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+ +
+ +
g
g
Buck Transfer Function
First Order DCM
V
1(in)
- Voltage Value before
Load Change Occurs
V
1(out)
-Voltage Value after
load change occurred and
reached steady state
T
(63%)
-Time it takes for the
system to reach 63% of its
final value
K - DC Gain
t - 63.2% of the final
value
( )
1
K
H s
s
+
Buck Transfer Function
Continuous Conduction Mode
(CCM)
Discontinuous Conduction
Mode (DCM)
( ) ( )
( ) ( ) ( ) ( )
2 2
2 2
2
27 2 633
( )
2 0.50 2 633 2 633
Gs
s s
+ +
.
( )
DC c
c
K w
G s
s w
+
0.00485 0.004841 0.003496 0.002705
Time Constant
(Seconds)
18.9 18.4 18.45 17.9 DC Gain K
DC
12 10 7 5 Resistance ()
Test 4 Test 3 Test 2 Test 1 Variable Data
Investigate Control Methods
Proportional Integral Derivative (PID)
Loop Shaping Design (LSD)
Active Disturbance Rejection Controller
(ADRC)
Investigate Control Methods
Classical PID
+ + e
dt
d
k dt e k e k s G
d i p c
) (
Investigate Control Methods
Loop Shaping Design Method (LSD)
1
1
2
1 1
( ) ( )
1
1
m
c p
n
c
s
G s G s
s
s
s
+
_
,
_
+
+
,
2
1
( )
1 1
c
C L
G s
s s
C R C L
+ +
Low Pass Filter
Transfer Function
p
Investigate Control Methods
Active Disturbance Rejection Controller
3 0
0
z u
u
b
+
'
0 1 2
. . .( ) .
p d p d
u k e k e k r z k z +
2
2
p c
d c
k w
k w
( , ( ), ( ), ( )) ( ) ( ) y f t y t y t w t b t u t +
&& &
Investigate Control Methods
ADRC State Estimator
'
z A z B u
y C z
+
' )
0
2
0
3
0
0
2
0 0
3
0
3 * 1 0
3 * 0 1
3 * 0 0
3 *
0
3 *
0
1 0 0
0 1 0
0 0 1
w
A w
w
w
B b w
w
C
1
1
1
1
]
1
]
1
1
1
1
]
z
1
y, z
2
y, and z
3