Lagrangian Modeling of DC-DC Buck-Boost and

Flyback Converters

Hüseyin Alpaslan Yıldız Leyla Gören-Sümer

Marmara Research Center Energy Institute Control Engineering Department
The Scientific and Technological Research Council of Istanbul Technical University
Turkey, Kocaeli, Turkey Istanbul, Turkey
Email: alpaslan.yildiz@mam.gov.tr Email: goren@elk.itu.edu.tr

Abstract— In this paper, mathematical modeling of the DC-DC

converters which are regarded as switched systems are examined. II. EULER LAGRANGE MODEL OF SWITCHING SYSTEMS
The Lagrangian formalism is used to derive the mathematical Systems which are characterized by Lagrangian equations
models of the DC-DC converters and the Euler Lagrange models are called Euler Lagrange Systems and Lagrangian equations
of DC-DC Buck-Boost and Flyback converters are obtained using are described as [2]:
this Lagrangian formalism.
d ⎛ ∂L ⎞ ∂L ∂D
Keywords- Mathematical Modeling; Euler Lagrange ⎜ ⎟− =− + Fq (1)
Equations; Lagrangian Formalism; DC-DC Converter; Buck-Boost dt ⎝ ∂ q ⎠ ∂ q ∂q
Converter; Flyback Converter; Switching Systems
where ‘ q ∈ R n ’ generalized positions, ‘ D (q, q) ’ is Rayleigh
I. INTRODUCTION dissipation function positions, ‘ F ’ is a vector of generalized
forces affected to each generalized coordinates and ‘ L ’ is
Modeling of switched dc-dc power converters has been Lagrangian function which is defined as:
begun with Cuk's and Middlebrook's works [1]. Lagrangian
modeling of classical Buck, Buck-Boost and Cuk type L ( q, q ) = T ( q, q ) − V ( q ) (2)
converters has been done in [2]. In addition Lagrangian
modeling of the switching networks with integrated coupled in which ‘ T ’ and ‘V ’ are kinetic energy and potential energy
magnetics has been studied by Scherpen in [3]. The aim of this of the system, respectively. Thereby, the Euler-Lagrange
paper is to obtain the Lagrangian models of the Buck-Boost systems are characterized by:
and the Flyback converters, which contain the coupled
magnetics. d ⎛ ∂T ⎞ ∂T ∂V ∂D
⎜ ⎟− + =− + Fq (3)
In Lagrangian approach will be used to derive the dt ⎝ ∂q ⎠ ∂q ∂q ∂q
mathematical model of DC-DC converters, thus the Euler- Euler-Lagrange systems are the set of differential equations
Lagrange (EL) equations of the system are derived for the two
position (ON-OFF) of the switch separately. Therefore, the EL (T ,V , D, Fq ) and expressed by the system Σ :
equations of the system have two parts which corresponds to
switch-variant and switch-invariant parts of the system. The Σ = (T ,V , D, Fq ) (4)
two group EL equations of the system can be combined using
an appropriate EL equation with a switch position parameter. A DC-DC converter can be modeled as a switched system
The appropriate EL system is designed such that its behavior is which can be characterized by Lagrangian equations. This type
same as the behavior of the system which is derived from the of switched system has two Euler-Lagrange systems according
system for two values of the switching parameter [2]. to the switching position [2].
Some DC-DC converters have two working mode which When the switch position is {1} the system is denoted by
are continuous and discontinuous working mode. In continuous the following Euler-Lagrange parameters,
mode, most of the converters which have only two switches -
Σ1 = (T1 ,V1 , D1 , F1 ) (4)
MosFET and diode- can be modeled by only one switching
parameter. In the continuous mode, the second switch exactly and when the switch position is {0} the system is described as,
depends on the first one. But in discontinuous mode the
switches should be modeled by two switching parameters since Σ 0 = (T0 ,V0 , D0 , F0 ) (5)
the second switch is not exactly described in terms of the first
one. In general, the second switching parameter is defined If a switching parameter ‘ u ’ which takes values {0, 1}
using the sign of the inductor current. according to the switching position defined, a system which
switches the systems Σ1 and Σ 0 according to the values of the
switching position parameter ‘ u ’is obtained, namely when the
switch position is {1} and {0} corresponding position
parameters are ‘ u = 1 ’, ‘ u = 0 ’. Therefore, the system is
defined using the switching parameter ‘ u ’ as follows [2],
Σu = ( Tu ,Vu , Du , Fu ) (6)

III. EL MODEL OF COUPLED MAGNETICS

Isolated DC-DC converters contain magnetic couples as
Flyback converters. A magnetic couple physically consists of
isolated windings and a magnetic core. This means its model
consists of the winding inductances and mutual inductances Fig.1. Buck-Boost Converter circuit schema
between the windings. If there is are two windings in a
magnetic core, then the flux is described as,
In order to obtain the EL model of the Buck-Boost
⎡φ1 ⎤ ⎡ L1 L12 ⎤ ⎡ iL1 ⎤ converter, firstly we have to find the Euler-Lagrange equations
⎢φ ⎥ = ⎢ L ⎢ ⎥
L2 ⎥⎦ ⎣⎢iL2 ⎦⎥
(7)
for switching conditions {1, 0}.
⎣ 2 ⎦ ⎣ 21
For a linear model of transformer, the inductances between the When the switch is {1} the Euler-Lagrange equations can
windings are equal and the mathematical relation between be obtained as follows,
winding inductances is defined as follows, 1 1 2
T1 ( qL ) = L ( qL ) V1 ( qC ) =
2
qC
L12 = L21 = k L1 L2 (8) 2 2C
1 1 1 (12)
The mathematical relation between inductances are called the F1 ( qC ) = R ( qC ) + RC qC2 + RL qL2
2

effective turn ratio and is defined as, 2 2 2

n = L1 L2 (9) Qq1L = E Qq1C = 0

In Lagrangian modeling approach, the coupled magnetic can be On the other hand, when the switch is {0} the Euler-
modeled as a storage element, i.e. by kinetic energy: Lagrange equations can be obtained as follows:
T 1 1 2
1 ⎡ iL1 ⎤ ⎡ L1 LM ⎤ ⎡ iL1 ⎤ T0 ( qL ) = L ( qL ) V0 ( qC ) =
2
qC
( )
T iL1 , iL2 = ⎢ ⎥ ⎢
2 ⎣⎢iL2 ⎦⎥ ⎣ LM
⎢ ⎥
L2 ⎥⎦ ⎣⎢iL2 ⎦⎥
(10) 2 2C
1 1 1 (13)
F0 ( qL , qC ) = R ( qL + qC ) + RC qC2 + RL qL2
2
A coupled magnetic which contains N inductance can be
2 2 2
described as:
Qq0L = 0 Qq0C = 0
⎡ L1 L12 … L1N ⎤
⎢L L2 … L2 N ⎥⎥
Finally if a switching parameter ‘ u ’ is defined the
1
T ( q, q ) = qT ⎢ 21 q (11) equations can be rewritten in term of switching parameter as
2 ⎢ ⎥ following
⎢ ⎥
⎣ LN 1 LN 2 LN ⎦
1 1 2
Tu ( qL ) = L ( qL ) Vu ( qC ) =
2
qC
in which ‘ q ’ is electrical charge which corresponds to 2 2C
generalized coordinates in Lagrangian modeling, so ‘ q ’ is the (14)
1 1 1
R ( (1 − u ) qL + qC ) + RL qL2 + RC qC2
2
electrical current for the ‘i’ th element of the magnetic couple. Fu ( qL , qC ) =
2 2 2
QquL = uE QquC = 0
IV. EXAMPLES
It can be easily seen that, the parameters using equation
A. Buck-Boost Converter (14) are equal to the parameters in the equations (12) and (13)
The Buck-Boost converter circuit schema is given in according to the values of ‘ u ’ as {1} and {0}, [2].
Figure 1.
The Lagrangian function of the switched network given in
Figure 1 is derived as,
1 1 2
Lu = Tu ( qL ) − Vu ( qC ) = L ( qL ) −
2
qC (15)
2 2C
Consequently, the EL model of the system is obtained as, Fig.2. The system variable for input ‘ u ’ (a) x1 (b) x2
LqL + (1 − u ) R ( (1 − u ) qL + qC ) + RL qL = uE
B. Flyback Converter
(16) The Flyback converter circuit schema is given in Figure 3.
qC
+ (1 − u ) RqL + ( R + RL ) qL + ( R + RC ) qC = 0
C
If “an equivalent switched resistance” is defined as, [4],
RC R
r = RL + (1 − u )
2
(17)
RC + R
The EL model of the system in term of ‘ r ’ can be written as
follows,
1 1 R qC uE
qL = − rqL + (1 − u ) +
L L R + RC C L
(18) Fig.3. Flyback Converter circuit schema
qC R 1 1 1 qC
= − (1 − u ) qL − The second switch (D) of the Flyback converter does not
C R + RC C R + RC C C
only depend the first switch (S). So the second switch should
If the state variables are defined as the inductance current be modeled by two serial switches such that one of them is
and capacitor voltage as, limited by the first switch while the other one is restricted by
the secondary inductor current. If the first switch is modeled by
x1 = qL ; x2 = qC C parameter ‘ u1 ’ the second switch can be modeled by the
then the state space equation of the system is obtained as, following relation,

⎡ r 1 R ⎤ ⎧⎪1 for qL2 < 0

⎢ − (1 − u )
L R + RC ⎥ ⎡ x1 ⎤ ⎡uE L ⎤
(1 − u1 ) u2 where u2 = ⎨
⎡ x1 ⎤ ⎢ L
⎥ ⎪⎩0 for qL2 ≥ 0
⎢x ⎥ = ⎢ + (19)
⎣ 2⎦ R 1 1 1 ⎥ ⎢⎣ x2 ⎥⎦ ⎢⎣ 0 ⎥⎦
⎢ − (1 − u ) R + R C − ⎥ In order to obtain the EL model of the Flyback converter,
⎣ ( C) ( R + RC ) C ⎦
firstly the Euler-Lagrange equations for switch conditions {1,
It should be noticed that the equation (19) is equal to the 0} should be found.
equations given by Cuk and Middlebrook for ( RL = 0 ) and
If a switching parameter ‘ u ’ is defined and the equations
( Rc = 0 ) [1]. are rewritten in term of switching parameter as follows,
The EL model of the system is examined and the Tu ( qL ) =
1 1
L1qL21 + L2 qL2 2 + LM qL1qL 2 ; Vu ( qC ) =
1 2
qC
simulation results are presented in Figure 2 for the circuit 2 2 2C
parameters
1 1 1 1 (20)
R ( (1 − u1 ) u2 qL 2 + qC ) + RL1qL21 + RL 2 qL2 2 + RC qC2
2
Fu ( qC ) =
C = 20 μ F ; R = 30Ω ; L = 20mH 2 2 2 2
RL = 0.05Ω ; RC = 0.2Ω ; E = 15V
QquL1 = u1 E ; QquL 2 = 0 ; QquC = 0
and the input ‘ u ’ is defined as following :
then, the Lagrangian function of the switched network given in
⎧1 for 0 < t ≤ 0.5 x10−3 Figure 3 is derived as,
u=⎨
⎩0 for 0.5 x10−3 < t ≤ 1x10−3 1 1 1 2
Lu = Tu ( qL ) − Vu ( qC ) = L1qL21 + L2 qL2 2 + LM qL1qL 2 − qC (21)
2 2 2C
Consequently, the EL model of the system is obtained as,
L1qL1 + LM qL 2 + RL1qL1 = Eu1

LM qL1 + L2 qL 2 + R (1 − u ) u2 ( (1 − u ) u2 qL 2 + qC ) + RL 2qL 2 = 0
(22)
qC
+ R ( (1 − u1 ) u2 qL 2 + qC ) + RC qC = 0
C
These equations are also written as:
(a) (b)
 ⎡ L1 LM 0 ⎤ ⎡ qL1 ⎤ L1 = 7 mH ; L2 = 4.375μ H ; LM = 173.25μ H
⎢ ⎥⎢ ⎥ C = 2200 μ F ; R = 2Ω ; E = 310V
⎢ LM L2 RC (1 − u1 ) u2 ⎥ ⎢ qL 2 ⎥ =
⎢⎣ 0 0 ( R + RC ) C ⎥⎦ ⎢⎣ qC C ⎥⎦ RL1 = 15Ω ; RL 2 = 2mΩ ; RC = 0.2mΩ
(23)
⎡ RL1 0 0 ⎤ ⎡ q ⎤ ⎡ Eu ⎤ and the input ‘ u ’ is defined as:
L1 1
⎢ ⎥
− ⎢ 0 R (1 − u1 ) u2 + RL 2 0 ⎥ ⎢⎢ qL 2 ⎥⎥ + ⎢⎢ 0 ⎥⎥
2 2
⎧1 for 0 < t ≤ 0.5 x10−3
⎢ 0 R (1 − u1 ) u2 1 ⎥ ⎢⎣ qC C ⎥⎦ ⎢⎣ 0 ⎥⎦ u1 = ⎨
⎣ ⎦ ⎩0 for 0.5 x10−3 < t ≤ 1x10−3
Finally, the following equation is obtained after some algebraic
manipulations,
−1
⎡ qL1 ⎤ ⎡ L1 LM 0 ⎤
⎢ q ⎥ = ⎢L L2
⎥
RC (1 − u1 ) u2 ⎥
⎢ L2 ⎥ ⎢ M
⎣⎢ qC C ⎦⎥ ⎢⎣ 0 0 ( R + RC ) C ⎥⎦
(24)
⎧ ⎡ − RL1 0 0 ⎤ ⎡ q ⎤ ⎡ Eu ⎤ ⎫
⎪⎪ ⎢ ⎥
L1 1
⎪⎪
− R (1 − u1 ) u22 − RL 2 0 ⎥ ⎢⎢ qL 2 ⎥⎥ + ⎢⎢ 0 ⎥⎥ ⎬
2
⎨⎢ 0
⎪⎢ 0 − R (1 − u1 ) u2 −1⎥ ⎢⎣ qC C ⎥⎦ ⎢⎣ 0 ⎥⎦ ⎪⎪
⎪⎩ ⎣ ⎦ ⎭
If the state variables are defined as the inductance currents
and capacitor voltage as,
Fig.4. The system variable x3 for input ‘ u ’
x1 = qL1 ; x2 = qL2 ; x3 = qC C

also “an equivalent switched resistance” is defined as, V. CONCLUSION

In this paper, well known DC-DC converters Buck-Boost
r=
( RR u 2
C 1 + RRL 2 + RL 2 RC )
(25) and Flyback are modeled as Euler Lagrange systems.
( R + RC ) Lagrangian modeling is given considering an ideal switching
behavior. This formulation can also be used in different hybrid
The state space equation of the system in term of ‘ r ’ can be switching systems to model them as Lagrangian. Lagrangian
written as follows, formulation is also compatible in the Automatic Control theory
as passivity based control.
⎡ L2 RL1 rLM LM Ru1 ⎤
⎢− − ⎥
⎢ 1 2 − LM
L L 2
L1L2 − L2M (L L
1 2 − L2
M ) ( R + R )
C ⎥ ACKNOWLEDGEMENTS
⎡ x1 ⎤ ⎢ ⎥ ⎡ x1 ⎤
⎢ x ⎥ = ⎢ LM RL1 −
rL1 L1Ru1 ⎥ ⎢x ⎥ + Authors would like to thank N. S. Şengör for being most
⎢ 2 ⎥ ⎢ L L − L2
⎢⎣ x3 ⎥⎦ ⎢ 1 2 M L1L2 − L2M ( L1L2 − L2M ) ( R + RC ) ⎥⎥ ⎢⎢ x23 ⎥⎥ helpful.
⎣ ⎦
⎢ Ru1 1 ⎥
⎢ 0 − − ⎥
⎣ ( R + RC ) C ( R + RC ) C ⎦ (26) REFERENCES
⎡ L2 E (1 − u1 ) u2 ⎤ [1] R. D. Middlebrook, S. Cuk, “A general unified approach to modelling
⎢ 2 ⎥ switching-converter power stages,” IEEE Power Electronics Specialists
⎢ L1L2 − LM ⎥ Conference, New York, 1976, pp. 18-34.
⎢ L E (1 − u ) u ⎥
⎢− M 1 2
⎥ [2] H. Sira-Ramirez, R. Ortega and G. Escobar, “Lagrangian Modeling of
⎢ L1L2 − L2M ⎥ Switch Regulated DC-to-DC Power Converters,” IEEE Conference on
⎢ 0 ⎥ Decisition and Control, Kobe, Japan, December 1996, pp. 396-402.
⎢ ⎥
⎢⎣ [3] J. M. A. Scherpen, D. Jeltsema, J. B. Klassens, “Lagrangian Modeling
⎦⎥ and Control of Switching Networks with Integrated Coupled
The EL model of the system is examined and the Magnetics,” IEEE Conference on Decisition and Control, December
simulation results are presented in Fig.4. for the circuit 2000, pp. 4054-4059
parameters [4] Ortega, R., Loria, A., Nicklasson, P.J., Sira-Ramirez., H., 1998.
Passivity-based Control of Euler-Lagrange Systems, Springer.