AbstractZeta converters are the fourth-order DC-DC

converters capable of operating in both step-up and step-

down modes and do not suffer from the polarity reversal
problem. There are many applications which require a
variable output voltage commanded by an external reference
signal. So, the Zeta converters can be particularly useful for
such applications. To achieve a Zeta converter with
adjustable output voltage capable of following an external
reference signal smoothly and accurately, there will be a need
for a suitable control system. Since the Zeta converter model
that is used in this paper is nonlinear, we propose a
combination scheme of model reference adaptive control
(MRAC) with neural networks (NN). In this paper, we
propose and design a neural network adaptive model
reference controller to control the output voltage of Zeta
converter. Simulation results show the effectiveness of the
proposed scheme for the Zeta converters with adjustable
output voltage.
Key words: Zeta Converter, Neural Network, Model Reference
Adaptive Control.
I. INTRODUCTION
DC-DC converters are widely used as power supply in
electronic systems. Some of the main DC-DC converters
are Buck, Boost, Buck-boost, Cuk, SEPIC, and Zeta
converters. However, the Buck-boost and Cuk converters,
in their basic form, produce the output voltage, whose
polarity is reversed from the input voltage. The problem
can be corrected by incorporating an isolation transformer
into the circuits, but this will inevitably lead to the
increased size and cost of the converters. Zeta converters
are the fourth-order DC-DC converters capable of
operating in both step-up and step-down modes and do not
suffer from the polarity reversal problem. Therefore, Zeta
converters are attractive for the afore-mentioned
advantages [1].
There are many applications which require a variable
output voltage commanded by an external signal. The
signal is usually a voltage referenced to the output return.
Applications for variable output converters include
adjustable RF amplifiers, lighting controls, capacitor
charging power supplies, battery chargers and constant
current sources. Because of the mentioned features, the
Zeta converters with the adjustable output voltage can be
useful in these applications. To achieve a Zeta converter
with such a capability which can follow an external
reference signal smoothly and accurately, it is needed to
use a suitable control system.
This paper presents a control scheme to develop a step-
down Zeta converter with the variable output voltage. The
main steps in the control system design of a plant are
Modeling, Identification and Control. Modeling plays a
key role in revealing the insight of the converters dynamic
behavior. In the last two decades, there has been a
continually active research on DC-DC converters; as a
consequence, several modeling methods have been
proposed [2]. Among them, the State-Space Averaging
(SSA) technique is one of the best-known methods. The
SSA technique is commonly used to model the second-
order converters such as buck, boost, and buck-boost
converters. Also this technique is recently used to model
the Zeta converter which is a fourth-order converter [3].
Although in many applications, linearization is applied to
extracted model, but it cannot be applicable for the Zeta
converters with the adjustable output voltage due to the
required wide range of its output voltage. Therefore we
face with a nonlinear model for the plant to be controlled.
After the modeling of the Zeta converter, it is required
to do the identification and control steps for it. In practice,
PID controllers have been used widely for DC-DC
converters. However, PID controllers have limitations in
characteristic changes of plant during operation and also in
the case of nonlinear models. It is well-known that a model
reference adaptive control (MRAC) is very effective to
compensate characteristic changes of the plant. However,
it is not useful for nonlinearity of the plant. Many
researchers have employed NNs in their control design in
the case of nonlinear plants. Using neural networks
technologies to the MRAC structure was found to provide
a greatly improved performance over conventional
approaches [5,6].
Since the Zeta converter model that is used in this paper
is nonlinear, we propose a combination scheme of MRAC
with neural networks (NN). Simulation results show the
effectiveness of the proposed scheme for the Zeta
converters with adjustable output voltage.
This paper is organized as follows. Section II introduces
the model of a Zeta converter through SSA method.
Section III presents the proposed neural network based
adaptive control scheme for the Zeta converter with the
adjustable output voltage. The simulation results are
demonstrated in section IV. Finally, the paper is concluded
in Section V.

II. ZETA CONVERTER MODELLING THROUGH SSA METHOD
There exist two different operating modes for most of
the DC-DC converters, zeta converter included; continuous
conduction mode (CCM) and discontinuous conduction
mode (DCM). The CCM is of practical interest, since in
this mode the relationship between input and output
voltage is manifestly specified by the duty cycle of
switching.
Fig. 1 shows circuit configuration of a typical zeta
converter. The zeta converter comprises the power
Adjustable Output Voltage Zeta Converter Using Neural Network
Adaptive Model Reference Control
B. Moaveni
1
, H. Abdollahzadeh
2
, and M. Mazoochi
3

1
Iran University of Science and Technology, b_moaveni@iust.ac.ir
2
Department of Electrical Engineering, East Tehran Branch,
Islamic Azad University, h.abdollahzadeh@gmail.com
3
Iran Telecommunications Research Centre,
mazoochi@itrc.ac.ir
2011 2nd International Conference on Control, Instrumentation and Automation (ICCIA)
978-1-4673-1690-3/12/$31.002011 IEEE 552



electronic switch S with high speed switching capability,
diode D, the capacitors C
1
and C
2
, and inductors L
1
and L
2
.
The resistor R and current source I
Z
model the load. The
capacitors and inductors in the Zeta converter are assumed
to be non-ideal, and they have been represented by their
corresponding ESR (equivalent series resistance).

Fig. 1. Zeta converter circuit




Fig. 2. Zeta converter configurations: (a) 0<t<dTs , (b) dTs<t<Ts
In CCM, the switching period (T
s
) of the switch S is
broken into two intervals:
-First, the interval dT
s
, in which S is on and D is off.
-Second, the interval (1-d)T
s
, in which S is off and D is
on.
Obviously, d denotes the duty cycle. Fig. 2 shows the
configurations of the Zeta converter in these two intervals.
Modeling of the Zeta converter through state space
averaging method (SSA) is carried out in two steps; 1)
Extracting state-space equations of the converter in either
intervals, 2) Averaging these equations to attain a single
averaged state-space equation.
A. Extracting state-space equations of the converter in
either intervals
The first step is realized by applying Kirchhoffs laws in
the specified time intervals as follows:
1) 0<t<dT
s

In this time interval, the state-space equations of the
Zeta converter are as below:
1 1
1
2 2 2
2 1 2 1 2
2 2 2
1
2
*
*
1 1
*
* * *
2 2 2 2
*
*
1
(1)
1 1
(2)
( )
1
(3)
L L
d
L
L C C
d
L C L C C z
C C C
C
L
di r
V
i
dt L L
di r R r R
V R
r r i v v I
dt L L r R L L r R r R
dv
i
dt C
=
| |
= + + + + |
|
+ + +
\ .
=

2
2 2
2 2 2
1 2
2 2
1 2 2
*
* *
2 2 2
* *
1 1 1 1
(4)
( )
(5)
C
L C z
C C C
C C
O L C z
C C C
dv
R R
i v I
dt C r R C r R C r R
r R r R
R
V i v I
r R r R r R
| | | | | |
= | | |
| | |
+ + +
\ . \ . \ .
| | | |
= + | |
| |
+ + +
\ . \ .

In the equations above, the states of the plant is denoted
by *. Expressing the equations in the compact matrix form,
we get:
(7) ) (
(6) (
) u( D ) x( C y
) u B ) x( A ) ( x
.
t t t
t t t
a a
a a
+ =
+ =

Where:
| | (8) ) ( ) ( ) ( ) ( ) (
2
1 2 1
t
C C L L
t v t v t i t i t x =

(9)
) (
1 1 1
0 0
0 0
1
0
) (
1 1
0
0 0 0
2 2
2 2
2
1 2
1
2 2
1
2 2 2
1
(
(
(
(
(
(
(
(
(
(
(

|
|
.
|

\
|
+

|
|
.
|

\
|
+

|
|
.
|

\
|
+
+ +

=
R r C R r
R
C
C
R r L
R
L R r
R r
r r
L
L
r
A
C C
C C
C
C L
L
a

(11) 0 0
(10)
1
0 0
0 0 0
1
2 1
1
2 2
2
t
2
1
(
(

|
|
.
|

\
|
+
|
|
.
|

\
|
+
=
(
(
(
(
(

|
|
.
|

\
|
+

+
=
R r
R
R r
R r
C
R r
R
C R r
R r
L
B
C C
C
a
C C
C
a

(12) 0
2
2
(
(

+
=
R r
R r
D
C
C
a

2) dT
s
<t< T
s
In this time interval, the state-space equations of the
Zeta converter are as below:
(14)
) (
1
(13)
1
) (
1
2
2
2
2
2
2
2
2
2
1 1 1 1
1
*
2
*
2
*
*
1
*
1 1
*
z
C
C
C
C
L
C
C
L
L
C L C L
d
L
I
R r
R r
v
R r L
R
i
R r
R r
r
L dt
di
v
L
i r r
L L
V
dt
di
+
+
+

|
|
.
|

\
|
+
+ =
+ =

(16)
1
) (
1 1 1
(15)
1
2
2
2
2
2
2
1
1
2
*
2
*
2
*
*
1
*
z
C
C
C
L
C
C
L
C
I
R r
R
C
v
R r C
i
R r
R
C dt
dv
i
C dt
dv
|
|
.
|

\
|
+

|
|
.
|

\
|
+

|
|
.
|

\
|
+
=
=

(17)
2
2
2
2
2
1
1 * *
z
C
C
C
C
L
C
C
O
I
R r
R r
v
R r
R
i
R r
R r
V
+

|
|
.
|

\
|
+
+
|
|
.
|

\
|
+
=

Rewriting the state space equations in the matrix format
gives:
(19) ) (
(18) (
) u( D ) x( C y
) u B ) x( A ) ( x
.
t t t
t t t
b b
b b
+ =
+ =

Where:

| | (20) ) ( ) ( ) ( ) ( ) (
2
1 2 1
t
C C L L
t v t v t i t i t x =

(a)
(b)
553



(21)
) (
1 1 1
0 0
0 0 0
1
) (
1
0 0
0
1
0 ) (
1
2 2
2 2
2
2
1 1
2 2
1
2 2
1 1
(
(
(
(
(
(
(
(
(
(
(

|
|
.
|

\
|
+

|
|
.
|

\
|
+

|
|
.
|

\
|
+
+
+
=
R r C R r
R
C
C
R r L
R
R r
R r
r
L
L
r r
L
A
C C
C C
C
L
C L
b

(23) 0 0
(22)
1
0 0
0 0 0
1
2 1
1
2 2
2
t
2
1
(
(

|
|
.
|

\
|
+
|
|
.
|

\
|
+
=
(
(
(
(
(

|
|
.
|

\
|
+

+
=
R r
R
R r
R r
C
R r
R
C R r
R r
L
B
C C
C
b
C C
C
b

(24) 0
2
2
(
(

+
=
R r
R r
D
C
C
b

B. Averaging these equations to attain a single averaged
state-space equation
In the second step, based on SSA method, the state
spaces in each interval are weighted by the corresponding
duration. The ultimate state space equations of the plant,
Zeta converter, are the average of the weighted equations
over one cycle of switching, T
s
:
| |
(25) ) ) 1 ( ( ) ) 1 ( (
) 1 ( ) ( ( ) ( (
1
u(t) B B x(t) A A
t) u B x(t) A t) u B x(t) A (t) x
B A
.

av av
b a b a
S b b S a a
S
d d d d
T d dT
T
+ + + =
+ + + =

| |
(26) ) ) 1 ( ( ) ) 1 ( (
) 1 ( ) ( ) (
1
) (
u(t) D D x(t) C C
u(t) D x(t) C u(t) D x(t) C y
D C

av av
b a b a
S b b S a a
S
d d d d
T d dT
T
t
+ + + =
+ + + =

Where:
= + =
b a av
d d A A A ) 1 (

(27)
) (
1 1 1
0 0
0 0
1
) (
) 1 (
) 1 (
1
0
0
1
0
) 1 (
2 2
2 2
2
2
2
2
1 2
1 1
2 2
1 1
2 2 2
1 1
(
(
(
(
(
(
(
(
(
(
(

|
|
.
|

\
|
+

|
|
.
|

\
|
+

+

|
|
.
|

\
|
+

+ +
|
|
.
|

\
|
+
+ +
+

R r C R r
R
C
C
d
C
d
R r L
R
R r
R r d
r d d
L R r
R r
r r
L
d
L
d
L
r d r
C C
C C
C
L
C
C
C L
C L

(28)
1
0 0
0 0 0
1
) 1 (
t
2
1
2 2
2
(
(
(
(
(

|
|
.
|

\
|
+

+
= + =
R r
R
C R r
R r
L
d d
C C
C
b a av
B B B

(29) 0 0 ) 1 (
2 1
1
(
(

|
|
.
|

\
|
+
|
|
.
|

\
|
+
= + =
R r
R
R r
R r
d d
C C
C
b a av
C C C

(30) 0 ) 1 (
2
2
(
(

+
= + =
R r
R r
d d
C
C
b a av
D D D

It should be noted that in addition to the input vector
u(t), containing input voltage V
d
and load current I
z
, the
duty cycle d is also an input parameter. Moreover, in terms
of d, the Zeta converter model is a nonlinear one.
Linearization cannot be applied to the model, since the
objective of the research demands a relatively wide range
of duty cycle variations.
III. PROPOSED NEURAL NETWORK BASED ADAPTIVE
CONTROL SCHEME FOR THE ZETA CONVERTER WITH THE
ADJUSTABLE OUTPUT VOLTAGE
Model reference adaptive control (MRAC) is one of the
most popular methods in the growing field of adaptive
control to overcome the difficulties of creating a controlled
system that could work over a wide range of operating
conditions because of the effects of process variations and
disturbances. Fig. 3 illustrates the general block diagram of
a MRAC.

Fig. 3. General block diagram of a MRAC
Usually an MRAC is implemented by a reference
model, an adjustment mechanism, a controller and a plant.
In the conventional MRAC scheme, the controller is
designed to realize a plant output convergence to reference
model output based on the assumption that the plant can be
linearized. Therefore, this scheme is effective for
controlling a linear plant with unknown parameters in the
ideal case, but it may not be assured to succeed in
controlling a nonlinear plant with unknown structures in
the real case [5,6].
As it was mentioned in the previous section, the Zeta
converter model in terms of the duty cycle (d) is a
nonlinear plant. Linearization cannot be applied to the
model, since the objective of the research demands a
relatively wide range of duty cycle variations.
The Neural Networks (NNs) are the prime candidates to
be utilized in the area of nonlinear control systems. Fig. 4
illustrates a typical control of a plant using NN.

Fig. 4. A typical control scheme of a plant using NN
The feed-forward equations for the control scheme in
Fig. 4 can be written as follows:
u
1
= w
1
y
0

y
1
= f
1
(u
1
)
y
2
= w
2
y
1

u(k) = y
2
= f (u
2
) (31)
To determine the weights of the NN, a learning
algorithm is required. The back-propagation (BP)
algorithm is the most well-known and widely used among
other learning algorithms. It is based on steepest descent
technique expanded to each of the layers in the network by
the chain rule. This algorithm computes the partial
554



derivative of the error function with respect to the weights
[8,9]. Based on this concept, the weights of the various
layers of the NN are updated by the following equations:
2
2
2 2
2
2 2 2 2
( ) ( ) ( ) (32)
1 1
( ) ( ) ( ) ( ) (33)
2 2
( ) ( ) ( ) ( ) ( )
(34)
( ) ( ) ( )
d p
d p
e k y k y k
E k e k y k y k
E k y k u k y k u k
w e
w u k y k u k w
q q
=
( = =

c c c c c
A = =
c c c c c
Plant Jacobi

2 2 1
2
2 2 2 1 1 1
( ) ( ) ( ) ( ) ( ) 1( ) ( )
(35)
( ) ( ) ( ) ( ) ( ) ( )
( )
(36)
( )
p
E k y k u k y k u k y k u k
w e
w u k y k u k y k u k w k
y k
J
u k
q q
c c c c c c c
A = =
c c c c c c c
c
=
c
Plant Jacobi

From equations above, it is apparent that in the
procedure of updating the weights, the plant Jacobian J
p
is
required. J
p
acquisition would be problematic since it is
inaccessible priori to evaluating the plant output. The
following methods have been suggested in literature to
tackle such a problem [10]:
1
st
method:
(37)
) 1 ( ) (
) 1 ( ) (
) (
) (
) (
) (


=
A
A
=
c
c
=
k u k u
k y k y
k u
k y
k u
k y
J
p

The drawback of the 1
st
method is the J
p
approaches
infinity as u(k) approaches u(k-1).
2
nd
method:
| |
| |
(38)
) 1 ( ) (
) 1 ( ) (
) (
) (


=
c
c
=
k u k u sign
k y k y sign
k u
k y
J
p

The main drawback of the 2
nd
method is the possibility
of oscillating behavior in the learning process.
3
rd
method: Using the NN identifier (Fig.5)


Fig. 5. Plant Jacobian computation using the NN identifier

As seen in the Fig. 5, the plant Jacobian can be easily
computed by the following equation without the previously
mentioned drawbacks:
(39)
) (
) (
) (
) (
k u
k y
k u
k y
J
i
p
c
c
=
c
c
=


Fig. 6. Proposed combination scheme of MRAC with neural networks for
the Zeta converter plant with variable output voltage

In this paper, the 3rd method is chosen to compute the
plant Jacobian, and thereby the weights of the NNs.
Therefore we propose a combination scheme of MRAC
with neural networks (NN) for the Zeta converter plant
with variable output voltage, as shown in Fig. 6.
In the proposed control scheme (see Fig. 6), two
individual NNs are used for identification and control of
the intended plant.
Identification consists of adjusting the weights of the
related NN to optimize the performance functions using
the back-propagation algorithm based on the error between
the plant and the NN outputs [7].
The NN controller is designed in a way that the plant
output y
p
follows the reference model output y
r
exactly for
a given reference input r. Based on the dynamics of the
plant, an appropriate reference model is to be selected. The
output of the NN identifier is used to cancel out the
nonlinearity of the plant so that the closed loop error
dynamics follows the dynamics of the reference model. It
is clear that for control to be accurate, the identification
model should imitate the plant precisely.
IV. SIMULATION RESULTS
In order to assess the performance of the proposed
neural network based adaptive control scheme for the Zeta
converter with the adjustable output voltage, computer
simulations are conducted using MATLAB software. The
simulations consist of two main steps: 1) Identification of
the plant and 2) Control of which. The parameters of the
plant model (Fig. 1) which are used in the simulations
listed in table I.
TABLE I
PARAMETERS OF THE PLANT MODEL
Circuit Parameters Values Circuit Parameters Values
V
d
15V L
1
100H
R 1 L
2
55H
C
1
100F r
L1
1m
C
2
200F r
L2
0.55m
r
C1
0.19 I
z
0A
r
C2
0.095
A. The identification of the plant using NN
555



The neural network which is used for identification of
the plant has the architecture 2-50-1. The input u(t) of the
plant is duty cycle (d) which is generated randomly in the
interval [0,0.6], following normal distribution as shown in
Fig. 7. Then 6000 samples of the random input are applied
to the plant and these samples with the corresponding
outputs are recorded as the training data to learn the NN
identifier.

0 0.1 0.2 0.3 0.4 0.5 0.6
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
Time (s)
A
m
p
l
i
t
u
d
e

Fig. 7. The random input signal for identification step

To update the weights of the NN, the Levenberg-
Marquardt back-propagation algorithm, which is of the
fastest back-propagation algorithms, is used. The initial
value for the learning rate is chosen equal to 0.001, and
also decreasing and increasing factors of which is selected
as 10 and 0.1, respectively. The adaptive value of learning
rate is increased by the increasing factor until the change
above results in a reduced performance value. The change
is then made to the network and the learning rate is
decreased by the decreasing factor.
The NN identifier is trained for 1000 epochs. Fig. 8
illustrates the result of the identification step.

0 0.1 0.2 0.3 0.4 0.5 0.6
-10
-5
0
5
10
15
20
25
30
35
40
Time (s)
A
m
p
l
i
t
u
d
e

(
V
)




NN output
Plant output

Fig. 8. The result of the identification step

As seen in Fig. 8, the NN identifier output is a very
close approximation of the plant output. The result shows
that the NN identifier is suitable to be employed in the
control step.
B. The control of the plant using NN
In this step, the NN controller is to be trained in a way
that the plant output mimics the reference model output
exactly for a given reference input. According to the
dynamics of the Zeta converter, a first order transfer
function with time constant of 0.001sec is considered as
the reference model of the plant:
(40)
1
) (
) (
+
=
Ts
k G
s T
r

where
(41)
1 r(k)
r(k)
G(k)
+
=

The neural network used for control of the plant has the
architecture 3-10-1. The input signal r(t) of the NN
controller has the same form as defined in the
identification step but with the interval [0,0.3] as shown in
Fig. 9. Then 3000 samples of the random input are applied
to the reference model and these samples with the
corresponding outputs are recorded as the training data to
learn the NN controller.
0 0.05 0.1 0.15 0.2 0.25 0.3
0.4
0.5
0.6
Time (s)
A
m
p
l
i
t
u
d
e
Fig. 9. The random input signal for control step

The initial value and the decrease and increase factors of
learning rate in training of the NN controller are the same
as they was considered in the identification step but
controller training is significantly more time consuming
than plant model training because the controller must be
trained using dynamic back-propagation.
The NN controller is trained for 450 epochs. Fig. 10
illustrates the result of the control step.
0 0.05 0.1 0.15 0.2 0.25 0.3
10
15
20
25
Time (s)
A
m
p
l
i
t
u
d
e

(
V
)


Reference Model Output
Plant Output

Fig. 10. The result of the control step

As shown in Fig. 10, the NN controller is trained such
that the plant output follows the desired reference model
output.
In order to verify the main objective of the research, the
Zeta converter with the adjustable output voltage, the
proposed combination scheme of MRAC with neural
networks (NN) is applied to the plant model. After feeding
the proposed controller with a random input r(t), the
controller
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0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Time(s)
D
u
t
y

C
y
c
l
e


(a) Random input r(t)
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
11
Time (s)
u
(
t
)



(b) Controller output u(t)
Fig. 11. The controller input/output signals
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
2
4
6
8
10
12
14
15
Time (s)
A
m
p
l
i
t
u
d
e

(
V
)


Plant output with controller
Plant output without controller
Reference model output

Fig. 12. The verification of the proposed control scheme

adjusts the plant input u(t) in a way that its output follows
the reference model output (Fig. 11). The result of
employing the proposed control scheme for the plant is
illustrated in Fig. 12.

Fig. 12 shows that the proposed control scheme achieves
properly the desired objective to produce a Zeta converter
with the adjustable output voltage.
V. CONCLUSIONS
In this paper, a step-down Zeta converter with adjustable
output voltage has been developed based adaptive model
reference control using neural network. To find the model
of the Zeta converter in Continuous Conduction Mode
(CCM), the state-space equations of the converter were
extracted in the various switching intervals, and then the
State-Space Averaging (SSA) technique was applied to
attain the overall converter model. Since the Zeta converter
model in terms of the duty cycle (d) was a nonlinear plant,
and also linearization cannot be applied to the model due
to the research objective, a controlling scheme taking
advantage of MRAC (Model Reference Adaptive Control)
as well as neural networks was proposed for the Zeta
converter plant with variable output voltage.
The proposed controlling scheme was comprised of two
steps of plant identification and controller design, each
using individual neural networks. The identification step
was done in a way that the performance functions were
optimized using the back-propagation algorithm based on
the error between the plant and the NN outputs. Also the
controller was designed in such a way that the plant output
followed the output of the specified first order reference
model exactly.
In order to assess the performance of the proposed
neural network based model reference adaptive control
scheme, computer simulations were carried out in two
steps of identification and control of the plant using
MATLAB software. The results demonstrated that the NN
identifier output was a very close approximation of the
plant output, and also the NN controller was trained such
that the plant output could mimic the reference model
output exactly. Fig. 12 showed that the proposed control
scheme properly achieved the desired objective of
developing a Zeta converter with the adjustable output
voltage.

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