Type 1, 2 and 3 Control Schemes

Type 1, 2 and 3 control schemes are characterised by having 1, 2 and 3 poles respectively in the compensation response. This document gives the mathematical formulae, resulting bode plots and real world implementation for these control schemes using standard voltage feedback op-amps. Most modern PWM ICs have the error amplifier built in but, for clarity, the error amplifier is shown in this document as a stand-alone component. The op-amp is assumed to be ideal. All of the mathematical expressions here include a minus sign at the start which relates to the subtraction part of the feedback loop when the output voltage is compared to the reference. The actual compensation bode plots ignore this minus sign to give the conventional transfer function responses.

Type 1 Control
Type 1 control places a pole at DC to give pure integral control action. Figure 1 shows the typical opamp arrangement and resulting transfer function for this type of control.

VE 1 = VO R1 C1 s
1 2 R1 C1

Funitygain =

Funitygain

Figure 1 - Type 1 Control

Type 1 control is characterized by a gain which falls with frequency at a uniform -20dB/decade and a constant phase shift of -90. The only degree of freedom with type 1 control is the unity gain frequency.

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Type 2 Control
Type 2 control enhances the single pole response of type 1 control by adding a further pole and zero. Figure 2 shows the implementation and frequency domain response of type 2 control.

(1 + s C 2 R 3) VE 1 = C1 C 2 VO s R1 (C1 + C 2) ) 1 + s R 3 C1 + C 2
If C2 >> C1,

(1 + s C 2 R 3) VE 1 VO s R1 C 2 (1 + s C1 R 3)

FP

FZ
Figure 2 Type 2 Control

Phase shift reduction

If C2>>C1, the responses have the characteristic shown above with:-

FZ

1 1 and FP 2 R3 C 2 2 R3 C1

The midspan gain (i.e. the gain at frequencies between FZ and FP) can be approximated to:-

VE VO

Midspan

R3 R1

This control scheme is used to reduce the compensation network phase shift at a certain specific frequency (normally the design loop cross-over frequency) to allow for a higher loop cross-over than can normally be achieved with type 1 control. The maximum reduction in phase shift compared to type 1 control is around 90 resulting in zero phase shift through the compensation network at a certain frequency. Type 2 control has three degrees of freedom, the FZ frequency, the FP frequency and the midspan gain.

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Type 3 Control
Type 3 control enhances type 2 control by adding a further pole and zero. These are normally placed at the same pole and zero locations of FZ and FP used in the type 2 control scheme. This extra pole and zero results in an additional phase boost of up to 90 more than type 2 can achieve which allows for higher loop cross-over frequency than type 2. Figure 3 shows the implementation and frequency domain response of type 3 control.

(1 + s C 2 R 3) (1 + s C 3 ( R1 + R 4) VE 1 = C1 C 2 VO s R1 (C1 + C 2) ) (1 + s C 3 R 4) 1 + s R 3 C1 + C 2
If C2 >> C1 and R1 >> R4,

(1 + s C 2 R3) (1 + s C 3 R1) 1 VE VO s R1 C 2 (1 + s C1 R 3) (1 + s C 3 R 4 )
FP1, FP2

FZ1, FZ2

Phase Boost
Figure 3 Type 3 Control

There are many degrees of freedom with type 3 control. Normally, FZ1 and FZ2 are placed at the same frequency whilst FP1 and FF2 are placed together at a higher frequency. If this approach is used the following expressions are true:-

FZ 1 FP1

1 1 , FZ 2 , FZ1 = FZ2 2 R3 C 2 2 R1 C 3 1 1 , FP 2 , FP1 = FP2 2 R3 C1 2 R 4 C 3

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The gain at frequency FZ1,Z2 is

VE VO
VE VO

f = FZ 1

2 R3 R1
R3 C 2 2 R1 C1

The gain at frequency FP1,P2 is

f = FP1

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