978-1-4673-0934-9/$31.

00 2012IEEE

Mathematical Modeling and Transient Analysis of
DC-DC Buck-Boost Converter in CCM

Sepideh Bahravar
Department of Electrical Engineering
Science and Research Branch, Islamic Azad University
Tabriz, Iran
s.bahravar@iauotash.ac.ir
H. Mashinchi Mahery,

E. Babaei, M. Sabahi
Faculty of Electrical and Computer Engineering
University of Tabriz
Tabriz, Iran
h_mashinchi.mahery@iau-ahar.ac.ir,
e-babaei@tabrizu.ac.ir, sabahi@tabrizu.ac.ir


AbstractIn this paper, a new method is presented for
mathematical modeling of the buck-boost dc-dc converter in
continuous conduction mode (CCM). The proposed method
consists of two stages. At first stage, the related relations of the
inductor current and the output voltage are obtained using the
Laplace transform. In the second stage, the initial values of the
inductor current and the output voltage are obtained in each
switching interval. In this stage, the Z-transform is used as a tool
for determining the initial values of the inductor current and the
capacitor voltage. In continuous, after obtaining the time
functions of the inductor current and the capacitor voltage, the
transient response of the converter is investigated. Also the effect
of the converter components on the transient response of the
buck-boost dc-dc converter is analyzed by the obtained relations
and curves. Finally, the results of the theoretical analysis are
compared with the simulation results in PSCAD/EMTDC to
prove the validity of the presented subjects.
KeywordsBuck-boost dc-dc converter, Z-transform, Laplace
transform, CCM, mathematical modeling
I. INTRODUCTION
Mathematical modeling of dc-dc converters is one of the
basic subjects in analysis of their operation which always has
been considered by the power electronic engineers and
researchers. In order to have a suitable efficiency and desired
operation, the system components should be designed properly
and optimally with an accurate control. One of the main stages
in designing and controlling a system is the modeling of the
system. An accurate modeling of a system, which be helpful
for studying all the operational modes of the system, is a
powerful tool for analyzing the operation and determining the
components of the system. Nowadays, by ever development of
power electronic, the dc-dc converters play an important role
in many applications [1-2]. An accurate modeling of a system
should have specifications such as having a proper accuracy
and reducing the response time. Paying attention to each of
these specifications is a motivation to issue different papers in
mathematical modeling of dc-dc converters [3-7]. Among the
usual mathematical modeling methods which are presented in
different papers, impedance method [8], small signal analysis
method [9-10] and state space average value method [11-12]
can be mentioned. One of the disadvantages of usual modeling
methods is to use numerical solution or simplification
methods. Because of approximation in modeling by using
these methods, the results of the converter analysis are not
enough accurate. In this paper, a new method is proposed for
mathematical modeling of the buck dc-dc converters in CCM.
It should be noted that the proposed method also is applicable
for discontinuous conduction mode (DCM). The proposed
method in this paper is based on the Laplace and Z transforms.
The Laplace transform is used for determining the inductor
current and the output voltage relations, and the Z-transform is
used for determining the initial values of the inductor current
and the output voltage in each switching interval. The Z-
transform can be used as a proper tool for analyzing the
responses of the transient and the steady states. The proposed
method in this paper can analyze the responses of the transient
and the steady states of the buck-boost dc-dc converter. For
avoiding an overlong paper, only the transient state of the
converter is investigated. The proposed method in this paper is
a general method in comparing with other methods. In this
paper by applying the presented mathematical method, the
effect of the converter components on the responses of the
transient and the steady states is investigated. Finally, the
validity of the presented theoretical subjects is proved by the
simulation in PSCAD\EMTDC.
II. THE PROPOSED MATHEMATICAL MODEL
The equivalent circuit of a buck-boost dc-dc converter is
shown in Fig. 1. In the shown converter, the diode D and the
switch S are considered ideal and
L
R is the equivalent
resistance of the inductor.


Fig. 1. Buck-Boost dc-dc converter

A. The Converter Analysis in CCM
Considering Fig. 1 and applying kirchhoff current and
voltage laws, we have:

o i L L
L
v t f V t f i R
dt
di
L ) ( ) (
2 1
= + (1)
+

o
v
L
D
C R
o
i
c
i
L
i
S

+
i
V
+

c
V
L
R


L
o o
i t f
R
v
dt
dv
C ) (
2
= + (2)

Considering (1) and (2), the functions ) (
1
t f and ) (
2
t f are
defined for determining the converter equations during on ) (
1
t
and off ) (
2
t intervals of the switch S , as follows:

=
=
0
1 1
) ( ) ( ) (
n
nT t t u nT t u t f (3)

=
=
0
1 2
) ( ) ( ) (
n
nT T t u nT t t u t f (4)

In (3) and (4), n is the number of the switching intervals
and T is the switching period. For expressing the
discontinuous behavior of the functions ) (
1
t f and ) (
2
t f , the
variable exchange is considered as follows:
1 0 , 2 , 1 , 0 ) ( < = + = m n for T m n t L (5)
By applying the variable exchange of (5) in (3) and (4), the
functions ) (
1
t f and ) (
2
t f can be expressed as follows,
respectively:

<
<
=
1 0
0 1
) (
1
m D
D m
m f (6)

<
<
=
1 1
0 0
) (
2
m D
D m
m f (7)

In (6), D is the duty cycle of the converter in CCM which
is defined as follows:

T
t
D
1
= (8)

Considering (6) and (7), it is observed that the interval
] 1 , 0 [ is divided into two intervals ] , 0 [ D and ] 1 , [D which in
the interval ] , 0 [ D , the switch S is on and in the
interval ] 1 , [D , the switch S is off. By applying the mentioned
variable exchange of (5) in (1) and (2), and applying the
values of ) (
1
m f and ) (
2
m f in the obtained equations, the
equations related to the cases which the switch S is on and
off, are obtained in each switching interval:

n o n o n L n L
i
n o
n L
L
n o
n L
v v i i
D m for V
L
T
v
i
RC
T
L
T R
dm
dv
dm
di
, 0 , , 0 ,
,
,
,
,
) 0 ( , 0 ) 0 (
0
0 0
0
= = =
<
(
(

+
(

(
(
(
(

=
(
(
(
(

(9)

n o n o n L n L
i
n o
n L
L
n o
n L
v D v i D i
m D for V
v
i
RC
T
C
T
L
T
L
T R
dm
dv
dm
di
, 1 , , 1 ,
,
,
,
,
) ( , ) (
1
0
0
= =
<
(

+
(

(
(
(
(

=
(
(
(
(

(10)
In (9) and (10),
n L
i
, 0
,
n o
v
, 0
,
n L
i
, 1
and
n o
v
, 1
are the initial
values of the inductor current and the output voltage in the
intervals ] , 0 [ D and ] 1 , [D , respectively.
B. Solving the Output Voltage and the Inductor Current
Equations Using the Laplace Transform
According to (9) and (10), it is observed that the obtained
equations are differential. By applying the Laplace transform
in (9) and (10), the followings are valid:

D m
T s
v
Ls
TV
i
T s
s V
s I
n
i
n L
n o
n L
<
(
(
(
(

+ +
|
|

\
|
+
+
=
(

0
) (
) (
1
) (
) (
, 0
, 0
,
,


(11)
1
) (
) (
) ( 2
1
) (
) (
, 1
, 1
2 2 2 2
,
,
<
(

(
(
(

+
+ +

+ + +
=
(

m D
v
i
T s
C
T
L
T
T s
T Ts s
s V
s I
n o
n L
n o
n L



(12)
In (11) and (12), the parameters , and are defined
as follows:

|

\
|
+ =
RC L
R
L
1
2
1
(13)

2
1
1
|

\
|
+ =
R
R
LC
L
(14)
|

\
|
=
L
R
RC
L
1
2
1
(15)

By applying the inverse of the Laplace transform in (11)
and (12), the output voltage and the inductor current are
obtained in m domain (given in appendix A)
In (16) and (17),
n L
i
, 0
,
n L
i
, 1
,
n o
v
, 0
and
n o
v
, 1
are unknown
parameters.
Considering which in (16) and (17), four unknown
parameters are existent, the number of unknown parameters
should be decreased. Here at, the values of
n L
i
, 1
and
n o
v
, 1
can
be obtained versus
n L
i
, 0
and
n o
v
, 0
. Considering the continuity
specification of the functions ) (t i
L
and ) (t v
o
, the following is
valid:
) ( lim ) ( lim
,
) (
,
) (
m i m i
n L
D m
n L
D m
+

= (18)
By applying (16) in (18), the value of
n L
i
, 1
versus
n L
i
, 0
is
obtained:

[ ]
1
) (
1
) (
, 0 , 1
1
t
L
i t
n L n L
e
R
V
e i i

+ = (19)

The following is valid about the capacitor voltage:

) ( lim ) ( lim
,
) (
,
) (
m v m v
n o
D m
n o
D m
+

= (20)

Applying (17) in (20), the value of
n o
v
, 1
is equal with:


1
) (
, 0 , 1
t
n o n o
e v v

= (21)

By applying (19) and (21) in (16) and (17), the relations of
the inductor current and the output voltage versus
n L
i
, 0
and
n o
v
, 0
are obtained.
C. Determining the Initial Values of the Inductor Current and
the Capacitor Voltage using the Z-Transform
By applying (19) and (21) in (16) and (17), it is observed
that the only unknown parameters are
n L
i
, 0
and
n o
v
, 0
,
considering the fact that
n L
i
, 0
and
n o
v
, 0
are the functions of n
(a discrete variable). Therefore, in order to determine the
values of these parameters, the Z-transform can be used.
Considering the continuity characteristic of the inductor
current and the capacitor voltage, the followings are true:

) ( lim ) ( lim
1 ,
0
,
1
m i m i
n L
m
n L
m
+
+

= (22)

) ( lim ) ( lim
1 ,
0
,
1
m v m v
n o
m
n o
m
+
+

= (23)

By calculation the above ranges for (16) and (17), and
considering
1 2
t T t = , the following relations are obtained
for the initial values of the inductor current and the capacitor
voltage in the time interval 1 + n :


2
2
, 1
2 2
2
, 1 1 , 0
sin sin cos t
L
e v
t t e i i
t
n o t
n L n L

+

(

+ =
(24)


(

+ =

+ 2 2
2
, 1 2
2
, 1
1 , 0
sin cos sin t t e v t
C
e i
v
t
n o
t
n L
n o

(25)

(24) and (25) are differential equations. For solving these
kinds of equations, the Z-transform can be used. The
following relations are always valid about a discontinuous
function:

) ( } {
0 , 0
z I i
L n L
= (26)

) ( } {
0 , 0
z V v
o n o
= (27)


0 , 0 0 1 , 0
) ( } {
L L n L
zi z zI i Z =
+
(28)


0 , 0 0 1 , 0
) ( } {
o o n o
zv z zV v Z =
+
(29)

In (28) and (29),
0 , 0 L
i and
0 , 0 o
v are the initial values of the
inductor current and the capacitor voltage in 0 = t ,
respectively. By applying the Z-transform in (24) and (25),
solving the obtained equations in the Z domain and
considering which the values of
0 , 0 L
i and
0 , 0 o
v equal with
zero, the values of ) (
0
z I
L
and ) (
0
z V
o
are obtained using (30)
and (31). (given in appendix A).
In (30) and (31), the values of
1
b ,
2
b and are obtained
as follows:


(

\
|
+ =

2 2 1
sin cos ) (
1 2
t t e e
R
V
b
T t t
L
i

(32)

(

=

2 2
sin ) (
1
1 2
t e e
C R
V
b
T t t
L
i

(33)

(

+ =

1 2 1 2
1
sinh sin cosh cos cos
1
t t t t
T

(34)

The initial values of the inductor current and the output
voltage are obtained in the steady state as (35) and (36) (given
in appendix A).
By applying the inverse of the Z-transform in (30) and
(31), the initial values of the inductor current and the output
voltage for each switching interval are obtained in the
discontinuous time domain by using (37) and (38) (given in
appendix A).
III. THORETICAL ANALYSIS
The analysis of each system is performed based on the time
response of the system. By using the time functions of each
system, the time response of the systems can be analyzed. In
this section, the time response of the buck-boost dc-dc
converter is investigated based on the presented mathematical
model in section 2. The time response of the dc-dc converter
consists of transient and steady states responses.
The transient response of the converter is that part of the
response which the inductor current and the capacitor voltage
have not reached to their steady values. This part of the time
response of the converter starts from the zero instant and will
continue until achieving the converter to the steady operation
state with a specified time constant. Considering which in all
power electronic converters, the operation of the converters is
based on the switching, so the time response of these kinds of
converters is different from the other systems. In these kinds
of systems, the response of the steady state is created from
repetition of the transient states which taking place in each
switching interval. This kind of the steady state response is
because of the operation of the power switch in the structure
of the dc-dc converters.
A. Time Response of the Buck-Boost DC-DC Converter
Fig. 2 shows the time response of the inductor current and
the output voltage of the buck-boost dc-dc converter in CCM.
For plotting these curves, (16) and (17) are used. These curves
are plotted for V V
i
17 = , mH L 8 = , mF C 2 . 0 = , = 20 R ,
= 5 . 0
L
R and KHz f 1 = . Because in the presented paper,
the object is to propose a mathematical modeling method and
investigating the validity of this method, and also investigating
the effect of the converter components on the electrical
parameters of the converter, so the ranges of the selected
values for the converter parameters are in the experimental
level. In some of the applications of these converters (the

control system in mines, refinery, petrochemical), the values
range of the converter parameters is in this level [13].


(a)


(b)
Fig. 2. The time step response of; (a) the inductor current; (b) the output
voltage
B. Analysis of the Transient Response
The main specification of the transient response of each
system is time constants of it. In fact, the time constant of the
transient response of the system specifies the damping mode
of the transient response of the system. In each system, the
roots of the denominator of the transfer function (the poles of
the system) are the time constant of the system. Considering
the buck-boost dc-dc converter shown in Fig. 1, the time
constants of the functions ) (t i
L
and ) (t v
o
are determined by
the relations of these functions in the discontinuous time
domain. The following relation is always valid between the
roots of the discontinuous time system and continuous time
system:

) ln(
1
2 , 1 2 , 1

T
= (39)

In (39),
2 , 1
and
2 , 1
are the roots of the characteristic
equation in the continuous and the discontinuous time domain,
respectively.
By calculating the dominator roots of the relations (30) and
(31), and applying them in (39), the time constants of the
transient response of the system are obtained. The dominator
roots of (30) and (31) are equal with:


T j T
e

=
2 , 1
(40)

By applying (40) in (39), the time constants of the
functions ) (t i
L
and ) (t v are equal with:

j =
2 , 1
(41)
Considering (41), it is observed that the time constants of
the buck-boost dc-dc converters are a function of the duty
cycle of the converter, the inductor current, the capacitor
capacity, the load resistance and the switching frequency.
Variation of each of these parameters varies the damping time
of the transient response of the system. Considering (13), it is
observed that the value of in (41) is real and positive, but
according to (34) and also the inductance values, the capacitor
capacity, the load resistance and the inductor equivalent
resistance, can be real or imaginary. In (41), the value of
is determiner of the damping kind of the transient response of
the inductor current and the capacitor voltage. If be
imaginary, the equation consists of two real and negative
roots. In this case, the transient response of the converter is
damped, severely. If be real, the characteristic equation
consists of two complex coupled roots. In this case, the
transient response of the converter is damped weakly with
time constant
T
e

. Considering the effect of the inductor
inductance and the capacitor capacity on the value of , the
effect of each of these parameters on the transient response of
the converter can be investigated. Fig. 3 shows the variation
curve of the real part of the characteristic equation roots
versus the inductor inductance and the capacitor capacity for
different values of the duty cycle of the converter. As it is
observed, for high values of L and C in a specified value of
the duty cycle, the absolute of the real part of the characteristic
equation roots are less (the poles are near the imaginary axis),
and considering which the real part of the characteristic
equation roots are the damping constants of the transient
response of the system, so the time responses of the functions
) (t i
L
and ) (t v
o
have slow transient response for higher values
of the inductance and the capacitor capacity.


(a)


(b)
Fig. 3. Variation curves of the real part of the roots of the characteristic
equations ) (t i
L
and ) (t v
o
; (a) versus the inductor inductance; (b) versus the
capacitor capacity
] [mF C
] )[ Re( Hz
0 0.2 0.4 0.6 0.8 1
-5000
-4000
-3000
-2000
-1000
0
9 . 0
5 . 0
1 . 0
=
=
=
D
D
D L L L
] )[ Re( Hz
] [H L
0 0.02 0.04 0.06 0.08
-800
-600
-400
-200
0
9 . 0
5 . 0
1 . 0
=
=
=
D
D
D L L L
0 0.01 0.02 0.03 0.04 0.05 0.06
0
5
10
15
20
25
30
] [ ) ( V t v
o
] [S t
0 0.01 0.02 0.03 0.04 0.05 0.06
0
1
2
3
4
5
] [ ) ( A t i
L
] [S t

IV. SIMULATION RESULTS
To prove the validity of the presented theoretical subjects
in previous sections, the shown buck-boost dc-dc converter in
Fig. 1, the results of the simulation in PSCAD/EMTDC are
used. Figs. 4(a) and 4(b) show the step response of the
inductor current and the output voltage. For simulation, the
selected values for plotting Fig. 4 are used. Considering
figure, it is observed that the results of the simulation prove
the validity of the shown curves in Fig. 4.



(a)


(b)
Fig. 4. Step response of the; (a) the inductor current; (b) the output voltage


(a)


(b)
Fig. 5. The step response of the output voltage versus; (a) = 30 R ,
mH L 3 = and mF C 2 . 0 = ; (b) = 90 R , mH L 13 = and mF C 8 . 0 =
Figs. 5(a) and 5(b) show the step response of the output
voltage for 6 . 0 = D , = 5 . 0
L
R , V V
i
17 = , kHz f 1 = , the
inductance values mH 3 and mH 14 , the values of the
capacitance mF 2 . 0 and F 8 . 0 , and the load resistance 30
and 90 , respectively. According to the figure, it is observed
that by increasing the values of the inductance and the
capacitance, the transient response of the system becomes
slower and damping time of system increases. This subject
proves the validity of the presented subjects in section III.


(a)

(b)
Fig. 6. The step response of the output voltage for; (a) 4 . 0 = D ; (b) 8 . 0 = D
V. CONCLUSION
In this paper, a mathematical method based on the Laplace
and Z transforms has been proposed for modeling the buck-
boost dc-dc converter which operates in CCM. In the proposed
method, the Laplace transform has been used to obtain the
inductor current and the output voltage equations, and the Z-
transform is used as a tool to find the initial values of the
inductor current and the output voltage.
By means of the time domain functions of the inductor
current and the output voltage which are obtained using the
proposed modeling method in this paper, the step response of
each of these functions is plotted.
Using the proposed modeling method in this paper, the
effects of the converter components on the transient response
of the inductor current and the output voltage are analyzed and
it is shown that the Z-transform can be used for the analysis of
transient states. The effects of each of the buck-boost dc-dc
converter parameters such as the inductance, the capacitance,
the load resistance and the duty cycle on the transient response
of the converter are analyzed and it is shown that the buck-
boost dc-dc converter, which operates in CCM, has slow
transient response when the values of the inductance and the
capacitance are higher. Also it is shown that in a buck-boost
dc-dc converter by increasing the duty cycle of the converter,
the damping time of the transient response of the converter
decreases and the system becomes faster.
Fig. 6 shows the step response of the output voltage for
V V
i
17 = , mH L 7 = , mF C 2 . 0 = , = 20 R , = 5 . 0
L
R ,
0.000 0.020 0.040 0.060
0
10
20
30
40
50
Vo[V]
[sec] Time
0.000 0.020 0.040 0.060
0.0
5.0
10.0
15.0
Vo[V]
[sec] Time
0.000 0.020 0.040 0.060
0
10
20
30
40
Vo[V]
[sec] Time
0.000 0.020 0.040 0.060
0
10
20
30
Vo[V]
[sec] Time
0.000 0.020 0.040 0.060
0
10
20
30
Vo[V]
[sec] Time
0.000 0.020 0.040 0.060
0.0
1.0
2.0
3.0
4.0
5.0
IL[A]
[sec] Time

KHz f 1 = , 4 . 0 = D and 8 . 0 = D . As it is observed, by
increasing the duty cycle of the converter, the damping time of
the transient response of the converter decreases and the
system becomes faster. This subject proves the validity of the
presented subjects in Fig. 3.
APPENDIX A

[ ]

<
)
`

+
< +
=


1 ) ( sin ) ( sin ) ( cos
0 1
) (
1
, 1
1 1 , 1
)
1
(
) ( ) (
, 0
,
m D for t mT
L
v
t mT t mT i e
D m for e
R
V
e i
m i
n o
n L
t mT
mT
L
i mT
n L
n L

(16)

<
)
`

+
<
=

+
1 ) ( sin ) ( cos ) ( sin
0
) (
1 1 , 1 1
, 1 )
1
(
) (
, 0
,
m D for t mT t mT v t mT
C
i
e
D m for e v
m v
n o
n L t mT
mT
n o
n o

(17)

\
|

+
=



1
1 sin
sin cos
cos 2
) (
2
2
1
1 2 2
1
2 2
0
z
b
L
t e
b t t e z
e T ze z
z
z I
t T
t T
T T
L

(30)

\
|
+ +
+
=
+
+

1
1
sin cos
sin
cos 2
) (
2 2 2
1
1
2
1
2 2
0
z
b t t e z b
C
t e
e T ze z
z
z V
t T
t T
T T
o

(31)

T T
t T
t T
ss L
e T e
b
L
t e
b t t e
i

2
2
2
1
1 2 2
1
, 0
cos 2 1
sin
sin cos 1



+

\
|

= (35)

T T
t T
t T
ss o
e T e
b t t e z b
C
t e
v

2
2 2 2
1
1
2
1
, 0
cos 2 1
sin cos
sin

+
+
+
(

\
|
+ +
= (36)

) sin(
) sin( ) cos( sin
) cos( ) (
1 0 0
0 , 0
2
1
0 , 0 0 0 , 0 0 , 0
T
nT e
e
b i T e i
v
L
t e
ki nT e i i i i
nT
T
ss L
T
ss L
t
L
nT
ss L L ss L n L

(
(

+
+ + + = (37)

) sin(
) sin( ) cos( sin
) cos( ) (
2 0 0
0 , 0 0 , 0
2
1
0 0 , 0 0 , 0
T
nT e
e
b v T e v
kv v
L
t e
nT e v v v v
nT
T
ss o
T
ss o
o o
t
nT
ss o o ss o n o

(
(

+
+ + + = (38)

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