AND8143/D

A General Approach
for Optimizing Dynamic
Response for Buck
Converter
http://onsemi.com
Prepared by: W.H. Lei, T.K. Man
ON Semiconductor

APPLICATION NOTE

Abstract

modulator is shown in Figure 2 and the model of its power

switches is shown in Figure 3. That represents the low
frequency equivalent circuit for the buck modulator. The
transfer function for the output, Vout with respect to duty
ratio, D is:

A general approach for optimizing dynamic response for

buck converters is presented. The basic theory to stabilize a
buck converter with different types of compensation
networks is introduced in detail. Using an averaging model
and a computer program, three types of compensation
networks for the buck converter are examined and analyzed.
The Kfactor approach to determine the compensation
network components is explained. Finally, a practical
experiment with a popular buck controller IC for computing
applications is introduced. By using the presented approach,
a fast transient response system using typeIII
compensation network is evaluated and results in a high
performance system with sufficient stability margin.

1
dVout(s)
+ Vin
dD(s)

Resr ) (1sC)
1

sL ) R )

(eq. 1)

1
Resr ) (1sC)

When Ro >> Resr and Ro >> R, equation (1) can be

simplified to:
ResrCs ) 1
dVout(s)
+ VIN
(eq. 2)
dD(s)
LCs2 ) L ) C(R ) Resr)s ) 1

The subject of stability, which pertains to the closedloop

frequency response of switching regulators, has received
much attention and many papers have been published on
and around the subject. All of them have their own
implementation method and considerations. To most
practicing engineers, it seems a cloud of mystery shrouds
feedback control loop stability. This paper seeks to remove
that shroud, blending theory, simulation tools and practical
experiment illustrating a general approach to stabilize the
buck converter with least effort.

Ro

where the double poles are located at:

fp +

1
and
2p LC

(eq. 3)

1
2pResrC

(eq. 4)

the zero is located at:

fz +

Modulator

ANALYSIS OF THE OPEN LOOP BUCK

CONVERTER
Figure 1 shows the feedback system for a buck converter.
First, transfer functions Gp(s) for the Pulse Width
Modulation (PWM) stage and the power stage are identified.
These two blocks are commonly grouped as the modulator.
Gc(s) is the compensation network transfer function. It will
be discussed in the next section. The modeling of the
lowfrequency behavior of power switches in squarewave
power converters is explained in [1]. The circuit of a buck

January, 2011 Rev. 1

(1Ro) )

INTRODUCTION

Semiconductor Components Industries, LLC, 2011

(1Ro) )

Gc(s)
dVc(s)
Compensation
Network

PWM

Gp(s)

dVout(s)

dD(s)

Figure 1. Feedback Control Loop for Buck Converter

Publication Order Number:

AND8143/D

AND8143/D
R1

the output capacitor introduces a zero. At this point the gain

curve slope changes to 20 dB/decade (1 slope) and the
phase curve turns back towards 90.
For PWM shown in Figure 1, the PWM stage transfer
function is:

L
Resr

Ro

Vin

dD(s)
+ 1
dVc(s)
VM

R2

where VM is the amplitude of the ramp in the PWM stage.

Therefore, the DC gain for this stage is simply the input
voltage Vin divided by VM.
From (2) and (5), the open loop transfer function for the
output Vout with respect to the compensation network
control voltage Vc is:

Figure 2. Buck Modulator Switches Model

Vin

D*IL +

dVout(s) VIN
ResrCs ) 1
(eq. 6)
+
dVc(s)
VM LCs2 ) L ) C(R ) Resr)s ) 1

Resr

R
+

Ro

Rc
D*Vin

(eq. 5)

COMPENSATION NETWORK TYPE

TypeI

The simplest form of compensation network with

singlepole roll off is shown in Figure 5. This is called a
TypeI compensation network. The transfer function of the
compensation network in Figure 5 is:

Figure 3. LowFrequency Equivalent Circuit of

Buck Modulator, R = DR1 + (1D) R2

GAIN
(dB)

AV

Vout
1
+
Vin
R1C1s
1
.
with a crossover frequency, fc +
2pR C

PHASE
(DEG)

1 1

A TypeI compensation network provides a single pole at

the origin and the gain rolls off at 20 dB/decade (1 slope)
forever, crossing unity gain at the frequency where the
reactance of C1 is equal in magnitude to the resistance of R1.
The TypeI compensation network has 270 (180 phase
shift with the inverting compensation network included) of
phase shift throughout the 1 slope region. TypeI
compensation network is used for systems where the phase
shift of the modulator is minimal.

GAIN
40 dB (2 Slope)

fp

fz

PHASE

(eq. 7)

90
20 dB
(1 Slope)

C1
180

Vin

R1
+
RBIAS

Figure 4. Frequency Response of Buck Modulator

Figure 4 shows the frequency response of a typical buck

modulator. Note that the effect of the complex conjugate
poles of LC, fp will make the gain curve rolls off at
40 dB/decade (2 slope) and phase curve towards 180.
The rolloff continues until the frequency reaches region
around fz, where the ESR (Equivalent Series Resistance) of

where RBIAS +

Vout

VREF

VREFR1
VinVREF

Figure 5. TypeI Compensation Network

Schematic Diagram

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GAIN
(dB)

GAIN
(dB)

PHASE
(DEG)

PHASE
(DEG)
1

GAIN

AV
0

GAIN

f1

f2

90

1
90

180
180

PHASE
270

PHASE
270

Figure 8. Frequency Response of TypeII

Compensation Network

Figure 6. Frequency Response of TypeI

Compensation Network

R
AV + 2
R1

TypeII

The compensation network of Figure 7 offers improved

buck converter transient response when the converter is
subject to output load changes, as opposed to the slow
response of the TypeI compensation network. Figure 8
shows the frequency response of the TypeII compensation
network. A zeropole pair has been introduced to give a
region of frequency where the gain is flat and no phase shift
is introduced. The region with constant gain occurs between
the break frequencies f1 and f2. This region must be used for
loop gain crossover. The gain and break frequencies are
presented below.

Vin

RBIAS

where RBIAS +

C1 ) C2
1
[
2pR2C1C2
2pR2C2

(eq. 10)

TypeIII

The compensation network depicted in Figure 9 can give

superior transient response. In this circuit, the network
provides a pole at the origin with two zeropole pairs. As
shown in Figure 10 shows how the low frequency gain
decreases at 20 dB/decade (1 slope) due to the pole at the
origin. The gain becomes constant between the two zero
frequencies, f1 and f2. After f2, the effects of second zero
cause the gain to increase at +20 dB/decade (+1 slope) until
approaching f3. It is flat again after f3. After f4, the
magnitude response decreases at a rate of 20 dB/decade
(1 slope). The closed loop compensation crossover should
occur in between f2 and f3 for best results. The gains and
polezero frequencies can be calculated from the following
equations:

C1

R1
+

(eq. 9)

where C2 t t C1

C2
R2

1
2pR2C1

f1 +
f2 +

(eq. 8)

Vout

VREF

R
AV1 + 2
R1

VREFR1
VinVREF

AV2 +

Figure 7. TypeII Compensation Network

Schematic Diagram

R2(R1 ) R3)
R1R3

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3

(eq. 12)

1
2pR2C1

(eq. 13)

1
2p(R1 ) R3)C3

(eq. 14)

f1 +
f2 +

(eq. 11)

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f3 +

C1 ) C2
2pR2C1C2

(eq. 15)

1
2pR3C3

(eq. 16)

f4 +

C3

networks, as shown in Figures 11b and 11c, the zero

frequency is placed a factor of K below the loop crossover
frequency and the pole frequency a factor of K above. Since
fc is the geometric mean of the zero and pole locations, peak
phase boost will occur at the crossover frequency. It is
widely known that phase boost due to a zeropole pair is the
inverse tangent of the ratio of the measurement frequency to
the zero or pole frequency. The total phase shift then is the
sum of all individual zero and pole phase contributions. For
typeII compensation network, the phase boost qboost at
frequency fc is given by the equation:

C2

R3

R2

C1

R1

Vin

+
RBIAS

Vout

qboost + tan 1(K) * tan 1 1

K

VREF

(eq. 17)

From this equation it can be shown that:

) 45
qboost
2

K + tan

V
R
where RBIAS + REF 1
VinVREF
Figure 9. TypeIII Compensation Network
Schematic Diagram

(eq. 18)

K=1

LOG
GAIN

G
GAIN
(dB)

PHASE
(DEG)

LOG
FREQ

fc

1
AV2

GAIN

(a)

+1

0
AV1

0
LOG
GAIN

90

PHASE

1
270
f3

180

f1 f2

TYPE 1 REF

fc
K

fc

(b)

f4

Figure 10. Frequency Response of TypeIII

Compensation Network

LOG
GAIN

KFactor

LOG
FREQ

Kfc
K

TYPE 1 REF
K

The Kfactor [2] is a simple mathematical tool for

defining the shape and characteristics of a transfer function,
regardless of the type of compensation network used. The
Kfactor is a measure of the reduction of gain at low
frequencies and increase of gain at high frequencies, arrived
at by controlling the location of poles and zeros of the
feedback compensation networks Bode plot in relation to the
loop crossover frequency fc. Figure 11a shows that, for
TypeI compensation network K is always 1. This is due to
a total lack of phase boost or corresponding increase or
decrease in gain. For TypeII and TypeIII compensation

fc fc
fc K
K

LOG
FREQ
K

(c)

Figure 11. The Bode plot characteristics of (a) the

TypeI compensation network, (b) TypeII
compensation network, and (c) TypeIII
compensation network, in relation to the K factor.

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loss. If the gain is expressed in dB, then the compensation
network gain is simply the negative of the modulator gain,
that is:

For TypeIII compensation network, the phase boost

qboost at frequency fc is given by the equation:

qboost + tan 1K * tan 1 1

K

(eq. 19)

G + 1Gm

Step 3: Choose the desired phase margin (using the Kfactor

approach). This margin is the amount of phase desired at
unity gain. The phase margin should be large enough to
provide welldamped transient response and accommodate
unforeseen excess phase shift due to all possible variations.
Phase margin may have a range of 30 to 90, with 60 being
a good compromise.
Step 4: Calculate the required phase boost and determine
the K value (using the Kfactor approach). The amount of
phase boost required from the zeropole pair in the
compensation network is given by the formula:

and subsequently,
K + tan 2

) 45
qboost
4

(eq. 20)

Equations shown in Table 1 provide a convenient way to

calculate the component values for each compensation
network type discussed in the previous section. For the
corresponding schematic, please refer to Figure 9. The gain
G is the required compensation network gain at the
crossover frequency and must equal the modulator loss.
Table 1. Components for TypeI, TypeII and TypeIII
Compensation Networks
TypeI

TypeII
UserSelected

R2

K2 GR
1
K21

K
GR1
K1

Not Used

R1
K1

K21
1
K 2pfcGR1

K1
2pfcGR1

1
1
K 2pfcGR1

1
2pfcGR1

Not Used

K1
1
K 2pfcR1

R3
C1

Not Used

1
2pfcGR1

C2
C3

Not Used

qboost + M * Pm 90

(eq. 22)

where:
M = desired phase margin (degrees)
Pm = modulator phase shift (degrees)

TypeIII

R1

(eq. 21)

Step 5: Choose the compensation network type and

determine the K value (using the Kfactor approach).
Choose compensation network TypeI when no phase boost
is required, compensation network TypeII when the
required boost is less than 90 (a more practical requirement
is less than 70), and compensation network TypeIII when
the required phase boost is greater than 70 and less than
180. K value can be calculated from Equation (18) or (20)
for TypeII and TypeIII respectively. For TypeI, K is
always equal to 1.
Step 6: Calculate component values. Based on Equations
(7)(16), calculate values for the compensation network.
Otherwise, derive the values using the Kfactor approach
and Table 1 as described in previous sections.

VREFR1
NOTE: RBIAS +
Vin * VREF

Synthesis of Compensation Networks

The basic steps to synthesize a compensation network to

stabilize a feedback loop are recommended as follows:
Step 1: Choose a crossover frequency and determine the
phase shift and gain. The crossover frequency is the point
where you want the overall loop gain to be unity.
Remember that the higher the crossover frequency, the
better the transient response of the power converter. As a
rule of thumb, the crossover frequency should be high
enough to provide good dynamic regulation and low
enough to avoid subharmonic instability and noise
amplification. However, practical limitations restrict the
range of the crossover frequency. The theoretical limit
is half of the switching frequency, but practical
considerations have proven that a crossover frequency
figure of less than onefifth of the switching frequency is
a good choice. Determine the phase shift, Pm and
modulator gain, Gm at the crossover frequency, fc.
Step 2: Determine the required compensation network gain.
The gain, G is the required compensation network gain at
crossover frequency and must be equal to the modulator

SELECTION OF COMPENSATION
NETWORK TYPE
The TypeI compensation network uses a minimum
number of components to achieve necessary phase margin.
The phase margin can be adjusted by choosing the unity gain
crossover frequency. This type of compensation network is
used for converter topologies that exhibit a minimal phase
shift prior to the anticipated unity gain crossover frequency.
Topologies include forwardmode regulators, such as
buck, pushpull, halfbridge and fullbridge using either
voltage or current mode control techniques. These
converters exhibit a relatively low phase shift below
the pole contributed by the output filter, so no phase boost
is required from the compensation network stage. TypeI
compensation network has a relatively poor transient load
response time as the unity gain crossover frequency
normally occurs at a low frequency. Its load regulation is
outstanding due to its very high DC gain. This type of
compensation network is not commonly used in systems that
require rapid transient load respond.

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AND8143/D
The TypeII compensation network is used for converters
that exhibit a single filter pole at low frequency and a
maximum phase shift of 90. These converters are the boost,
buckboost and the flyback topologies operating in the
discontinuous mode (DCM) of operation. Forwardmode
converters with currentmode control are also included. The
pole caused by the output filter capacitor and the load
resistance occurs at an extremely low frequency. In order to
improve the transient response characteristic, the loop
bandwidth needs to be extended. By adding an additional
zero before the first pole, the loop bandwidth can be greatly
extended with phase boost and hence the overall transient
response time can be greatly improved.
The TypeIII compensation network is intended for
converters that exhibit a 40 dB/decade rolloff above the
poles of the output filter and a 180 phase lag. These
include the forwardmode converters such as buck,
pushpull, halfbridge and fullbridge topologies using
voltage mode control techniques. Like the TypeII
compensation network method, TypeIII compensation
network introduces zeros into the error amplifier to reduce
the steep gain slope above the double pole caused by the
filter and its associated 180 phase shift. This extends the
loop bandwidth. TypeIII compensation network can
achieve very fast transient response and may provide more
than 70 phase boost. They are commonly used for systems
requiring very fast transient respond.

The buck converter is then compensated with a TypeII

compensation network as shown in Figure 7 with
R2 = 20 kW, R1 = 2.2 kW, C2 = 165.8 pF and C1 = 3.96 nF
by placing a zero around the LC resonant frequency of the
buck modulator and a pole around 1/5 switching frequency.
Again by simulation, the frequency response is shown in
Figure 13. The open loop response has 40 of phase margin
and the unity gain bandwidth of 19.78 kHz. The transient
response is much better then last trial when typeII
compensation network is used, however, the phase margin
is not good enough.
180d

Type I
modulator

0d

open
loop
SEL>>

Phase

200d

vp(err)

vp(err)vp(out)

vP(out)

50

CLOSED FEEDBACK LOOP SYSTEM

modulator

Closed Loop System with Different Types of

Compensation Network

A real life buck converter shown in Figure 2 with

Vin = 5.0 V, L = 1.8 mH, Resr = 5.0 mW and C = 3.5 mF,
Ro = 0.25 W is considered. First of all, the converter with
different compensation networks is evaluated. With the
averaged model proposed by Sam BenYaakov [3], we can
simulate the open loop transfer function and the whole
closed feedback loop system response. The schematic of the
buck converter compensated with a TypeI compensation
network is shown in Figure 5. With steps suggested in
previous sections and equations listed in Table 1 or
Equation (7), component values are calculated. With
RBIAS = 9.23 kW, R1 = 10 kW and C1 = 100 nF, the break
frequency is 159 Hz as shown in Figure 12, the ramp size of
the PWM stage is 1.0 V and the reference for the error
amplifier, VREF = 1.2 V. From simulation results shown in
Figure 12, the closed loop system has 79 of phase margin,
but the unity gain bandwidth is only 1.1415 kHz. The high
phase margin results in very stable system, but the low
bandwidth will result in very slow transient response.
Another compensation network type should be considered.

Type I

50
open
loop

Gain
100
10 Hz

100 Hz
vdb(err)

10 kHz
vdb(err)vdb(out)

1.0 MHz
vdb(out)

Frequency

Figure 12. Open Loop System of Buck Converter

with TypeI Compensation Network

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180d

180d

Type III

Type II
open
loop

0d

open
loop

0d

modulator

modulator

Phase

Phase

190d

190d
vp(err)

vp(out)

vp(err)vp(out)

vp(err)

vp(out)

vp(err)vp(out)

100

50

50
Type II

Type III

open
loop

SEL>>

modulator

Gain

80
10 Hz

SEL>>
100 Hz
vdb(err)

10 kHz
vdb(out)

open
loop

60
10 Hz

1.0 MHz
vdb(err)vdb(out)

modulator

Gain
100 Hz
vdb(err)

Frequency

10 kHz
vdb(out)

1.0 MHz
vdb(err)vdb(out)

Frequency

Figure 13. Open Loop System of Buck Converter

with TypeII Compensation Network

Figure 14. Open Loop System of the Buck Converter

with TypeIII Compensation Network

For the TypeIII compensation network shown in

Figure 9, applying the equations in Table 1 and choosing a
crossover frequency less than 1/5 of the switching
frequency, the gain loss of the modulator is obtained from
the open loop Bode plot shown in Figure 14. Then the
compensation network gains and break frequencies are
calculated. The double zero is placed around the resonant
frequency of the modulator. The first pole is placed around
the ESR zero of the modulator and the second pole is placed
around 1/2 of the switching frequency. Component values
are calculated as R2 = 20 kW, C1 = 6.8 nF, C2 = 10 nF,
R3 = 8.0 W, C3 = 100 nF, R1 = 2.2 k and RBIAS = 2.0 kW.
The frequency response of the TypeIII compensated buck
converter is shown in Figure 14. The open loop system
provides 63.66 of phase margin and unity gain bandwidth
of 23.48 kHz. The moderate phase margin and significantly
higher bandwidth provide an excellent tradeoff between
stability and fast transient response.

Although the compensation network type is selected,

based on the phase boost requirement, for most cases, the
converter actually can be designed with all three types of
compensation networks. The major difference is the
transient response of the closed loop system. The TypeIII
compensation network can give the fastest transient
response among three types of compensation network.
Choosing the value of R1 depends on the modulator output
current. When the output current is large, the value of R1 can
be arbitrary. If the output current is small, R1 should not be
too small in order to avoid loading effects at Vout.

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Testing Closed Loop System with Numerical Tool

ON Semiconductor has developed software [4] for

simulating buck converter behavior with all three types of
compensation network reviewed in this paper. The example
in the section, Selection of Compensation Network Type, is
next evaluated using this software. Figure 15 shows the
open loop Bode plot of the converter modulator itself.
Figures 16, 17 and 18 illustrate the open loop converter
response with TypeI, TypeII and TypeIII compensation
networks, respectively. Results of these simulations are
agreed well with the results from PSpice simulation with the
averaging model in abovementioned section.

Figure 17. Open Loop Bode Plot of the Buck

Converter with a TypeII Compensation Network

Figure 15. Modulator Bode Plot of the Buck

Converter

Figure 18. Open Loop Bode Plot of the Buck

Converter with a TypeIII Compensation Network

Figure 16. Open Loop Bode Plot of the Buck

Converter with a TypeI Compensation Network

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Feedback Loop System with Practical Controller

NCP5210 design includes a high bandwidth amplifier. This

high bandwidth error amplifier can provide fast transient
response, but, for the fastest transient response, it should be
compensated with a TypeIII compensation network. By
using the component values of the TypeIII compensation
network derived in previous sections, an actual circuit was
set up. The experimental transient response of this converter
with a TypeIII compensation network was captured in
Figure 19.

ON Semiconductor provides a series of synchronous buck

controller. The NCP5210 for computing applications
require very fast transient response. It is well known that
typeIII compensation network can give very fast transient
response and have good phase margin at the same time. For
systems requiring fast response, the device designer
obviously uses the TypeIII compensation network rather
than the other two types of compensation network. The

Channel 1: Current sourced into buck converter, 10 A/div

Channel 2: Buck converter output voltage, 100 mV/div

Figure 19. Transient Response of the Buck Converter with a TypeIII Compensation Network

CONCLUSION
A closed loop system can be implemented with different
types of compensation network. The TypeI compensation
network can give good phase margin, but bandwidth is
usually too low for fast transient systems. The TypeII
compensation network can improve the transient response
but phase boost is limited to less than 90. The TypeIII
compensation network provides fast transient response and
sufficient phase margin to ensure system stability, but at the
cost of circuit complexity. Selection of compensation type
requires detailed understanding of the target system. In
this paper, the theory of compensation and types of
compensation networks are explained in detail. The
Kfactor approach for feedback loop design is introduced,
and, through examples and simulations, the benefits of the
tool are highlighted.

REFERENCES
[1] YimShu Lee. ComputerAided Analysis and
Design of SwitchMode Power Supplies. Marcel
Dekker, Inc. Hong Kong. 1993.
[2] Venable, H. Dean. The K Factor: A New
Mathematical Tool for Stability Analysis and
Synthesis. Proc. Powercon 10. 1983. San Diego,
CA. pp. H11 to H112.
[3] BenYaakov, S. Average Simulation of PWM
Converters by Direct Implementation of
Behavioral Relationships. IEEE Applied Power
Electronics Conference (APEC, 1993).
pp. 510516.
[4] Moyer, Ole. (April, 2004) Compensation
Calculator Software Tool to aid in Voltage Mode
Compensation Circuits. ON Semiconductor.
www.onsemi.com/pub/Collateral/COMPCALC.ZIP

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Transfer Functions Revisited
We are going to have a brief refresher here about transfer
functions because several of the later chapters will use
transfer functions for analyzing system stability.
Let us remember our generalized feedbackloop transfer
function, with a gain element of K, a forward path Gp(s), and
a feedback of Gb(s). We write the transfer function for this
system as:

H cl(s) +

KGp(s)
1 ) H ol(s)

Where Hcl is the closedloop transfer function, and Hol is

the openloop transfer function. Again, we define the
openloop transfer function as the product of the forward
path and the feedback elements, as such:
H ol(s) + KGp(s)Gb(s)

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Typical parameters which may be provided in SCILLC data sheets and/or specifications can and do vary in different applications and actual performance may vary over time. All
operating parameters, including Typicals must be validated for each customer application by customers technical experts. SCILLC does not convey any license under its patent rights
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