LM3495

Emulated Current Mode Control for Buck Regulators Using Sample and Hold

Technique

Literature Number: SNVA537

 EMULATED CURRENT MODE CONTROL FOR BUCK
REGULATORS USING SAMPLE AND HOLD TECHNIQUE

Small Signal Linear Analysis and Comparison to Peak and Valley

Methods

by

Robert Sheehan
Principal Applications Engineer
National Semiconductor Corporation
Santa Clara, CA

PES02
Tuesday, October 24, 2006
8:30am – 9:30am

Power Electronics Technology Exhibition and Conference

October 24-26, 2006
Long Beach Convention Center
Long Beach, CA
 EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS USING
SAMPLE AND HOLD TECHNIQUE

Small Signal Linear Analysis and Comparison to Peak and Valley Methods
by

Robert Sheehan
Principal Applications Engineer
National Semiconductor Corporation
Santa Clara, CA

Abstract – While naturally sampled peak and valley current mode control methods have been widely used, other
control architectures are possible using gated sampling techniques. Theory for an emulated peak current mode
control method using a gated sample and hold of the valley current is developed. This gated sampling technique
removes the duty cycle dependence of the slope compensating ramp, stabilizing the modulator gain over changes in
line voltage. A general solution for current mode buck regulator small signal linear equations is presented. This
allows the modulator gain for any control method to be introduced into the equations, including peak, valley,
average and gated sampling methods. Comparison to peak and valley is made using switching, linear and LaPlace
spice models. Sub-harmonic stability bounds are demonstrated using graphical spreadsheet calculators. Theory is
verified with frequency response measurements of an actual circuit.

Figure 1: Naturally sampled peak or valley current mode buck regulator.

Figure 2: Emulated peak current mode buck regulator using valley sample and hold.

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EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

1. Introduction

There are a lot of misconceptions and misinformation about current mode control in the industry. Papers that have
been written at the graduate or PhD level are hard to understand. Concepts are difficult to put into practical use.

Basically, an ideal current mode converter is only dependent on the dc or average inductor current. The inner current
loop turns the inductor into a voltage controlled current source, effectively removing the inductor from the outer
voltage control loop at dc and low frequencies. The current loop gain splits the complex conjugate pole of the output
filter into two real poles, so that the characteristic of the output filter is set by the capacitor and load resistor. Only
when the impedance of the output inductor equals the current loop gain does the inductor pole reappear at higher
frequencies.

Whether the current mode converter is peak, valley, average, or sample and hold is secondary to the operation of the
current loop. As long as the dc current is sampled, current mode operation is maintained. The modulator gain is
dependent on the effective slope of the ramp presented to the modulating comparator input. Each operating mode
will have a unique characteristic equation for the modulator gain. The requirement for slope compensation is
dependent on the relationship of the average current to the value of current at the time when the sample is taken.

To understand the theory and follow the derivations presented in this paper, a good working knowledge of the
references is needed. For the practical designer, simplified transfer functions along with tabulated general gain
parameters provide the basic tools for design analysis.

The primary application for emulated current mode is high input voltage to low output voltage operating at a narrow
duty cycle. In any practical design, device capacitance may cause a significant leading edge spike on the current
sense waveform. By sampling the inductor current at the end of the switching cycle and adding an external ramp, the
minimum on time can be significantly reduced, without the need for blanking or filtering which is normally required
for peak current mode control.

2. Linear Modeling

Figure 3: Buck regulator linear models.

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EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

Averaged Model

Reference [1] has been one of the most popular papers covering current mode control. The analysis presented here
refers the inductor current to the control voltage as the basis for writing the transfer functions.

Starting with v̂ O , write the transfer function in terms of voltages:

ZO
v̂ O = v̂ SW ⋅ (1)
ZO + ZL

v̂ SW = v̂ IN ⋅ D + VIN ⋅ d̂ (2)

d̂ = Fm ⋅ ( v̂ C − î L ⋅ R i − v̂ IN ⋅ K I + v̂ O ⋅ K O ) (3)

v̂ O
î L = (4)
ZO

Combining equations 1 through 4 yields:

⎡ ⎛ R ⎞⎤ ZO
v̂ O = ⎢ v̂ IN ⋅ D + VIN ⋅ Fm ⋅ ⎜⎜ v̂ C − v̂ O ⋅ i − v̂ IN ⋅ K I + v̂ O ⋅ K O ⎟⎟⎥ ⋅ (5)
⎣⎢ ⎝ Z O ⎠⎦⎥ O + Z L
Z

Define Kmp as:

K mp = VIN ⋅ Fm (6)

Setting v̂ IN to zero allows the control to output gain to be found:

v̂ O K mp ⋅ Z O
= (7)
v̂ C Z O + Z L + K mp ⋅ (R i − K O ⋅ Z O )

Setting v̂ C to zero allows the line to output gain to be found:

v̂ O (D − K mp ⋅ K I ) ⋅ Z O
= (8)
v̂ IN Z O + Z L + K mp ⋅ (R i − K O ⋅ Z O )

Define ZO and ZL:

⎛ 1 ⎞ R ⋅ (1 + s ⋅ C O ⋅ R C )
Z O = ⎜⎜ + R C ⎟⎟ || R O = O (9)
⎝ s ⋅ CO ⎠ 1 + s ⋅ C O ⋅ (R O + R C )

ZL = s ⋅ L + R L + R S (10)

Equations 7 and 8 can be plotted without further analysis using MATHCAD, SPICE or other application. Define
terms for:

Kmp Modulator gain coefficient

KI Line to modulator gain block
KO Output to modulator gain block
Ri Current sense amplifier gain = GI · RS

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EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

DC Transfer Functions
Control to Output

Let ZO=RO, ZL=RL+RS. From equation 7:

v̂ O K mp ⋅ R O
(dc) = (11)
v̂ C R O + R L + R S + K mp ⋅ (R i − K O ⋅ R O )

By factoring this becomes:

v̂ O R 1
(dc) = O ⋅ (12)
v̂ C Ri R L + RS 1 − K mp ⋅ K O
1+ + RO ⋅
K mp ⋅ R i K mp ⋅ R i

Define Km as the modulator gain where:

1
Km = (13)
1
− KO
K mp

This allows the control to output gain to be expressed as:

v̂ O R 1
(dc) = O ⋅ (14)
v̂ C Ri RL + RS RO
1+ +
K mp ⋅ R i K m ⋅ R i

If RO>>RL+RS the simplified expression is:

v̂ O R 1
(dc) ≈ O ⋅ (15)
v̂ C Ri RO
1+
Km ⋅Ri

Line to Output

In similar fashion:

v̂ O (D − K mp ⋅ K I ) ⋅ R O
(dc) = (16)
v̂ IN R O + R L + R S + K mp ⋅ (R i − K O ⋅ R O )

By factoring this becomes:

1 K
− I
v̂ O R ⋅D K mp D
(dc) = O ⋅ (17)
v̂ IN Ri R + RS 1 − K mp ⋅ K O
1+ L +RO ⋅
K mp ⋅ R i K mp ⋅ R i

Define Kn as the audio susceptibility coefficient:

1 K
Kn = − I (18)
K mp D

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EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

This allows the line to output gain to be expressed as:

v̂ O R ⋅D Kn
(dc) = O ⋅ (19)
v̂ IN Ri R + RS RO
1+ L +
K mp ⋅ R i K m ⋅ R i

If RO>>RL+RS the simplified expression is:

v̂ O R ⋅D Kn
(dc) ≈ O ⋅ (20)
v̂ IN Ri RO
1+
Km ⋅Ri

Continuous-Time Model

References [2] and [3] cover this model. The sampling gain is incorporated into the current loop as He(s). Derivation
of the gain blocks for the on voltage and off voltage requires differentiation of the inductor current with respect to
each voltage. Here, a straightforward algebraic method is used to relate the continuous-time model to the averaged
model. This provides a simple means to derive the equations for different control modes.

Starting with d̂ , write the transfer function in terms of voltages:

d̂ = Fm′ ⋅ ( v̂ C − î L ⋅ R i ⋅ H e (s) + v̂ ON ⋅ K ′f + v̂ OFF ⋅ K ′r ) (21)

Combining with equations 1, 2 and 4 for the power stage yields:

⎡ ⎛ R ⋅ H (s) ⎞⎤ ZO
v̂ O = ⎢ v̂ IN ⋅ D + VIN ⋅ Fm′ ⋅ ⎜⎜ v̂ C − v̂ O ⋅ i e + v̂ ON ⋅ K ′f + v̂ OFF ⋅ K ′r ⎟⎟⎥ ⋅ (22)
⎢⎣ ⎝ ZO ⎠⎥⎦ Z O + Z L

Define K′mp as:

K ′mp = VIN ⋅ Fm′ (23)

Let v̂ ON = v̂ IN − v̂ O , v̂ OFF = v̂ O , ZO=RO, ZL=0, He(s)=1. Solve for the dc gain equation.

⎡ ⎛ R ⎞⎤
v̂ O (dc) ≈ ⎢ v̂ IN ⋅ D + K ′mp ⋅ ⎜⎜ v̂ C − v̂ O ⋅ i + v̂ IN ⋅ K ′f − v̂ O ⋅ K ′f + v̂ O ⋅ K ′r ⎟⎟⎥ (24)
⎣⎢ ⎝ RO ⎠⎦⎥

Setting v̂ IN to zero allows the control to output gain to be found:

v̂ O R 1
(dc) ≈ O ⋅ (25)
v̂ C Ri 1 + K ′mp ⋅ K ′f − K ′mp ⋅ K ′r
1+ R O ⋅
K ′mp ⋅ R i

Setting v̂ C to zero allows the line to output gain to be found:

1 K′
+ f
v̂ O R ⋅D K ′mp D
(dc) ≈ O ⋅ (26)
v̂ IN Ri 1 + K ′mp ⋅ K ′f − K ′mp ⋅ K ′r
1+ R O ⋅
K ′mp ⋅ R i

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EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

Define K′m and K′n where:

1 1 K′
K ′m = K ′n = + f (27)
1 K ′mp D
+ K ′f − K ′r
K ′mp

Equate Km to K′m and Kn to K′n. Solve for K′f and K′r.

⎛ 1 1 ⎞ 1 1
K ′f = D ⋅ ⎜ − ⎟− KI K ′r = − + K ′f + K O (28)
⎜ K mp K ′mp ⎟ K ′mp K mp
⎝ ⎠

Figure 4: Simplified continuous-time model using general gain parameters. This model is valid for control to output
transfer functions of all operating modes. The line to output transfer function is valid at dc, but diverges from the
actual response over frequency.

ZL ⎛ 1 1 ⎞⎟
H (s) = H e (s) + ⋅⎜ − (29)
Ri ⎜ K ′mp K m ⎟
⎝ ⎠
Where:
s s2 π 2
H e (s) = 1 + + ωn = Qz = − (30)
ωn ⋅Qz ωn 2 T π

Unified Model

The unified model is presented in references [4] and [5]. This uses a single pole in series with the modulator to
account for the sampling gain.

Starting with d̂ , write the transfer function in terms of voltages:

d̂ = Fm (s) ⋅ ( v̂ C − î L ⋅ R i − v̂ IN ⋅ K ) (31)

Combining with equations 1, 2 and 4 for the power stage yields:

⎡ ⎛ R ⎞⎤ ZO
v̂ O = ⎢ v̂ IN ⋅ D + VIN ⋅ Fm (s) ⋅ ⎜⎜ v̂ C − v̂ O ⋅ i − v̂ IN ⋅ K ⎟⎟⎥ ⋅ (32)
⎢⎣ ⎝ ZO ⎠⎥⎦ Z O + Z L

Define:

VIN ⋅ Fm (s) = K m ⋅ H p (s) (33)

Let ZO=RO, ZL=0, Hp(s)=1. Solve for the dc gain equation.

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EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

⎡ ⎛ R ⎞⎤
v̂ O (dc) ≈ ⎢ v̂ IN ⋅ D + K m ⋅ ⎜⎜ v̂ C − v̂ O ⋅ i − v̂ IN ⋅ K ⎟⎟⎥ (34)
⎣⎢ ⎝ RO ⎠⎦⎥

Setting v̂ IN to zero allows the control to output gain to be found:

v̂ O R 1
(dc) ≈ O ⋅ (35)
v̂ C Ri RO
1+
Km ⋅Ri

Setting v̂ C to zero allows the line to output gain to be found:

1 K
−
v̂ O RO ⋅D Km D
(dc) ≈ ⋅ (36)
v̂ IN Ri RO
1+
Km ⋅Ri

Comparing this to the averaged and continuous-time models:

1 K ⎛ 1 ⎞
Kn = − Therefore: K = D ⋅ ⎜⎜ − K n ⎟⎟ (37)
Km D ⎝ Km ⎠

Figure 5: Unified model uses the high frequency asymptote for a single pole in series with the modulator. This
accurately models the current loop and control to output transfer functions, but is limited to PCM1, VCM1 and
VCM3 operating modes.

1 ωn
H p (s) = Where: ω Hp = (38)
s Q
1+
ω Hp

Algebraic manipulation of the closed loop continuous-time expression for H(s) to find a general open loop
expression for Hp(s) would appear to be straightforward. For peak or valley current mode with a fixed slope
s Z ⎛ 1 1 ⎞⎟ s2
compensating ramp, ≅ − L ⋅⎜ − . H(s) reduces to 1+ , which leads to the simplification of
ωn ⋅ Qz R i ⎜⎝ K ′mp K m ⎟⎠ ωn 2
a single pole for Hp(s). This is not the case for other operating modes. Further work is needed to develop a general
expression for Hp(s). Though the unified model shows the potential to accurately model the line to output transfer
function, this has not been validated. Comparisons of line to output bode plots from the linear model to SPICE
results from the switched model do not match over frequency.

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EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

Simplified Transfer Functions

The simplified transfer functions assume poles that are well separated by the current loop gain. Expressions for the
averaged model do not show the additional phase shift due to the sampling effect. The control to output gain of the
continuous-time model accurately represents the circuit’s behavior to half the switching frequency. The line to
output expressions for audio susceptibility are accurate at dc, but diverge from the actual response over frequency.

Averaged Model:
s
1+
v̂ O R O 1 ωZ
≈ ⋅ ⋅ (39)
v̂ C Ri RO ⎛ s ⎞ ⎛ s ⎞
1+ ⎜1 + ⎟⎟ ⋅ ⎜⎜1 + ⎟
K m ⋅ R i ⎜⎝ ωP ⎠ ⎝ ω L ⎟⎠
s
1+
v̂ O RO ⋅D Kn ωZ
≈ ⋅ ⋅ (40)
v̂ IN Ri RO ⎛ s ⎞ ⎛ s ⎞
1+ ⎜1 + ⎟ ⋅ ⎜1 + ⎟⎟
K m ⋅ R i ⎜⎝ ω P ⎟⎠ ⎜⎝ ω L ⎠

Continuous-Time Model:
s
1+
v̂ O R O 1 ωZ
≈ ⋅ ⋅ (41)
v̂ C Ri
1+
RO ⎛ s ⎞ ⎛⎜ s s2 ⎞
⎟
⎜⎜1 + ⎟⎟ ⋅ 1 + +
Km ⋅Ri ω ⎠ ⎜⎝ ω n ⋅ Q ω n ⎟
2
⎝ P ⎠
s
1+
v̂ O R ⋅D Kn ωZ
≈ O ⋅ ⋅ (42)
v̂ IN Ri
1+
RO ⎛ s ⎞ ⎛⎜ s s2 ⎞
⎟
⎜⎜1 + ⎟⎟ ⋅ 1 + +
Km ⋅Ri ω ⎠ ⎜⎝ ω n ⋅ Q ω n ⎟
2
⎝ P ⎠

1 1 ⎛ 1 1 ⎞ K mp ⋅R i π
Where: ω Z = ωP ≈ ⋅ ⎜⎜ + ⎟
⎟ ωL ≈ ωn = (43)
CO ⋅ R C CO ⎝ R O K m ⋅R i ⎠ L T

Vin
10
V1

U2
U3 S1
5u IC=5 1m 10m Vo

L1 R1 R2
E1
10
100u IC=5
U4 G1 C1
Vr Vcs
U1 1
S2 1 R3
S Q S5 1m
R5
V2 R QN 1 100p IC=0 R4
C2
G2
5
Vramp Vslope 100 1
V3 S3 G3
R6 R7
Vc 1
0.885 S4 250p IC=0
1K V4 C3 5u
R8

Figure 6: SIMPLIS SPICE schematic - emulated peak current mode synchronous buck.

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 EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

TABLE 1A
π
SUMMARY OF GENERAL GAIN PARAMETERS VSLOPE = S e ⋅ T ωn =
T
Mode Se , S n mc , Q K m , Kn
PCM1 VSL Se 1
Se = mC = 1+ Km =
T Sn T VSL
(0.5 − D) ⋅ R i ⋅ +
(VIN − VO ) ⋅ R i 1 L VIN
Sn = Q=
L π ⋅ (m C ⋅ D ′ − 0.5) VSL T
Kn = − 0.5 ⋅ R i ⋅ ⋅ D
VIN L
PCM2 VO ⋅ K SL Se 1
Se = mC = 1 + Km =
T Sn T
(0.5 − D) ⋅ R i ⋅ + 2 ⋅ K SL ⋅ D
(VIN − VO ) ⋅ R i 1 L
Sn = Q=
L π ⋅ (m C ⋅ D ′ − 0.5) ⎛ T⎞
K n = ⎜ K SL − 0.5 ⋅ R i ⋅ ⎟ ⋅ D
⎝ L⎠
VCM1 VSL Se 1
Se = mC = 1 + Km =
T Sn T VSL
(D − 0.5) ⋅ R i ⋅ +
VO ⋅ R i 1 L VIN
Sn = Q=
L π ⋅ (m C ⋅ D − 0.5) T V
K n = 0.5 ⋅ R i ⋅ ⋅ D + SL
L VIN
VCM2 (VIN − VO ) ⋅ K SL Se 1
Se = mC = 1 + Km =
T Sn T
(D − 0.5) ⋅ R i ⋅ + 2 ⋅ K SL ⋅ D ′
VO ⋅ R i 1 L
Sn = Q=
L π ⋅ (m C ⋅ D − 0.5) T K
K n = 0.5 ⋅ R i ⋅ ⋅ D + SL − K SL ⋅ D
L D
EPCM1 VSL Se 1
Se = mC = Km =
T Sn T V
(D − 0.5) ⋅ R i ⋅ + SL
VIN ⋅ R i 1 L VIN
Sn = Q=
L π ⋅ (m C − 0.5) T V
K n = 0.5 ⋅ R i ⋅ ⋅ D + SL
L VIN
EPCM2 VIN ⋅ K SL Se 1
Se = mC = Km =
T Sn T
(D − 0.5) ⋅ R i ⋅ + K SL
VIN ⋅ R i 1 L
Sn = Q=
L π ⋅ (m C − 0.5) K n = 0.5 ⋅ R i ⋅
T
⋅D
L
EVCM1 VSL Se 1
Se = mC = Km =
T Sn T VSL
(0.5 − D) ⋅ R i ⋅ +
VIN ⋅ R i 1 L VIN
Sn = Q=
L π ⋅ (m C − 0.5) VSL T
Kn = − 0.5 ⋅ R i ⋅ ⋅ D
VIN L
EVCM2 VIN ⋅ K SL Se 1
Se = mC = Km =
T Sn T
(0.5 − D) ⋅ R i ⋅
+ K SL
VIN ⋅ R i 1 L
Sn = Q=
L π ⋅ (m C − 0.5) K T
K n = SL − 0.5 ⋅ R i ⋅ ⋅ D
D L

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 EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

TABLE 1B
π
SUMMARY OF GENERAL GAIN PARAMETERS VSLOPE = S e ⋅ T ωn =
T
Mode Se , S n mc , Q K m , Kn
VCM3 VIN ⋅ K SL Se 1
Se = mC = 1 + Km =
T Sn T
(D − 0.5) ⋅ R i ⋅+ K SL
VO ⋅ R i 1 L
Sn = Q=
L π ⋅ (m C ⋅ D − 0.5) T K
K n = 0.5 ⋅ R i ⋅ ⋅ D + SL
L D
EPCM3 (VIN − VO ) ⋅ K SL + VSL Se 1
Se = mC = Km =
T Sn T V
(D − 0.5) ⋅ R i ⋅ + (1 − 2 ⋅ D) ⋅ K SL + SL
VIN ⋅ R i 1 L VIN
Sn = Q=
L π ⋅ (m C − 0.5) T V
K n = (0.5 ⋅ R i ⋅ − K SL ) ⋅ D + SL
L VIN
EPCM4 VIN ⋅ K SL + VSL Se 1
Se = mC = Km =
T Sn T V
(D − 0.5) ⋅ R i ⋅ + K SL + SL
VIN ⋅ R i 1 L VIN
Sn = Q=
L π ⋅ (m C − 0.5) T V
K n = 0.5 ⋅ R i ⋅ ⋅ D + SL
L VIN

(a) PCM1 Vo=5 Q=0.637 Plot Vo/Vc (b) EPCM1 Vo=5 Q=0.637 Plot Vo/Vc
20 200 20 200
Phase / degrees

Phase / degrees
10 100 10 100
Gain / dB

Gain / dB

0 0 0 0

-10 -100 -10 -100

-20 -200 -20 -200

-30 -300 -30 -300

100 1000 10000 100000 1000000 100 1000 10000 100000 1000000
Frequency / Hz Frequency / Hz
Gain Vin=6 Gain Vin=10 Gain Vin=50 Gain Vin=6 Gain Vin=10 Gain Vin=50
Phase Vin=6 Phase Vin=10 Phase Vin=50 Phase Vin=6 Phase Vin=10 Phase Vin=50

(c) PCM2 Vo=5 Q=0.637 Plot Vo/Vc (d) EPCM2 Vo=5 Q=0.637 Plot Vo/Vc
20 200 20 200
Phase / degrees

Phase / degrees

10 100 10 100
Gain / dB

Gain / dB

0 0 0 0

-10 -100 -10 -100

-20 -200 -20 -200

-30 -300 -30 -300

100 1000 10000 100000 1000000 100 1000 10000 100000 1000000
Frequency / Hz Frequency / Hz
Gain Vin=6 Gain Vin=10 Gain Vin=50 Gain Vin=6 Gain Vin=10 Gain Vin=50
Phase Vin=6 Phase Vin=10 Phase Vin=50 Phase Vin=6 Phase Vin=10 Phase Vin=50

Figure 7: SIMPLIS SPICE results of control to output gain.

10
TABLE 2A CONTROL VOLTAGE AND DUTY CYCLE EQUATIONS FOR AVERAGED MODEL
Mode Se , S n v , d̂ C
PCM1 V T
S e = SL i L ⋅ R i + 0.5 ⋅ ( v IN − v O ) ⋅ d ⋅ ⋅ R i + VSL ⋅ d = v C
T L
(VIN − VO ) ⋅ R i ⎛ T ⎞ ⎛ T ⎞
Sn = v̂ C − î L ⋅ R i − v̂ IN ⋅ ⎜ 0.5 ⋅ R i ⋅ ⋅ D ⎟ + v̂ O ⋅ ⎜ 0.5 ⋅ R i ⋅ ⋅ D ⎟
L ⎝ L ⎠ ⎝ L ⎠
d̂ =
T
0.5 ⋅ (VIN − VO ) ⋅ R i ⋅ + VSL
L
PCM2 VO ⋅ K SL T
Se = i L ⋅ R i + 0.5 ⋅ ( v IN − v O ) ⋅ d ⋅ ⋅ R i + v O ⋅ K SL ⋅ d = v C
T L
(VIN − VO ) ⋅ R i ⎛ T ⎞ ⎛ T ⎞
Sn = v̂ C − î L ⋅ R i − v̂ IN ⋅ ⎜ 0.5 ⋅ R i ⋅ ⋅ D ⎟ + v̂ O ⋅ ⎜ 0.5 ⋅ R i ⋅ − K SL ⎟ ⋅ D
L ⎝ L ⎠ ⎝ L ⎠
d̂ =
T
0.5 ⋅ (VIN − VO ) ⋅ R i ⋅ + VO ⋅ K SL
L
VCM1 VSL T
Se = i L ⋅ R i − 0.5 ⋅ v O ⋅ (1 − d ) ⋅ ⋅ R i − VSL ⋅ (1 − d ) = v C
T L
VO ⋅ R i ⎛ T ⎞
Sn = v̂ C − î L ⋅ R i + v̂ O ⋅ ⎜ 0.5 ⋅ R i ⋅ ⋅ (1 − D) ⎟
L ⎝ L ⎠
d̂ =
T
0.5 ⋅ VO ⋅ R i ⋅ + VSL
L
VCM2 (VIN − VO ) ⋅ K SL T
Se = i L ⋅ R i − 0.5 ⋅ v O ⋅ (1 − d ) ⋅ ⋅ R i − ( v IN − v O ) ⋅ K SL ⋅ (1 − d ) = v C
T L
VO ⋅ R i ⎛ ⎞
v̂ C − î L ⋅ R i − v̂ IN ⋅ (− K SL ⋅ (1 − D) ) + v̂ O ⋅ ⎜ 0.5 ⋅ R i ⋅ − K SL ⎟ ⋅ (1 − D)
T
Sn =
L ⎝ L ⎠
d̂ =
T
0.5 ⋅ VO ⋅ R i ⋅ + (VIN − VO ) ⋅ K SL
L
EPCM1 VSL T
Se = i L ⋅ R i − 0.5 ⋅ ( v IN − v O ) ⋅ d ⋅ ⋅ R i + VSL ⋅ d = v C
T L
VIN ⋅ R i ⎛ T ⎞ ⎛ T ⎞
Sn = v̂ C − î L ⋅ R i − v̂ IN ⋅ ⎜ − 0.5 ⋅ R i ⋅ ⋅ D ⎟ + v̂ O ⋅ ⎜ − 0.5 ⋅ R i ⋅ ⋅ D ⎟
L ⎝ L ⎠ ⎝ L ⎠
d̂ =
T
0.5 ⋅ (VO − VIN ) ⋅ R i ⋅ + VSL
L
EPCM2 VIN ⋅ K SL T
Se = i L ⋅ R i − 0.5 ⋅ ( v IN − v O ) ⋅ d ⋅ ⋅ R i + v IN ⋅ K SL ⋅ d = v C
T L
VIN ⋅ R i ⎛ T⎞ ⎛ T ⎞
Sn = v̂ C − î L ⋅ R i − v̂ IN ⋅ ⎜ K SL − 0.5 ⋅ R i ⋅ ⎟ ⋅ D + v̂ O ⋅ ⎜ − 0.5 ⋅ R i ⋅ ⋅ D ⎟
L ⎝ L⎠ ⎝ L ⎠
d̂ =
T
0.5 ⋅ (VO − VIN ) ⋅ R i ⋅ + VIN ⋅ K SL
L
EVCM1 VSL T
Se = i L ⋅ R i + 0.5 ⋅ v O ⋅ (1 − d ) ⋅ ⋅ R i − VSL (1 − d ) = v C
T L
VIN ⋅ R i ⎛ T ⎞
Sn = v̂ C − î L ⋅ R i + v̂ O ⋅ ⎜ − 0.5 ⋅ R i ⋅ ⋅ (1 − D) ⎟
L ⎝ L ⎠
d̂ =
T
VSL − 0.5 ⋅ VO ⋅ R i ⋅
L
EVCM2 VIN ⋅ K SL T
Se = i L ⋅ R i + 0.5 ⋅ v O ⋅ (1 − d ) ⋅ ⋅ R i − v IN ⋅ K SL ⋅ (1 − d ) = v C
T L
VIN ⋅ R i ⎛ ⎞
v̂ C − î L ⋅ R i − v̂ IN ⋅ (− K SL ⋅ (1 − D) ) + v̂ O ⋅ ⎜ − 0.5 ⋅ R i ⋅ ⋅ (1 − D) ⎟
T
Sn =
L ⎝ L ⎠
d̂ =
T
VIN ⋅ K SL − 0.5 ⋅ VO ⋅ R i ⋅
L

11
 EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

TABLE 2B
CONTROL VOLTAGE AND DUTY CYCLE EQUATIONS FOR AVERAGED MODEL
Mode Se , S n v , d̂ C
VCM3 VIN ⋅ K SL T
Se = i L ⋅ R i − 0.5 ⋅ v O ⋅ (1 − d ) ⋅ ⋅ R i − v IN ⋅ K SL ⋅ (1 − d ) = v C
T L
V ⋅ Ri ⎛ T⎞
Sn = O v̂ C − î L ⋅ R i − v̂ IN ⋅ (− K SL ⋅ (1 − D) ) + v̂ O ⋅ ⎜ 0.5 ⋅ R i ⋅ ⎟ ⋅ (1 − D)
L ⎝ L⎠
d̂ =
T
0.5 ⋅ VO ⋅ R i ⋅ + VIN ⋅ K SL
L
EPCM3 (VIN − VO ) ⋅ K SL + VSL T
Se = i L ⋅ R i − 0.5 ⋅ ( v IN − v O ) ⋅ d ⋅ ⋅ R i + ( v IN − v O ) ⋅ K SL ⋅ d + VSL ⋅ d = v C
T L
V ⋅R ⎛ T⎞ ⎛ T⎞
S n = IN i v̂ C − î L ⋅ R i − v̂ IN ⋅ ⎜ K SL − 0.5 ⋅ R i ⋅ ⎟ ⋅ D + v̂ O ⋅ ⎜ K SL − 0.5 ⋅ R i ⋅ ⎟ ⋅ D
L ⎝ L ⎠ ⎝ L⎠
d̂ =
T
(VIN − VO ) ⋅ (K SL − 0.5 ⋅ R i ⋅ ) + VSL
L
EPCM4 VIN ⋅ K SL + VSL T
Se = i L ⋅ R i − 0.5 ⋅ ( v IN − v O ) ⋅ d ⋅ ⋅ R i + v IN ⋅ K SL ⋅ d + VSL ⋅ d = v C
T L
VIN ⋅ R i ⎛ T⎞ ⎛ T ⎞
Sn = v̂ C − î L ⋅ R i − v̂ IN ⋅ ⎜ K SL − 0.5 ⋅ R i ⋅ ⎟ ⋅ D + v̂ O ⋅ ⎜ − 0.5 ⋅ R i ⋅ ⋅ D ⎟
L ⎝ L ⎠ ⎝ L ⎠
d̂ =
T
0.5 ⋅ (VO − VIN ) ⋅ R i ⋅ + VIN ⋅ K SL + VSL
L

(a) PCM1 Vo=5 Q=0.637 Plot Vo/Vin (b) EPCM1 Vo=5 Q=0.637 Plot Vo/Vin
0 180 0 120
-20 120 -20 60
Phase / degrees

Phase / degrees
-40 60 -40 0
Gain / dB

Gain / dB

-60 0 -60 -60

-80 -60 -80 -120
-100 -120 -100 -180
-120 -180 -120 -240
100 1000 10000 100000 1000000 100 1000 10000 100000 1000000
Frequency / Hz Frequency / Hz
Gain Vin=6 Gain Vin=10 Gain Vin=50 Gain Vin=6 Gain Vin=10 Gain Vin=50
Phase Vin=6 Phase Vin=10 Phase Vin=50 Phase Vin=6 Phase Vin=10 Phase Vin=50

(c) PCM2 Vo=5 Q=0.637 Plot Vo/Vin (d) EPCM2 Vo=5 Q=0.637 Plot Vo/Vin
0 180 0 180
-20 120 -20 120
Phase / degrees

Phase / degrees

-40 60 -40 60
Gain / dB

Gain / dB

-60 0 -60 0
-80 -60 -80 -60
-100 -120 -100 -120
-120 -180 -120 -180
100 1000 10000 100000 1000000 100 1000 10000 100000 1000000
Frequency / Hz Frequency / Hz
Gain Vin=6 Gain Vin=10 Gain Vin=50 Gain Vin=6 Gain Vin=10 Gain Vin=50
Phase Vin=6 Phase Vin=10 Phase Vin=50 Phase Vin=6 Phase Vin=10 Phase Vin=50

Figure 8: SIMPLIS SPICE results of line to output gain.

12
 EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

TABLE 3A
VO ⋅ R i
SUMMARY OF GAIN PARAMETERS FOR AVERAGED MODEL Sf =
L
Mode Se , S n Fm , K mp KI , K O
PCM1 VSL 1 T
Se = Fm = K I = 0.5 ⋅ R i ⋅ ⋅D
T (0.5 ⋅ S n + S e ) ⋅ T L
(VIN − VO ) ⋅ R i 1 T
Sn = K mp = KO = 0.5 ⋅ R i ⋅ ⋅ D
L T V L
0.5 ⋅ R i ⋅ ⋅ D ′ + SL
L VIN
PCM2 VO ⋅ K SL 1 T
Se = Fm = K I = 0.5 ⋅ R i ⋅ ⋅D
T (0.5 ⋅ S n + S e ) ⋅ T L
(VIN − VO ) ⋅ R i 1 ⎛ T ⎞
Sn = K mp = KO = ⎜ 0.5 ⋅ R i ⋅ − K SL ⎟ ⋅ D
L T
0.5 ⋅ R i ⋅ ⋅ D ′ + K SL ⋅ D ⎝ L ⎠
L
VCM1 VSL 1 KI = 0
Se = Fm =
T (0.5 ⋅ S n + S e ) ⋅ T T
K O = 0.5 ⋅ R i ⋅ ⋅ D′
VO ⋅ R i 1 L
Sn = K mp =
L T V
0.5 ⋅ R i ⋅ ⋅ D + SL
L VIN
VCM2 (VIN − VO ) ⋅ K SL 1 K I = − K SL ⋅ D ′
Se = Fm =
T (0.5 ⋅ S n + S e ) ⋅ T ⎛ T ⎞
VO ⋅ R i
K O = ⎜ 0.5 ⋅ R i ⋅ − K SL ⎟ ⋅ D ′
Sn = K mp =
1 ⎝ L ⎠
L T
0.5 ⋅ R i ⋅ ⋅ D + K SL ⋅ D ′
L
EPCM1 VSL 1 T
Se = Fm = K I = −0.5 ⋅ R i ⋅ ⋅D
T (0.5 ⋅ (S f − S n ) + S e ) ⋅ T L
VIN ⋅ R i 1 T
Sn = K mp = KO = −0.5 ⋅ R i ⋅ ⋅ D
L VSL T L
− 0.5 ⋅ R i ⋅ ⋅ D ′
VIN L
EPCM2 VIN ⋅ K SL 1 ⎛ T⎞
Se = Fm = K I = ⎜ K SL − 0.5 ⋅ R i ⋅ ⎟ ⋅ D
T (0.5 ⋅ (S f − S n ) + S e ) ⋅ T ⎝ L⎠
VIN ⋅ R i 1
Sn = K mp = T
K O = −0.5 ⋅ R i ⋅ ⋅ D
L T
K SL − 0.5 ⋅ R i ⋅ ⋅ D ′ L
L
EVCM1 VSL 1 KI = 0
Se = Fm =
T (S e − 0.5 ⋅ S f ) ⋅ T T
K O = −0.5 ⋅ R i ⋅ ⋅ D′
VIN ⋅ R i 1 L
Sn = K mp =
L VSL T
− 0.5 ⋅ R i ⋅ ⋅ D
VIN L
EVCM2 VIN ⋅ K SL 1 K I = − K SL ⋅ D ′
Se = Fm =
T (S e − 0.5 ⋅ S f ) ⋅ T T
K O = −0.5 ⋅ R i ⋅ ⋅ D′
VIN ⋅ R i 1 L
Sn = K mp =
L T
K SL − 0.5 ⋅ R i ⋅ ⋅ D
L

13
 EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

TABLE 3B
VO ⋅ R i
SUMMARY OF GAIN PARAMETERS FOR AVERAGED MODEL Sf =
L
Mode Se , S n Fm , K mp KI , K O
VCM3 VIN ⋅ K SL 1 K I = − K SL ⋅ D ′
Se = Fm =
T (0.5 ⋅ S n + S e ) ⋅ T T
K O = 0.5 ⋅ R i ⋅ ⋅ D′
VO ⋅ R i 1 L
Sn = K mp =
L T
0.5 ⋅ D ⋅ R i ⋅ + K SL
L
EPCM3 (VIN − VO ) ⋅ K SL + VSL 1 ⎛ T⎞
Se = Fm = K I = ⎜ K SL − 0.5 ⋅ R i ⋅ ⎟ ⋅ D
T (0.5 ⋅ (S f − S n ) + S e ) ⋅ T ⎝ L⎠
VIN ⋅ R i
Sn = K mp =
1 ⎛ T⎞
L V K O = ⎜ K SL − 0.5 ⋅ R i ⋅ ⎟ ⋅ D
T ⎝ L⎠
(K SL − 0.5 ⋅ R i ⋅ ) ⋅ D ′ + SL
L VIN
EPCM4 VIN ⋅ K SL + VSL 1 ⎛ T⎞
Se = Fm = K I = ⎜ K SL − 0.5 ⋅ R i ⋅ ⎟ ⋅ D
T (0.5 ⋅ (S f − S n ) + S e ) ⋅ T ⎝ L⎠
VIN ⋅ R i 1
Sn = K mp = T
K O = −0.5 ⋅ R i ⋅ ⋅ D
L VSL T L
K SL + − 0.5 ⋅ R i ⋅ ⋅ D ′
VIN L

(a) PCM1 Vo=5 Q=0.637 Current Loop (b) EPCM1 Vo=5 Q=0.637 Current Loop
40 400 30 300
30 300 20 200
Phase / degrees

Phase / degrees
20 200 10 100
Gain / dB

Gain / dB

10 100 0 0
0 0 -10 -100
-10 -100 -20 -200
-20 -200 -30 -300
-30 -300 -40 -400
-40 -400 -50 -500
100 1000 10000 100000 1000000 100 1000 10000 100000 1000000
Frequency / Hz Frequency / Hz
Gain Vin=6 Gain Vin=10 Gain Vin=50 Gain Vin=6 Gain Vin=10 Gain Vin=50
Phase Vin=6 Phase Vin=10 Phase Vin=50 Phase Vin=6 Phase Vin=10 Phase Vin=50

(c) PCM2 Vo=5 Q=0.637 Current Loop (d) EPCM2 Vo=5 Q=0.637 Current Loop
40 400 30 300
30 300 20 200
Phase / degrees

Phase / degrees

20 200 10 100
Gain / dB

Gain / dB

10 100 0 0
0 0 -10 -100
-10 -100 -20 -200
-20 -200 -30 -300
-30 -300 -40 -400
-40 -400 -50 -500
100 1000 10000 100000 1000000 100 1000 10000 100000 1000000
Frequency / Hz Frequency / Hz
Gain Vin=6 Gain Vin=10 Gain Vin=50 Gain Vin=6 Gain Vin=10 Gain Vin=50
Phase Vin=6 Phase Vin=10 Phase Vin=50 Phase Vin=6 Phase Vin=10 Phase Vin=50

Figure 9: SIMPLIS SPICE results of current loop gain.

14
 EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

TABLE 4A
SUMMARY OF GAIN PARAMETERS FOR CONTINUOUS-TIME MODEL
Mode Se , S n Fm′ , K ′mp K′f , K ′r
PCM1 VSL 1 T
Se = Fm′ = K ′f = R i ⋅ ⋅ D ⋅ (0.5 ⋅ D − 1)
T (S n + S e ) ⋅ T L
(VIN − VO ) ⋅ R i 1 T
Sn = K ′mp = K ′r = 0.5 ⋅ R i ⋅ ⋅ (D ′) 2
L T V L
Ri ⋅ ⋅ D ′ + SL
L VIN
PCM2 VO ⋅ K SL 1 T
Se = Fm′ = K ′f = R i ⋅ ⋅ D ⋅ (0.5 ⋅ D − 1)
T (S n + S e ) ⋅ T L
(VIN − VO ) ⋅ R i 1 T
Sn = K ′mp = K ′r = 0.5 ⋅ R i ⋅ ⋅ (D ′) 2 − K SL ⋅ D
L T L
R i ⋅ ⋅ D ′ + K SL ⋅ D
L
VCM1 VSL 1 T 2
Se = Fm′ = K ′f = −0.5 ⋅ R i ⋅ ⋅D
T (S n + S e ) ⋅ T L
VO ⋅ R i 1 T
Sn = K ′mp = K ′r = 0.5 ⋅ R i ⋅ ⋅ (1 − D 2 )
L T V L
Ri ⋅ ⋅ D + SL
L VIN
VCM2 (VIN − VO ) ⋅ K SL 1 T 2
Se = Fm′ = K ′f = −0.5 ⋅ R i ⋅ ⋅ D + K SL ⋅ D ′
T (S n + S e ) ⋅ T L
VO ⋅ R i 1 T
Sn = K ′mp = K ′r = 0.5 ⋅ R i ⋅ ⋅ (1 − D 2 )
L T L
Ri ⋅ ⋅ D + K SL ⋅ D ′
L
EPCM1 VSL 1 T 2
Se = Fm′ = K ′f = 0.5 ⋅ R i ⋅ ⋅D
T Se ⋅ T L
VIN ⋅ R i 1 T
Sn = K ′mp = K ′r = 0.5 ⋅ R i ⋅ ⋅ (D ′) 2
L VSL VIN L
EPCM2 VIN ⋅ K SL 1 T 2
Se = Fm′ = K ′f = 0.5 ⋅ R i ⋅ ⋅ D − K SL ⋅ D
T Se ⋅ T L
VIN ⋅ R i 1 T
Sn = K ′mp = K ′r = 0.5 ⋅ R i ⋅ ⋅ (D ′) 2 − K SL ⋅ D
L K SL L
EVCM1 VSL 1 T 2
Se = Fm′ = K ′f = −0.5 ⋅ R i ⋅ ⋅D
T Se ⋅ T L
VIN ⋅ R i 1 T
Sn = K ′mp = K ′r = −0.5 ⋅ R i ⋅ ⋅ (D ′) 2
L VSL VIN L
EVCM2 VIN ⋅ K SL 1 T 2
Se = Fm′ = K ′f = −0.5 ⋅ R i ⋅ ⋅ D + K SL ⋅ D ′
T Se ⋅ T L
VIN ⋅ R i 1 T
Sn = K ′mp = K ′r = −0.5 ⋅ R i ⋅ ⋅ (D ′) 2 + K SL ⋅ D ′
L K SL L

15
 EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

TABLE 4B
SUMMARY OF GAIN PARAMETERS FOR CONTINUOUS-TIME MODEL
Mode Se , S n Fm′ , K ′mp K′f , K ′r
VCM3 VIN ⋅ K SL 1 T 2
Se = Fm′ = K ′f = −0.5 ⋅ R i ⋅ ⋅ D + K SL ⋅ D ′
T (S n + S e ) ⋅ T L
VO ⋅ R i 1 T
Sn = K ′mp = K ′r = 0.5 ⋅ R i ⋅ ⋅ (1 − D 2 ) + K SL ⋅ D ′
L T L
R i ⋅ ⋅ D + K SL
L
EPCM3 (VIN − VO ) ⋅ K SL + VSL 1 T 2
Se = Fm′ = K ′f = 0.5 ⋅ R i ⋅ ⋅ D − K SL ⋅ D
T Se ⋅ T L
VIN ⋅ R i 1 T
Sn = K ′mp = K ′r = 0.5 ⋅ R i ⋅ ⋅ (D ′) 2
L VSL L
K SL ⋅ D ′ +
VIN
EPCM4 VIN ⋅ K SL + VSL 1 T 2
Se = Fm′ = K ′f = 0.5 ⋅ R i ⋅ ⋅ D − K SL ⋅ D
T Se ⋅ T L
VIN ⋅ R i 1 T
Sn = K ′mp = K ′r = 0.5 ⋅ R i ⋅ ⋅ (D ′) 2 − K SL ⋅ D
L VSL L
K SL +
VIN

TABLE 5
Calculated General Gain Parameters
VIN=10 VO=5 D=0.5 RO=1 Ri=0.1 T=5μ L=5μ
MODE VSLOPE KSL VSL Km Kn mc Q
PCM1 VSL 0.10 0.50 20.00 0.025 2.000 0.637
PCM2 VO·KSL 0.10 --- 10.00 0.025 2.000 0.637
VCM1 VSL 0.10 0.50 20.00 0.075 2.000 0.637
VCM2 (VIN-VO)·KSL 0.10 --- 10.00 0.175 2.000 0.637
EPCM1 VSL 0.10 1.00 10.00 0.125 1.000 0.637
EPCM2 VIN·KSL 0.10 --- 10.00 0.025 1.000 0.637
EVCM1 VSL 0.10 1.00 10.00 0.075 1.000 0.637
EVCM2 VIN·KSL 0.10 --- 10.00 0.175 1.000 0.637
VCM3 VIN·KSL 0.10 --- 10.00 0.225 3.000 0.318
EPCM3 (VIN-VO)·KSL +VSL 0.10 0.50 20.00 0.025 1.000 0.637
EPCM4 VIN·KSL +VSL 0.05 0.50 10.00 0.075 1.000 0.637
PCM2 0.5·VO·KSL 0.10 --- 20.00 0.000 1.250 2.546
VCM2 0.5·(VIN-VO)·KSL 0.10 --- 20.00 0.100 1.250 2.546

Table Notation:

PCM – Peak Current Mode VCM – Valley Current Mode

EPCM – Emulated Peak Current Mode EVCM – Emulated Valley Current Mode
1 – Fixed slope compensation VSL 2 – Optimal slope compensation proportional to KSL
3, 4 – Other fixed or proportional slope compensation implementations

In the last section of Table 5 for PCM2, peak current mode with a slope compensating ramp equal to one half the
down slope of the inductor current represents a special case. Kn=0 which corresponds to infinite line rejection. This
is difficult to achieve due to finite resistance and parasitic elements in a practical circuit. This is not optimal since
sub-harmonic oscillation is possible at D>0.5 with feedback control. See section 4 on general slope compensation
requirements.

16
TABLE 6
Calculated Values and Measured PSPICE Switching Circuit Data
VIN=6 VO=5 D=0.83 RO=1 Ri=0.1 T=5μ L=5μ
Calculated Measured
MODE VSLOPE KSL VSL VO/VC VO/VIN VO/VC VO/VIN
PCM1 VSL 0.10 0.50 6.67 0.231 6.66 0.240
PCM2 VO·KSL 0.10 --- 4.29 0.149 4.25 0.154
VCM1 VSL 0.10 0.10 6.67 0.324 6.55 0.325
VCM2 (VIN-VO)·KSL 0.10 --- 6.00 0.392 5.98 0.383
EPCM1 VSL 0.10 0.60 4.29 0.506 4.24 0.502
EPCM2 VIN·KSL 0.10 --- 4.29 0.149 4.25 0.148
EVCM1 VSL 0.10 0.60 6.00 0.292 6.00 0.300
EVCM2 VIN·KSL 0.10 --- 6.00 0.392 5.96 0.388
VCM3 VIN·KSL 0.10 --- 4.29 0.577 4.23 0.571
EPCM3 (VIN-VO)·KSL +VSL 0.10 0.50 6.67 0.231 6.61 0.231
EPCM4 VIN·KSL +VSL 0.05 0.50 3.75 0.391 3.71 0.389

TABLE 7
Calculated Values and Measured PSPICE Switching Circuit Data
VIN=10 VO=5 D=0.5 RO=1 Ri=0.1 T=5μ L=5μ
Calculated Measured
MODE VSLOPE KSL VSL VO/VC VO/VIN VO/VC VO/VIN
PCM1 VSL 0.10 0.50 6.67 0.083 6.65 0.088
PCM2 VO·KSL 0.10 --- 5.00 0.063 5.00 0.065
VCM1 VSL 0.10 0.50 6.67 0.250 6.57 0.249
VCM2 (VIN-VO)·KSL 0.10 --- 5.00 0.438 4.97 0.427
EPCM1 VSL 0.10 1.00 5.00 0.313 5.00 0.313
EPCM2 VIN·KSL 0.10 --- 5.00 0.063 5.00 0.063
EVCM1 VSL 0.10 1.00 5.00 0.188 4.99 0.189
EVCM2 VIN·KSL 0.10 --- 5.00 0.438 4.99 0.430
VCM3 VIN·KSL 0.10 --- 5.00 0.563 4.98 0.550
EPCM3 (VIN-VO)·KSL +VSL 0.10 0.50 6.67 0.083 6.56 0.085
EPCM4 VIN·KSL +VSL 0.05 0.50 5.00 0.188 5.00 0.188

TABLE 8
Calculated Values and Measured PSPICE Switching Circuit Data
VIN=50 VO=5 D=0.1 RO=1 Ri=0.1 T=5μ L=5μ
Calculated Measured
MODE VSLOPE KSL VSL VO/VC VO/VIN VO/VC VO/VIN
PCM1 VSL 0.10 0.50 6.67 0.003 6.56 0.009
PCM2 VO·KSL 0.10 --- 6.25 0.003 6.17 0.009
VCM1 VSL 0.10 4.50 6.67 0.063 6.52 0.063
VCM2 (VIN-VO)·KSL 0.10 --- 4.17 0.415 4.16 0.407
EPCM1 VSL 0.10 5.00 6.25 0.066 6.19 0.066
EPCM2 VIN·KSL 0.10 --- 6.25 0.003 6.14 0.005
EVCM1 VSL 0.10 5.00 4.17 0.040 4.15 0.041
EVCM2 VIN·KSL 0.10 --- 4.17 0.415 4.16 0.412
VCM3 VIN·KSL 0.10 --- 6.25 0.628 6.21 0.618
EPCM3 (VIN-VO)·KSL +VSL 0.10 0.50 6.67 0.003 6.53 0.005
EPCM4 VIN·KSL +VSL 0.05 0.50 8.33 0.013 8.09 0.014

17
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

(a) EPCM2 Vin=10 Vo=5 Plot Vo/Vc (b) EPCM2 Vin=10 Vo=5 Plot Vo/Vin
20 400 -20 20
10 300 -30 0

Phase / degrees

Phase / degrees
0 200 -40 -20
Gain / dB

Gain / dB
-50 -40
-10 100
-60 -60
-20 0
-70 -80
-30 -100 -80 -100
-40 -200 -90 -120
-50 -300 -100 -140
100 1000 10000 100000 1000000 100 1000 10000 100000 1000000
Frequency / Hz Frequency / Hz
Gain Q=6.37 Gain Q=1.27 Gain Q=6.37 Gain Q=1.27
Gain Q=0.637 Gain Q=0.318 Gain Q=0.637 Gain Q=0.318
Phase Q=6.37 Phase Q=1.27 Phase Q=6.37 Phase Q=1.27
Phase Q=0.637 Phase Q=0.318 Phase Q=0.637 Phase Q=0.318

(c) EPCM2 Vin=10 Vo=5 Current Loop

30 300
20 200

Phase / degrees
10 100
Gain / dB

0 0
-10 -100
-20 -200
-30 -300
-40 -400
-50 -500
100 1000 10000 100000 1000000
Frequency / Hz
Gain Q=6.37 Gain Q=1.27
Gain Q=0.637 Gain Q=0.318
Phase Q=6.37 Phase Q=1.27
Phase Q=0.637 Phase Q=0.318

Figure 10: SIMPLIS SPICE results for EPCM2 with varying Q.

3. Discrete Time Analysis for Slope Compensation

(a) Peak current mode (b) Valley current mode

Figure 11: Slope compensation for peak and valley current mode buck.

18
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

Peak Current Mode

Trailing Edge Modulation

For peak current mode control, the peak current must be accounted for in its relationship to the average current. By
perturbing the duty cycle, we can see the effect on VC.

Write the equation for the voltage at VC:

T
i L ⋅ R i + 0.5 ⋅ ( v IN − v O ) ⋅ d ⋅ ⋅ R i + VSLOPE ⋅ d = v C (44)
L

VIN, VO, and VSLOPE are considered to be fixed with respect to the period T. The duty cycle is perturbed, which
shows the effect on the control voltage with respect to the inductor current. The quantity ΔI L = îL (T ) , ΔD = d̂(T )
and ΔVC = v̂ C (T ) .
T
ΔI L ⋅ R i + 0.5 ⋅ (VIN − VO ) ⋅ ΔD ⋅ ⋅ R i + VSLOPE ⋅ ΔD = ΔVC (45)
L

To maintain constant average inductor current, the control voltage must change by ½ the ripple current times the
current sense gain:

ΔVC = −0.5 ⋅ ΔI PK ⋅ R i (46)

T T
ΔI PK = VO ⋅ (1 − ΔD) ⋅ = −VO ⋅ ΔD ⋅ (47)
L L

Combine equations and solve for ∆D/∆IL:

ΔD R 1
=− i ⋅ (48)
ΔI L VIN T
(0.5 − D) ⋅ R i ⋅ + VSLOPE VIN
L

1
The term is equivalent to the peak current mode modulator gain Km with fixed
T
(0.5 − D) ⋅ R i ⋅ + VSLOPE VIN
L
VSLOPE.

By factoring, this becomes:

ΔD 1 1
=− ⋅ (49)
ΔI L VIN T ⎡⎛ VSLOPE / T ⎞ ⎤
⋅ ⎢⎜⎜1 + ⎟ ⋅ (1 − D) − 0.5⎥
⎟
L ⎢⎣⎝ (VIN − VO ) ⋅ R i / L ⎠ ⎥⎦

This can be expressed as:

ΔD 1 1
=− ⋅ (50)
ΔI L VIN T
⋅ (m c ⋅ D ′ − 0.5)
L
S
Where: D′ = 1 − D mc = 1+ e
Sn
Slope compensating ramp: S e = VSLOPE / T
Positive current sense ramp: S n = (VIN − VO ) ⋅ R i / L

19
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

Reviewing the equation for ∆D/∆IL, when D>0.5, the T/L term goes negative. VSLOPE must be large enough to
compensate, or this will manifest itself in the time domain as a sub-harmonic oscillation of the current loop. If the
condition is set such that:

T VSLOPE
D⋅ = (51)
L VIN ⋅ R i

Then mC·D′ = 1, so the current loop will be stable for any duty cycle. To meet this condition, solve for VSLOPE:

T
VSLOPE = VO ⋅ R i ⋅ (52)
L

Peak Current Mode Peak Current Mode

D=0.6 Q=6.37 D=0.4 Q=6.37
1.1 1.1
1 1
0.9 Vramp 0.9
V V Vramp
0.8 I(L)*Gi*Rs 0.8
I(L)*Gi*Rs
0.7 0.7
0.6
0.6
0 1E-05 2E-05 3E-05 4E-05 5E-05
0 1E-05 2E-05 3E-05 4E-05 5E-05
T
T

Figure 12: Peak current mode sub-harmonic oscillation. For D<0.5, sub-harmonic oscillation is damped. For D>0.5,
sub-harmonic oscillation builds with insufficient slope compensation.

Valley Current Mode

Leading Edge Modulation

For valley current mode control, the valley current must be accounted for in its relationship to the average current.
By perturbing the duty cycle, we can see the effect on VC.

Write the equation for the voltage at VC:

T
i L ⋅ R i − 0.5 ⋅ v O ⋅ (1 − d) ⋅ ⋅ R i − VSLOPE ⋅ (1 − d ) = v C (53)
L

VIN, VO, and VSLOPE are considered to be fixed with respect to the period T. The duty cycle is perturbed, which
shows the effect on the control voltage with respect to the inductor current. The quantity ΔI L = îL (T ) , ΔD = d̂(T )
and ΔVC = v̂ C (T ) .

T
ΔI L ⋅ R i + 0.5 ⋅ VO ⋅ ΔD ⋅ ⋅ R i + VSLOPE ⋅ ΔD = ΔVC (54)
L

To maintain constant average inductor current, the control voltage must change by ½ the ripple current:

ΔVC = 0.5 ⋅ ΔI PK ⋅ R i (55)

T
ΔI PK = (VIN − VO ) ⋅ ΔD ⋅ (56)
L

Combine equations and solve for ∆D/∆IL:

20
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

ΔD R 1
=− i ⋅ (57)
ΔI L VIN T
(D − 0.5) ⋅ R i ⋅ + VSLOPE VIN
L

1
The term is equivalent to the valley current mode modulator gain Km with fixed
T
(D − 0.5) ⋅ R i ⋅ + VSLOPE VIN
L
VSLOPE.

By factoring, this becomes:

ΔD 1 1
=− ⋅ (58)
ΔI L VIN T ⎡⎛ VSLOPE / T ⎞ ⎤
⋅ ⎢⎜⎜1 + ⎟ ⋅ D − 0. 5⎥
L ⎣⎢⎝ VO ⋅ R i / L ⎟⎠ ⎦⎥

This can be expressed as:

ΔD 1 1
=− ⋅ (59)
ΔI L VIN T
⋅ (m c ⋅ D − 0.5)
L
S
Where: mc =1 + e
Sn
Slope compensating ramp: S e = VSLOPE / T
Negative current sense ramp: S n = VO ⋅ R i / L

Reviewing the equation for ∆D/∆IL, when D<0.5, the T/L term goes negative. VSLOPE must be large enough to
compensate, or this will manifest itself in the time domain as a sub-harmonic oscillation of the current loop. If the
condition is set such that:

T VSLOPE
(1 − D) ⋅ = (60)
L VIN ⋅ R i

Then mC·D = 1, so the current loop will be stable for any duty cycle. To meet this condition, solve for VSLOPE.

T
VSLOPE = (VIN − VO ) ⋅ R i ⋅ (61)
L

Valley Current Mode Valley Current Mode

D=0.6 Q=6.37 D=0.4 Q=6.37
1.1 1.2
1 1.1
1
0.9 Vramp
V V 0.9 Vramp
0.8 I(L)*Gi*Rs 0.8 I(L)*Gi*Rs
0.7 0.7
0.6 0.6
0 1E-05 2E-05 3E-05 4E-05 5E-05 0 1E-05 2E-05 3E-05 4E-05 5E-05
T T

Figure 13: Valley current mode sub-harmonic oscillation. For D>0.5, sub-harmonic oscillation is damped. For
D<0.5, sub-harmonic oscillation builds with insufficient slope compensation.

21
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

Emulated Peak Current Mode

Valley Sample and Hold

The valley current is sampled on the down slope of the inductor current. This is used as the DC value of current to
start the next cycle. A slope compensating ramp is added to produce VRAMP at the modulator input.

Write the equation for the voltage at VC:

T
i L ⋅ R i − 0.5 ⋅ ( v IN − v O ) ⋅ d ⋅ ⋅ R i + VSLOPE ⋅ d = v C (62)
L

VIN, VO, and VSLOPE are considered to be fixed with respect to the period T. The duty cycle is perturbed, which
shows the effect on the control voltage with respect to the inductor current. The quantity ΔI L = îL (T ) , ΔD = d̂(T )
and ΔVC = v̂ C (T ) .
T
ΔI L ⋅ R i − 0.5 ⋅ (VIN − VO ) ⋅ ΔD ⋅ ⋅ R i + VSLOPE ⋅ ΔD = ΔVC (63)
L

To maintain constant average inductor current, the control voltage must change by ½ the ripple current:

ΔVC = −0.5 ⋅ ΔI PK ⋅ R i (64)

T T
ΔI PK = VO ⋅ (1 − ΔD) ⋅ = −VO ⋅ ΔD ⋅ (65)
L L

Combine equations and solve for ∆D/∆IL:

ΔD R 1
=− i ⋅ (66)
ΔI L VIN T
VSLOPE VIN − 0.5 ⋅ R i ⋅
L

By factoring, this becomes:

ΔD 1 1
=− ⋅ (67)
ΔI L VIN T ⎛ VSLOPE / T ⎞
⋅⎜ − 0.5 ⎟⎟
L ⎜⎝ VIN ⋅ R i / L ⎠

This can also be written as:

ΔD 1 1
=− ⋅ (68)
ΔI L
⋅ (m C − 0.5)
VIN T
L
S
Where: mC = e S e = VSLOPE / T S n = VIN ⋅ R i / L
Sn

Reviewing the equation for ∆D/∆IL, when mC<0.5, the T/L term goes negative. VSLOPE must be large enough to
compensate, or this will manifest itself in the time domain as a sub-harmonic oscillation of the current loop. If the
condition is set such that:

VSLOPE VIN ⋅ R i
= (69)
T L

Then mC = 1, so the current loop will be unconditionally stable. Unlike peak or valley current mode, slope
compensation is independent of duty cycle. To meet this condition, solve for VSLOPE.

22
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

T
VSLOPE = VIN ⋅ R i ⋅ (70)
L

Emulated Peak Current Mode Emulated Peak Current Mode

D=0.6 Q=6.37 D=0.4 Q=6.37
1.1 1.1
1 1
Vramp
0.9 I(L)*Gi*Rs 0.9 Vramp
V V
0.8 0.8 I(L)*Gi*Rs
0.7
0.7
0.6
0.6
0 1E-05 2E-05 3E-05 4E-05 5E-05
0 1E-05 2E-05 3E-05 4E-05 5E-05
T T

Figure 14: Emulated peak current mode sub-harmonic oscillation. Tendency for sub-harmonic oscillation is
independent of duty cycle. Even with minimal damping, it will eventually die out.

Emulated Valley Current Mode

Peak Sample and Hold

The peak current is sampled on the positive slope of the inductor current. This is used as the DC value of current to
start the next cycle. A slope compensating ramp is added to produce VRAMP at the modulator input.

Write the equation for the voltage at VC:

T
i L ⋅ R i + 0.5 ⋅ v O ⋅ (1 − d ) ⋅ ⋅ R i − VSLOPE ⋅ (1 − d ) = v C (71)
L

VIN, VO, and VSLOPE are considered to be fixed with respect to the period T. The duty cycle is perturbed, which
shows the effect on the control voltage with respect to the inductor current. The quantity ΔI L = îL (T ) , ΔD = d̂(T )
and ΔVC = v̂ C (T ) .
T
ΔI L ⋅ R i − 0.5 ⋅ VO ⋅ ΔD ⋅ ⋅ R i + VSLOPE ⋅ ΔD = ΔVC (72)
L

To maintain constant average inductor current, the control voltage must change by ½ the ripple current:

ΔVC = 0.5 ⋅ ΔI PK ⋅ R i (73)

T
ΔI PK = (VIN − VO ) ⋅ ΔD ⋅ (74)
L

Combine equations and solve for ∆D/∆IL:

ΔD R 1
=− i ⋅ (75)
ΔI L VIN T
VSLOPE VIN − 0.5 ⋅ R i ⋅
L

By factoring, this becomes:

ΔD 1 1
=− ⋅ (76)
ΔI L VIN T ⎛ VSLOPE / T ⎞
⋅ ⎜⎜ − 0.5 ⎟⎟
L ⎝ VIN ⋅ R i / L ⎠

23
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

This can be expressed as:

ΔD 1 1
=− ⋅ (77)
ΔI L VIN T
⋅ (m c − 0.5)
L

Se
Where: mC = S e = VSLOPE / T S n = VIN ⋅ R i / L
Sn

Reviewing the equation for ∆D/∆IL, when mC<0.5, the T/L term goes negative. VSLOPE must be large enough to
compensate, or this will manifest itself in the time domain as a sub-harmonic oscillation of the current loop. If the
condition is set such that:

VSLOPE VIN ⋅ R i
= (78)
T L

Then mC = 1, so the current loop will be unconditionally stable. Unlike peak or valley current mode, slope
compensation is independent of duty cycle. To meet this condition, solve for VSLOPE.

T
VSLOPE = VIN ⋅ R i ⋅ (79)
L

4. General Slope Compensation Requirements

The graphs in the preceding section were made by entering the discrete time expressions for the inductor current and
slope compensating ramp into an Excel spreadsheet. The results are plotted on a cycle by cycle basis. This shows the
current loop behavior without any feedback to the control voltage. Reference [6] discusses the voltage loop gain
effect on the slope compensation requirement for peak current mode. Peaking of the closed loop gain due to
insufficient slope compensation and ripple on the control voltage can cause sub-harmonic oscillation before the
calculated limit, i.e. at duty cycles below 0.5 for peak current mode.

For any mode of operation, when the sum of the sensed inductor current’s slope (times the current sense gain) plus
the slope of the compensation ramp is proportional to VIN, any tendency toward sub-harmonic oscillation will damp
in one switching cycle. This condition is represented by equations 52, 61, 70 and 79, which corresponds to a Q of
0.637. Operation is considered to be optimal, in that the effective sampled gain inductor pole is fixed in frequency
with respect to changes in line voltage. This allows for the highest closed loop gain without any tendency toward
sub-harmonic oscillation. Increasing the external ramp beyond this point will lower the modulator gain,
consequently shifting toward a more voltage mode behavior.

The effective sampled gain inductor pole frequency (45° phase shift) is given by:

⋅ ⎛⎜ 1 + 4 ⋅ Q 2 − 1⎞⎟
1
f L (Q ) = (80)
4⋅T⋅Q ⎝ ⎠

5. Correlation of Measured Data

The LM3495 standard reference design was chosen as a platform for correlation. It is an emulated peak current
mode controller with MOSFET current sensing and internally generated slope compensation using mode EPCM4.
Operating parameters:

VIN=12 VO=1.2 T=2μs VSL=0.125 KSL=1/16 L=1μH

RL=3mΩ GI=4 RS=3.4mΩ CO=200μF RC=1mΩ RO=1Ω and 0.2Ω

24
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

Measurement of control to output gain was made using an AP200 frequency response analyzer.

The simplified transfer function using equation 41 was entered into SPICE as LaPlace for the calculated results.
Nominal data sheet values were used for the components and operating parameters.

Comparison of the results is shown in figure 15.

(a) LM3495 Ro=1 Plot Vo/Vc (b) LM3495 Ro=0.2 Plot Vo/Vc
30 180 30 180
20 120 20 120

Phase / degrees

Phase / degrees
10 60 10 60
Gain / dB

Gain / dB
0 0 0 0
-10 -60 -10 -60
-20 -120 -20 -120
-30 -180 -30 -180
100 1000 10000 100000 1000000 100 1000 10000 100000 1000000
Frequency / Hz Frequency / Hz
Measured Gain Calculated Gain Measured Gain Calculated Gain
Measured Phase Calculated Phase Measured Phase Calculated Phase

Figure 15: LM3495 control to output gain.

6. Conclusion

This analysis has focused on current mode buck regulators with continuous inductor current. Using the methodology
outlined here, general expressions for the boost and buck-boost can be developed. Preliminary work has
demonstrated good correlation between switching and linear models. Using the gain coefficients from reference [2],
general expressions for discontinuous conduction mode can also be developed.

Limitations of existing models have been identified, with direction for further work. Regardless of the limitations,
the simplified transfer functions and general gain parameters allow accurate modeling of the control to output gain.
This is the most important parameter from a design standpoint. Tools like SIMPLIS provide bode plots for any
transfer function directly from the switching model.

REFERENCES

[1] R.D. Middlebrook, “Topics in Multi-Loop Regulators and Current-Mode Programming,” IEEE PESC
Record, pp. 716–732, 1985 (also in IEEE Transactions on Power Electronics, Volume 2, Issue 2, pp. 109–
124, 1987).

[2] R.B. Ridley, “A New Continuous-Time Model for Current-Mode Control with Constant Frequency,
Constant On-Time, and Constant Off-Time, in CCM and DCM,” IEEE PESC Record, pp. 382–389, 1990.

[3] R.B. Ridley, “A New, Continuous-Time Model for Current-Mode Control,” IEEE Transactions on Power
Electronics, Volume 6, Issue 2, pp. 271–280, 1991.

[4] F.D. Tan, R.D. Middlebrook, “Unified Modeling and Measurement of Current-Programmed Converters,”
IEEE PESC Record, pp. 380–387, 1993.

[5] F.D. Tan, R.D. Middlebrook, “A Unified Model for Current-Programmed Converters,”
IEEE Transactions on Power Electronics, Volume 10, Issue 4, pp. 397–408, 1995.

[6] Barney Holland, “Modeling, Analysis and Compensation of the Current-Mode Converter,” Powercon 11
Proceedings, I-2, 1984.

25
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

Notes:

26
 EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS USING
SAMPLE AND HOLD TECHNIQUE

Small Signal Linear Analysis and Comparison to Peak and Valley Methods
by

Robert Sheehan
Principal Applications Engineer
National Semiconductor Corporation
Santa Clara, CA

APPENDIX A

Figure A-1: Buck regulator linear models.

Define ZO and ZL:

⎛ 1 ⎞ R ⋅ (1 + s ⋅ C O ⋅ R C )
Z O = ⎜⎜ + R C ⎟⎟ || R O = O (A.1)
⎝ s ⋅ CO ⎠ 1 + s ⋅ C O ⋅ (R O + R C )

ZL = s ⋅ L + R L + RS (A.2)

A-1
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX A
by Robert Sheehan

Averaged Model
Derivation of Transfer Functions Using General Gain Parameters

Starting with v̂ O , write the transfer function in terms of voltages:

ZO
v̂ O = v̂ SW ⋅ (A.3)
ZO + ZL

v̂ SW = v̂ IN ⋅ D + VIN ⋅ d̂ (A.4)

d̂ = Fm ⋅ ( v̂ C − î L ⋅ R i − v̂ IN ⋅ K I + v̂ O ⋅ K O ) (A.5)

v̂ O
î L = (A.6)
ZO

Combining equations A.3 through A.6 yields:

⎡ ⎛ R ⎞⎤ ZO
v̂ O = ⎢ v̂ IN ⋅ D + VIN ⋅ Fm ⋅ ⎜⎜ v̂ C − v̂ O ⋅ i − v̂ IN ⋅ K I + v̂ O ⋅ K O ⎟⎟⎥ ⋅ (A.7)
⎢⎣ ⎝ ZO ⎠⎥⎦ Z O + Z L

Define Kmp as:

K mp = VIN ⋅ Fm (A.8)

Setting v̂ IN to zero allows the control to output gain to be found:

v̂ O ZO
= (A.9)
v̂ C ⎛ 1 ⎞ 1
ZO ⋅⎜ − K O ⎟ + ZL ⋅ + Ri
⎜ K mp ⎟ K
⎝ ⎠ mp

Define Km as the modulator gain where:

1
Km = (A.10)
1
− KO
K mp

This allows the control to output gain to be expressed as:

v̂ O ZO
= (A.11)
v̂ C ZO Z
+ L + Ri
K m K mp

Setting v̂ C to zero allows the line to output gain to be found:

⎛ 1 K ⎞
D ⋅⎜ − I ⎟ ⋅ ZO
v̂ O ⎜ K mp D ⎟⎠
⎝
= (A.12)
v̂ IN ⎛ 1 ⎞ 1
ZO ⋅⎜ − K O ⎟ + ZL ⋅ + Ri
⎜ K mp ⎟ K mp
⎝ ⎠
A-2
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX A
by Robert Sheehan

Define Kn as the audio susceptibility coefficient:

1 K
Kn = − I (A.13)
K mp D

This allows the line to output gain to be expressed as:

v̂ O D ⋅ K n ⋅ ZO
= (A.14)
v̂ IN ZO Z
+ L + Ri
K m K mp

The denominator of the closed loop gain expressions is also used for the control to inductor current gain. Formal
derivation is done by setting v̂ IN = 0 and v̂ O = î L ⋅ Z O .

î L 1
= (A.15)
v̂ C ZO ZL
+ + Ri
K m K mp

Continuous-Time Model
Derivation of Transfer Functions Using General Gain Parameters

Starting with d̂ , write the transfer function in terms of voltages:

d̂ = Fm′ ⋅ ( v̂ C − î L ⋅ R i ⋅ H e (s) + v̂ ON ⋅ K ′f + v̂ OFF ⋅ K ′r ) (A.16)

Combining with equations A.3, A.4 and A.6 for the power stage yields:

⎡ ⎛ R ⋅ H (s) ⎞⎤ ZO
v̂ O = ⎢ v̂ IN ⋅ D + VIN ⋅ Fm′ ⋅ ⎜⎜ v̂ C − v̂ O ⋅ i e + v̂ ON ⋅ K ′f + v̂ OFF ⋅ K ′r ⎟⎟⎥ ⋅ (A.17)
⎢⎣ ⎝ ZO ⎠⎥⎦ Z O + Z L

Define K′mp as:

K ′mp = VIN ⋅ Fm′ (A.18)

Let v̂ ON = v̂ IN − v̂ O , v̂ OFF = v̂ O . The transfer function becomes:

⎡ ⎛ R ⋅ H (s) ⎞⎤ ZO
v̂ O = ⎢ v̂ IN ⋅ D + K ′mp ⋅ ⎜⎜ v̂ C − v̂ O ⋅ i e + v̂ IN ⋅ K ′f − v̂ O ⋅ K ′f + v̂ O ⋅ K ′r ⎟⎟⎥ ⋅ (A.19)
⎣⎢ ⎝ ZO ⎠⎦⎥ Z O + Z L

Setting v̂ IN to zero allows the control to output gain to be found:

v̂ O ZO
= (A.20)
v̂ C ⎛ 1 ⎞ 1
ZO ⋅⎜ + K ′f − K ′r ⎟ + Z L ⋅ + R i ⋅ H e (s)
⎜ K ′mp ⎟ K ′mp
⎝ ⎠

A-3
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX A
by Robert Sheehan

Define Km as the modulator gain where:

1
Km = (A.21)
1
+ K ′f − K ′r
K ′mp

This allows the control to output gain to be expressed as:

v̂ O ZO
= (A.22)
v̂ C ZO Z
+ L + R i ⋅ H e (s)
K m K ′mp

Setting v̂ C to zero allows the line to output gain to be found:

⎛ 1 K′ ⎞
ZO ⋅ D ⋅ ⎜ + f ⎟
v̂ O ⎜ K ′mp D ⎟⎠
⎝
= (A.23)
v̂ IN ⎛ 1 ⎞ 1
ZO ⋅⎜ + K ′f − K ′r ⎟ + Z L ⋅ + R i ⋅ H e (s)
⎜ K ′mp ⎟ K ′mp
⎝ ⎠

Define Kn as the audio susceptibility coefficient:

1 K′
Kn = + f (A.24)
K ′mp D

This allows the line to output gain to be expressed as:

v̂ O ZO ⋅ D ⋅ K n
= (A.25)
v̂ IN Z O Z
+ L + R i ⋅ H e (s)
K m K ′mp

The denominator of the closed loop gain expressions is also used for the control to inductor current gain. Formal
derivation is done by setting v̂ IN = 0 and v̂ O = î L ⋅ Z O .

î L 1
= (A.26)
v̂ C Z O Z
+ L + R i ⋅ H e (s)
K m K ′mp

Using the closed loop denominator term, define a single sampling gain block which incorporates K′mp inside the
current loop. Let:

ZO Z Z Z
+ L + R i ⋅ H (s) = O + L + R i ⋅ H e (s) (A.27)
Km Km K m K ′mp

The sampling gain term becomes:

ZL ⎛ 1 1 ⎞
H(s) = H e (s) + ⋅⎜ − ⎟ (A.28)
Ri ⎜ K ′mp K m ⎟
⎝ ⎠

A-4
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX A
by Robert Sheehan

s s2 π 2
Where: H e (s) = 1 + + ωn = Qz = − (A.29)
ωn ⋅ Qz ωn 2 T π

The transfer functions can now be expressed as:

v̂ O K m ⋅ ZO
= (A.30)
v̂ C Z O + Z L + K m ⋅ R i ⋅ H(s)

v̂ O D ⋅ K n ⋅ K m ⋅ ZO
= (A.31)
v̂ IN Z O + Z L + K m ⋅ R i ⋅ H(s)

î L Km
= (A.32)
v̂ C Z O + Z L + K m ⋅ R i ⋅ H(s)

The general transfer function is:

[
v̂ O = K m ⋅ v̂ C − î L ⋅ R i ⋅ H(s) + v̂ IN ⋅ D ⋅ K n ⋅] Z Z+ ZO
(A.33)
O L

Figure A-2: Continuous-time model using general gain parameters. This model is valid for control to output transfer
functions of all operating modes. The line to output transfer function is valid at dc, but diverges from the actual
response over frequency.

Unified Model
Derivation of Transfer Functions Using General Gain Parameters

Starting with d̂ , write the transfer function in terms of voltages:

d̂ = Fm (s) ⋅ ( v̂ C − î L ⋅ R i − v̂ IN ⋅ K ) (A.34)

Combining with equations A.3, A.4 and A.6 for the power stage yields:

⎡ ⎛ R ⎞⎤ ZO
v̂ O = ⎢ v̂ IN ⋅ D + VIN ⋅ Fm (s) ⋅ ⎜⎜ v̂ C − v̂ O ⋅ i − v̂ IN ⋅ K ⎟⎟⎥ ⋅ (A.35)
⎣⎢ ⎝ Z O ⎠⎦⎥ O + Z L
Z

Define: VIN ⋅ Fm (s) = K m ⋅ H P (s) (A.36)

The transfer function becomes:

⎡ ⎛ R ⎞⎤ ZO
v̂ O = ⎢ v̂ IN ⋅ D + K m ⋅ H p (s) ⋅ ⎜⎜ v̂ C − v̂ O ⋅ i − v̂ IN ⋅ K ⎟⎟⎥ ⋅ (A.37)
⎣⎢ ⎝ Z O ⎠⎦⎥ O + Z L
Z

A-5
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX A
by Robert Sheehan

Setting v̂ IN to zero allows the control to output gain to be found:

v̂ O K m ⋅ Z O ⋅ H P (s)
= (A.38)
v̂ C Z O + Z L + K m ⋅ R i ⋅ H P (s)

Setting v̂ C to zero allows the line to output gain to be found:

v̂ O
=
[D − K ⋅ K m ⋅ H P (s)]⋅ Z O (A.39)
v̂ IN Z O + Z L + K m ⋅ R i ⋅ H P (s)

Setting v̂ IN = 0 and v̂ O = î L ⋅ Z O allows the control to inductor current gain to be found:

î L K m ⋅ H P (s)
= (A.40)
v̂ C Z O + Z L + K m ⋅ R i ⋅ H P (s)

Setting v̂ C = 0 , v̂ IN = 0 and v̂ O = î L ⋅ Z O allows the current loop gain to be found:

î L K m ⋅ R i ⋅ H P (s)
=− (A.41)
î L′ ZO + ZL

Setting HP(s)=1 and comparing the line to output gain to the averaged and continuous-time models:

⎛ 1 ⎞
D⋅Kn ⋅Km = D − K⋅Km Therefore: K = D ⋅ ⎜⎜ − K n ⎟⎟ (A.42)
⎝ Km ⎠

The sampling gain term is defined as:

1 ωn
H p (s) = Where: ω Hp = (A.43)
s Q
1+
ω Hp

Figure A-3: Unified model uses the high frequency asymptote for a single pole in series with the modulator. This
accurately models the current loop and control to output transfer functions, but is limited to PCM1, VCM1 and
VCM3 operating modes.

A-6
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX A
by Robert Sheehan

Averaged Model
Derivation of Factored Pole/Zero Form

Starting with the control to output gain of equation A.11, expand ZO and ZL:

R O ⋅ (1 + s ⋅ C O ⋅ R C )
v̂ O ZO 1 + s ⋅ C O ⋅ (R O + R C )
= = (A.44)
v̂ C ZO Z R O ⋅ (1 + s ⋅ C O ⋅ R C ) s⋅L + RL + RS
+ L + Ri + + Ri
K m K mp K m ⋅ (1 + s ⋅ C O ⋅ (R O + R C ) ) K mp

Rationalize the numerator and factor RO/Ri:

v̂ O R O 1 + s ⋅ CO ⋅ R C
= ⋅ (A.45)
v̂ C Ri RO s ⋅ CO ⋅ R O ⋅ R C ⎛ R + RS s⋅L ⎞
+ + ⎜1 + L + ⎟ ⋅ (1 + s ⋅ C O ⋅ (R O + R C ))
Km ⋅ Ri Km ⋅ Ri ⎜ K ⋅ R K mp ⋅ R i
⎟
⎝ mp i ⎠

Expand the denominator and group like terms:

v̂ O R O 1 + s ⋅ CO ⋅ R C
= ⋅ (A.46)
v̂ C Ri ⎛ s⋅L ⎞
KD + s ⋅ CO ⋅ K C + ⎜ ⎟ ⋅ (1 + s ⋅ C O ⋅ (R O + R C ))
⎜ K mp ⋅ R i ⎟
⎝ ⎠

RO R + RS ⎛ R + RS ⎞ RO ⋅ RC
Where: K D = 1 + + L K C = ( R O + R C ) ⋅ ⎜1 + L ⎟+ (A.47)
K m ⋅ R i K mp ⋅ R i ⎜ K mp ⋅ R i ⎟ Km ⋅ Ri
⎝ ⎠

By factoring this becomes:

v̂ O R O 1 + s ⋅ CO ⋅ R C
= ⋅ (A.48)
v̂ C Ri ⎡ K ⎤ ⎡ ⎛ s⋅L ⎞ ⎛ 1 + s ⋅ C O ⋅ (R O + R C ) ⎞⎤
K D ⋅ ⎢1 + s ⋅ C O ⋅ C ⎥ ⋅ ⎢1 + ⎜ ⎟⋅⎜ ⎟⎥
⎣ K D ⎦ ⎢ ⎜⎝ K mp ⋅ R i ⎟ ⎜⎝ K D + s ⋅ C O ⋅ K C ⎟⎠⎥
⎣ ⎠ ⎦

RO 1 + s ⋅ C O ⋅ (R O + R C )
To simplify: KD ≈ 1+ KC ≈ RO ≈1 (A.49)
Km ⋅ Ri K D + s ⋅ CO ⋅ K C

The simplified expression is:

v̂ O R O 1 + s ⋅ CO ⋅ R C
≈ ⋅ (A.50)
v̂ C Ri ⎛ ⎞
⎜ ⎟
⎛
⎜⎜1 +
RO ⎞ ⎜
⎟⎟ ⋅ 1 +
s ⋅ CO ⎟ ⋅ ⎛⎜1 + s ⋅ L ⎞
⎟
K ⋅ R ⎜ 1 1 ⎟ ⎜ K mp ⋅ R i ⎟
⎝ m i ⎠
⎜ + ⎟ ⎝ ⎠
⎝ RO Km ⋅ Ri ⎠

A-7
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX A
by Robert Sheehan

Continuous-Time Model
Derivation of Factored Pole/Zero Form

Starting with the control to output gain of equation A.22, expand ZO and ZL:

R O ⋅ (1 + s ⋅ C O ⋅ R C )
v̂ O ZO 1 + s ⋅ C O ⋅ (R O + R C )
= = (A.51)
v̂ C ZO ZL R O ⋅ (1 + s ⋅ C O ⋅ R C ) s ⋅ L + RL + RS
+ + R i ⋅ H e (s) + + R i ⋅ H e (s)
Km K ′mp K m ⋅ (1 + s ⋅ C O ⋅ (R O + R C )) K ′mp

Rationalize the numerator, factor RO/Ri and expand He(s): (A.52)

v̂ O R O 1 + s ⋅ CO ⋅ R C
= ⋅
v̂ C Ri RO s ⋅ C O ⋅ R O ⋅ R C ⎛⎜ R + RS s⋅L s s2 ⎞
+ + 1+ L + + + ⎟ ⋅ (1 + s ⋅ C O ⋅ (R O + R C ))
Km ⋅ Ri Km ⋅ Ri ⎜ K ′mp ⋅ R i K ′mp ⋅ R i ω n ⋅ Q z ω n 2 ⎟
⎝ ⎠

s s⋅L s
Define: = + (A.53)
′
ω n ⋅ Q K mp ⋅ R i ω n ⋅ Q z

Expand the denominator and group like terms:

v̂ O R O 1 + s ⋅ CO ⋅ R C
= ⋅ (A.54)
v̂ C Ri ⎛ s s2 ⎞
K ′D + s ⋅ C O ⋅ K ′C + ⎜ + ⎟ ⋅ (1 + s ⋅ C O ⋅ (R O + R C ))
⎜ ωn ⋅ Q ω 2 ⎟
⎝ n ⎠

RO R + RS ⎛ R + RS ⎞ RO ⋅ RC
Where: K ′D = 1 + + L K ′C = (R O + R C ) ⋅ ⎜1 + L ⎟+ (A.55)
K m ⋅ R i K ′mp ⋅ R i ⎜ K ′mp ⋅ R i ⎟ Km ⋅ Ri
⎝ ⎠

By factoring this becomes:

v̂ O R O 1 + s ⋅ CO ⋅ R C
= ⋅ (A.56)
v̂ C Ri ⎡ K′ ⎤ ⎡ ⎛ s s2 ⎞ ⎛ 1 + s ⋅ C O ⋅ (R O + R C ) ⎞⎤
K ′D ⋅ ⎢1 + s ⋅ C O ⋅ C ⎥ ⋅ ⎢1 + ⎜ + ⎟⋅⎜ ⎟⎥
⎣ K ′D ⎦ ⎢ ⎜⎝ ω n ⋅ Q ω n 2 ⎟ ⎜⎝ K ′D + s ⋅ C O ⋅ K ′C ⎟⎠⎥
⎣ ⎠ ⎦

RO 1 + s ⋅ C O ⋅ (R O + R C )
To simplify: K ′D ≈ 1 + K ′C ≈ R O ≈1 (A.57)
Km ⋅ Ri K ′D + s ⋅ C O ⋅ K ′C

The simplified expression is:

v̂ O R O 1 + s ⋅ CO ⋅ R C
≈ ⋅ (A.58)
v̂ C Ri ⎛ ⎞
⎜ ⎟
⎛ RO ⎞ ⎜ ⎟ ⋅ ⎛⎜1 + s + s ⎞
2
s ⋅ CO ⎟
⎜⎜1 + ⎟⎟ ⋅ 1 +
Km ⋅ Ri ⎠ ⎜ 1 1 ⎟ ⎜ ωn ⋅ Q ωn 2 ⎟
⎝ ⎜ + ⎟ ⎝ ⎠
⎝ R O K m ⋅ Ri ⎠

1
From equation A.53: Q= (A.59)
⎛ L ⎞
π ⋅⎜ − 0.5 ⎟
⎜ K ′mp ⋅ R i ⋅ T ⎟
⎝ ⎠
A-8
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX A
by Robert Sheehan

Unified Linear Model Using General Gain Parameters

Figure A-4: Complete low frequency unified buck regulator linear model using general gain parameters. To model
the current loop with sampling gain term, multiply Km by Hp(s) (valid for PCM1, VCM1 and VCM3 only). To
model the control to output or voltage loop with sampling gain term, multiply Gi by H(s).

Derivation of model:

From equations A.4 and A.34:

v̂ SW = v̂ IN ⋅ D + VIN ⋅ Fm (s) ⋅ ( v̂ C − î L ⋅ R i − v̂ IN ⋅ K ) (A.60)

Let: v̂ P = v̂ C − î L ⋅ R i − v̂ IN ⋅ K (A.61)

For the low frequency model let VIN·Fm(s)=Km. Equation A.60 can now be expressed as:

v̂ SW = v̂ IN ⋅ D + K m ⋅ v̂ P (A.62)

Comparing equation A.4 to equation A.62:

Km
VIN ⋅ d̂ = K m ⋅ v̂ P therefore: d̂ = ⋅ v̂ P (A.63)
VIN

The power stage of figure A-1 (a) shows the relationship of the input current to the inductor current:

î IN = î L ⋅ D + I L ⋅ d̂ (A.64)

Since IL=VO/RO and VO =VIN·D, substitution of equation A.63 yields:

⎛ K ⎞
î IN = D ⋅ ⎜⎜ î L + m ⋅ v̂ P ⎟⎟ (A.65)
⎝ R O ⎠

A-9
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX A
by Robert Sheehan

K can be found from the general gain parameters using equation A.42. Substitution of variables into equations A.10
and A.13 leads to an alternate form using averaged model parameters:

K = KI − D ⋅ KO (A.66)

TABLE A-1
DERIVATION OF K USING AVERAGED MODEL PARAMETERS
Mode KI −D ⋅ K O K
PCM1 T ⎛ T ⎞ T
0.5 ⋅ R i ⋅ ⋅D − D ⋅ ⎜ 0.5 ⋅ R i ⋅ ⋅ D ⎟ 0.5 ⋅ R i ⋅ ⋅ D ⋅ D′
L ⎝ L ⎠ L
PCM2 T ⎛ T ⎞ T
0.5 ⋅ R i ⋅ ⋅D − D ⋅ ⎜ 0.5 ⋅ R i ⋅ − K SL ⎟ ⋅ D 0.5 ⋅ R i ⋅ ⋅ D ⋅ D′ + K SL ⋅ D 2
L ⎝ L ⎠ L
VCM1 0 ⎛ T ⎞ T
− D ⋅ ⎜ 0.5 ⋅ R i ⋅ ⋅ D′ ⎟ − 0.5 ⋅ R i ⋅ ⋅ D ⋅ D′
⎝ L ⎠ L
VCM2 −K SL ⋅ D ′ ⎛ T ⎞ T
− D ⋅ ⎜ 0.5 ⋅ R i ⋅ − K SL ⎟ ⋅ D ′ − 0.5 ⋅ R i ⋅ ⋅ D ⋅ D ′ − K SL ⋅ (D ′) 2
⎝ L ⎠ L
EPCM1 T ⎛ T ⎞ T
− 0.5 ⋅ R i ⋅ ⋅D − D ⋅ ⎜ − 0.5 ⋅ R i ⋅ ⋅ D ⎟ − 0.5 ⋅ R i ⋅ ⋅ D ⋅ D′
L ⎝ L ⎠ L
EPCM2 ⎛ T⎞ ⎛ T ⎞ T
⎜ K SL − 0.5 ⋅ R i ⋅ ⎟ ⋅ D − D ⋅ ⎜ − 0.5 ⋅ R i ⋅ ⋅ D ⎟ − 0.5 ⋅ R i ⋅ ⋅ D ⋅ D ′ + K SL ⋅ D
⎝ L⎠ ⎝ L ⎠ L
EVCM1 0 ⎛ T ⎞ T
− D ⋅ ⎜ − 0.5 ⋅ R i ⋅ ⋅ D ′ ⎟ 0.5 ⋅ R i ⋅ ⋅ D ⋅ D′
⎝ L ⎠ L
EVCM2 −K SL ⋅ D ′ ⎛ T ⎞ T
− D ⋅ ⎜ − 0.5 ⋅ R i ⋅ ⋅ D ′ ⎟ 0.5 ⋅ R i ⋅ ⋅ D ⋅ D ′ − K SL ⋅ D ′
⎝ L ⎠ L
VCM3 −K SL ⋅ D ′ ⎛ T ⎞ T
− D ⋅ ⎜ 0.5 ⋅ R i ⋅ ⋅ D′ ⎟ − 0.5 ⋅ R i ⋅ ⋅ D ⋅ D ′ − K SL ⋅ D ′
⎝ L ⎠ L
EPCM3 ⎛ T⎞ ⎛ T⎞ ⎛ T ⎞
⎜ K SL − 0.5 ⋅ R i ⋅ ⎟⋅D − D ⋅ ⎜ K SL − 0.5 ⋅ R i ⋅ ⎟ ⋅ D ⎜ − 0.5 ⋅ R i ⋅ + K SL ⎟ ⋅ D ⋅ D ′
⎝ L⎠ ⎝ L⎠ ⎝ L ⎠
EPCM4 ⎛ T⎞ ⎛ T ⎞ T
⎜ K SL − 0.5 ⋅ R i ⋅ ⎟⋅D − D ⋅ ⎜ − 0.5 ⋅ R i ⋅ ⋅ D ⎟ − 0.5 ⋅ R i ⋅ ⋅ D ⋅ D ′ + K SL ⋅ D
⎝ L⎠ ⎝ L ⎠ L

The low frequency linear model of figure A-4 can be used for all transfer functions including the input impedance
and output impedance. The line to output and control to output transfer functions can be reduced to the simplified
transfer functions of the averaged model represented by equations 39 and 40. The only difference is the inductor
pole frequency which becomes:

Km ⋅ Ri
ωL = (A.67)
L

This is considered to be the “true” inductor pole frequency without the sampling gain term.

A-10
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX A
by Robert Sheehan

Derivation of HP(s) from H(s)

Let the control to inductor current transfer function of the continuous-time model from equation A.32 equal that of
the unified model from equation A.40.

î L Km K m ⋅ H P (s)
= = (A.68)
v̂ C Z O + Z L + K m ⋅ R i ⋅ H(s) Z O + Z L + K m ⋅ R i ⋅ H P (s)

Solve for HP(s).

ZO + ZL
H P (s) = (A.69)
Z O + Z L + K m ⋅ R i ⋅ (H (s) − 1)

Evaluation of H(s)-1 yields:

ZO + ZL
H P (s) = (A.70)
⎡Z ⎛ 1 1 ⎞ s s2 ⎤
ZO + Z L + K m ⋅ R i ⋅ ⎢ L ⋅⎜ − ⎟+ + ⎥
⎢⎣ R i ⎜ K ′mp K m ⎟ ωn ⋅ Qz ω 2 ⎥
⎝ ⎠ n ⎦

Utilization of equation A.70 in the unified model does not result in accurate plots of the current loop gain for all
operating modes. It does yield accurate plots of the control to output gain.

To simplify the analysis, let ZL/Ri=s·L/Ri. Evaluation of ωn and QZ results in:

ZO
1+
ZL
H P (s) = (A.71)
Z K ⋅ Ri ⎡ ⎛ L ⎛ 1 1 ⎞ T ⎞ s2 ⎤
1+ O + m ⋅ ⎢s ⋅ ⎜ ⋅⎜ − ⎟− ⎟+ ⎥
ZL ZL ⎢ ⎜⎝ R i ⎜ K ′mp K m ⎟ 2⎟ ω 2⎥
⎣ ⎝ ⎠ ⎠ n ⎦

L ⎛ 1 1 ⎞⎟ T
Let: Ke = ⋅⎜ − − (A.72)
Ri ⎜ K ′mp K m ⎟ 2
⎝ ⎠

This allows HP(s) to be expressed as:

ZO
1+
ZL
H P (s) = (A.73)
Z K ⋅ Ri ⎛ s2 ⎞
1+ O + m ⋅ ⎜s ⋅ Ke + ⎟
ZL ZL ⎜ ωn 2 ⎟
⎝ ⎠

Ke is evaluated for each operating mode in table A-2.

A-11
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX A
by Robert Sheehan

TABLE A-2
EVALUATION OF K e FOR EACH OPERATING MODE
Mode 1 1 Ke
K ′mp Km
PCM1 T V T VSL 0
Ri ⋅ ⋅ (1 − D) + SL (0.5 − D) ⋅ R i ⋅ +
L VIN L VIN
PCM2 T T L
Ri ⋅ ⋅ (1 − D) + K SL ⋅ D (0.5 − D) ⋅ R i ⋅ + 2 ⋅ K SL ⋅ D − K SL ⋅ D ⋅
L L Ri
VCM1 T V T VSL 0
Ri ⋅ ⋅ D + SL (D − 0.5) ⋅ R i ⋅ +
L VIN L VIN
VCM2 T T L
Ri ⋅ ⋅ D + K SL ⋅ (1 − D) (D − 0.5) ⋅ R i ⋅ + 2 ⋅ K SL ⋅ (1 − D) − K SL ⋅ D′ ⋅
L L Ri
EPCM1 VSL T VSL −D ⋅ T
(D − 0.5) ⋅ R i ⋅ +
VIN L VIN
EPCM2 K SL T −D ⋅ T
(D − 0.5) ⋅ R i ⋅ + K SL
L
EVCM1 VSL T V −D′ ⋅ T
(0.5 − D) ⋅ R i ⋅ + SL
VIN L VIN
EVCM2 K SL T −D′ ⋅ T
(0.5 − D) ⋅ R i ⋅ + K SL
L
VCM3 T T 0
Ri ⋅ ⋅ D + K SL (D − 0.5) ⋅ R i ⋅ + K SL
L L
EPCM3 V T V L
K SL ⋅ (1 − D) + SL (D − 0.5) ⋅ R i ⋅ + (1 − 2 ⋅ D) ⋅ K SL + SL − D ⋅ T + K SL ⋅ D ⋅
VIN L VIN Ri
EPCM4 VSL T V −D ⋅ T
K SL + (D − 0.5) ⋅ R i ⋅ + K SL + SL
VIN L VIN

Ke=0 for PCM1, VCM1 and VCM3.

ZO
Evaluation of the high frequency asymptote is done by recognizing that 1 + ≈ 1.
ZL
With ZL=s·L, HP(s) reduces to:

1 1
H P (s) = where Q= (A.74)
Q ⎛ L ⎞
1+ s ⋅ π ⋅ ⎜⎜ ⎟⎟
ωn K ⋅ R ⋅ T
⎝ m i ⎠

For PCM1, VCM1 and VCM3, this value of Q is equivalent to that defined by equation A.59.

A-12
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX A
by Robert Sheehan

Unified Linear Model Using General Gain Parameters

Low Frequency Model of Figure A-4
Line Rejection

Starting from equation A.37 with HP(s)=1:

⎡ ⎛ R ⎞⎤ ZO
v̂ O = ⎢ v̂ IN ⋅ D + K m ⋅ ⎜⎜ v̂ C − v̂ O ⋅ i − v̂ IN ⋅ K ⎟⎟⎥ ⋅ (A.75)
⎣⎢ ⎝ Z O ⎠⎦⎥ O + Z L
Z

Since v̂ C = − v̂ O ⋅ G V :

⎡ ⎛ R ⎞⎤ ZO
v̂ O = ⎢ v̂ IN ⋅ D + K m ⋅ ⎜⎜ − v̂ O ⋅ G V − v̂ O ⋅ i − v̂ IN ⋅ K ⎟⎟⎥ ⋅ (A.76)
⎢⎣ ⎝ ZO ⎠⎥⎦ Z O + Z L

This allows the closed loop low frequency line rejection to be expressed as:

v̂ O (D − K ⋅ K m ) ⋅ Z O
= (A.77)
v̂ IN Z O + Z L + K m ⋅ G V ⋅ Z O + K m ⋅ R i

By setting GV=0, this reduces to the open loop low frequency audio susceptibility equation.

Note: Introduction of either HP(s) or H(s) will still result in a deviation from the actual response at higher frequency.

Unified Linear Model Using General Gain Parameters

Low Frequency Model of Figure A-4
Output Impedance

Starting with v̂ SW , write the transfer functions from the model of figure A-4. There is no perturbation from the
input, so v̂ IN = 0 .

v̂ SW = K m ⋅ (− v̂ O ⋅ G V − î L ⋅ R i ) (A.78)

The output voltage is perturbed by an external current source such that:

v̂ O = (î L + î O ) ⋅ Z O (A.79)

The inductor current can be expressed as:

( v̂ SW − v̂ O )
î L = (A.80)
ZL

Combining equations, the closed loop output impedance is found to be:

v̂ O ZO
= (A.81)
î O Z O ⋅ (1 + K m ⋅ G V )
1+
ZL + K m ⋅ R i

By setting GV=0, this reduces to the open loop output impedance.

To incorporate the sampling gain term, multiply Ri by H(s).

A-13
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX A
by Robert Sheehan

Unified Linear Model Using General Gain Parameters

Low Frequency Model of Figure A-4
Input Impedance

From A.60, write the equation for v̂ SW :

v̂ SW = v̂ IN ⋅ D + K m ⋅ ( v̂ C − î L ⋅ R i − v̂ IN ⋅ K ) = î L ⋅ ( Z O + Z L ) (A.82)

Write the equation for î IN from A.61 and A.65:

Km ⋅ D
î IN = î L ⋅ D + ⋅ ( v̂ C − î L ⋅ R i − v̂ IN ⋅ K ) (A.83)
RO

From the model of figure A-4:

v̂ C = − v̂ O ⋅ G V = −î L ⋅ G V ⋅ Z O (A.84)

Combining equations A.82 and A.84:

v̂ IN ⋅ (D − K ⋅ K m )
î L = (A.85)
ZO + ZL + K m ⋅ G V ⋅ ZO + K m ⋅ R i

Combining equations A.83 and A.84:

K ⋅ Km ⋅ D
î IN + v̂ IN ⋅
RO
î L = (A.86)
K ⋅ G V ⋅ ZO ⋅ D K m ⋅ R i ⋅ D
D− m −
RO RO

Set equation A.85 equal to A.86. After much algebraic manipulation, the closed loop input impedance is found to
be:

ZO + ZL
1+
v̂ IN RO K m ⋅ G V ⋅ ZO + K m ⋅ R i
=− 2 ⋅ (A.87)
î IN D K ⋅ Km
⋅ (R O + Z O + Z L ) − R O
1+ D
K m ⋅ G V ⋅ ZO + K m ⋅ R i

By setting GV=0, the open loop input impedance is found.

Note: Introduction of either HP(s) or H(s) will still result in a deviation from the actual response at higher frequency.

A-14
 EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
APPENDIX B

LM3495 Unified Linear Model using General Gain Parameters

Low Frequency Model without Sampling Gain Term

Vin Vsw 1u 3m 3.4m Vo

Km L1 Rl Rs
D
16.1178 200u
P1 S1
[1] [100m] Co 200m
1m
Ro
Km/Ro Rc

Vp

80.589
K
Gi

K=D*(1/Km-Kn) 5.0257m
AC 0 0
4
V2
IN OUT
=OUT/IN Vop
Vc 10k
Gv R1
AC 1 0
10n
V1 72Meg
100p C1 10k
R4 1.5k
C2 750u R2
R3

Figure B-1: SIMETRIX LM3495 Linear SPICE Model

Line Rejection and Input Impedance

Y3 Y2 Y1
27 -40 150
Impedance @ V1 / Ohm

(a)
26 -50 100
Phase / degrees

25 -60 50
Gain / dB

24 -70 0
(b)
23 -80 -50
22 -90 -100
21 -100 -150
(c)
20 -110 -200
19 -120
100 200 400 1k 2k 4k 10k 20k 40k 100k 400k 1M

Frequency / Hertz
(a) Vo/Vin Phase (Y1)
(b) Vo/Vin Gain (Y2)
(c) Impedance @ V1 (Y3)

Figure B-2: Line Rejection and Negative Input Impedance

B-1
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX B
by Robert Sheehan

Audio Susceptibility - Vc=0

Y2 Y1
-40 0
(b)
-50 -20

Phase / degrees
-60 -40
Gain / dB

-70 -60
(a)
-80 -80
-90 -100
-100 -120
-110 -140
-120
100 200 400 1k 2k 4k 10k 20k 40k 100k 200k 400k 1M

Frequency / Hertz
(a) Vo/Vin Phase (Y1)
(b) Vo/Vin Gain (Y2)

Figure B-3: Audio Susceptibility

Control To Output
Y2 Y1
20 0
(b)
10 -20
Phase / degrees

0 -40
Gain / dB

-10 -60
(a)
-20 -80
-30 -100
-40 -120
-50 -140
-60
100 200 400 1k 2k 4k 10k 20k 40k 100k 200k 400k 1M

Frequency / Hertz
(a) Vo/Vc Phase (Y1)
(b) Vo/Vc Gain (Y2)

Figure B-4: Control to Output

B-2
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX B
by Robert Sheehan

Error Amplifier
Y2 Y1
40 200
(b)
30 180

20 Phase / degrees 160

Gain / dB

10 140

0 120
-10 100 (a)
-20
100 200 400 1k 2k 4k 10k 20k 40k 100k 200k 400k 1M

Frequency / Hertz
(a) Vc/Vop Phase (Y1)
(b) Vc/Vop Gain (Y2)

Figure B-5: Error Amplifier

Voltage Loop
Y2 Y1
60 120
(b)
40 100 (a)
Phase / degrees

20 80
Gain / dB

0 60

-20 40
-40 20

-60
100 200 400 1k 2k 4k 10k 20k 40k 100k 200k 400k 1M

Frequency / Hertz
(a) Vo/Vop Phase (Y1)
(b) Vo/Vop Gain (Y2)

Figure B-6: Voltage Loop

B-3
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX B
by Robert Sheehan

Vin Vsw 1u 3m 3.4m Vo

Km L1 Rl Rs
D
16.1178 200u
P1 S1
[1] [100m] Co 200m
1m
Ro
Km/Ro Rc

Vp
1
80.589
K OUT IN
=OUT/IN
Gi H1

AC 1 0
K=D*(1/Km-Kn) 5.0257m I1
AC 0 0
4
V2

Vop
Vc 10k
Gv R1
AC 0 0
10n
V1 72Meg
100p C1 10k
R4 1.5k
C2 750u R2
R3

Figure B-7: SIMETRIX LM3495 Linear Model for Output Impedance

Output Impedance - Zout

Y2 Y1
0 150
(d)
-20 100
Phase / degrees

(a)
Gain / dB

-40 50 (b)

-60 0
(c)
-80 -50

-100
100 200 400 1k 2k 4k 10k 20k 40k 100k 200k 400k 1M

Frequency / Hertz
(a) Closed Loop Phase (Y1) (c) Open Loop Phase (Y1)
(b) Closed Loop Gain (Y2) (d) Open Loop Gain (Y2)

Figure B-8: Output Impedance

B-4
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX B
by Robert Sheehan

Vin Vsw 1u 3m 3.4m Vo

L1 Rl Rs
D Km
16.1178 200u
P1 S1 Co
[1] [100m] 200m
1m Ro
Km/Ro Rc

Vp

80.589

Gi

K=D*(1/Km-Kn) 5.0257m
AC 0 0
4 V2

H1
Vop
Vc 10k
IN OUT
Gv R1
=OUT/IN
1 10n
72Meg C1
AC 1 0 R4 100p 10k
V1 C2 1.5k R2
R3 750u

Figure B-9: SIMETRIX LM3495 Linear Model for Input Impedance

Input Impedance - Zin

Y2 Y1
29 200 (c)
28.5 150
Phase / degrees

28 100 (d)
Gain / dB

27.5 50
27 0
26.5 -50
(b)
26 -100
25.5 -150 (a)
25
100 200 400 1k 2k 4k 10k 20k 40k 100k 200k 400k 1M

Frequency / Hertz
(a) Closed Loop Phase (Y1) (c) Open Loop Phase (Y1)
(b) Closed Loop Gain (Y2) (d) Open Loop Gain (Y2)

Figure B-10: Input Impedance

B-5
EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS – APPENDIX B
by Robert Sheehan

Vin Vsw 1u 3m 3.4m Vo

L1 Rl Rs
D Km
16.1178 200u
P1 S1 Co
[1] [100m] 200m
1m Ro
Km/Ro Rc

Vp

80.589 Vcsp Vcs

IN OUT
K =OUT/IN

AC 1 0 Gi

K=D*(1/Km-Kn) 5.0257m V3
AC 0 0
4 V2

Vop
Vc 10k
Gv R1
AC 0 0
V1 10n
72Meg C1
R4 100p 10k
C2 1.5k R2
R3 750u

Figure B-11: SIMETRIX LM3495 Linear Model for Current Loop

Current Loop
Y2 Y1
20 0

10 -50
Phase / degrees

(b)
0 -100
Gain / dB

-10 -150 (a)

-20 -200
-30 -250

-40
100 200 400 1k 2k 4k 10k 20k 40k 100k 200k 400k 1M

Frequency / Hertz
(a) Vcs/Vcsp Phase (Y1)
(b) Vcs/Vcsp Gain (Y2)

Figure B-12: Current Loop

B-6
 EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS USING
SAMPLE AND HOLD TECHNIQUE

Small Signal Linear Analysis and Comparison to Peak and Valley Methods
by

Robert Sheehan
Principal Applications Engineer
National Semiconductor Corporation
Santa Clara, CA

ERRATA

For

PES02
Tuesday, October 24, 2006
8:30am – 9:30am

Power Electronics Technology Exhibition and Conference

October 24-26, 2006
Long Beach Convention Center
Long Beach, CA

Corrections to the Conference Proceedings CD version, which are included in the print version:

1. Figure 4: Delete last sentence, “By setting H(s)=1, the averaged model is obtained.”

2. Table 2A: VCM1, change Sn=(VIN-VO)·Ri/L to Sn=VO·Ri/L.

3. Table 5: Last section for PCM2 and VCM2, change KSL from “0.05” to “0.10” (two places).

4. Figure 10: Graph legends, change last entries for “Gain Q=0.318” to “Phase Q=0.318” (three places).

5. Equation 71: Change from “iL·Ri - 0.5…” to “iL·Ri + 0.5…”

6. Section 4. General Slope Compensation Requirements, second paragraph: Change from “when the sum of the
inductor current’s slope…” to “when the sum of the sensed inductor current’s slope…”

Additional sections which are not on the Conference Proceedings CD version:

Appendix A

Appendix B

PES02 Presentation October 24, 2006

EMULATED CURRENT MODE CONTROL FOR BUCK REGULATORS
by Robert Sheehan

Notes:

PES02 Presentation October 24, 2006

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