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7, JULY 1998
707
I. INTRODUCTION
NOMALOUS bifurcation phenomena have been observed recently for some power electronic circuits,
both experimentally and numerically [1][6], [16], [18], [19].
Bifurcation behaviors, other than the familiar period doubling
bifurcation and the saddle-node bifurcation [Fig. 1(a)], are
often seen in the bifurcation diagrams of power electronic
circuits [e.g., Fig. 1(b)]. The goal of this paper is to explain
why such bifurcations occur.
The distinctive feature of all power electronic circuits working under closed loop control is that they have switches that
are turned ON or OFF through state feedback. Two sets of
differential equations are needed to describe the dynamics of
such a power electronic circuit for the ON and OFF periods,
respectively. Generally dynamical systems can be treated as
maps by the method of surface of section. For power electronic
circuits, we may sample the state variables in synchronism
in
with the clock pulses to obtain a stroboscopic map
discrete time [17]. The behavior of the system depends on the
mathematical properties of this map. In this paper, we consider
the current feedback-controlled buck converter, as illustrated
in Fig. 2. As shown in Fig. 3, the ON and OFF phases are
with the externally
determined by comparing the voltage
. We show
generated reference triangular wave voltage
later that the corresponding map is piecewise smooth.
imagine that there
For a general piecewise smooth map
exists a curve in the state space which divides it into two
regions (see Fig. 4); in region A the map has one functional
has a different functional
form and in region B the map
Manuscript received November 27, 1996; revised November 23, 1997. This
work was supported by the Department of Energy (Mathematical, Information,
and Computational Sciences Division, High Performance Computing and
Communications Program) and by the National Science Foundation (Divisions
of Mathematical Sciences and Physics), and also by the Office of Naval
Research under Grant N00014-96-1-1123. This paper was recommended by
Associate Editor T. Endo.
G. Yuan and J. A. Yorke are with the Institute for Physical Science and
Technology, University of Maryland at College Park, MD 20742 USA.
S. Banerjee is with the Department of Electrical Engineering, Indian
Institute of Technology, Kharagpur 721302, India.
E. Ott is with the Department of Electrical Engineering and the Department
of Physics, Institute for Systems Research, and Institute for Plasma Research,
University of Maryland at College Park, MD 20742 USA.
Publisher Item Identifier S 1057-7122(98)05300-8.
(a)
(b)
Fig. 1. (a)
f (x)
Period
x(1 0 x).
for
(1)
for
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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMSI: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 45, NO. 7, JULY 1998
Fig. 2. Circuit diagram for the buck converter with integrated load current
feedback.
Fig. 3. Switching logic of the buck converter. The voltage vio is compared
with a reference voltage vref ; which has a triangular waveform with period
T . The switch is OFF at the beginning. It turns ON when vio drops below vref
and turns OFF again only at times T ; 2T ; 3T ; 1 1 1. The dashed lines indicate
the extreme values of vref .
where
circuit. Then
709
voltage
is compared with the reference voltage
which
has a triangular waveform. The period of the triangular wave is
the switch is ON, and if
the
denoted . If
switch is OFF. This logic, however, allows multiple switchings
in a single triangular wave cycle. This can be undesirable
in a practical circuit. In most circuits, therefore, a latch is
included, which prevents multiple switchings. In that case the
first drops below
but turns OFF
switch turns ON when
only at the end of the triangular wave cycle. In this paper, we
have considered the switching logic including this latch.
Remark: In the situation without the latch, chattering or
,
multiple switching occurs if, after the switching at
That is,
we have that (3) gives
(a)
(b)
Fig. 5. Possible types of grazing. (a) vio intersects vref at (n + 1)T . (b)
is tangent to vref at some time between nT and (n + 1)T .
vio
(4)
where
(a)
(b)
(c)
point.
. We note that if it could occur it would result in a
discontinuity in the map .) Thus our considerations to follow
are restricted to border-collision bifurcations accompanying
orbits of the type shown in Fig. 5(a). Considering the orbit of
for the OFF
Fig. 5(a) and setting
solution, we have the borderline equation
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(a)
(b)
(c)
(d)
Fig. 7. Bifurcation diagrams as Vin is decreased. All parameters aside from Vin are fixed. R1 = 10 k
; R2 = 220
; T = 392 s; Rl = 20
; Rr = 1
,
C = 20 nF, L = 11.6 mH, V1 = 1.04 V, and V2 = 3.8 V. The horizontal line vio = 3.8 is the border. The state variable vio is plotted vertically. The
border-collision bifurcations are labeled (1)(5). (b)(d) are successive blow-ups of (a). The inset in (b) is a magnification of the bifurcation at Vin
= 7.93.
711
(a)
(b)
(c)
(d)
(e)
(f)
Fig. 8. Detailed structures of the five border-collision bifurcations. The left sides are bifurcation diagrams obtained from the circuit model, focusing on the
(a), (b)
region around the border; the right sides are bifurcation diagrams obtained from the corresponding normal form. The bifurcations occur at Vin
8.41, (c), (d) 9.97, and (e), (f) 15.45, respectively. The parameters of the normal form are: (1) 1
1, A
0.611, and B
0.818; (2) 1
4-piece
chaos, A
0.998, and B
1.204; (3) nothing
1, A
2.137, and B
0.929; (4) 1
1-piece chaos, A
0.995, and B
2.614;
(5) nothing
2-piece chaos, A
5.913, and B
1.017. The values of A and B are less than 1002 in all cases.
=
!
=0
!
=0
=0
=0
=
=
!
=0
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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMSI: FUNDAMENTAL THEORY AND APPLICATIONS, VOL. 45, NO. 7, JULY 1998
(g)
(h)
(i)
(j)
Fig. 8. (Continued.) Detailed structures of the five border-collision bifurcations. The left sides are bifurcation diagrams obtained from the circuit model,
focusing on the region around the border; the right sides are bifurcation diagrams obtained from the corresponding normal form. The bifurcations occur at
Vin
(g), (h) 16.64 and (i), (j) 30.72, respectively. The parameters of the normal form are: (1) 1
1, A
0.611, and B
0.818; (2) 1
4-piece
chaos, A
0.998, and B
1.204; (3) nothing
1, A
2.137, and B
0.929; (4) 1
1-piece chaos, A
0.995, and B
2.614;
(5) nothing
2-piece chaos, A
5.913, and B
1.017. The values of A and B are less than 1002 in all cases.
=
!
=0
!
=0
(a)
=0
(b)
(d)
=0
=
!
=0
(c)
(e)
Fig. 9. Waveform plots at each border-collision bifurcation point. The dots indicate the places where grazing occurs, or in other words, where the border
collision bifurcation occurs. Vin
(a) 8.41, (b) 10.05, (c) 15.60, (d) 16.60, and (e) 31.0.
bifurcation at
as a 1
4 piece chaos bifurcation
(where the four bands referred to are the four tiny subbands).
1 Border-Collision Bifurcation (3) At
3) Nothing
15.45, we have a bifurcation from a chaotic attractor to a
period-3 attractor [see Fig. 7(c)]. Since there is a jump from
713
(5)
is taken with
in region A.
where the limit
and
are the corresponding trace and
The numbers
with
in region B. If
is a
determinant as
and
are replaced by
point of a period orbit,
and
respectively. Border collision occurs if, say, when
the fixed point of the map is in region A, and when
the fixed point is in region B. Numerically we
and
to be the fixed points (assuming they exist)
choose
and
where
and
are close to
at parameter values
. Then
and
are also close to
the critical value
. Therefore, by calculating the trace and the determinant
and
we may obtain a very
of the Jacobian matrix at
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good approximation of
and . The trace and the
determinant of the border-crossing periodic orbit for each of
the five border collisions discussed earlier are calculated. The
results are the following.
(1) Period-2
(2) Period-4
Fig. 12. Definition of A ; A ; B ; and B : P0 is a fixed point of the map
F (or F p ) on the border. PA and PB are arbitrary points very close to the
border, one on each side of the border. Define A = lim tr DF (PA ) and
A = lim det DF (PA ) as PA
P0 from within region A. The numbers
B and B are the corresponding trace and determinant as PB
P0 from
within region B.
(3) Period-3
(4) Period-6
(5) Period-4
(7)
715
for our parameters. Thus the third term in (3) can be neglected.
Regarding (2) and (3) as a flow in
space, we can take
the divergence of this flow to obtain
(A3)
which is a constant independent of time . From (A3) it follows
space whose points are evolved using (2)
that areas in
.
and (3) contract exponentially with time as
2.7 from which we obtain (6).
For our parameters,
ACKNOWLEDGMENT
The bifurcation diagrams and the eigenvalue computation
are made using Dynamics [14]. The authors gratefully acknowledge the use of the computer facilities provided by a
grant from the W. M. Keck Foundation.
(a)
REFERENCES
(b)
Fig. 13. One-dimensional piecewise linear map. (a) The slopes on each side
of the border correspond to A and B in the normal form, respectively. As
is varied through zero, the stable fixed point crosses the border and suddenly
becomes unstable. (b) The second iterate of the map is plotted. When < 0,
the fixed point is the only periodic orbit. When > 0, an additional period-2
orbit emerges. (When
0, the second iterate is shaped like the < 0
curve except that it passes (0, 0).)
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Edward Ott received the B.S. degree in electrical engineering from Cooper
Union, New York, NY, and the M.S. and Ph.D. degrees in electrophysics from
Polytechnic Institute of New York, Brooklyn, NY.
Before joining the faculty of Cornell University, Ithaca, NY, as a Professor
of Electrical Engineering, he was a National Science Foundation Post-Doctoral
Fellow in the Department of Applied Mathematics and Theoretical Physics at
Cambridge University, U.K. In 1979, he joined the Departments of Physics
and Electrical Engineering of the University of Maryland at College Park
where he is Distinguished University Professor. His past research has been in
plasma physics and charged particle beams. More recently, his work has been
on fundamental issues and applications of chaos. Some of the issues he has
been concerned with include the fractal dimensions of chaotic attractors and
basin boundaries, transition to chaos, control of chaos, etc. He is the author
of over 250 journal papers and of the book Chaos in Dynamical Systems
(Cambridge, U.K.: Cambridge Univ., 1993).
James A. Yorke received the B.S. degree from Columbia University, New York, and the Ph.D. degree
in mathematics from the University of Maryland at
College Park (UMCP) in 1966.
He then began his academic career in the Department of Mathematics, UMCP, where he remains
today as a Distinguished University Professor and
as the current Director of the Institute for Physical
Science and Technology, UMCP. He is best known
to the general public for coining the term chaos in
a classic paper entitled Period three implies chaos
which he co-authored with T. Y. Li. He and his collaborators and his students
actively investigate the dynamics of chaotic processes. His interests also
include the applications of chaos theories in physical, biological, and chemical
system. He has co-authored three books.