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Proceedings of the 29th Chinese Control Conference

July 29-31, 2010, Beijing, China

SEPIC 
*
LI N.1, Lin-Shi X.1, JAAFAR A.2, GODOY E.2, LEFRANC P.3
1. ]^_`a, +0,R12, INSA-, *+
E-mail: linan400@126.com, xuefang.shi@insa-lyon.fr
2. E/0, SUPELEC, *+
E-mail: Ali.Jaafar@supelec.fr, Emmanuel.Godoy@supelec.fr
3. ), SUPELEC, *+
E-mail: Pierre.Lefranc@supelec.fr
 : ^%K /0JDC-DCXYZ[\(SEPIC)
# ^ D# /0NO
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: SEPIC /0&/0&'0 

Integral Sliding Mode Controllers for SEPIC Converters*


LI N.1, Lin-Shi X.1, JAAFAR A.2, GODOY E.2, LEFRANC P.3
1. AMPERE Laboratory, CNRS UMR 5005, INSA-Lyon, Villeurbanne, France
E-mail: linan400@126.com, xuefang.shi@insa-lyon.fr
2. Automatic Control Department, SUPELEC, Gif sur Yvette, France
E-mail: Ali.Jaafar@supelec.fr, Emmanuel.Godoy@supelec.fr
3. Energy Systems Department, SUPELEC, Gif sur Yvette, France
E-mail: Pierre.Lefranc@supelec.fr
Abstract: This paper presents different aspects involved in the application of fixed frequency Sliding Mode Control (SMC) to
the DC-DC Single-Ended Primary Inductor Converter (SEPIC). The choice and influence of the sliding surface regarding the
state vector are presented. Simulation results show that a sliding surface composed of the single integral of systems state
variables gives steady-state errors whereas the insertion of double integral of state variables stabilizes and improves the
converters performance. Experimental validation is also provided.
Key Words: SEPIC Converters, Sliding Mode Control, Nonlinear Controller, Pulse-Width Modulation (PWM), Double-integral
Sliding Mode.

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1 (INTRODUCTION)
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 C
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(1)

x = [ x1 x2 x3 x4 ] = [iL1 vC1 iL2 vs ]

(3)

(PRINCIPLE OF SLIDING
MODE CONTROL)

V ( x) =

ve789xL
T

1
L1

i
0 L1 L1

C1
v
c1 + 0 [v ]
R 1 iL2 e
2
0

L2
L2 vs
0
1
1

C2
C2 R
0

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2 SEPIC (SEPIC MODEL)

State ON (u=1) x = A1 x + B1ve


T
y = c1 x
State OFF (u=0) x = A2 x + B2 ve
T
y = c2 x

1
L1

(2)

:;

565

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3.2

= 1

  
 (Indirect Sliding-Mode
Controller)

( vc1 + vs )

[ K1 (Vref vs ) K 2 ic 2 K 3iL1

(12)

+ R1iL1 + ( vc1 + vs ve )]


 (INTEGRAL SLIDING
MODE CONTROLLER)

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1
L1 ( k + 1) K 2 =
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1
C2
1

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(13)

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 Vref vs  iref iL1 

Tab.1 SEPIC NO
R1
R2
L1
L2
C1
C2
ve
f
vs

H% /0Q(8)1'#^9
 &e3&e3 ] D1!]$0;
I ISM :Integral Sliding Mode/0
 DU=L
(9)
s = 1 e1 + 2 e2 + 3 e3
12'3W/0NO:O;I O
8(3), (8)"8X(9)#O1)L
d [iref iL1 ]

( 1)(vc1 + vs ) R1
v
k
= ic 2 [
iL1 + e ]
e1 =
dt
C
L
L
L1
2
1
1

d [Vref vs ]
k

= ic 2
e2 =
dt
C2

e3 = e1 + e2 = ( k + 1)[Vref vs ] iL1

L1
L1
iL1
(k + 1)(Vref vs ) 3
1 (vc1 + vs )
1 ( vc1 + vs )
=

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1!8RSSEPIC# /0

e = i i
1 ref L1
e2 = Vref vs

e3 = [e1 + e2 ]dt

(11)

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(7)
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ve

i R
L1
+ L1 1
( k + 2 )ic 2
1
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(10)

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30

25

Vs(V)

20

10

0.01

0.02

0.03

0.04
t(s)

0.05

0.06

0.07

Ve (min) K 1 [Vref vss ] K 4 [Vref vss ]dt

K
i
K
R
i
(
)
+

2 c 2(min)
3
1 L 1(min) > 0

Ve (max) K 1 [Vref vss ] K 4 [Vref vss ]dt

+ K 2 ic 2(max) ( K 3 R1 ) iL1(max) < v s + vc1(min)

(16)

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20

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20.2

10

20
19.8

V s(V )

19.6
19.4

19.2
19

0.01

0.02

0.03

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t(s)

0.05

0.06

0.07

0.08

V4 :;6`ISM/0'DISM/0#7
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18.8
18.6

20.4

18.4

20.2
0.03

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0.04
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20
19.8
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19
18.8
18.6

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0.05

0.055
t(s)

0.06

0.065

0.07

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(DOUBLE-INTEGRAL
SLIDING MODE CONTROLLER)

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1
[ K1 (Vref vs ) + K 4 (Vref vs )dt K 3iL1
=
vc1 + vs
K 2 ic 2 + R1iL1 + (vc1 + vs ve )]

19.6

19.2

XJ D 89$=>89#
)H$ &1S#:$&;K
L=`1S:$"I@\$

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e =V v
ref
s
2
e = [e + e ]dt
3 1 2
e = (e dt ) dt
4 2

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VsDISM

0.05

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9#+( ($V)

(14)

(15)

567

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s
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3
2

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(17)

GHMS^&#  D ")T(
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1
[ K (V vs ) + K3 (Vref vs )dt
=
(18)
vc1 + vs 1 ref
K 2 ic 2 + R1iL1 + (vc1 + vs ve )]

21
PI
VsDISM
20.5

Vs(V )

20

/07(18)1>*PNOI^^G
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19

18.5

18

V s (V )

20
15
10
5
0

0.005

0.01

0.015

0.02

0.025
t(s)

0.03

0.035

0.04

0.045

0.1

0.11

t(s)

0.12

0.13

0.14

0.15

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VsDISM2

25

0.09

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9E(


VsDISM1 et VsDISM2

30

19.5

0.05

V6 :;6`& VsDISM1'B&
VsDISM2#7
9E(

20.6
VsISM

20.4

VsDISM

20.2
20

(EXPERIMENTAL RESULTS)

19.8
Vs(V)

6 

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19.6
19.4
19.2
19
18.8
18.6

0.09

0.1

0.11

0.12

0.13

0.14

0.15

t(s)

V9 :;6`ISM/0'DISM/0#7
9E(


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& #DISM/0J _#:;6;<=#7

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21
VsDISM 1
VsDISM 2
20.5

Vs(V)

20

19.5

19

18.5

18

0.09

0.1

0.11

t(s)

0.12

0.13

0.14

0.15

V10 :;6#7
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7 !(CONCLUSION)
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0)[!]$#E( "
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"#$%(REFERENCE)
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A. Jaafar, P. Lefranc, E. Godoy, X. Lin Shi, A. Fayaz, N. Li.


Experimental validation with a control point of view

569

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