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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Int. J. Robust Nonlinear Control 2003; 13:421–442 (DOI: 10.1002/rnc.722)

Current-mode control of DC–DC power converters:
a backstepping approach
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J. Alvarez-Ramirez1,*,y, G. Espinosa-Perez2,z and D. Noriega-Pineda2
!
!
!
Universidad Autonoma Metropolitana-Iztapalapa, Division de Ciencias Basicas e Ingenier!a,
ı
!
Apartado Postal55-534, 09340 Mexico DF, Mexico
2
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!
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Universidad Nacional Autonoma de Mexico, Division de Estudios de Posgrado}Facultad de Ingenier!a,
ı
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Apartado Postal 70-256, 04510 Mexico DF, Mexico
1

SUMMARY
Current-mode control is a robust industrial DC–DC power converter control scheme that has been
successfully tested, is widely accepted, and is commonly implemented with conventionallinear P and PI
controllers. The need of more systematic designs with enhanced performance has motivated recent studies
with linear and nonlinear advanced techniques, but the rigorous understanding and substantiation of the
underlying key robust functioning capability are still lacking. In this paper, a constructive control
approach is employed to study the current-mode control problem of a classof DC–DC power converters,
yielding a cascade control design methodology with: a robust convergence criterion coupled with a
systematic and transparent construction-tuning procedure, a rationale to explain the robust controller
functioning, and a unified framework to interpret and compare the proposed controller with the existing
conventional and advanced control designs. The implementationand functioning of the proposed control
design is illustrated experimentally with a boost converter. Copyright # 2003 John Wiley & Sons, Ltd.
KEY WORDS:

current-mode control; cascade control; power converters: PI control

1. INTRODUCTION
Current-mode control (CMC) is a robust DC–DC power converter (DCPC) control scheme that
has been successfully tested, is widely accepted, and is commonlyimplemented with conventional
linear P and PI controllers. The industrial capabilities and functioning of the CMC are well
known and documented [1–4]. Basically, it is a multiloop approach in cascade configuration. The
inner loop senses either the switch current or the inductor current for feedback purposes, and uses
a proportional compensator to add damping and to provide protection againstline and load
disturbances. The outer loop senses the output voltage and uses a proportional-integral (PI)
compensator to drive the output voltage towards a desired setpoint value.
In most cases, industrial CMC is designed and tuned on the basis of a combination of
heuristics and conventional-type arguments [3, 5]. After the proper selection of the current gain,
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*Correspondence to: JoseAlvarez-Ramirez, Universidad Autonoma Metropolitana-Iztapalapa, Division de Ciencias
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Basicas e Ingenier!a, Apartado Postal 55-534, 09340 Mexico DF, Mexico
ı
y
E-mail: jjar@xanum.uam.mx
z
E-mail: gerardoe@servidor.unam.mx

Published online 3 January 2003
Copyright # 2003 John Wiley & Sons, Ltd.

Received 23 March 2001
Revised 24 March 2002
Accepted 25 April 2002

422

´
J.ALVAREZ-RAMIREZ, G. ESPINOSA-PEREZ AND D. NORIEGA-PINEDA

the design procedure for the PI controller of the outer (voltage) loop can be continued. In spite
of its proven robust functioning capability, the CMC design still lacks understanding and
systematization in the sense of the recent robustness-oriented constructive control approaches.
Systematization is required to simplify theconstruction, the tuning and the maintenance of the
control schemes; and understanding the issue is important to assess the basic capabilities and
limitations in control designs intended for high performance with adequate robustness levels
and safety margins. Towards this endeavor, some steps have been already taken in recent
*
studies. Based on small-signals modelling, Leyva-Ramos and Morales-Saldana...
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