TABLE III Modeling of Switch-Mode DC-DC Cascade

Algorithm eMHT Converters

½[m] frame P(1) P(2) P(3) P(4) P(5) P(6) P(7) E

300 1 0 0 0 0 0 0 0 3.000
2 0 0 7 34 57 1 0 .001
3 5 15 80 1 0 .000 Many applications of switch-mode dc-dc converters require
4 1 28 70 .000
higher conversion rates (M = Vout =E). An alternative solution
5 20 80 .000
6 15 85 .000 to this problem is to use n-stages connected in cascade, such
7 14 86 .000 that the total conversion rate can be increased by an order of n.
8 12 88 .000 Ready-to-use nonlinear and linear models are given for n-buck
9 10 90 .000
10 9 91 .000 and n-boost cascade converters in the continuos conduction
mode using average model techniques; therefore, this work
1000 1 0 0 0 0 0 0 0 3.000
2 1 33 63 3 0 .007 satisfies the need of having models for a class of dc-dc cascade
3 1 9 85 5 0 .001 converters.
4 12 85 2 0 .011
5 5 93 2 .018
6 2 95 2 .010 I. INTRODUCTION
7 2 96 2 .012
8 2 96 2 .011 The three basic switch-mode pulsewidth
9 1 97 1 .007 modulation (PWM) converters, buck, boost, and
10 1 98 1 .003
buck-boost, have been widely used in computer
2000 1 0 0 0 0 0 0 0 3.000 hardware and industrial applications. These converters,
2 3 25 69 3 0 .010 as well as other PWM converters, provide low voltage
3 2 16 79 4 0 .001
and current ratings for loads at a constant switching
4 9 89 1 0 .000
5 2 97 1 .008 frequency. See [1 and 2]. In these converters, the
6 1 98 1 .002 dc conversion ratio is a function of the modulating
7 99 .006 control signal U of the active switch.
8 99 .007 In recent years, many applications in aeronautics,
9 99 .003
telecommunications and new IC technologies require
10 100 .001
larger conversion ratios. The above requirements can
Note: Probability P(m) to find m targets extracted and E new be satisfied using conventional PWM converters by
initiations started, depending on target distance ½ and number of
1) operating at extremely low or high duty ratios
splitting phase.
with the corresponding limitations on the finite
commutation times of the switching devices, or
[3] Koch, W., and van Keuk, G. (1997)
2) using a step-down or step-up transformer with
Multiple hypothesis track maintenance with possibly
unresolved measurements. the corresponding difficulties in switching surges and
IEEE Transactions on Aerospace and Electronic Systems, operating frequencies.
33, 3 (1997). In theory, larger conversion ratios can be obtained
[4] Bar-Shalom, Y., and Fortmann, T.E. (1988) by properly adjusting the modulating control
Tracking and Data Association.
signal of the converter. In practice, the maximum
Orlando, FL: Academic Press, 1988.
[5] Poore, A., and Robertson, A. (1997) and the minimum attainable conversion ratios for
A new Lagrangian relaxation based algorithm for a class the conventional converters are limited by the
of multidimensional assignment problems. characteristics of the switching devices. The turn-on
Computational Optimization and Applications, 8, 2 (1997). time and turn-off time of the active switch now play
[6] Deb, S. et al. (1997)
an important roll for the attainable duty ratio and,
A generalized S-D assignment algorithm for
multisensor-multitarget state estimation. consequently, in the conversion ratio. Also, when
IEEE Transactions on Aerospace and Electronic Systems, the duty ratio is close to 0 or 1, great deterioration
33, 2 (1997). on the output voltage and inductor current signals
occur and; therefore, in the control signals. For the

Manuscript received February 12, 2001; revised August 18, 2001;

released for publication October 9, 2001.

IEEE Log No. T-AES/38/1/02593.

Refereeing of this contribution was handled by W. M. Polivka.

0018-9251/02/$17.00 °
c 2002 IEEE

CORRESPONDENCE 295
 II. NONLINEAR MODELS FOR CASCADE
CONNECTION

The dynamic behavior of many classes of

power circuits can be analyzed using the notion
of averaged-circuit models that have traditionally
been derived mainly for high-frequency switching
dc-dc converters under the continuos conduction
mode [7—11]. It is well known how to average a
high-frequency switched dc-dc converter by averaging
the PWM switch. When the above approach is used in
Fig. 1. Cascade converters. (a) n-buck. (b) n-boost. the cascade connection, the resulting circuit model can
be approximated by their corresponding time-average
functions. Therefore, a time-continuos low-frequency
above reasons, it is better to select an operating point model of the cascade converter can be obtained when
in the midrange, i.e., U = 0:5. On the other hand, an the state equations for each state are recovered from
often used approach is to use step-down or step-up the average circuit and represented in the following
transformers; however, large switching surges are form:
present that may damage the switching devices and
make the controller difficult to design. Also, the _ = A(u)x(t) + B(u)e(t)
x(t) (1)
switching frequency of the converter would be limited
by the transformer itself. A useful discussion of this where x(t) 2 R2n is the state, e(t) 2 R is the input
problem is given in [3]. voltage; A is a matrix R 2n£2n ; B is a vector R 2n and
A scheme that provides larger conversion ratios n is the number of stages. The above representation is
without a transformer is a cascade connection. This nonlinear as the matrix A and vector B depend on the
scheme is a multistage approach that consists of control signal u(t) 2 R n .
n-basic converters connected in cascade as shown For the n-buck cascade converter given in
in Fig. 1. The conversion rates, for Fig. 1(a), the corresponding low-frequency model is
Q steady state
duty ratios Ui , are as follows: 1) Qni=1 Ui for an given by
n-buck cascade converter, and 2) ni=1 1=(1 ¡ Ui ) 2 3
1
for an n-boost cascade converter. One of the major 0 0 ¢¢¢ 0 ¡ 0 ¢¢¢ 0
L1
advantages of these converters is a high gain; 6 7
6 .. 7
however, a major drawback is that the total efficiency 2 i² 3 6 0 u2 1 7
6 0 ¢¢¢ 0 ¡ . 0 7
L1
may be low if the number of stages is high. The 6 L2 L2 7
6 i² 7 6 7
usefulness of this class of converters can be found 6 L2 7 6 .. .. .. .. .. 7
6 7 6 . . . 0 0 . . 0 7
in cellular telephones, satellite communications, and 6 .. 7 6 7
6 . 7 6 .. 7
aeronautics where the input power comes from an 6 7 6 0 un 1 7
6 ² 7 6 0 0 0 . 0 ¡ 7
unregulated dc power source rather than a rectification 6 iLn 7 6 Ln Ln 7
6 7=6 7
of ac line. 6 v² 7 6 1 u2 7
6 C1 7 6 C ¡ 0 0 0 0 0 0 7
The case of cascade converters with only two 6 ² 7 6 1 C1 7
6v 7 6 7
stages has already been discussed in the open 6 C2 7 6 1 .. 7
6 7 6 0 . 0 0 0 0 0 7
literature [3—6] where only the dc conditions are given 6 .. 7 6 C2 7
4 . 5 6 7
with some topologies for the reduction in the number 6 7
² 6 .. .. .. un .. .. 7
of elements. Moreover, no models for controller vCn 6 . . . ¡ 0 . . 0 7
6 Cn¡1 7
design have been proposed in the open literature 4 5
1 1
for n-stages. The purpose of this work is to give 0 0 ¢¢¢ 0 0 0 ¡
Cn RCn
general average models for ac analysis and design of 2 3 2 u1 3
iL1
controllers for cascade converters with n-buck and L
6i 7 6 1 7
n-boost converters. 6 L2 7 6 0 7
6 7 6 7
The remainder of this paper is organized as 6 .. 7 6 . 7
6 . 7 6 .. 7
follows. General nonlinear average models for 6 7 6 7
6 7 6 7
the cascade converters are discussed in Section II, 6 iLn 7 6 0 7
£6 7
6v 7 + 6 7 e(t) (2)
emphasis is given to the simplicity of the structure. A
6 C1 7 6 0 7
linearization of these models is discussed in Section 6 7 6 7 6
6 vC2 7 6 0 7
III. Section IV contains an illustrative example of 6 7 6 7
6 . 7 6 . 7
nonlinear and linear models for two-boost cascade 6 . 7 4 . 7
4 . 5 . 5
converter. Section V concludes the paper with some
final remarks. vCn 0

296 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL. 38, NO. 1 JANUARY 2002
where u1 , u2 , : : : , un are the corresponding duty ratios voltage is as follows:
for each independent stage. It can be noticed that the
first equation in (2) contains an input which in turn ui (t) = Ui + ũi (t) for 1 · i · n (4a)
will drive the cascade converter. e(t) = E + ẽ(t) (4b)
When the same procedure is follow for the
n-boost cascade converter given in Fig. 1(b), the where Ui and E denote the nominal values; and ũi (t) and
corresponding low-frequency model results in ẽ(t) the deviations from the nominal operating points.

2 (1 ¡ u1 )
3
0 0 ¢¢¢ 0 ¡ 0 ¢¢¢ 0
6 L1 7
6 7
2 i² 3 6 1 (1 ¡ u2 ) .. 72 3 2 3
L1 6 0 0 ¢¢¢ 0 ¡ . 0 7 iL1 1
6 L2 L2 7
6 iL2
² 7 6 7 6 i 7 6 L1 7
6 7 6 .. .. .. .. .. 7 6 L2 7 6 7
6 . 7 6 . . . 0 0 . . 0 76 7 6 0 7
6 . 7 6 7 .. 7 6 7
6 . 7 6 . 1 (1 ¡ un ) 7 6 6 .. 7
6 ² 7 6 0 0 0 0 .. 0 ¡ 76 . 7 6 . 7
6 iLn 7 6 Ln Ln 7 6 7
iLn 7 6 7
6 ² 7 = 6 (1 ¡ u ) 766v 7 6 + 0 7 (3)
6v 7 6 1 7 6 7 e(t):
76 C1 7 6
1
6 C1 7 6 C ¡
0 7
0 0 0 0 0 0
6 v² 7 6 C1 76 7
vC2 7 6 7
76
1
6 C2 7 6 7 6 0 7
6
6 7 6 (1 ¡ u2 ) .. 76 7
6 . 7 6 0 . 0 0 0 0 0 76 . 7 6 7
4 .. 5 6 C2 7 4 .. 5 4 ... 5
6 . 7
²
vCn 6 . .. .. 1 .. .. 7 vCn
6 . . . ¡ 0 . . 0 7 0
6 Cn¡1 7
4 (1 ¡ un )
5
1
0 0 ¢¢¢ 0 0 0 ¡
Cn RCn

For the above representations, matrices A and B When (4) is substituted into expressions (2) and
depend on the modulating control signals; therefore, (3), and assuming that the deviations are sufficiently
the models are nonlinear. small such that nonlinear and second-order terms
can be neglected, it results in linear models of the
III. LINEAR MODELS FOR CASCADE CONNECTION following form:
_ = Ax(t) + Bv(t)
x(t) (5)
Linearization of the averaged-switch model is
easily carried out. Thus, the inductor currents, the where x(t) 2 R 2n is the state, v 2 R n+1 is a vector with
capacitor voltages, the modulating control signals, and inputs; A is a constant matrix R 2n£2n ; B is a constant
the input voltage can be decomposed into two parts. matrix R 2n£(n+1) and n is the number of stages. The
The first part contains the nominal values denoted by resulting representation is linear; therefore, it is easier
uppercase letters and the second part is the deviations to use.
from the nominal denoted by the superscript ». Thus, The result of this calculation is given in (6) for the
the decomposition of the control signals and the input n-buck cascade converter as follows:

2 0 0 ¢¢¢ 0 ¡
1
0 ¢¢¢ 0
3
L1 2E U1 3
2 ˜{² 3 6 7 0 ¢¢¢ 0
L1 6 U2 1 .. 7 2 3 6 L1 L1
7
6 0 0 ¢¢¢ 0 ¡ . 0 7 ˜{L1 6 VC2 .. .. 7
6 ˜{² 7 6 L2 L2 7
6 L2 7 6 76 ˜ 76 0 . . 0 7
6 7 6 .. .
..
.
.. .. .. 7 6 {L2 7 66
L2 72 3
7 ũ1
6 .. 7 6 . 0 0 . . 0 76 76 .. 7
6 . 7 6 76. 76 0 . 7 6 ũ 7
6 7 6 .. Un 1 7 6 ..˜{ 7 6 0 0 0
76 2 7
6 ² 7 6 0 0 0 0 . 0 ¡ 7 6 Ln 7 6 VC(n¡1) 76 7
6 ˜{Ln 7 6 Ln Ln 76 76 0 0 0 0 7 6 .. 7 :
6 7=6 1 U 7 6 ṽC1 7 6 Ln 76 . 7 (6)
6 ṽ² 7 6 ¡ 2 76 76 76 7
6 C1 7 6 C 0 0 0 0 0 0 76 76 i 76 7
6 ² 7 6 1 C1 7 6 ṽC2 7 6 0 ¡ L2 0 0 0 7 4 ũn 5
6 ṽ 7 6 76 76 C1
7
6 C2 7 6 0 1 .. 76 . 76 7 ẽ
6 7 6 . 0 0 0 0 0 7 4 .. 5 6 .. 7
6 .. 7 6 C2 7 6 0 0 . 0 0 7
4 . 5 6 . 7 6 . . . 7
6 . .. .. U .. .. 7 ṽ .. i
² 6 . . . ¡ n 0 . . 0 7 Cn 4 .. .. . ¡ Ln .. 5
ṽCn 4 Cn¡1 5 Cn¡1
1 1 0 0 ¢¢¢ 0 0
0 0 ¢¢¢ 0 0 0 ¡
Cn RCn

CORRESPONDENCE 297
For an n-boost cascade converter, the corresponding
linear model is given by

2 (1 ¡ U1 ) 3
0 0 ¢¢¢ 0 ¡ 0 ¢¢¢ 0 2 VC1 1 3
L1 0 ¢¢¢ 0
6 7
6 7 6 L1 L1
7
6 1 (1 ¡ U2 ) .. .
. 7 6 7
2 ˜{² 3 6 72 36 7
0 0 ¢¢¢ 0 ¡ . . VC2 .. .
.
6 L2 L2 7 ˜{L1 6 0 . . 0 7
L1 6 7 6 L2 7
6 ˜{²L2 7 6 . . . .. .. 7 6 ˜{L2 7 6 7
6 7 6 .
.
.
.
.
. 0 0 . . 0 7
76 766 .. .. .. . 72 3
6 . 7 6 6 76 . 76 . . . 0
.
. 7 ũ1
7
6 . 7 6
. . 1 (1 ¡ Un ) 7 6 . 7 6
. 7 6 ũ2 7
6 7 6 0 0 0 0
.
. 0 ¡ 76 76 0 VCn
76 7
6 ˜{² 7 6 Ln Ln 76 ˜{Ln 7 6 ¢¢¢ 0 0
76 . 7
6 Ln 7 = 6 6
76 7 6
Ln
76 . 7:
6 ² 7 6 (1 ¡ U ) 1 7 6 ṽ 7 6 iL1 76 . 7
6 ṽC1 7 6 1
¡ 0 0 0 0 0 0 7 6 C1 7 6¡ 74 5
6 ² 7 6 C1 C1 7 6 ṽ 7 6 C1 0 0 0 0
7 ũn
6 ṽC2 7 6 7 6 C2 7 6 7
6 7 6 76 76 7 7 ẽ
6 . 7 6 (1 ¡ U2 ) ..
7 . 6 iL2 .. . 7
4 .. 5 6 0 C2
. 0 0 0 0 0 7 4 .. 5 6 0 ¡ . 0
.
. 7
6 7 6 C2 7
²
ṽCn 6 . 7 ṽ 6 7
6 . .. .. 1 .
.
.
. 7 Cn 6 . .. .. 7
6 . . . ¡ 0 . . 0 7 6 .. . . 0 0 7
6 Cn¡1 7 4 5
4 5 i
(1 ¡ Un ) 1 0 ¢¢¢ 0 ¡ Ln 0
0 ¢¢¢ 0 0 0 0 ¡ Cn
Cn RCn

(7)

When the n-stages operate at the same nominal which results in an output voltage VC2 = 20 V and
duty ratio U, the total conversion rate for the VC1 = 10 V from a line voltage E = 5 V. The load
n-buck cascade converter is M = Un and for the resistance R = 5 − gives an output current of I = 4 A,
n-boost converter it is M = 1=(1 ¡ U)n . If the and the inductor currents IL2 = 8 A and IL1 = 16 A;
deviations for the input voltage e(t) are not desired, therefore, this cascade converter delivers an output
the corresponding columns in (6) and (7) can be power of 80 W.
eliminated. However, if the same modulating signal For this converter, the corresponding nonlinear and
is used for each stage then the corresponding matrix B linear models can be easily found using expressions
is simplified. (3) and (7) which result in

Nonlinear model:
2 i² 3 2 0 0 ¡5000(1 ¡ u1 ) 0
3 2 i 3 2 5000 3
L1 L1
6 i² 7 6 0 0 2777:77 ¡2777:77(1 ¡ u2 ) 7 6 7 6 7
6 L2 7 = 6 7 6 iL2 7 + 6 0 7 e(t) (8a)
6 ² 7 6 76 7 6 7
4 vC1 5 4 5000(1 ¡ u1 ) ¡5000 0 0 5 4 vC1 5 4 0 5
²
vC2 0 5000(1 ¡ u2 ) 0 ¡1000 vC2 0

These linear time-invariant models describe Linear model:

approximately the behavior of the dc-dc cascade 2 ˜² 3 2 32 ˜ 3
{L1 0 0 ¡2500 0 {L1
converters for frequencies up to half of the switching 6 ˜{² 7 6 0
6 L2 7 6 0 2777:77 ¡1388:88 7 6 7
7 6 ˜{L2 7
frequency, though they are not suitable for predicting 6 ² 7=6 76 7
subharmonic oscillations due to ripple instabilities. 4 ṽC1 5 4 2500 ¡5000 0 0 5 4 ṽC1 5
²
ṽC2 0 2500 0 ¡1000 ṽC2
IV. ILLUSTRATIVE EXAMPLE 2 3
50000 0 5000 2 3
ũ1
To show the simplicity of the structure of these 6 0 55555:55 7
0 76 7
6
representations, nonlinear and linear models are +6 7 4 ũ2 5 : (8b)
4 ¡80000 0 0 5
derived for a two-boost cascade converter. The ẽ
circuit with the corresponding values is shown in 0 ¡40000 0
Fig. 2. The power metal-oxide-semiconductor field The corresponding spectrum of the A matrix in (8b)
effect transistor (MOSFET) transistors and diodes is found to be given by f¡55:8 § j4748:3, ¡444:2 §
are conventional for this type of converters. The j874:7g. As can be seen, this system representation is
steady-state duty ratio for both stages is U1 = U2 = 0:5, stable with complex eigenvalues.

298 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL. 38, NO. 1 JANUARY 2002

Fig. 2. Two-boost cascade converter for 80 W.
Once the models are obtained, the controller
design can be done using common control strategies
widely used: linear, passivity, slide-mode, H1 ,
¹-synthesis, decentralized control and other
approaches.
V. CONCLUDING REMARKS
There is a visible attention in constructing models
for switch-mode dc-dc cascade converters, being
motivated by the need to have higher conversion
rates. Models for n-buck and n-boost cascade
converters are given in this paper using average model
techniques. This paper gives ready-to-use nonlinear
and linear models for the continuos conduction mode;
therefore, they can be used for analysis and synthesis
of controllers. These models are valid when each
state is operating at the same frequency and the
switches are synchronized. Further research in these
topics is underway. The applications for this class of
converters are still in the low power range; however,
the development of new materials will lead to new
devices that in turn would make the cascade converter
more efficient for higher power ranges. Cascade
converters with up to five stages are being used in the
aeronautics industry.
J. A. MORALES-SALDAÑA
E. E. CARBAJAL GUTIERREZ
Facultad de Ingenieria
Universidad Autónoma de San Luis Potosi
San Luis Potosi, S.L.P.
78290 Mexico
J. LEYVA-RANOS
Instituto Potosino de Investigacion
Cientifica Y Tecnologica, A.C.
Av. Venustiano Carranza #2425-A
Col. Los Filtros
C.P. 78210
San Luis Potosi, S.L.P.
Mexico
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CORRESPONDENCE
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