − DIL1 − DIL2 )rtot + DVC1 + DVin + k7 = 1 − rC2
R+rC2
IL1 R + IL2 R − DIL1 R − DIL2 R 1
k8 = r1 +rL1
ai72 d = C1 C2 L1 (VC1 + Vin )(R + rC2 ) k9 = R
R+rC2
ai62 d = (−C2 DIL1 L1 − C2 DIL2 L1 )rC2 + C1 L1 VC1 + 1
k10 = R+rC2
C1 L1 Vin − C2 DIL1 L1 R − C2 DIL2 L1 R
ai52 d = C2 RVC1 −DIL2 L1 −DIL1 L1 +C2 RVin −C2 DRVC1 − In the following are presented the constants of the transfer
C2 DRVin + C2 rC2 (VC1 + Vin )(1 − D) functions:
x0 = −Rj2 r2
x1 = −Rr2 (C2 j2 rC2 − C1 j2 rC1 + C1 j1 rL1 + C1 j2 rL1 )
x2 = −C1 Rr2 (L1 j1 + L1 j2 − C2 j2 rC1 rC2 + C2 j1 rC2 rL1 +
C2 j2 rC2 rL1 )
x3 = −C1 C2 L1 Rr2 rC2 (j1 + j2 )
x4 = −j1 (R + r2 + rL2 )
x5 = −r2 (C1 Rj1 + C1 Rj2 + C2 Rj1 − C1 j1 rC1 + C2 j1 rC2 +
C1 j1 rL2 +C1 j2 rL2 )−j1 (L2 −C1 RrC1 +C2 RrC2 +C2 RrL2 −
C1 rC1 rL2 + C2 rC2 rL2 )
x6 = j1 (C1 L2 rC1 − C2 L2 R − C2 L2 rC2 + C1 C2 RrC1 rC2 +
C1 C2 RrC1 rL2 + C1 C2 rC1 rC2 rL2 ) − C1 r2 (L2 j1 + L2 j2 −
C2 Rj1 rC1 +C2 Rj1 rC2 +C2 Rj2 rC2 +C2 Rj1 rL2 +C2 Rj2 rL2 −
C2 j1 rC1 rC2 + C2 j1 rC2 rL2 + C2 j2 rC2 rL2 )
x7 = −C1 C2 L2 (R + rC2 )(j1 r2 + j2 r2 − j1 rC1 )
x8 = −j2 r2
x9 = (C1 j2 rC1 − C2 Rj2 − C2 j2 rC2 − C1 j1 rL1 − C1 j2 rL1 )r2
x10 = −C1 r2 (L1 j1 + L1 j2 − C2 Rj2 rC1 + C2 Rj1 rL1 +
C2 Rj2 rL1 − C2 j2 rC1 rC2 + C2 j1 rC2 rL1 + C2 j2 rC2 rL1 )
x11 = −C1 C2 L1 r2 (R + rC2 )(j1 + j2 )
x12 = −Rg2 r2 (r1 + rL1 )
2
x13 = −Rr2 (C1 rL1 + C1 g2 rL 1
− C1 g2 r1 rC1 + C2 g2 r1 rC2 +
C1 g2 r1 rL1 − C1 g2 rC1 rL1 + C2 g2 rC2 rL1 )
x14 = −C1 Rr2 (L1 + L1 g2 r1 + L1 g2 rL1 + C2 rC2 rL1 +
2
C2 g2 rC2 rL 1
− C2 g2 r1 rC1 rC2 + C2 g2 r1 rC2 rL1 −
C2 g2 rC1 rC2 rL1 )
x15 = −C1 C2 L1 Rr2 rC2 (g2 r1 + g2 rL1 + 1)
x16 = −R − r2 − rL2
x17 = (−C1 Rg2 r2 − C1 g2 r2 rL2 )r1 + C1 RrC1 − C1 Rr2 −
C2 Rr2 − L2 − C2 RrC2 − C2 RrL2 + C1 r2 rC1 − C2 r2 rC2 −
C1 r2 rL2 + C1 rC1 rL2 − C2 rC2 rL2 − C1 Rg2 r2 rL1 −
C1 g2 r2 rL1 rL2
x18 = (−C1 L2 g2 r2 − C1 C2 Rg2 r2 rC2 − C1 C2 Rg2 r2 rL2
C1 C2 g2 r2 rC2 rL2 )r1 + C1 L2 rC1 − C1 L2 r2 − C2 L2 R
C2 L2 rC2 + C1 C2 Rr2 rC1 − C1 C2 Rr2 rC2 − C1 C2 Rr2 rL2
C1 C2 RrC1 rC2 + C1 C2 RrC1 rL2 − C1 L2 g2 r2 rL1
C1 C2 r2 rC1 rC2 − C1 C2 r2 rC2 rL2 + C1 C2 rC1 rC2 rL2
C1 C2 g2 r2 rC2 rL1 rL2 − C1 C2 Rg2 r2 rC2 rL1
C1 C2 Rg2 r2 rL1 rL2
x19 = −C1 C2 L2 (R + rC2 )(r2 − rC1 + g2 r1 r2 + g2 r2 rL1 )
x20 = −g2 r2 (r1 + rL1 )
x21 = (C1 g2 r2 rC1 −C2 Rg2 r2 −C2 g2 r2 rC2 −C1 g2 r2 rL1 )r1 +
2
C1 g2 r2 rC1 rL1 − C1 g2 r2 rL 1
− C2 Rg2 r2 rL1 − C1 r2 rL1 −
C2 g2 r2 rC2 rL1
x22 = −C1 r2 (L1 +C2 RrL1 +L1 g2 r1 +L1 g2 rL1 +C2 rC2 rL1 +
2 2
C2 Rg2 rL 1
+ C2 g2 rC2 rL 1
− C2 Rg2 r1 rC1 + C2 Rg2 r1 rL1 −
C2 Rg2 rC1 rL1 − C2 g2 r1 rC1 rC2 + C2 g2 r1 rC2 rL1 −
C2 g2 rC1 rC2 rL1 )
x23 = −C1 C2 L1 r2 (R + rC2 )(g2 r1 + g2 rL1 + 1)
z0 = −R − r2 − rL2
z1 = (C1 rC1 − C2 rC2 − C1 rL1 − C1 rL2 − C1 R − C2 R)r2 +
C1 RrC1 − L2 − C2 RrC2 − C1 RrL1 − C2 RrL2 + C1 rC1 rL2 −
C2 rC2 rL2 − C1 rL1 rL2
z2 = (C1 C2 RrC1 −C1 L2 −C1 L1 −C1 C2 RrC2 −C1 C2 RrL1 −
C1 C2 RrL2 +C1 C2 rC1 rC2 −C1 C2 rC2 rL1 −C1 C2 rC2 rL2 )r2 +
C1 L2 rC1 − C2 L2 R − C1 L1 R − C2 L2 rC2 − C1 L1 rL2 −
C1 L2 rL1 +C1 C2 RrC1 rC2 +C1 C2 RrC1 rL2 −C1 C2 RrC2 rL1 −
C1 C2 RrL1 rL2 + C1 C2 rC1 rC2 rL2 − C1 C2 rC2 rL1 rL2
z3 = (−C1 C2 L1 R − C1 C2 L2 R − C1 C2 L1 rC2 −
C1 C2 L2 rC2 )r2 + C1 C2 L2 rC1 rC2 − C1 L1 L2 −
C1 C2 L1 rC2 rL2 − C1 C2 L2 rC2 rL1 − C1 C2 L1 RrC2 +
C1 C2 L2 RrC1 − C1 C2 L1 RrL2 − C1 C2 L2 RrL1
z4 = −C1 C2 L1 L2 (R + rC2 )
z5 = −(r1 + rL1 )(R + r2 + rL2 )
z6 = −(r1 +rL1 )(L2 +C1 Rr2 +C2 Rr2 −C1 RrC1 +C2 RrC2 +
C1 RrL1 + C2 RrL2 − C1 r2 rC1 + C2 r2 rC2 + C1 r2 rL1 +
C1 r2 rL2 − C1 rC1 rL2 + C2 rC2 rL2 + C1 rL1 rL2 )
z7 = −(r1 + rL1 )(C1 L1 R + C2 L2 R + C1 L1 r2 +
C1 L2 r2 − C1 L2 rC1 + C2 L2 rC2 + C1 L1 rL2 + C1 L2 rL1 −
C1 C2 Rr2 rC1 +C1 C2 Rr2 rC2 +C1 C2 Rr2 rL1 +C1 C2 Rr2 rL2 −
C1 C2 RrC1 rC2 − C1 C2 RrC1 rL2 + C1 C2 RrC2 rL1 +
C1 C2 RrL1 rL2 − C1 C2 r2 rC1 rC2 + C1 C2 r2 rC2 rL1 +
C1 C2 r2 rC2 rL2 − C1 C2 rC1 rC2 rL2 + C1 C2 rC2 rL1 rL2 )
z8 = −C1 (r1 + rL1 )(L1 L2 + C2 L1 Rr2 + C2 L2 Rr2 +
C2 L1 RrC2 − C2 L2 RrC1 + C2 L1 RrL2 + C2 L2 RrL1 +
C2 L1 r2 rC2 + C2 L2 r2 rC2 − C2 L2 rC1 rC2 + C2 L1 rC2 rL2 +
C2 L2 rC2 rL1 )
z9 = −C1 C2 L1 L2 (R + rC2 )(r1 + rL1 )
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