680 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS-I: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 39, NO.

8, AUGUST 1992
-Q
Hurwitz. The functions Uo( w) , Vo( w>, and T2(w) are given by
UO( w) =1/2 - w2, V0( w) =3w,
and T2( w) ={l +w2 +w4}l.
Hence
-
S- Clock
R
+ i
-
1/4 +8w2 +w4
1 +w 2 +w 4 .
lx(w)I2 +ly(w)I2 =
A straightforward computation shows that
min[Ix(w)l2 +l y(w>l 2] =Ix(0)l +ly(0)l2 =1/4 =y:.
This means that .9,, is stable if and only if 0 I y <1/2 =y,,,.
W
REFERENCES
N. K. Boseand Y. Q. Shi, A simplegeneral proof of Kharitonovs
generalized stabiliy criterion, IEEE Trans. Circuits Syst., vol. CAS-
N. K. Boseand K. D. Kim, Stability of acomplex polynomial set
with coefficients in adiamond and generalizations, IEEE Trans.
Circuis Syst., vol. 36, pp. 1168-1174, 1989.
A. C. Desages, L. Castro, and H. Cendra, Distanceof acomplex
coefficient stable polynomial fromthe boundary of the stability
set, Multidimensional Systems and Signal Processing, vol. 2, pp.
Y. Li, K. M. Nagpal, and E. B. Lee, Stability analysis of polynomi-
als with coefficients in disks, IEEE Trans. Autum. Contr., vol.
A. Rantzer, Stability conditions for polytopes of polynomials,
IEEE Trans. Autum. Contr., vol. AC-37, pp. 79-89, 1992.
E. C. Titchmarsh, The Theory of Functions. Oxford University,
1962.
Ya. 2. Tsypkin and B. T. Polyak, Frequency domain criteria for
IP-robust stability of continuous linear systems, IEEE Trans.
Autum. Contr., vol. AC-36, pp. 1464-1469, 1991.
34, pp. 1233-1237, 1987.
189-210, 1991.
AC-37, pp. 509-513, 1992.
Chaos in a Current-Mode Controlled Boost dc-dc
Converter
J onathan H. B. Deane
Abstract-A mapping is derived in closed form, without approxima-
tions, for an idealized current-mode controlled boost converter. This
circuit is known experimentally to behave chaotically for certain values
of the reference current, and to produce subharmonics of the clock
frequency at others. Numerical iteration of the mapping indicates chaotic
operation and the presence of suhharmonics. Two mechanisms of bifur-
cation are explained.
I. INTRODUCTION
Switching voltage regulators are in general highly nonlinear
circuits, and as such are often capable of displaying the irregular
behavior [1]-[3] associated with such systems.
In this paper a two-dimensional mapping is derived which
describes the behavior of a current-mode controlled boost con-
verter, a circuit that has been shown [4] by simulation and
experiment to exhibit subharmonic instability and chaos. The
mapping is a function that relates the voltage and current vector
Manuscript received March 3, 1992; revised J une 22, 1992. This work
was supported by SERC under Grant GR/F 89077. This paper was
recommended byAssociateEditor J. A. Nossek.
The author is with the Department of Electronic and Electrical
Engineering, University of Surrey, Guildford GU2 5XH, UK.
IEEE Log Number 9202974.
-T-
Clock I
I I I I
Fig. 2. Current and voltage waveforms appearing in the circuit of
Fig. 1.
sampled at one instant, to the vector (u, , i, > at a
previous instant [5]; the instants in question are the arrival of a
triggering clock pulse which is not ignored, as will become clear.
The boost converter is unusual in that the mapping can be
derived in closed form without approximations. The mapping is
iterated numerically to give a rapid quantitative summary of the
behavior of the circuit, and the bifurcations are analyzed.
11. THE CURRENT-MODE CONTROLLED BOOST CONVERTER
The current-mode controlled boost converter is shown in Fig.
1. It is assumed that the converter is operating in continuous
conduction mode, so that the inductor current never falls to
zero. There are two circuit configurations, according to whether
S is closed or open. It is assumed that it is closed initially. The
current i through inductor L then rises linearly until i =Zref.
Any clock pulses arriving during this time are ignored. When
i =Iref, S opens, and remains open until the arrival of the next
1057-7122/92$03.00 0 1992 IEEE
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS-]: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 39, NO. 8, AUGUST 1992 681
2.8
D I
0.5 Ire, (A) 5.5
Fig. 3. Current bifurcation diagram; Irer is swept from0.5to 5.5 A.
clock pulse, whereupon it closes again. The waveforms appear-
ing in the circuit are sketched in Fig. 2.
111. DERIVATION OF THE MAPPING
The two circuit configurations are treated separately.
S Closed
first-order noncoupled differential equations:
Diode D blocks at t =0 and the circuit is described by two
tions until the next clock pulse arrives, causing S to close. This
happens at a time t; =T[1 - (t,/T)mod 11after S last opened.
Setting t =0 immediately after S has opened gives
v,
i ( 0) = A , +- =Iref and v ( 0) =u,e-2k'n =
R
Using i ( t ) from (4) and solving gives
kL( Zrer - K / R ) +V, - une-2ktn
VI
and A, =Iref - -. R A, =
WL
Given that the inductor current i =in and the capacitor voltage
v =U, initially, and furthermore that i =Iref a time t, later,
solution of these equations gives
Now, by definition i n + , =i(tL), so using (4) and (5) gives
where k =1/ ( 2RC) and t , is the time at which S opens.
S Open
VI
+-
R
When S is open, D conducts and the circuit is described by where Iief =Iref - q/ R. Note that t, is related to i n by ( 2) .
Likewise, unci =u(t;), so two first-order coupled differential equations:
di dvc
L- +uC=V, , C - + - = i
dt dt R
+(v, - u,eCZkln) cos wti .
(8)
Equations (7) and (8) comprise one form of the mapping for the
1
whose general solution is
i ( t ) =e- k * ( A, sin wt + A , cos wt ) +-
R
v,
where ={z. (4) boost converter. Using the definitions
LC
tn "n Ir'ef L t i =T[l - x, mod 13 X, =-
T "=- VI a = - v,T
The constants A, and A, are set by boundary conditions and
are determined below. The circuit is described by these equa-
~
682 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS-I: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 39, NO. 8, AUGUST 1992
IV. PERIODIC SOLUTIONS AND BIFURCATIONS 0 1 2 3 4 5 6
Given an initial state (uo,io), the mapping in the form pre-
sented in (7) and (8) can be iterated to generate the sequence
( U, , il), ( u2, i 2) , (u3, i,) ... . Plotting a set {v,) or {i,} vertically as
a parameter is swept horizontally gives rise to a bifurcation
diagram, which compactly summarizes the behaviour of the
circuit over a parameter range. Fig. 3 shows a current bifurca-
tion diagram, where i , , to i,,, are plotted vertically as Zre, is
varied horizontally. The circuit parameters used were R =20 R,
L =1 mH, C =12 pF, T =100 ps, V, =10 V and Zref was
swept from 0.5 to 5.5 A. The presence of bifurcations, subhar-
monics, and chaotic behavior is indicated in the diagram.
Numerical analysis of the bifurcations at points A-C in Fig. 3
was carried out using the Auto package, which follows the paths
of periodic solutions numerically as a parameter is varied and
also detects bifurcation points. The period-1 solution is stable
until point A (Iref =1.7059A) whereupon a period doubling
bifurcation takes place. The eigenvalues of the mapping at this
point are real and equal to - 1.0000 and 0.3737.
At point B (Zref =2.38A) the period-2 solution bifurcates to
'ref -
period-3. This bifurcation arises from the discontinuities in the
mapping and for this reason Auto could not detect it. Fig. 4(a)
shows a sketch of the current waveform for Zref =2 A, which is
in the period-2 region, where the current at switch closing is
alternately i, and i , . In Fig. 4(a), the current reaches Zref just
before the arrival of clock pulse 3, which is not the case in Fig.
4(b). Here, Zref =2.5 A, and the current reaches Zref just after
the arrival of a clock pulse, giving rise instead to a stable
period-3 solution.
Another standard period-doubling bifurcation (period-3 -+
period-6) takes place at point C, Zref =2.6313 A, where the
eigenvalues of the mapping are -1.0000 and 0.0510. Further
period doublings in this region could not be traced.
It can be seen from the mapping how the period-two window
apparent in the bifurcation diagram at point D, Zref =4.79 A,
comes about. Such a periodic solution occurs when to/T =x, =
j - is infinitesimally less than an integer j ; the values returned by
the mapping alternate between ( j - , y o ) and (0, y , ) , where y o
and y , are to be determined. In this case, ti =T[1 - j - mod 11
=0 and substituting j - for xo in (9) and (10) gives x, =t i / T
=0 and
Iterating again gives
sin oT
x2 =j - = - e-'' {(akT+ 1 - y , ) -
WT
U
0 1 2 3 4 5 6
Fig. 4. Sketch of the current waveforms (a) for Iter =2A (period-2) and
(b) Zrer =2.5A (period-3). The vertical heavy lines represent clock pulses.
and
CYCY: ) si : ; T
k ( y , - 1) - -
-
+(1 - ~ , ) C O S O J T . (13)
)
Equations (ll), (12), and (13) are linear in the unknowns y o ,
y , , and a, for which they can be solved. The solutions are too
long to include here, but they allow prediction of the values of a
and hence Zref at which period-two solutions will exist,for given
j . The period-two window shown in Fig. 3 corresponds to j =1;
periodic windows corresponding to j =2,3,4 ... occur for Zref =
7.83,10.97,14.03 A . - a , respectively.
Analysis of the stability of these solutions is presently under
way.
V. LYAPUNOV EXPONENTS
The fact that the mapping is available in closed form makes
numerical calculation of the Lyapunov exponents straightfor-
ward; the standard technique [6] is to define the vector x, =
(U,, i n ) and the matrix M, as
n - 1
M, n J ( x j ) (14)
i = O
where J( xi ) is the J acobian matrix of the mapping. The Lya-
t
IEEE TRANSACTIONS ON CIRCUITS mn SYSTEMS-I: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 39, NO. 8, AUGUST ,992
Larger Lyapunov exponent for the boost converter
683
0.5 1.5 2.5 3.5 4.5 5.5
I=, (A)
Fig. 5. Larger Lyapunov exponent, max(A,, A2), as afunction of Zrer.
punov exponents A,, A, are then defined as
1
n- rm n
{A,, A2} lim -log I eigenvalues of M, I. (15)
In Fig. 5, the larger of the Lyapunov exponents is plotted as a
function of Zref over the same range as in the bifurcation
diagram. The presence of chaos is signalled by at least one
positive Lyapunov exponent.
VI. CONCLUSION
The mapping that describes the boost converter under cur-
rent-mode control in continuous conduction mode, has been
derived. It is unusual to find a switching regulator circuit for
which the (two-dimensional) mapping is available in closed form
without approximations. Numerical studies of the mapping indi-
cate that this is another example of the loss of synchronization
leading to chaos [7].
ACKNOWLEDGMENT
The author would like to acknowledge the help of P. J . Aston
with the use of the Auto package, and also helpful comments
from and discussions with D. C. Hamill and D. J . J efferies.
REFERENCES
R. Redl and I. Novak, Instabilities in current-mode controlled
switching voltageregulators, PESC 81 Record, pp. 17-28.
J. H. B. Deane and D. C. Hamill, Chaotic behaviour in acurrent-
mode controlled dc-dc converter, Electron. Lett., vol. 27, pp.
-, Analysis, simulation and experimental study of chaos in the
buck converter, PESC 90 Record, vol. 11, pp. 491-498, 1990.
P. T. Krein and R. M. Bass, Types of instability encountered in
simplepower electronic circuits: Unboundedness, chattering and
chaos, APEC 90, pp. 191-194, 1990.
D. C. Hamill, J . H. B. Deane, and D. J. Jefferies, Modelling of
chaotic dc-dc converters by iterated nonlinear mappings, IEEE
Trans. Power Electronics, vol. PE-7, pp. 25-36, 1992.
H. G. Schuster, Deterministic chaos, Physik-Verlag, Weinheim
Y. S. Tang, A. I. Mees, and L. 0. Chua, Synchronization and
chaos, IEEE Trans. Circuits Syst., vol. CAS-30, pp. 620-626, 1983.
1172-1173, 1991.
ISBN 3-87664-101-2, 1984.
Stability of a Set of Multivariate Complex
Polynomials with Coefficients Varying in Diamond
Domain
Y. Q. Shi and S. F. Zhou
Abstract-Recently, attention has been focused on the (open left half
plane) stability of a family of polynomials having complex coefficients
with their real and imaginary parts each varying in a diamond. It has
been concluded that the stability of a diamond family of polynomials is
equivalent to the stability of the specific 16 edge polynomials of the
diamond. In this paper, this result is extended to n-variate case. It is
proved that the scattering HuMitz property of the certain 16n diamond
edge polynomials can guarantee the scattering Hurwitz property of the
whole diamond family of n-variate complex polynomials.
I. INTRODUCTION
In system design, the coefficients of a characteristic polyno-
mial are often known not precisely but approximately. Study and
test of stability invariance of a set of polynomials under coeffi-
cients perturbation, therefore, become an interesting research
subject in adaptive signal processing and adaptive control sys-
tems. Since Kharitonov published his remarkable results on the
robust stability of a univariate interval polynomial in terms of
the strictly Hurwitzness [l], [2], the robust stability issue has
been attracting much attention.
One of the directions chosen in study and tackle this issue is
to generalize Kharitonovs results to multidimensional systems.
This is because zero distribution of polynomials in n-variables is
of great importance in multidimensional systems theory and in
Manuscript received September 17, 1990; revised July 24, 1991,
November 13, 1991, and J une 24, 1992. This paper was recommended by
AssociateEditor P. H. Bauer.
The authors are with the Department of Electrical and Computer
Engineering, Newark Institute of Technology, Newark, NJ 07102.
IEEE Log Number 9203510.
10.57-7122/92$03.00 0 1992 IEEE