Abstract Compensators and Proportional-Integral (PI)

controllers have been designed and used for control of Zeta

converters. However, frequent voltage variations in some
applications such as maximum power point tracking of solar power
require a high profile voltage tracking controller. In addition, load
resistance and circuit parameter variations such as inductance,
capacitance and their internal resistance influence the performance
of conventional controllers. This paper illustrates the design and
application of a complementary model reference adaptive controller
for output voltage tracking control of zeta converters. The
complementary controller structure will reduce the adaptive
controllers control effort to 2%-9% variation. The results
demonstrate a close tracking profile with minimal control effort and
elimination of the load resistance dependencies. Experimental
results are provided to demonstrate the high performance of output
voltage tracking profile.
I. INTRODUCTION
Zeta converters are non-inverting buck-boost circuits with
applications in power quality improvement, power factor
correction, and interfacing the renewable energy sources to
the grid. Therefore, they have high potential for applications
in microgrids and smart grids [1],[2]. These converters are
also used in industrial applications such as: LED lamp
drivers [3], electronic ballast (EB) for fluorescent lamps [2],
power rating correction and power quality improvements
(PFC) [1], DC/DC converter interfaces between photovoltaic
systems and the grid [4], power electronic interface between
storage devices (battery and ultra-capacitor) in hybrid
electric vehicles [5], AC inverters [6], and DC converter
used for permanent magnet synchronous machines (PMSM)
to interface for applications such as air conditioning systems,
refrigerators, washing machines and medical equipment [7-
10].
To achieve non-inverting, low harmonics, and high power
factor, multiple resonant elements are used in their structure.
These elements make the modeling and control of these
converters complicated. Various techniques use peak and
average of current and voltage values in a Proportional
Integrator (PI), linear compensator, and feed-forward in
single- or double-loop configurations [11]. These techniques
generate high sensitivity to noise, exhibit error in averaged
values, and require slope compensation [12]. Average
current control techniques [7], [8], [13] are becoming the
dominant approach in controlling these converters. The
average current control loop is usually used inside a voltage
A. Izadian is the founder and director of the Energy Systems and Power
Electronics Laboratory at the Purdue School of Engineering and
Technology, Indianapolis, IN. 46202. E-mail: aizadian@iupui.edu.
P. Khayyer is with the Electrical and Computer Engineering Department
at The Ohio State University, Columbus, OH, 43210. khayyer.1@osu.edu
control loop where the error signal from the voltage loop is
sent through a controller. The controller amplifies the
current error and in comparison with a saw-tooth carrier
waveform, it generates PWM pulses [13]. This controller has
fixed gains for a voltage and current references, and needs
tuning when circuit parameters or references change.
Therefore, it has poor voltage tracking performance and
generates overshoot and steady state error.
Feed-forward control technique is also used specifically
for grid-connected applications of zeta converter [14], [15].
In either single-loop or double- loop configurations, two
major controllers are used which are the PI controller [5],
[16], [17] and compensator designed based on pole
placement techniques [8], [18-19]. While results obtained
from pole placement have low error, this technique may not
be useful in situations where variable reference voltage or
current are the targets and when load and system parameters
shift over time. In our previous work, we have introduced
adaptive control of zeta converter [29]. To overcome this
issue and to have a more accurate control for zeta converter,
this paper focuses on application of a Model Reference
Adaptive Controller to regulate the output voltage of zeta
converters. The system operation, model, and transfer
function will be obtained in section II, III, and IV. Closed
loop control design and simulation results are in section V,
and experimental results are provided in section VI.
II. CIRCUIT OPERATION AND MODELING
Power electronic converters have numerous applications
and have important role in overall system efficiency and
performance. Accurate control of power converters often
guarantees the voltage and frequency stability of the power
system. Dynamic modeling of converters is required to
design controller for power electronic converters. Many
linear or nonlinear modeling techniques are used for
mathematical expression of power converters. Nonlinear
techniques such as component connection modeling and
signal flow graph (SFG) are used for complicated circuits
and are generally more accurate. State space averaging
technique represents a linear technique in power electronic
circuit modeling [4], [5], [19], [21-24].
Shown in Figure 1, a non-inverting buck-boost zeta
converter has higher number of resonant elements. This
imposes a higher order system and higher modes of
operation than a conventional converter. The two main
operation modes are continuous current mode (CCM) and
discontinuous inductor current mode (DCM).
Afshin Izadian, Senior Member, IEEE, and Pardis Khayyer
Complementary Adaptive Control of Zeta Converters
978-1-4673-4974-1/13/$31.00 2013 IEEE 1338

Fig. 1. Schematic of zeta buck-boost converter

Modes of operation are generated when the status of
switches change. When the switch Q is on, the input voltage
is applied across L
1
and causes a linear increase of current to
charge the inductor. The input voltage and the charged
capacitor C
1
will increase the load current through the
inductor L
2
. When the switch Q is off, L
1
charges C
1
through
the diode and L
2
supplies the load. The inductor L
2
and
capacitor C
2
in zeta converter create a filter, which lowers
the output ripple. In CCM mode, the input and output
voltages of the zeta converter are related as follows
v
cut
v
in
=

cjcl.
1-
cjcl.
, (1)
where D
cycl.
is the converters duty ratio. For values of D less
than 0.5, the converter ideally operates in buck mode, and
for values of D
cycl.
larger than 0.5 the converter ideally
operates in boost mode. The critical equivalent inductance of
this circuit [24] is
I
cq
< R(1 -
ccI.
)
2
[
1
s
2
, (2)
where,
I
cq
=
L
1
L
2
L
1
+L
2
. (3)

More details on component selection and sizing for zeta
converter are explained in [20].
III. STATE SPACE AVERAGE MODEL
State space averaging is a dynamic modeling technique
used for mathematical representation of converters. In this
technique, the state space representation of each mode of
operation is obtained, and the overall system is represented
as an averaged system over a complete cycle of operation. In
zeta converters, continuous current mode (CCM) has two
modes of operation. Therefore, two sets of equations can be
written for this circuit, which can include internal resistances
of the capacitors and inductors.
In Mode 1 the switch is on and diode is off, and Mode 2
the switch is off and diode is on. Each set of state space
equations consist of five equations, four of which represent
the four state variable dynamics i
L1
, i
L2
, I
c1
, I
c2
, and one
equation to represent the output voltage of the circuit I
o
.
Equations representing mode 1 are as follows [18]
Mode 1:
`
1
1
1
1
1
1
1
1
d
L1
dt
=
v
g
L
1
-

L1
L
1
i
L1
d
L2
dt
=
-1
L
2
[r
c1
+

c2
R
R+
c2
i
L2
+
v
c1
L2
-
R
(
c2
+R)L
2
I
c2
+
v
g
L
2
d
c1
dt
= -

L2
C1
d
c2
dt
=
R
C
2
(
c2
+R)
i
L2
-
1
C
2
(
c2
+R)
:
c2
:
o
=
R
c2

c2
+R
i
L2
+
R
R+
c2
:
c2
.
(4)

In Mode 2: Equations representing mode 2 are as follows
Mode 2:
`
1
1
1
1
1
1
1
1
d
L1
dt
=
-v
c1
L
1
-
(
L1
+
c1
)
L
1
i
L1
d
L2
dt
=
-1
L
2
[

c2
R-
L2

c2
-
L2
R
R+
c2
i
L2
-
R
(
c2
+R)L
2
I
c2
d
c1
dt
=

L1
C1
d
c2
dt
=
R
C
2
(
c2
+R)
i
L2
-
1
C
2
(
c2
+R)
:
c2
:
o
=
R
c2

c2
+R
i
L2
+
R
R+
c2
:
c2
. (5)
Considering x=[i
L1
,i
L2
,v
C1
,v
C2
], the averaged state space
model is
_
x = A
uc
x + B
uc
u
I
o
= C
uc
x
. (6)
The averaged model parameters can be obtained as
A
uc
=
l
l
l
l
l
l
l
-

L1
L
1
-

C1
(1-)
L
1
u
u
(-R
c1
-2R
c2
-
c2

c1
)-R
L2

c2
+R
c2
L
2
(R+
c2
)
-
1
L
1
(1 -) u

L
2
-R
L
2
(R+
c2
)
(1-)
C
1

-
C
1
u
R
C
2
(R+
c2
)
u u
u
-1
C
2
(R+
c2
)
1
1
1
1
1
1
1

B
uc
=
l
l
l
l
l

L
1

L
2
u
u
1
1
1
1
1
, C
uc
= ju
R
c2
R+
c2
u
R
R+
c2
[, E
uc
= |u]. (7)
IV. TRANSFER FUNCTION
The output voltage-to-duty cycle transfer function of the
circuit can be obtained from (7) using the Laplace operator s
[18], [23] by
0
d
(s) =

c
(s)
d(s)
= C
uc
(sI -A
uc
)
-1
B
uc
+ E
uc
(18)
0
d
(s) =
q
(1-)
2
(u
d
s
2
+b
d
s+c
d
)(d
d
s+1)
us
4
+bs
3
+cs
2
+ds+c
(19)
Where
o
d
= I
1
C
1
[I
g
(1 - )(R + r
L2
)
- I
z
R((1 -)r
C1
+ r
L1
),
b
d
= -I
g
[I
1

2
-C
1
(1 -)(R + r
L2
)((1 -)r
C1
+ r
L1
) -I
z
R(I
1
(1 - )
+ r
2
C1
C
1
(1 - )
2
+ r
L1
C
1
(r
C1
+ r
L1
-
2
r
L1
)),
c
d
= I
g
((1 -)
2
(R +r
L2
) -
2
r
L1
)-I
z
R(1 - )(2r
L1
+ r
C1
(1 -)),
J
d
= C
2
r
C2
,
(10)
p =
1
1+
r
L2
R
+
r
C1
R
M+
r
L1
R
M
2
, H =

1-
, and I
z
is the load current.
The system characteristic equation has the following coefficients
[18],[23]:
o = C
1
I
1
I
2
C
2
(R + r
C2
),
b = C
1
I
1
(I
2
+RC
2
r
C2
)
+ C
1
(R +r
C2
)(r
C1
I
2
C
2
(1 - )
+ r
C1
I
1
C
2
+C
2
(r
L2
I
1
+ r
L1
I
2
)),
c = (1 - )|((1 -)I
2
+(r
C1
+ r
L1
)r
C1
C
1
)(r
C2
+ R)C
2
+ r
C1
C
1
(r
C2
C
2
R + I
2
)] + C
2
(r
C2
+ R)|I
1

2
+ (r
C1
+ r
L2
)r
L1
C
1
]
+ C
1
(I
1
(r
C1
+ R) +r
L1
I
2
+ r
L2
I
1
+ r
L1
r
C2
C
2
R),
(11)
1339
J = I
1

2
+ (1 - )
2
|I
2
+ r
C2
C
2
R + r
L2
C
2
(R +r
C2
)]
+ |r
C1
(1 - ) +r
L1
](R + r
C2
)C
2
+ |(1 - )r
C1
+r
L1
](r
L2
+ r
C1
+ R)C
1

c = (1 - )
2
(R + r
L2
) + r
C1
(1 - ) +r
L1

2


The transfer function has 4 poles and three zeros. The poles of
the circuit can be proven to have negative real values. Therefore,
the transfer function is Hurwitz. The J
d
s + 1 term has a left-half-
plane (LHP) zero as J
d
is positive value. The minimum phase
condition is satisfied if the o
d
s
2
+ b
d
s +c
d
term exhibits all
LHP zeros. That is guaranteed if the following conditions hold:
_
b
2
d
< 4o
d
c
d
b
d
> u
. (12)

If (12) holds, the transfer function demonstrates a 4
th
-order
system with 3 LHP zeros and relative degree 1. Considering the
Hurwitz transfer function, the system becomes positive real.
V. CLOSED-LOOP CONTROL
To maintain the output voltage at the desired value, an
adaptive system will be used as a complementary controller.
Adaptive controllers can adjust the duty cycle to track the
reference waveform. However, they need higher adaptation
gains which increases the risk of instability in the system. A
complementary system can decrease the gains of adaptive
controller and enhance the voltage tracking performance.
The design of the controller, the output tracking
performance, and the control effort are obtained for this
converter. The controller and the converter will be
implemented in simulation using Matlab/ SimPowerSystem
toolbox, and prototyped to demonstrate the experimental
results.
A. Complementary Controller
The output voltage of a buck boost converter can be
ideally obtained from (1). Therefore, the ideal duty cycle
from this equation can be obtained by:

ccI.
=

g
+
c
. (13)

This duty cycle does not account for parameter shifts and
load variation. Therefore, steady state error will occur as the
load or operating conditions of the system change. To
complement the duty cycle and compensate for parameter
variations, the adaptive control command C
`
is added to ideal
duty cycle
ccI.
making the ultimate control command as

uIt.
=
ccI.
+C
`
(14)

B. Design of Adaptive Controller
This section introduces a model reference adaptive control
approach to control the output voltage of the zeta converter.
Since the main application of these converters in renewable
energies is in interfaces of photovoltaic systems, a high
profile tracking performance of the output voltage is
required. This needs continuous gain adjustments, and
elimination of the control system dependencies on load
resistance. In addition, frequent load changes in a power
system will change the current of the inductor and
consequently the output voltage of the system. Adaptive
controllers are designed to provide high tracking
performance and to eliminate the effect of the load
resistance.
The control law and gain adaptation techniques [27], [25-
28] are represented for the averaged state space model of the
zeta converter. For a first order positive real system, the
control law is expressed as

= k

r + k
p
y
p
, (15)
where y
p
and y
m
are the reference model and plant output
signals, r denotes the reference input and k

, k
p

are
controller gains that are adjusted simultaneously according
to a gain adaptation law to mitigate the tracking error.
Considering the estimated values of the controller gains,
the equivalent control command C
`
is defined as
C
`
= k
`

r +k
`
p
y
p
, (16)
where k
`

, k
`
p
are the estimations of the control gain and are
computed according to the gain adaptation technique as
k
`

= -P
0
c r sgn(k
b
), (17)
k
`

p
= -P
0
c y
p
sgn(k
b
), (18)
where P
0
is the adaptation gain, e denotes the tracking error,
and k
b
is the DC gain of the transfer function. The proof of
stability of this controller is provided in several references
including [27], [28].
Figure 2 illustrates the control system configuration with
respect to zeta converter and the voltage reference. The
model generates the reference signal that the controller has
to track. The controller compensates for the load variation
and unknown parameters such as internal resistance of
inductors and capacitors that may shift over time and
operating temperature. In this section, the controller is used
to compensate for the load resistance that has the highest
impact on the output voltage and control performance.

Fig. 2. Model reference adaptive controller configuration
C. Simulation and Circuit Parameters
The circuit element parameters are listed in Table 1. The
control performance is analyzed in several load resistance
values of 12, 13, and 14 in order to evaluate the
performance of the controller. As the input voltage from a
battery is 12V, the reference voltage was selected to be 9V
and 14V to excite the buck and boost modes of operation.
The controller was initialized at 0.05 adaptation gain and
10kHz carrier frequency.
TABLE I. CIRCUIT ELEMENTS AND PARAMETERS
L1,2 (mH) rL1,L2, rc1,c2 C1,2 (F) R ()
Converter Parameters 0.5 Unknown 470 12, 13,14

1340
The simulation results are obtained fo
voltage buck and boost commands. The
along with the controlled output voltage
Figure 3. As Figure 3 demonstrates, the outp
the reference very closely. The ada
eliminates the effect of load variation and
imperfect circuit elements such as inducto
internal resistances. These values are hard
may change over time and operating cond
implementation of complementary ada
guarantees accurate tracking of referen
various operating conditions. The operation
buck (9V reference) and boost (14V referen
Figure 3. The adaptation gain has a direct
ripple and overshoot generation. As show
higher gain values reduced the ripple and in
shoot.
Fig. 3. Output voltage tracking performance of adap
load resistance variation.

As the load resistance decreased to 12
current naturally results in more voltage rip
voltage. However, the complementary ad
with higher adaptation gain 0.05 could tota
voltage ripples. The buck and boost mo
resulted in similar voltage ripples and th
sensitivity to load resistance variation w
complementary model reference adaptive c
in a high performance voltage tracking profi
VI. EXPERIMENTAL RESULT
The controller was implemented on a dS
prototyping device and connected to
prototype. The experimental setup is shown
carrier frequency of 10kHz the voltage
generated to run the power buck a 12V s
boost to 14V repeatedly. The voltage profile
is shown in Figure 5 for a series of load re
from 12-14. As the figure demonstra
control performance both in buck and boos
exactly the reference voltage. The output v
5% overshoot and no steady state error. The
0 2 4 6
6
8
10
12
14
16
18
Time/Second
O
u
t
p
u
t

V
o
l
t
a
g
e

(
V
)

Adaptive Voltage Tracking Pro
for two cases of
reference signal
are illustrated in
put voltage tracks
aptive controller
d the influence of
rs and capacitors
d to measure and
dition. Therefore,
aptive controller
nce voltages in
n of the circuit in
nce) are shown in
effect on voltage
wn in Figure 3,
ncreased the over

ptive controller under
, the higher load
pples in the output
daptive controller
ally eliminate the
des of operation
he output voltage
was reduced. The
controller resulted
file.
TS
SPACE 1104 fast
the zeta board
n in Figure 4. At
e reference was
source to 9V and
e of the converter
esistances ranging
ates, the adaptive
st modes generate
voltage generates
e ideal duty cycle
generates a rough estimate of the d
output voltages from the board. Bu
voltages as the load and board
considered on the duty cycle
complementary adaptive controller w
the duty cycle was adjusted to mat
that of the desired reference. The c
can achieve voltages in both buc
operation.

Fig. 4. Experimental setup and zeta board.

As the load resistance changed,
compensated for the current and vo
match the average output voltage w
As Figure 5 illustrates, there is no s
or boost operating conditions wh
changed
Fig. 5. Experimental results of adaptive volta
under load resistance variation.

The control effort is shown in
illustrates, the duty cycle varies
changes in the circuit and load co
required less control effort and th
around 0.46 or 46% to generate 9
obtained from (13) is 42%. A total
generated from adaptive controller
circuit voltage drops and load
increased as the load current increas
loads. In the boost mode of operatio
from 0.55 (55%) to 0.62 (62%) to m
with that of the reference. The idea
8 10

12 Ohm
13 Ohm
14 Ohm
ofile
0 2 4 6
8
9
10
11
12
13
14
15
16
Time / Secon
O
u
t
o
p
u
t

V
o
l
t
a
g
e

(
V
)
Adaptive Voltage Control Profile

duty cycle and produces
ut these are not accurate
voltage drops are not
calculations. As the
was added to the system,
tch the output voltage to
complemented controller
ck and boost modes of

, the adaptive controller
oltage drop variations to
with that of the reference.
steady state error in buck
hen the load resistance

age profile control performance
Figure 6. As the figure
to compensate for the
ndition. The buck mode
he duty cycle remained
V. The ideal duty cycle
l of ~4% duty cycle was
r to compensate for the
variations. This value
sed due to low resistance
on, the duty cycle varied
match the output voltage
al duty cycle to generate
6 8 10
nd
under Load Variation

12 Ohm
13 Ohm
14 Ohm
1341
14V is obtained from (13) is 53%. A complement of 2% to
9% duty cycle was added by the adaptive controller to
perfectly track the reference voltage.

Fig. 6. Experimental results of adaptive control effort (duty cycle variation)
under load resistance variation.
VII. CONCLUSION
A complementary adaptive controller was designed for
Zeta converters to directly track the reference output voltage.
The main advantage of the controller was to eliminate the
output voltage controls from load variation, and provide an
independent control approach from the inductor current and
parameter variations. Minimal control effort was required to
track the voltage reference. High performance voltage
tracking profile was achieved.
ACKNOWLEDGMENT
Authors would like to thank Mr. Heng Yang for his effort
in conducting experiments.
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0 2 4 6 8 10
0.4
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0.5
0.55
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0.65
Time / Second
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Adaptive Control Effort under Load Variation


12 Ohm
13 Ohm
14 Ohm
1342