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Dimensionless Approach to Multi-Parametric Stability Analysis of Nonlinear Time-Periodic Systems: Theory and Its Applications to Switching Converters
Hao Zhang, Member, IEEE, Yuan Zhang, Student Member, IEEE, and Xikui Ma
AbstractThis paper proposes a dimensionless approach to analyze the multi-parametric stability behavior of switching converters, which can be characterized by a nonlinear time-periodic (NTP) system. The main objective is to analyze how multiple circuit parameters affect the stability patterns of the derived NTP system and to simplify the parametric complexity of such NTP system. In contrast to previous work, the proposed method focuses on the parametric resultant relationships of the NTP system in the sense of topological equivalence, and investigates its stability in terms of the homeomorphic NTP system. Firstly, an equivalent stability theory of NTP systems is proposed. Then, based on the equivalent theory, a normalized map is introduced and various interesting properties are derived so as to formulate the dimensionless approach. Moreover, the approximate solution of the NTP system in dimensionless parameter space is calculated by using the Galerkin method, and its stability pattern is identied with the help of eigenvalue analysis approach. Finally, a case study of one-cycle controlled Zeta PFC converter is discussed in detail to exemplify the application of the proposed method. These analytical results agree well with those ones obtained from experimental measurements. Index Termsdimensionless approach, equivalent stability, multi-parametric stability analysis, nonlinear time-periodic system, parametric resultant relationship, switching converter.

I. INTRODUCTION S A CLASS of typical piecewise smooth systems, switching converters can exhibit a great variety of nonlinear behaviors such as period-doubling bifurcation, Hopf bifurcation and chaos [1][17]. Due to the improperly designed values of some practically relevant circuit parameters, distortion behaviors can frequently occur, which will lead to the rapid rise of device stress and the drastic degeneration of system performance. Hence, the stability issue associated with behavior boundaries in terms of some major circuit parameters
Manuscript received November 08, 2011; revised February 28, 2012; accepted March 18, 2012. Date of publication October 09, 2012; date of current version January 24, 2013. This work was supported in part by the National Natural Science Foundation of China (Grant No. 51177118, 50607015), in part by the Fundamental Research Funds for the Central Universities (Grant No. XJJ20100058), and in part by the Creative Foundation of the State Key Lab of Electrical Insulation & Power Equipment, China (Grant No. EIPE11301). This paper was recommended by Associate Editor X. Li. The authors are with the State Key Laboratory of Electrical Insulation and Power Equipment, School of Electrical Engineering, Xian Jiaotong University, Xian 710049, China (e-mail: haozhang@xjtu.edu.cn). Digital Object Identier 10.1109/TCSI.2012.2215798

is very crucial to the dynamics knowledge of switching converters, and has become an important goal and subject of much on-going research [4][8], [11][13], [16], [17]. However, with the ever-increasing energy conversion requirement of power electronic systems, switching converters are developing toward the trend of higher dimension and more complex structure, such as two-stage or even multistage cascade (or parallel) converter conguration [7], [8], [16][21]. Despite their gaining increased acceptance in many applications of telecommunications, aeronautics, and new IC technologies [22][24], these switching converter architectures have inevitably rise to the great challenge of stability analysis. Up to now, several typical approaches such as bifurcation analysis, large- or small-signal analysis and Lyapunov function method have been proposed to identify stability patterns of switching converters [11][17], [25][28]. Although these previous results have greatly improved the understanding of the system dynamical behaviors, they merely focused on single parametric stability boundaries, which didnt consider resultant relationships among system parameters at all. For example, resistor , capacitor and line cycle were usually regarded as three independent parameters no matter how separately or together they were discussed in previous approaches. In fact, there physically exist such resultant relationships among the three pa. Thus, if the resultant relationship isnt unrameters as covered, these approaches will become too complex to enhance the in-depth understanding of the systems dynamics, which results in the fact that some useful information essential to designoriented optimization is of great difculty to obtain. Evidently, these parametric resultant relationships are quite indispensable to stability analysis. As far as switching converters of great complexity and high dimension are concerned, the system stability analysis will become more complicate, which is certainly associated with these resultant relationships among multiple circuit parameters. In this sense, the actual concept of multi-parametric stability analysis should be based on the parametric resultant relationships. Now we may ask the following question: Does there exist an appropriate approach to characterize the parametric resultant relationships? In the previous literatures on nonlinear analysis of dc/dc converters [7], [14], a dimensionless technique has slightly involved the related question. However, these dimensionless treatments failed to give a general non-dimensionalized rule, and never established the parametric resultant relationships in the sense of the system stability. This reason is that there exists a major drawback in such technique, which is the

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lack of a rigorous mathematical theory to formulate the above resultant relationships. Of course, this technique is not applicable to multi-parametric stability analysis at all. In this paper, a general dimensionless approach (DA) is systematically proposed to establish a theoretical basis for parametric resultant relationships, and illustrate its applications to multi-parametric stability analysis of switching converters. The proposed method begins with a nonlinear time-periodic (NTP) system that can be regarded as a general model of practical switching converters. Unlike the previous studies, it presents a rigorous mathematical theory for switching converters in the sense of topological equivalence, and investigates the stability of a derived NTP system by means of its corresponding dimensionless homeomorphic NTP system. For readability and effectiveness of exposition, we illustrate the method and its salient features using a typical Zeta PFC converter as an example. The analysis is of help to us in doping out the resultant relationships in such NTP system on earth, and more signicantly, some analytical results obtained here can potentially facilitate design of switching converters for stable operation. The paper is organized as follows. Section II gives detailed denition of a nonlinear time-periodic system for practical switching converters. Section III establishes the framework on the equivalent stability theory of homeomorphic NTP systems. In Section IV, based on the proposed equivalent stability theory, a systematic representation of the DA for multi-parametric stability analysis is discussed in terms of dimensionless parameter sets. In Section V, stability patterns of the Zeta PFC converter are analyzed as an example to exemplify the proposed method. In Section VI, experimental results and power unbalance analysis are presented for verication purposes. In Section VII, some interesting behavior boundaries of the converter are illustrated. Finally, some remarkable conclusions are arrived at in Section VIII. The paper also contains three Appendixes, which address the proofs of the equivalent stability theorem (A), and provide details of coefcient matrices (B) as well as constraint equations (C) for the Zeta PFC converter.

dynamics of the switching converters with periodic force inputs or outputs. in (1) is usually a non-zero one. Note that the solution Thus, for the convenience of later discussion, we introduce the following transformation: (2) where into (1), system: is the perturbed solution of . Substituting (2) becomes the equilibrium point for the following (3) Since (4) (5) Subtracting each side of (5) from the corresponding side of (4), one obtains (6) combining (3) with (6), we get the transformed system as follows: (7) where for . Hence, (7) is also a NTP system, which holds the same period of (1). For brevity, denotes the perturbed solution of (7) with an initial . condition such as (uniform) stability and the stability properties of (uniform) asymptotical stability are fully equivalent to those of , which can be accurately expressed the equilibrium point by the Lyapunov denitions [29]. Moreover, the following theorem on the relation between the local stability of a NTP system and its corresponding linearized system is relevant to our subsequent study. For conciseness, we refer the readers to [30] for a detailed proof. Theorem 2.1: Assume that is sufciently smooth (i.e., at ) for the NTP system (1), and least let be its transformed zero solution system dened in (7); be the Jacobian matrix of let with respect to , evaluated at the solution . Suppose that there exists a common period between and , and then for the linear equation with the following periodic coefcients: (8) if is an asymptotically stable equilibrium point of (8), the solution of (1) is asymptotically stable. and are denoted Remark 2.1: The least period of by and , respectively. As indicated in [31], dont need to be the same as . However, the two least periods should , where be commensurable, namely, satisfy and are the least positive integers if available. Thereby, we

II. DEFINITION

OF

NTP SYSTEMS CONVERTERS

FOR

SWITCHING

If the piece-wise smooth feature of switching converters is replaced by their overall smooth trait after a standard averaging approach [2], then their low-frequency dynamical behaviors can be described by the following differential equation: (1) is a nonlinear continuous smooth function dened where with an initial condition in and represent the time interval and the variable domain, respectively. Moreover, if the right-hand side function of (1) satises for , where is the least period, then we dene such system as a NTP system. It is worth noting that these converter systems are modeled by the low-frequency model as shown in (1), which is, of course, not applicable to the fast-scale dynamics at the time scale of switching frequency. In this paper, we focus on low-frequency

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dene In particular, if

as the common period for is equal to , one obtains

and

. .

III. THEOREMS ON EQUIVALENT STABILITY OF NTP SYSTEMS A. Time Reparameterization In general, the stability of the NTP system (1) depends on its structural parameters. For the sake of clarity, the NTP system (1) is rewritten as the following parameter-dependent system: (9) where is a time-invariant circuit parameter vector, is a parameter set dened in and is of period dened in . The unperturbed solution of (9) is periodic, for . satisfying for As is mentioned above, there exists a common period the NTP system , which is generally related to the external forcing period of the system. However, such periodic feature fails to be explicitly expressed in (9), and accordingly the connection between the forcing period and the natural periods1 of the system cannot be easily obtained. Note that the stability is a systematic property with time approaching innity. Thus, for the NTP system , the information relevant to transient and time- dependent behaviors can be omitted, while only the information on the stability of cycles needs to be preserved. it is necessary to introduce a time reparameterization process for the is a smooth positive NTP system [32]. Suppose that number with respect to and there exists an invertible map (10) and . Then, is transformed into where the following time-parameterized system: (11) denotes the derivative of where and ously, the periods of and . B. Theorems on Equivalent Stability In this subsection, we consider the stability properties of NTP system in the sense of topological equivalence. Note that homeomorphic spaces possess the same topological property and there is certainly no intrinsic difference among homeomorphic spaces [32], [33]. However, in terms of generality and convenience, there can be a signicant difference. By using a proper homeomorphism, a physical problem of high parametric complexity may be homeomorphic to an easier and more general one with reduced parametric complexity so that its topological properties are more easily determined. There are, however, two basic questions to be appropriately answered. One is whether the stability of a NTP system is equivalent to that of its homeomorphic NTP system; the other is whether there exists a proper homeomorphism retaining the equivalent stability. Based on the two questions and the above
1Roughly speaking, a natural period is the intrinsic time scale of a given system related to its own physical parameters, describing the time process for a studied phenomenon.

time reparametrization, we propose the following two theorems on the equivalent stability of NTP systems as sufcient conditions. Detailed proofs are given in Appendix A. Theorem 3.1: Consider the NTP system . Suppose that is stable in the neighborhood of its cycle when . If and satisfying that there exist two invertible maps possesses a smooth positive function such that where ; is an invertible linear map as such where is the corresponding matrix. that and are the two domains dened in . and with the form of Let be the product map of (12) Then, the following three statements hold. is a NTP system 1) The mapped system with a parameter vector , and is the vector function from to . and , their cycles are stable iff 2) For the NTP systems they are uniformly stable. 3) The (uniformly) stability of in the neighborhood of is equivalent to the (uniformly) stability of original system in the neighborhood of . Note that Theorem 3.1 deals with the Lyapunov stability of . However, for practical applications, it is always desirable that the operating point of switching converters would eventually converge to the original steady state once the perturbation factors vanish, i.e., the switching converters are asymptotically stable. the following asymptotic equivalent stability theory should be proposed. Theorem 3.2: Consider the NTP system . Suppose that is asymptotically stable in the neighborhood of its cycle when . If the product map is of the same denition shown in Theorem 3.1, then besides the rst statement 1) proposed in Theorem 3.1, the following two statements hold. and , their cycles are asymptot1) For the NTP systems ically stable iff they are uniformly asymptotically stable. 2) The (uniformly) asymptotic stability of in the neighboris equivalent to the (uniformly) asymptotic hood of in the neighborhood of . stability of Here Theorem 3.1 and Theorem 3.2 are referred as the equivalent stability theorem for the NTP systems. It should be highlighted that Theorems 3.1 and 3.2 give the sufcient conditions for the equivalent stability properties of NTP systems. Namely, the product map can be selected as a combined invertible map and . According to the proofs, a signicant feature of with is the boundedness of its submap . However, it is not true for every homeomorphism in general2. the rst question proposed earlier in this subsection will not be fully established. A necessary and sufcient condition may possibly exist for certain bounded operators, which is not the focus of the interest herein. depends on the paramNote that the stability behavior of eters assigned in . By using the proper map , a parameter-dependent map can be induced between the original parameter set and the mapped parameter set i.e., (where and can be equal or not),
2For instance, the tangent homeomorphism belongs to an unbounded operator due to its unbounded image with dened in a bounded region .

with respect to . Obvisatises

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which maps the cycles of at onto the cycles of at , preserving the direction of time. Moreover, if and satises , then the the dimension between will be reduced, dimension of original parameter space of which may simplify the parametric complexity of the original NTP system. As will be shown shortly, the main function of the proposed theorems lie in this. C. Parametric Dimensionality Reduction In the following subsection, some discussions on how to choose the invertible matrix in the map are provided in order to guarantee a simplied parameter space with reduced dimension. For clarity, the parameter vectors and are written as follows: (13) (14) where and . and Since the coefcients in (9) contains the elements , a feasible way to reduce the number of the elements in is to represent by using certain combinations of and such as their sums or products, i.e., or . Moreover, according to the Buckingham theorem [35], if the dynamical behavior of the NTP system depends upon dimensional variables3, then by taking a suitable transformation to remove their units in order to yield some dimensionless variables, the system can be reduced to only dimensionless variables, where the reduction number depends upon the problem complexity that equals to the number of its fundamental dimensions. Note and are the dimensional circuit parameters of the that switching system, which are embodied as coefcients in (9). Thus, a compact form of can be selected as an invertible diagonal matrix, which transforms the dimensional state vector into the dimensionless state vector as follows: (15) where and the invertible matrix is written as (16) Consequently, the key point of selecting is to choose a which should ensure that the circuit state variable proper can be transformed into the dimensionless state variable , is usually a combination of and as aforemenand tioned. IV. THE DA FOR MULTI-PARAMETRIC STABILITY ANALYSIS A. Representation of the DA As discussed in Section III, by removing units from the NTP system with physical quantities to yield its dimensionless variables, one can get an equivalent NTP system of reduced parameter dimension. an apparent purpose of the DA is to reduce the
3The variables here are extensional notions, which include the systems state variables and the circuit parameters. For the NTP system (9) studied in this paper, they consist of the state vector and the parameter vector .

number and complexity of variables by shaping them into dimensionless forms. However, a more signicant role lies in revealing some fundamental properties of the complex system and giving new insights into the resultant relationships among various parameters, which affect its dynamical behaviors. A famous example to illustrate the above role is the dimenin uid dynamics [35], which sionless Reynolds number is used to characterize the uid in a pipe being either laminar ow or turbulent ow. Note that Reynolds number involves a combination of various factors into a dimensionless variable , and subsequently analyze the given physical phenomenon in an equivalent manner. Inspired by this dimensionless treatment, it becomes possible to investigate the parameter-dein its dimensionless space. This formupendent NTP system lation, together with the equivalent stability theory, brings about the complete establishment of DA as follows. Firstly, the time reparameterization function in the product map should represent the characteristic period, wherein the fundamental dynamics of the system are captured. Since we are mainly concern with the low-frequency dynamics of switching converters, can be selected as the reciprocal of the common in the system under study, i.e., . period Secondly, we choose the invertible matrix as shown in (16). Then, by using the map , we get the dimensionless variable in the product space . Based on Theorems 3.1 and 3.2, the original dimensional NTP system is transformed into the following dimensionless NTP system: (17) where is the dimensionless parameter vector. The common equals to 1 here. period of and and Finally, we dene the product map as the northe induced parameter-dependent map malized map and the parameter normalized map, respectively. As highlighted earlier, the dimension of original variable space containing state variables and circuit parameters can be reduced equals to the number of now, and its reduction number the fundamental dimensions of the NTP system. B. Some Properties of So far, we have derived the dimensionless NTP system. Note is a smooth posthat is an invertible square matrix and itive number. Referring to Theorems 3.1 and 3.2, the (asympnear is fully totic) stability of the dimensionless system equivalent to the stability properties of the dimensional system near . one can perform the multi-parametric stability analysis in the dimensionless NTP system, which not only retains equivalent stability properties but helps to establish the parametric resultant relationships on the system stability. Several straightforward properties of the map , regarding to the parametric resultant relationships, can be naturally held as follows and are stated without proof. such that is (asymptotically) stable, then 1) For can the dimensionless parameter vector to be (asymptotically) stable. yield 2) Assume that there exists a dimensionless parameter vector such that is (asymptotically) stable. Then, it follows that for such that would make be (asymptotically) stable.

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3) Considers the stability boundaries of and of . If there exists a critical parameter vector , then . Moreover, if there exists , then it follows that such that for . Note that can establish the relationship between the dimensionless stability boundary and its dimensional boundary . Thereby, the parametric resultant relationships among all groups of circuit parameters affecting the system stability can be visualized by plotting a few behavior boundaries in dimensionless parameter space. However, boundary margins are often expressed as 3-D surfaces or 2-D curves. For effectiveness of exposition, we suppose the parameter vectors and can be divided into , where several subvectors, such as and there is no coupling relation between and . Thus, we get the , parameter normalized submap where and are dened in (18)

be represented as , where and . For convenience, we construct the as . Multiplying following diagonal matrix by both side of (17) simultaneously, we obtain (21) rows of (21) on each side and the Then, we add the rst following equation is readily acquired:

(22) denotes the th element of and is the where . At rst glance, there corresponding th row of the are at least state variables in (22), which seems difcult to get their periodic solutions. However, there lie often some extra based on constraints among these variables some fundamental circuit theories and feedback control features constraint equations of the system. Suppose that there are for the system (9) with state variables of the following form:

(18) (or ) and (or ) can be the original parameter sets (or ) and divided into the following independent subsets (or ), which satisfy

. . .

(23)

Putting (23) into (22), the state variables in (22) can be then reduced to an unique and independent variable, which is denoted by . the multivariable NTP system is simplied into a singlevariable nonlinear differential equation which only contains as follows: (24) where is a differential operator. Since is a continuous periodic vector of period 1, (24) can be solved in the time interval [0, 1]. It is well-known that the solution of a given NTP system can be formulated via the Galerkin method [36]. The key idea of in a Galerkin method is based on the fact that any function can be uniquely expressed as a linear combifunction space . Thus, an nation of the linear independent basis function is written as approximate solution of (25) where is the coefcient for the th linear independent basis function. Then, the residual error satisfying the differential terms of the sum (25) is dened as equation (24) with (26) According to [36], the residual error should be orthogonal to each basis function as follows: (27)

(19)

(20) Hence, the above properties of the map are also suitable for its submap . As such, the multi-parametric stability analysis based on the parametric resultant relationships can be carried out by means of several families of dimensionless parameters. C. Stability of Dimensionless Periodic Solutions In this subsection, we employ the Galerkin method to get the approximate solution of (9), and investigate its stability patterns via an eigenvalue analysis approach. 1) Dimensionless Periodic Solutions: Note that the state variables of a switching converter generally consist of the voltage across capacitors and the current through inductors in its power and control stages. Thus, the state vector where of (9) can be decomposed into and are the power state vector and the control state vector, respectively. Likewise, of (17) can the corresponding dimensionless state vector

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Due to the orthogonality of the trigonometric function set, we as can simply choose (28) By substituting (26) into (27), one obtains

(29) . where To utilize the approach, all we need to do is to solve these algebraic equations for the coefcients in (29). would According to [36], the Galerkin approximation if is sufciently large. converge to the exact solution of of order , it is feasible to neglect high order basis For functions beyond the th if a required accuracy is satised. as Here we simply denote the Galerkin approximation if no confusion arises. Then, the other solutions of can be easily calculated by putting into (23). As such, the numeris obtained. ical solution 2) Stability of Periodic Solutions: So far, we have got the periodic solution of the NTP system (17). According to Theorem can be investigated by its corresponding 2.1, the stability of in (17) satises , linearization system. Suppose can be equivalently charthen the asymptotic stability of acterized by its linear-time periodic equation as follows: (30) where denotes the Jacobian matrix at . In general, an eigenvalue analysis approach [37] can be one of the most powerful tools to analyze the stability properties of (30). The approach plays an important role in investigating the relation between the stability patterns and the eigenvalues of the monodromy matrix for (30). Since detailed derivations of a monodromy matrix for a given linear periodic equation has been proposed in our earlier work [12], we omit the explicit form of the matrix here and only give the results of the calculated eigenvalues as follows: (31) where the eigenvalues obtained in (31) can provide enough inand to idenformation to analyze the stability of the cycle tify its bifurcation patterns when the parameter varied. As in, for all , the soludicated in [38], if , for some tion is asymptotically stable. However, if (at least one), then the associated solution is unstable. Besides, the unstable behaviors of the system depend on the manner in which the eigenvalues leave the unit cycle. Specically, if a pair of complex conjugate eigenvalues across the unit circle, then a Neimark-Sacker bifurcation pattern occurs. V. APPLICATION OF THE DA TO ZETA PFC CONVERTER A. Zeta PFC Converter and Its Mathematical Model 1) One-Cycle Controlled Zeta PFC Converter: The onecycle controlled (OCC) Zeta PFC converter as shown in Fig. 1 contains the power stage, the output voltage controller and the

Fig. 1. One-cycle controlled Zeta PFC converter. The parameter values are V70 V, mH1.8 mH, mH, F, F, V, k k 7 k , k , nF, kHz.

OCC PWM modulator. Since detailed circuit conguration and operation have been illustrated in [39], [40], we only give the following remarks on its operation. Firstly, the system is restricted to CCM operation owing to the fact that almost all of practical medium and high power supplies usually work in this reaches operation. Secondly, we focus on the case that once during one switching cycle, the integrator will be reset to the as , normal operation. Here, we denote and represent the rms value and the line voltage where frequency, respectively. Note that the Zeta PFC converter (without the voltage controller) can be modeled as (32) equals to where and equals to . Note that the coefcient can be easily obtained from Kirchoffs matrix laws, and the voltage controller can be formulated by (33) and . Here and denote the dc gain and time constant of the feedback network, respectively. By combining (32) and (33), the closed-loop model of the OCC Zeta PFC converter is formulated as follows: where (34) where and . The coefcient matrices stand for

and respectively, and their detailed expressions are given in Appendix B.

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Furthermore, since the OCC block is a built-in PWM modulator, the duty cycle can be dictated as follows: [39], [40] (35) we get the following general form: (36) Substituting (36) into (34), we obtain the mathematical model of the system as follows: (37) Note that the Zeta PFC converter is a parameter-dependent NTP system as shown in (9), where its common period equals and , i.e., . For to the periods of for the corresponding brevity, we omit the average overbar state variables in the following discussions. 2) Dimensionless Mathematical Model: Here we apply the DA derived in Section IV to get the dimensionless mathematical , i.e., and model of (37). First, we choose as . Then, by select as upon (36), we obtain taking (38) Likewise, by applying to (37), we get the following dimensionless NTP system (after rearranging):

and where denoted as follows, respectively:

in (13) and (14) are

(42) (43) the parametric resultant relationships affecting the stability of the Zeta PFC converter are revealed by the equations shown in (41) after the DA, and the dimension reduction equals to the number of the fundamental dimensions of the NTP system. In in (41) can be fact, the terms of regarded as the natural periods of the system, which will be discussed later. is a dimensional parameter, it is often xed as a Although in and constant in practical applications. Hence, we omit use the simplied one in the rest of the discussions. Thus, the and dened in Section IV can be parameter subvectors written as

(44) where the parameter subsets and satisfy (19) and (20). and Moreover, the constraint equations among can be easily obtained as follows, and their detailed derivation are given in Appendix III:

(39) where and . The explicit form of (39) is shown in (40), shown at the bottom of the page, where the dimensionless parameters are specically expressed as

(45)

By combining (22), (38) with (45), we get the explicit form of (24) as shown in

(41)

(46)

(40)

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Fig. 2. Comparison of the dimensionless solution waveforms by using numerical simulation performed in MATLAB/SIMULINK (solid line) and the Galerkin Approach of the DA model (dashed line). (a) . (b) . Fig. 3. Movement of the eigenvalues with the increase of , where Fig. 3(a) is increased from 34.9842 to shows the trend of the loci of eigenvalues as 44.4329 and Fig. 3(b) depicts the detailed loci corresponding to Table I(A).

Due to the limit of length, we cannot provide the detailed forms for of its partial derivation and only give the result of the converter as shown in (47).

TABLE I EIGENVALUES FOR DIFFERENT VALUES OF DIMENSIONLESS PARAMETERS AND IN THE ZETA PFC CONVERTER WITH OCC (A) WITH AND , (B) WITH AND , (C) WITH AND

(47)

B. Eigenvalue Analysis Using the DA 1) Periodic Solutions by the Galerkin Approach: Here, the dimensionless parameters are listed as follows: and , which the corresponding dimensional paramV, k and mH. Here we eters are because the accuracy of the approximate soluchoose tion from the Galerkin approach can be ensured adequately in most cases. Thereby, the dimensionless solutions and are calculated as follows

(48) k mH) and reaches (i.e., reaches 1.77855 mH when V, k ), and still stay inside the unit while other eigenvalues cycle. Thus, this implies Neimark-Sacker bifurcation occurs. To make the movement of the eigenvalues more intuitive, we plot their loci as is increased (see Fig. 3). Here, we omit the other and to save space since they are similar two gures for to Fig. 3. VI. EXPERIMENTAL RESULTS AND POWER UNBALANCE ANALYSIS A. Experimental Observation To further validate these results, experimental tests of the OCC Zeta PFC converter were carried out. Experimental waveforms are presented in Fig. 4, which show that oscillatory instaand are smaller bility occurs as the parameter values of or the value of is larger than one in normal operation. These results are in good agreement with the theoretical predictions

(49) From (48) and (49), it follows that these analytical results agree very well with those ones obtained from the numerical simulation, as shown in Figs. 2(a) and (b). 2) Eigenvalue Loci: Now, we use the derived monodromy matrix to investigate the possible bifurcation pattern of such NTP system. Specically, we investigate the movement of the and eigenvalues as the dimensionless parameters are varied, which correspond to the variation of and . Table I shows the changing trend of the ve eigenvalues as and are varied, respectively. We clearly observe that and the loci of a pair of complex conjugate eigenvalues begin to cross the unit circle as increases to 44.3733 (i.e., arrives at 5.348 k when V, mH), moves away from 0.041391 (i.e., removes from 60 V as

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Fig. 5. Equivalent high-frequency power ow diagrams for the Zeta power stage under CCM operation. The switches of the converter 1 and 2 are synchronized by the same switching sequence. (a) Power ows as the switches turn on. (b) Power ows as the switches turn off.

Fig. 4. Experimental waveforms of the one-cycle controlled Zeta PFC con: 1 A/div; : 50 V/div; time: 5 ms/div). (a) Stable operation for verter ( k V, mH. (b) Oscillatory instability for k V, mH, which manifests as medium-fre. (c) Stable operation for V, k quency oscillation of mH. (d) Oscillatory instability for mH, V, k , which manifests as medium-frequency oscillation of .

(PFR) of the power stage does affect the system stability. Generally, the low-frequency power ow lies in two different manners. Firstly, if the power demand of the load is met by rapid PFR through a well-designed power stage which accomplishes the rapid PFR requirement, then the high-frequency power ow orderly occurs. Thus, the system has stable low-frequency power ow, and its instantaneous power balance relation among the , the output power and input power in satisfy the buffered power (50)

presented in Table I. Fig. 4(a) shows the measured waveforms of k the output voltage and the rectied input current for when V, mH, where the system is stable for W. Fig. 4(b) shows these measured waveforms as decreases to 5.3 k and the system becomes unstable, where increases to 115 W. As the input voltage is increased from k mH, the measured 60 V to 70 V when waveforms (see Fig. 4(c)) become normal again compared to increases to 125 W. However, those shown in Fig. 4(b), and increases to 1.8 the oscillatory instability appears again as k V (see Fig. 4(d)), and mH when remains near at 125 W. B. Power Unbalance Analysis As discussed in [20], the Zeta PFC converter belongs to the Type I-IIA conguration, in which the power ows between and within the power stage are cataloged into the high-frequency power ow and the low-frequency power ow. Figs. 5(a) and (b) show the equivalent high-frequency power ow diagrams for the Zeta PFC converter under CCM operation. Firstly, when the equivalent synchronized switches for converters 1 and 2 turn of converter 1 absorbs energy from the input, on, the inductor transfers energy through of converter 2 into the while load with low-frequency buffering capacitor . Then, after the starts to release the energy absorbed in switches turn off, , which will retransfer that the previous on-time interval to releases energy to converter 2 as shown in Fig. 5(b). Also, and . energy to the system operation can be regarded as the process of constantly absorbing and releasing energy in the form of charging and discharging for inductors and capacitors within high-frequency cycles, which results in an overall low-frequency power and are relow. It is clear that if the values of atively small, the dynamical response of energy delivery will be rather fast. One can see shortly that the transferring speed of energy around the high-frequency, i.e., the power ow response

However, if the dynamical responses of the inductors and capacitors around the high-frequency fail to meet the rapid PFR requirement, the buffering capacitor will lose the role of absorbing (lling) the instantaneous power surplus (decit). Then, the power balance relation (50) will be untenable, which leads to instantaneous power unbalance. The residual power in and equals (51) which causes the oscillatory surge of the system with an unstable low-frequency power ow. The above discussions lead to an interesting idea of the power unbalance analysis, i.e., the instantaneous power unbalance results in an oscillatory manner of the system and such oscillatory dynamics tend to attenuate the power unbalance scenario. decreases from 7 k to 5.3 k , the output Specically, when power demand is increased from 80 W to 115 W. If (50) can be met by the rapid PFR, the system is stable. Unfortunately, since and fail to meet such requirethe selected parameters ment, the power unbalance mode shown in (51) occurs with a large magnitude of oscillations depicted in Fig. 4(b). However, increases from 60 V to 70 V, the PFR is accelerated and as the power unbalance mode ceases as shown in Fig. 4(c). Moreover, if the PFR slows down by the increase of , the power unbalance case also occurs due to an unmatched power requirement, which leads to the oscillation shown in Fig. 4(d). From the above power unbalance analysis, the aforementioned parametric resultant relationships can be regarded as a compromised effect on the power balance of the system, which is subjected to major circuit parameters in the power stage, the voltage controller and the input/reference voltages. C. Dimensionless Distributed Discharge Time Constants and represent the discharge (or charge) Note that and fundamental time constants of the well-known

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circuits. Now, if the time constants and are relatively small, the discharge (or charge) process will be faster than that of large time constants. That is to say, the PFR of the inductor and the capacitor will be rapider during the charge or discharge process. Inspired by such concept, we dene the and shown in (41) as didimensionless variables , i.e., mensionless distributed discharge time constants and as follows:

(52) As aforementioned, the system stability is associated with the circuit parameters in the power stage, the voltage controller and the input/reference voltages, which result in a resultant effect on can be used the power balance of the system. In fact, the to describe such effect in the power stage. Moreover, the diand for the voltage controller mensionless parameters for the input/reference and the dimensionless parameter voltages can also be applied to formulate this effect. We draw some interim conclusions on the multi-parametric stability of the system according to the above discussion. corresponding to the increase of The increase of will reduce the discharge (or charge) process in the power stage, which results in a slower PFR. The power unbalance case will arise because of the unmatched power requirement, which leads to oscillatory instability of the system. will The decease of corresponding to the increase of cause an increasing demand of the output power. If the increasing power demand fails to be met by the power stage , then the power unbalance case occurs, with a given which results in the oscillatory instability. corresponding to the decrease of The increase of will enlarge the discrepancy of power supply and demand. When the relatively increasing power demand, compared with the decreasing power supply, fails to be met power stage, the oscillatory instability by a given emerges due to the power unbalance mode. VII. FURTHER APPLICATION In this section, we will apply the method developed in this paper to visualize the qualitative behaviors of the system both in the dimensionless and dimensional parameter spaces, and present the boundary surface and curves of stable region and oscillatory unstable region in terms of practically relevant parameters. Specically, theoretical dimensionless boundaries are shown in Figs. 6(a) and 7(a), which is obtained by using the analytical method derived in Section V. Using the parameter normalized map, we get the circuit parameter boundary surface as shown in Figs. 6(b), 7(b) and 8. Also, we take a few cross sections from the boundary surface as indicative boundary curves shown in Figs. 6(c)(d) and 7(c)(d). Experimental data are plotted along with the analytical results for verication purpose. To emphasize the parametric resultant relationships on the stability types of the system, the following general discussions are made. Firstly, the oscillatory instability is prone to occur for relaor small values of or . In general, tively large values of can increase the PFR and enlarge a relatively small

Fig. 6. Stability boundaries for the Zeta PFC converter with OCC plotted in the and . (a) Boundary surface under parameter space and for and different . (b) Boundary surface plotted in under different for F, k and V. (C) Cross F under different . (d) Cross section curves for section curves for mH under different .

Fig. 7. Stability boundaries for the Zeta PFC converter with OCC plotted in and . (a) Boundary surface for the parameter space . and . (b) Boundary surface for V and mH under different . (C) Cross section curves for ms under different . (d) Cross section curves for under different .

the stable operation region of the system. However, the oppoand , which enlarge site scenarios for the small the unstable margin, can be attributed to the insufcient energy delivery and buffering in the power stage. plays Secondly, the variation of the load resistance a twofold role in the change trend of the . Specically, as decreases, the and increase, while the

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Fig. 8. Stability boundaries for the Zeta PFC converter with OCC plotted in for mH, k the dimensional parameter space under different . Here, the critical bifurcation points of for and equals to 0.04386 and 0.04135, respectively.

and also decrease. In fact, the increase of can enlarge the stable operation boundary, and the increase of together with the decrease of and will reduce the stable boundary. the system stability will be a trade-off between the above two opposite trends. As a result, the impact of load resistance on the system stability is not signicant as shown in Figs. 6(c), (d) and 7. For this reason, extensive behavior boundary as being a variable has not been analyzed herein. Thirdly, the input/reference voltages have a signicant effect on the system stability, and the oscillatory manner of the system can be eliminated by increasing the input voltage or decreasing the reference voltage. a power balance mode can be accomplished by increasing the input voltage to improve the input power supply, or by decreasing the reference voltage to reduce the output power demand. Finally, the oscillatory instability here tends to occur for relaas shown in Fig. 8. Since the output power detively small becomes smaller, the power unbalance case mand arises as is more prone to emerging under a poor power matching degree, and such as a lower input voltage. In fact, a relatively large corresponding to small and will aggravate the power unbalance mode drastically. However, no matter what the values is, the oscillatory boundary region is not almost affected. of This reason is that its corresponding dimensionless parameter has little effect on the system power delivery. VIII. CONCLUSION A general methodology for investigating parametric resultant relationships of parameter-dependant NTP systems in the homeomorphic space has been proposed systematically, which leads to the DA for multi-parametric stability analysis of switching converters. We start with the concept of NTP systems which formulates the general mathematical model of switching converters. Then, we prove that under a proper map, the stability analysis of the original NTP system can be simplied to that of the homeomorphic NTP system with a lower parameter dimension, but possesses equivalent stability properties. Subsequently, the DA is carried out based on the derived map, and a specic example of the Zeta PFC converter is nally given to validate the proposed method.

It is shown that the dimension of circuit parameter space can be reduced by using the DA, and the parametric resultant relationships are carried out by means of inuencing the power unbalance modes of the system, which can be analyzed by several families of dimensionless parameters. In contrast to previous works, the parametric resultant relationships of the NTP system have been fully considered in the sense of topological equivalence. It has been highlighted that the proposed method is capable of both simplifying the system parametric complexity and revealing how these resultant relationships affect the stability patterns. Another important aspect of our study here is to identify the behavior boundaries by means of major circuit parameters, from which plenty of useful information can be used to give some design-oriented guidelines for stable operation. Compared with previous results, multi-parametric stability behavior boundaries in the form of 2-D curve or 3-D surf are displayed as one line or surface rather than one point in a mapped parameter space. That is to say, the proposed method can provide a family of circuit parameters rather than a set of ones so that optimal design of circuit parameters becomes possible. Although the approach is applied to the Zeta PFC converter as an example, the methodology of using homeomorphic space map and dimensionless parameter set is applicable to the multi-parametric stability analysis of other switching converter circuits, such as the two-stage PFC converter studied in [13].

APPENDIX A PROOFS For the proofs, we need two auxiliary results. One is concerned with the equivalent relation between stability and uniform stability for the zero solution of (7), and the other is related to the equivalent relation between its asymptotic stability and uniformly asymptotic stability. Lemma 1 ([34], Theorem 1.8.9): For the NTP system (7), the of (7) is stable iff it is uniformly stable. equilibrium Lemma 2 ([34], Theorem 1.8.11): For the NTP system (7), its is asymptotically stable iff it is uniformly zero solution asymptotically stable. Remark L.1: Lemma 1 implies that if the NTP system (7) is and , then for stable over ( is independent of ), as long as , the perturbed solution of (7) with the initial state will satisfy for . Thus, the (uniform) stability of the zero solution can be fully characterized by . Similar to Lemma 1, the (uniformly) the case of ordering can also be asymptotic stability of the zero solution for Lemma 2. thoroughly investigated by ordering A. Proof of Theorem 3.1 For notational simplicity, the parameter vector in (9) is omitted. Proof of each statement in Theorem 3.1 is given as follows. 1) As discussed in Section III, the periodic feature of the origstill lies in the map , i.e., inal system and . By applying the map to the NTP system (11), we obtain the mapped system whose for . vector eld satises

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and . This implies that the mapped system is also a NTP system. for and for are 2) The zero solution systems described by the following expressions, respectively: (53) (54) where and for . As mentioned in Section II, the (uniform) and would be fully equivalent to stability of and respectively. Based on Lemma 1, the cycles and are stable iff they are uniformly stable. of 3) Note that the proof of the third statement 3) in Theorem 3.1 can be reduced to proving the (uniform) equivalent staand of the corresponding NTP bility of and . For notational simplicity, desystem notes the (uniform) equivalent stability between and , does the same relation between and . and be a transition system after the map with the Let form of (55) Since is a NTP system, is also be a NTP system. can be decomposed to prove Hence, the proof of and . : Note that is a NTP system. Considering of (53) is stable, if and Lemma 1, the equilibrium only if it is uniformly stable. Following the Remark L.1 such that one can get for (56) Let be zero, thus the statement (56) can be completely such that equivalent for (57) Obviously, for such that , it follows that (58) Note that obtain for is a NTP system. Using Lemma 1, one can such that (59) of is estabHence, the (uniform) stability of . lished, and vice versa, i.e., : Note that the zero solution of of is (uniform) stable. Then, for the essential condition part of (59), one obtains Let

Note that

where is the matrix dened in Theorem 3.1. According to the comparability of matrix norm, we get (61) Since , then we obtain (62) Therefore, substituting (61) and (62) into (61), we obtain (63) Denote as , then can be written as as For conciseness, also denote it follows that for that . . Hence, such

(64) Therefore, the (uniform) stability of the zero solution of is established, and vice versa, i.e., . Finally, the statement 3) of Theorem 3.1 is valid. B. Proof of Theorem 3.2 According to the proof of Theorem 3.1, we nd that its rst statement addressing the periodic character of can be directly applied to Theorem 3.2. Hence, we only need to give the proofs for other two statements of Theorem 3.2. 1) Reviewing the proof of the Statement 2) of Theorem 3.1, and are two we nd that the zero solution systems NTP systems. By applying Lemma 2, it follows that the and are asymptotically stable, if and only cycles of if they are uniformly asymptotically stable. 2) Note that the proof of the Statement 2) of Theorem 3.2 can be similarly performed as that of the Statement 3) in Theorem 3.1. For clearance, we redene the (uniform) asympand as , totic stability equivalence between and as . Let and the same relation for be the same transition system dened in the previous Proof. can also be decomposed to Hence, the proof of and . prove : Note that is a NTP system. Then considof (53) is asympering Lemma 1, the zero solution totically stable, if and only if it is uniformly asymptotically stable. As mentioned in Remark L.1, one gets for such that (65) be zero, thus (65) is completely equivalent for such that (66) For and , it follows that for such that (67)

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Using Lemma 2, one obtains for such that

and

to (73), (74), (75) and (76), we will applying the map and as readily get the constraint equations among shown in (45). ACKNOWLEDGMENT The authors would like to thank the Associate Editor and the anonymous reviewers for their helpful suggestions and constructive comments which have led to signicant improvement in the presentation of this paper. They also would like to thank Prof. C. K. Tse (Hong Kong Polytechnic University), Dr. Y. Ma (UPMC, France) and Dr. P. Chen (EPFL, Switzerland), for their valuable discussions and insightful feedback. REFERENCES

(68) Hence, the (uniform) asymptotic stability of of is . established, and vice versa, i.e., : Note that of is (uniform) asymptotically stable. Then, for the essential condition part of (68), one obtains the same argument as (60). Also, the same form of (61) can be get for asymptotical stability. Following the same notations and can be written as , for . Hence, it follows that for which is denoted by such that

(69) of the (uniform) asymptotic stability of the equilibrium is established, and vice versa, i.e., . This concludes the proof of Statement 2) of Theorem 3.2. APPENDIX B The coefcient matrices , and for the one-cycle controlled Zeta PFC converter are written as follows:

(70) (71) (72) APPENDIX C According to [39], [40], the voltage across the capacitor and , i.e., and can be written as (73) Substituting (35) into (73), one obtains (74) Consider the Kirchhoffs current law for the node the relation between and can be obtained as in Fig. 1, (75) For the OCC controller with a voltage follower, expressed as follows can be

(76)

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Hao Zhang (M06) was born in Shaanxi Province, China, in 1973. He received the B.E. degree from Xian University of Science & Technology, Xian, China, in 1996, the M.Sc. degree from Xian University of Technology, Xian, China, in 2002, and the Ph.D. degree in electrical engineering (with honors) from Xian Jiaotong University, Xian, China, in 2005. From December 2004 to June 2005, he was a Research Assistant with Hong Kong Polytechnic University, Hong Kong. Since 2007, he has been an Associate Professor, School of Electrical Engineering, Xian Jiaotong University. During the academic year 20102011, he was a Visiting Professor of the Center for Power Electronics Systems (CPES), Virginia Tech. His research interests are in complex behaviors of distributed power systems, and power electronics interfaces in micro-grid systems.

Yuan Zhang (S11) was born in Chaohu, Anhui Province, China, in 1989. He received the B.E. degree (hons.) in electrical engineering in 2010 from Xian Jiaotong University, Xian, China, where he is currently pursuing the M.E. degree in the areas of modeling, control and design of practical switching power converters, grid-connected inverters of power electronics interfaces in micro-grids. Mr. Zhang was the recipient of many top scholarships and awards during his undergraduate and graduate studies. His B.E. dissertation also won the Distinguished Thesis Award from Xian Jiaotong University in 2010. He is a member of IEEE Power & Energy Society and Chinese Physics Society.

Xikui Ma was born in Shaanxi, China, in 1958. He received the B.E. and M.Sc. degrees, both in electrical engineering, from Xian Jiaotong University, China, in 1982 and 1985, respectively. In 1985, he joined the Faculty of Electrical Engineering, Xian Jiaotong University, where he is currently the Chair Professor of the Electromagnetic Fields and Microwave Techniques Research Group. During the academic year 19941995, he was a Visiting Scientist at the Power Devices and Systems Research Group, Department of Electrical Engineering and Computer, University of Toronto, Toronto, ON, Canada. His research interests include electromagnetic eld theory and its applications, analytical and numerical methods in solving electromagnetic problems, modeling of magnetic components, chaotic dynamics and its applications in power electronics, and the applications of digital control in power electronics. He has been actively involved in more than 25 research and development projects. He is also the author or coauthor of more than 190 technical papers, and also the author of ve books in electromagnetic elds, including Electromagnetic Field Theory and Its Applications (Xian: Xian Jiaotong University Press, 2000). Prof. Ma received the Best Teacher Award from Xian Jiaotong University in 1999.