2020 2nd International Conference on Power, Energy, Control and Transmission Systems
Analysis and Design of Lead-Lag Controller
and Fuzzy Logic Controller for Boost Converter
applicable to RES
Lakshmanan S A and Venkateshkumar M
Electrical and Electronics Engineering
Amrita School of Engineering, Chennai
2020 International Conference on Power, Energy, Control and Transmission Systems (ICPECTS) | 978-1-7281-1084-4/20/$31.00 ©2020 IEEE | DOI: 10.1109/ICPECTS49113.2020.9337004
Amrita Vishwa Vidyapeetham, India
Sa_lakshman@ch.amrita.edu
Abstract—With the increased penetration of renewable energy
sources (RES), it is expected that these alternative energy
resources will reveal improved dynamic performance when
connected with grid/load. Power electronic converters (PEC) act
as an interfacing devices between RES and grid/load. Among
many PEC, DC-DC boost converter is used to step-up the DC
power level based on the load requirement. In boost converter,
maintain a stability is one of the major concern when the system is
under transient condition. In this paper, frequency response based
lag, lead and lead-lag controllers are proposed in order to
maintain the system stability with required phase margin (PM),
cross-over frequency and bandwidth. A fuzzy based non-linear
controller is also proposed and the obtained results are compared
with lag, lead and lead-lag controllers. It shows that, fuzzy logic
controller exposed good performance with respect to settling time,
rise time and peak overshoot than linear controllers.
Index Terms: Boost converter, Lead-Lag Controller,
Frequency response analysis.
I. INTRODUCTION
DC-DC converter is one of the important converter in the
switched mode power supply (SMPS) family. Applications
which use boost converter are very wide such as solar
photovoltaic (PV) system, electric vehicles (EV) etc.. Input to
the boost converter is unregulated voltage and well regulated
output voltage is obtained during the switching operation of the
converter. Converter efficiency and output voltage regulation
are few important steady-state requirements and these can be
met by proper design of filter elements and converter topology.
Acceptable overshoot and settling time in the output voltage
and inductor current are few of the transient state requirements
and these objectives are met by designing a appropriate
controller in the feedback [1-2].
Moreover, boost converter exhibits a zero in the right half
plane (RHP) and hence it is called as non-minimal phase
system. Therefore, controller design with sufficient phase
margin (PM) and bandwidth is a great challenge. Many research
works are published to give the solutions for above mentioned
problems. Linear control methods such as voltage-mode and
current-mode control techniques are widely used in boost
converter applications [3]. Current mode control (CMC)
technique is discussed in [4], in which two closed loops are
used. However, design of two feedback loops increases the
complexity in the system. In [5], voltage mode control (VMC)
is analyzed and VMC converter is undesirable for applications
which requires constant output voltage under varying load
conditions. Reference [6] explains the operation of boost
converter with right half plane (RHP) zero placed at high
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frequency range. However, this approach affects the dynamics
of the system. Therefore, in linear controllers, the optimal
dynamic performance is often scarified to achieve the stability
of the system and also it is difficult to design a practical
compensator with sufficient PM and bandwidth [6].
Non-linear controllers replaces the linear controller due to its
improved response under transient conditions. In this research
work, lag, lead and lead-lag controllers are proposed based on
frequency response analysis to achieve good PM, bandwidth
and cross-over frequency. Bode plots are used to show the
response of the proposed controllers. A non-linear controller
such as fuzzy logic controller is also proposed and the results
are compared with linear controllers with respect to settling
time, peak overshoot and rise time [7].
This paper is organized as follows: Mathematical model of
the boost converter using state-space average technique is
discussed in section II. In section III, converter operation modes
are explained. Lag, lead and lead-lag controllers are analyzed
in section IV using frequency response plots. Fuzzy logic
controller is discussed in section V and results comparison of
proposed controllers are expressed in section VI and section VII
ends with conclusion.
II. MATHEMATICAL-MODEL OF BOOST CONVERTER
The basic circuit diagram of the boost converter is shown in
Fig.1. Boost converter is a step up converter and output of the
converter is regulated according to the duty cycle. When the
duty cycle varies from 0 to 1, the output voltage of the converter
is changes consequently. In Fig.1, Vin is input voltage source,
SWITCH is switching component, D is diode, C is capacitance,
L is inductance and R is load resistance [8].
rL
L D
Vin rc
SWITCH
R
C
Fig. 1 Boost converter
Boost converter is operated in continuous conduction
(CCM) mode with two modes of operation. In mode-1 the
switching component is ON and respective circuit diagram is
shown in Fig. 2.
rL
L
Vin rc
R
C
Fig. 2 Boost converter when the switch is ON
 During mode-1 when the switch is ON, differential equations
describe the converter behavior are given as,
−𝑟𝐿
0 1
𝑥̇1 𝐿 𝑥1
[ ]=[ −1 ] [𝑥2 ] + [ 𝐿] 𝑉𝑖𝑛 (1)
𝑥̇ 2
0 0
𝐶(𝑅 + 𝑟𝐶 )
𝑅 𝑥1
𝑣0 = [0 (𝑅+𝑟 )] [𝑥 ] (2)
𝐶 2

The circuit diagram for mode-2 operation is shown in Fig. 3.

During mode-2, the switch is in OFF position. The differential
equations describe the behavior of the converter in mode-2 are
given as,
rL Fig. 4.Frequency response of uncompensated
L
boost converter

Vin rc III. OPERATING MODES OF BOOST CONVERTER

R As per the energy balance concept, output voltage of the
C boost converter is enhanced by properly controlling the energy
absorbed from the input as well as energy injected to the load.
Fig. 3 Boost converter when switch is OFF In the converts, if the energy storage capacity of the converter
−(𝑟𝐿 + 𝑅||𝑟𝐶 ) −𝑅 is too small or the switching period is too long, then converter
1 will transfer all the stored energy to the load before next
𝑥̇ 𝐿 𝐿(𝑅 + 𝑟𝐶 ) 𝑥1
[ 1] = [𝑥 ] + [𝐿 ] 𝑉 (3) switching cycle starts. Hence, a switching cycle is constituted
𝑥̇ 2 𝑅 −1 2
0 by energy absorption and energy injection. Based on energy
[ (𝑅 + 𝑟𝐶 )𝐶 𝐶(𝑅 + 𝑟𝐶 )] storage capacity and switching interval period, converter can
𝑅 𝑥1
𝑣0 = [𝑟𝐶 ||𝑅 ] [𝑥 ] (4) function in two different operating modes known as continuous
(𝑅 + 𝑟𝐶 ) 2 conduction mode (CCM) and discontinues conduction mode (
Based on the state-space equations given in Eqn. (1-2) and DCM) [9].
Eqn. (3-4), control to output small signal transfer function is Continuous Conduction Mode: (CCM)
expressed as
𝑠 𝑠 The boost converter is working in CCM mode and inductor
𝑣0 (𝑠) (1 − )(1 + ) current is shown in Fig.5.
𝑤𝑧1 𝑤𝑧2
= 𝐺𝑑0 (5) iL
𝑑(𝑠) 𝑠2 𝑠 vL
+ + 1
𝑤02 𝑄𝑤0
𝑉0 𝑅(1−𝐷)2 1−𝐷 vL iL
Where, 𝐺𝑑𝑜 = 𝑤𝑧1 = 𝑤𝑧2 = ∞ 𝑤0 =
1−𝐷 𝐿 √𝐿𝐶

𝐶 (Vin)
IL
𝑄 = 𝑅(1 − 𝐷)√
𝐿
(Vin-Vo)
It may be understood from Eqn. (5), in the complex s-plane, Ts
presence of RHP zero changes with respect to changes in the
tON tOFF
operating point of the boost converter. Thus, it increases the
Fig. 5 CCM mode operation
difficulty in the design procedure of the controller. In closed
During tON interval the switch is ON and in this condition, the
loop voltage control system, the filter element will change as
inductor current ramp up linearly and the current is greater than
the duty cycle changes, which mean the model will change
zero. Input voltage is equal to the inductor voltage. During tOFF
accordingly. This makes transfer function is non-linear function
interval, the switch is come to OFF at t=on and terminates at
of duty cycle and also control design for the boost converter is
t=Ts. The inductor current decreases up to next switching cycle
more challenging in terms of stability and bandwidth.
starts. As per the Voltage second balance, in steady state, the
Frequency response of the boost converter with respect to
inductor voltage over one period should be zero.
control to output transfer function is shown in Fig. 4. Phase plot
𝑉𝑖𝑛 𝑡𝑜𝑛 + (𝑉𝑖𝑛 − 𝑉𝑂 )𝑡𝑜𝑓𝑓 = 0 (6)
is progressing down and slop of the gain response changing
from 0dB/decade to -40dB/decade. The RHP zero presents at Where,
1591Hz and phase plot progressing down further. Meanwhile, ton= Switch ON interval;
slope of the gain plot changes from -40dB/decade to - toff= Switch OFF interval
20dB/decade. The RHP zero is caused by switching action, and Vin=Input Voltage
it introduces a 90 degree phase delay in the plant. The RHP zero Voff=Output Voltage
extremely complicates the problem of stabilizing the control So, dividing by both sides by Ts ;
𝑉𝑜 𝑇 1
loop. Therefore, it is difficult to design a controller that can = 𝑠 = (7)
𝑉𝑖𝑛 𝑡𝑜𝑓𝑓 (1−𝐷)
guarantee a good PM [8].

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Discontinuous Conduction Mode (DCM) 1. Find the gain Klag such that the PM requirement is satisfied,
Inductor current of the boost converter when it is working without being concerned with the low frequency gain.
in DCM is shown in Fig. 6. Having done this, designate the gain cross over frequency
iL as c and denote the low frequency gain attained with this
vL
controller as A. To be on the safe side, we may adjust the
vL iL
value of Klag to obtain a bit more than the necessary PM say
(5 or 10).
2. Calculate the value of lag as the ratio of the preferred low
frequency gain to A, then gain attained with the
Ts
proportional only controller in the previous step.
3. Select the corner frequency of the lag to be between one
DTs D1 Ts decade and one octave below c, the magnitude of cross
over frequency is found in step-1. Hence, it is required to
Fig. 6 DCM mode operation 𝜔 𝜔
set 𝑐 ≤ −𝑧𝑙𝑎𝑔 ≤ 𝑐
In this mode, inductor current falls to zero for some period 10 2
𝑧𝑙𝑎𝑔
before the next switching cycle starts. As per the voltage second The compensator pole will be 𝑠 =
𝛼𝑙𝑎𝑔
balance principle, This procedure will repeat for different values of zlag until
𝑉𝑖 𝐷𝑇𝑠 + (𝑉𝑖 − 𝑉𝑜 )𝐷1 𝑇𝑠 = 0 (8) to meet the PM specification. Fig. 7 shows frequency response
of lag compensated boost converter and PM is achieved as
𝑉𝑂 𝐷1 +𝐷
𝑉𝐼
=
𝐷1
(9) 58.9.
The advantages of DCM are, it is giving fast response and
converter starts each cycle with zero stored inductor energy. It
also utilizes its full current transition immediately and less
inductance is required. The disadvantages are load regulation
problem and high current variation in the inductor will increase
the loss in its magnetic parts this lead to magnetic saturation
problems.

IV. CONTROLLER DESIGN

Linear controllers for boost converter are designed by using
classical frequency response methods applied to the small-
Fig. 7 Frequency response of lag compensated boost converter
signal transfer function of the converter. In this research work,
Bode plot is used to obtain the required loop-gain, cross-over B. Lead-Controller design
frequency and PM. Root-locus plot is also used to analyze the A lead controller is generally used for reducing the rise time
stability of the converter and it is assured by an acceptable PM or equivalently increasing the band width of the closed loop
of the system. The following sub-sections discuss about design frequency response for the feedback system. As explained in
of lag, lead and lead-lag controllers. the lag compensator, it is assumed that specification are to be
A. Lag Controller met for steady state error, which will create the minimum low
frequency gain and for PM, which should ensure satisfactory
When designing a lag compensator for feedback systems, the
damping.
aim is to attain stated PM and low frequency gain. The specified
The important point in the lead controller design is although
PM is used to improve the dynamic performance and low
to satisfy the specification on the steady state error due to a
frequency gain is used for steady state error improvement.
reference-step input, only the gain of the lead is being used to
Hence, when using frequency response methods, there are two
meet that requirement. The dynamic aspects of the lead, as
ways in which the design has been approached. One method is
established by its zero and pole (or zero and alpha) are being
to achieve a satisfactory PM and lag is used to increase the low
used to provide the required phase margin, subject to the
frequency gain. The other approach is to start with gain set at a
constraint that the lead gain has been established based on
value that will meet the steady state error measurement and then
steady state error considerations. The transfer function of lead
to use the lag to decrease the mid and high frequency magnitude
compensator is [10]
and hence PM constraint can achieved [10].
(𝑠 − 𝑧𝑙𝑒𝑎𝑑 )
The lag controller transfer function is given by 𝐺𝐶 (𝑆) = 𝐾𝑙𝑒𝑎𝑑 𝛼𝑙𝑒𝑎𝑑 ( ) (11)
(𝑠 − 𝛼𝑙𝑒𝑎𝑑 𝑧𝑙𝑒𝑎𝑑
(𝑠 − 𝑧𝑙𝑎𝑔 ) The steps are followed to design the controller
𝐺𝑐 (𝑠) = 𝐾𝑙𝑎𝑔 ( 𝑧 ) (10)
(𝑠 − 𝑙𝑎𝑔⁄𝛼𝑙𝑎𝑔 ) 1. Find the value of Klead by considering the plant low
frequency gain and type number of the plant
Given desired values for the PM and for the low-frequency
2. After the gain Klead has been added, find the PM with
gain of the open loop system, determine values for the gain Klag,
proportional only controller 𝐺𝑐 (𝑆) = 𝐾𝑙𝑒𝑎𝑑 which is well
for the zero pole ratio lag and for the controller zero of zlag is below the required PM.
also known as the corner frequency of the zero. The steps that
will take to accomplish this are

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3. To compensate for the decreasing magnitude and phase of
the plant in the gain crossover region, it has been assigned
some user specified target value, which means an increase
of ∆∅𝑚 is difference between the user specified target
value and the actual phase margin with just Klead included.
It is related to the lead’s pole-zero ratio according to
(1 + 𝑠𝑖𝑛∆∅𝑚 )
𝛼𝑙𝑒𝑎𝑑 = (12)
(1 − 𝑠𝑖𝑛∆∅𝑚 )
4. The maximum phase lead will occur at the lead’s center
frequency
𝜔𝑐𝑡𝑟 = 𝑧𝑙𝑒𝑎𝑑 √𝛼𝑙𝑒𝑎𝑑 (13)
And at this frequency the magnatitude of the lead’s
frequency is √𝛼𝑙𝑒𝑎𝑑 and also solve for the corner
frequency of the lead 𝜔𝑐𝑡𝑟 to satisfy the relationship
|𝐾𝑙𝑒𝑎𝑑 𝐺𝑝 𝐻(𝑗𝜔𝑡𝑐𝑟 )| = 1⁄
√𝛼𝑙𝑒𝑎𝑑
Here,𝜔𝑐𝑡𝑟 will become the gain crossover frequency when the
lead is installed, because the magnitude of the series
combination of the lead and the plant will be unity (or 0 dB) at
this frequency. Fig. 8 shows frequency response of lead
compensated boost converter and PM is achieved as 54º .
variations. Secondly, the crossover frequency is as high as
possible but about an order of magnitude below the switching
frequency to allow the boost converter to respond quickly to the
transients. Thirdly, the phase margin is sufficient to ensure the
system’s stability.
V. FUZZY LOGIC CONTROLLER
Linear controllers for DC-DC converters are usually
designed based on mathematical model and to meet certain
performance objectives, precise model is essential. In the
previous section, lag, lead and lead-lag controllers are designed
using small-signal transfer function of the converter. Small-
signal model changes with respect to changes held in the
operating point of the converter. While for the boost converter’s
small signal model, the poles and a RHP zero as well as the
magnitude of the frequency response, are all dependent on the
duty cycle D. The RHP zero and the nonlinear nature of the
boost converter’s small signal model makes the control design
for this converter more challenging from the point of view of
stability and bandwidth .
Fuzzy Controller

Reference
Input Interface Input Output
Mechnasim Plant
Fuzzification
Defuzzification

Rule Base

Fig. 9 Fuzzy logic controller

Fuzzy controller is one of the non-linear controller that is
widely used in many applications. It provides a convenient
Fig. 8 Frequency response of lead compensated boost converter method for constructing nonlinear controllers from heuristic
information. Different from conventional control, fuzzy control
C. Lead-Lag Controller is based on the expert knowledge of the system. Fuzzy control
Typically, lead-lag design is required to get small steady provides a formal methodology to represent and implement a
state error, a short time, and a small overshoot. Generally, is human’s heuristic knowledge about how to control the system.
difficult to be possible to meet such specifications with either a A block diagram of a fuzzy control system is shown in Figure.
lead or lag alone, but we can offer achieve success if both 4.1. A fuzzy controller contains four main components: (1) the
features are included in the controller. fuzzification interface that converts its inputs into information
The transfer function of lead-lag controller is given as that the inference mechanism can use to activate and apply
(𝑠−𝑧𝑙𝑎𝑔 ) (𝑠−𝑧𝑙𝑒𝑎𝑑 ) rules, (2) the rule base which contains the expert’s linguistic
𝐺𝑐 (𝑠) = 𝐾𝑙𝑑𝑙𝑔 ( 𝑧𝑙𝑎𝑔 )( ) (14) description of how to achieve good control, (3) the inference
(𝑧− ⁄𝛼𝑙𝑎𝑔 (𝑠−𝛼𝑙𝑒𝑎𝑑 𝑧𝑙𝑒𝑎𝑑
mechanism that evaluates which control rules are relevant in the
To avoid dealing with too many unknown parameters at a
current situation, and (4) the defuzzification interface which
time, first lead has been designed and lag controller designed.
converts the conclusion from the inference mechanism into the
Lag with unity low frequency gain is used to attenuate the
control input to the plant. Table I shows rule table for fuzzy
magnitude values in the mid and high frequency range. As
logic controller.
before, to meet specifications on the low frequency gain KP if
the plant is type-0, to satisfy a requirement on the steady state
error to a step input. For a type-1 plant, the corresponding Table. II Rules for Fuzzy logic controller
specification will be on the velocity constant Kv which governs e NB NS Z PS PB
the steady state error to a ramp input. Minimum value of PM is de
attained to ensure a satisfactory overshoot for the reference step NB NB NB NB NS Z
response [10]. NS NB NB NS Z PS
The compensated system is having the following
Z NB NS Z PS PB
characteristics. Firstly, the loop gain is high at lower
PS NS Z PS PB PB
frequencies to minimize steady-state error and increase
PB Z PS PB PB PB
rejection to disturbances of input voltage and load current

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 25
Output voltage and inductor current are considered as the
variables and fuzzy rules are written based on the heuristic 20

knowledge about the system as given in Table I.

Output Voltage(Volts)
15

VI. RESULTS AND DISCUSSION 10

The boost converter has been simulated and the following

5
results are obtained for lag, lead and lead-lag controller.
Specification for boost converter are given in Table II. 0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Table II Specifications of boost Converter Time(sec)
Parameters Value
Fig. 12 Output voltage of boost converter with lead controller
Voltage Input Vin 5V
Output Voltage Vo 15V 0.7

Inductance 250H 0.6

Filter Capacitance

Output Current(amps)
1500F 0.5

Switching Frequency 100kHz 0.4

ESR 10m 0.3

Inductance Resistance 30m 0.2

0.1
A. Lag Compensator Design
0
Boost converter has been designed with lag compensator 0 0.02 0.04 0.06 0.08 0.1
Time(sec)
0.12 0.14 0.16 0.18 0.2

using frequency response method and PM of the system with

controller is achieved as 59º as shown in Fig. 7. Lag controller
is used to increase the low frequency gain of the system and
also the dynamic response of the system is achieved by
attaining a PM of 59º. Output voltage and current of the boost
converter with lag controller is shown in Fig. 10-11. When the
input voltages changes from 5 to 7 V, controller is able to track
the reference voltage effectively with adequate system stability.
B. Lead controller Design
Lead controller is designed and implemented to improve the
performance of the boost converter. A zero is placed at
frequency far below the cross over frequency to improve the
PM and it is shown in Fig. 8. Output voltage and current of the
Fig. 13 Output current of boost converter with lead controller
C. Lead-Lag Controller
The advantages of lead and lag compensation are used to
obtain sufficient PM and high loop gain and wide control
bandwidth. Therefore, small steady state error, short rise time
and small overshoot has been achieved by using this lead-lag
controller. Fig. 14-15 shows the output voltage and inductor
current of lead-lag controller based boost converter. When the
input voltages changes from 5 to 7 V, controller is able to track
the reference voltage effectively with adequate system stability.
20

boost converter with lag controller is shown in Fig. 12-13.

When the input voltages changes from 5 to 7 V, controller is 15
Output Voltage(Volts)

able to track the reference voltage effectively with adequate

system stability. 10

25

20 5
Output Voltage

15
0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
10 Time(sec)

5 Fig. 14 Output Voltage of boost converter with lag-lead controller

0.7

0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2 0.6
Tme(sec)
Output Current(Amps)

0.5
Fig. 10 Output Voltage of Boost converter with lag controller
0.4
0.8

0.7 0.3

0.6
Output current(Amps)

0.2
0.5

0.4 0.1

0.3
0
0.2
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time(sec)
0.1

0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time(sec) Fig. 15 Output current of boost converter with lag-lead controller
Fig. 11 Output current of Boost converter with lag controller

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 Fuzzy logic controller used boost converter is simulated and VII. CONCLUSIONS
the response of the output voltage and current are shown Fig. In this paper, a frequency response based lag, lead and lead-
16-17. One can see that, fuzzy results are compared with lead- lag controllers are proposed for boost converter applications.
lag based linear controller. First, mathematical model of the converter is explained with the
20
Lead-lag help of state-space average method and appropriate transfer
V functions are obtained. Second, the procedure for design of lag,
o
l
15
lead and lead-lag controllers are discussed. The main approach
t Fuzzy of the proposed design is to achieve required PM, bandwidth
10
a and cross-over frequency. Additionally, a fuzzy based non-
g linear controller is also discussed. The proposed controllers are
e 5
simulated in closed loop and performance was analyzed. The
simulations results show that lead-lag controller were giving
0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2 less overshoot, rise time and settling time than lag and lead
. Time(sec) controllers. Fuzzy controller is able to track the reference
Fig. 16 Output Voltage of Boost converter with fuzzy and lead-lag voltageThis design method can be applicable to MPPT control
0.7
for solar photovoltaic system and various control applications.

C 0.6 Lead-lag
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displayed in Table III. Fuzzy controller can able to track the learning, 2008.
reference effectively with improved performance than linear
controllers. Therefore, system reaches the stable condition with
less settling time and peak overshoot.

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