Power Supply Design Seminar

Current-Mode Control of
Switching Power Supplies
Topic Categories:
Basic Switching Technology
Power Supply Control Techniques

Reproduced from
1985 Unitrode Power Supply Design Seminar
SEM400, Topic 1
TI Literature Number: SLUP075

© 1985 Unitrode Corporation

© 2011 Texas Instruments Incorporated

Power Seminar topics and online power-

training modules are available at:
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 Current-Mode Control of
Switching Power Supplies
Lloyd H. Dixon, Jr.
Introduction: This paper examines the current mode control method applied
to Buck, Boost and Flyback circuits operated in the continuous and
discontinuous inductor current modes.
The current mode control method
uses two control loops -- an inner,
current control loop and an outer
loop for voltage control. Figure 1
shows a forward converter (buck
family) using current mode control.
When the switching transistor is
on, current through Rsense is
proportional to the upward ramping
filter inductor current. When the
ramp voltage Vs reaches Ve (the
amplified output voltage error), CLOCK --1'---"'_......._ _
the switching transistor turns off.
Thus, the outer voltage control
loop defines the level at which the
inner loop regulates peak current LAfCK II n r-1 -
through the switch and through the OUTPUT --.J LJ LJ ,L...
filter inductor. 1 Figure 1.
ADVANTAGES:
• Input voltage feed-forward, resulting in good open-loop line regulation.
• Simplified loop -- inductor pole and 2nd order characteristic eliminated
• Optimum large-signal behavior.
• No conditional loop stability problems.
• Flux balancing (symmetry correction) in push-pull circuits.
• Automatic pulse-by-pulse current limiting.
• Current sharing of paralleled supplies for modular power systems.
• Less complexity/cost (current sense/amp is not an added complication).

DISADVANTAGES AND PROBLEMS (continuous mode only):

• Peak/avg. current error and instability -- slope compensation
• Noise immunity is worse because of shallower ramp.
• Half Bridge runaway
• DC open loop load regulation is worse.
• (1-0) current error in Boost or Flyback circuits.
• Loop irregularities with multiple output buck circuits.

THE BUCK REGULATOR (Continuous Inductor CUrrent mode)

The buck family includes the Forward Converter, Full Wave Center-Tap, Full
Bridge and Half Bridge.

Peak vs. Average Current Error: As shown in Figure 2, current mode control
regulates the peak inductor current. However, in a buck regulator operated
in the continuous mode, the inductor drives the output so that load current
equals the average inductor current. The difference between peak and average
inductor current is an error, which is greatest when Vin is large.

Texas Instruments 1 SLUP075

 o T------ o T--------

Figure 2. Current Error Figure 3. Instability

Instability: With continuous mode operation, controlling the peak inductor

current results in circuit instability when the duty ratio, 0, is greater
than 0.5. Figure 3 shows how a small perturbation in the inductor current
is magnified when 0 is greater than 0.5 (when Vin is low) because the
downslope is greater than the upslope.

Slope Compensation: The correct amount of slope compensation eliminates

both problems simultaneously. The average inductor current does not then
change regardless of changes in Vin and 0, and the circuit becomes stable at
any duty ratio, as shown in Figure 4. However, in boost and flyback
circuits, the large (1-0) error between average inductor current and output
d i ode current is not improved through slope compensation.

Slope compensation is achieved as shown in Figs. 4 and 5 by summing a

negative sawtooth ramp voltage with the amplified error voltage, Ve , at the
control input of the comparator (Ref. Fig. 1). For perfect compensation,
the compensation ramp must have a slope equal to exactly 1/2 the downslope
of the voltage waveform at the other comparator input, which is the voltage
analog of the inductor current downslope as seen across the current sense
resistor.

o T------~ o T-----~

figure 4. Slope Compensation figure 5. Slope Compensation

Texas Instruments 2 SLUP075

 A negative ramp is not usually available
within the control IC, but a positive
going ramp is available from the IC's
clock pulse generator. As shown in
Figure 6, it is possible to use this
positive ramp for slope compensation
by applying it through a voltage divider
to the opposite comparator input,
summing it with the voltage analog of
the inductor current from the current
sense resistor. The voltage divider
should set the slope of this positive
ramp to be the same magnitude -- 1/2
the downslope of the voltage waveform
representing the inductor current. Figure 6. Compensation Circuit
Line Regulation: Current mode control has an inherent input voltage feed-
forward characteristic which means the open loop D.C and dynamic line
regulation is excellent. This reduces the closed loop gain needed in the
outer voltage control loop. The good line regulation is caused by the inner
current control loop which maintains constant peak inductor current
regardless of changes in Vin. With slope compensation, this results in
constant average inductor current. Vin changes of any kind -- large signal
step changes, spikes, A.C. signals or noise riding on the line are rejected,
even with the outer voltage control loop open.

Load Regulation: With voltage mode (duty ratio) control, open loop DC load
regulation is inherently excellent, although dynamic load regulation is very
bad. With current mode control, and with the outer voltage control loop
open, the load regulation is very poor. This because the inner current
control loop makes the circuit into a current source. Any current source
has poor load regulation. This is not nearly as bad as it seems, because it
is so much easier to get high closed loop gain-bandwidth which corrects the
problem and gives many other performance advantages.

Paralleling Outputs: With current mode control, it is easy to parallel

several supplies for the sake of redundancy or for modular power supply
systems. If all the supplies to be paralleled have identical current sense
resistors and identical current control loops, a single control voltage
common to all supplies will cause them to deliver identical currents. Their
outputs may then be paralleled to drive a common load, and they will share
this common load current equally. A single voltage reference and error
amplifier is used, and this amplified error voltage is the control voltage
used to program the current in all the paralleled supplies.

Flux Balancing in Push-Pull Circuits: In any transformer coupled push-pull

circuit, small differences in Vsat and/or storage time between the switching
transistors cause a slight asymmetry in the voltage waveform, resulting in a
net small DC voltage across the transformer primary. This DC voltage causes
the magnetizing current and core flux to slowly move in one direction until
finally, the transformer saturates. The magnetizing current flowing through
the DC resistance of the primary circuit causes IR drops that are in a
direction to correct this problem, but the resistance is usually nowhere
near large enough. This has been a severe problem in push-pull circuits.

Texas Instruments 3 SLUP075

 Current mode control automatically solves the unbalanced flux problem, by
sensing and controlling the emitter currents of the switching transistors.
These transistor currents represent the inductor current reflected from the
secondary, plus the transformer magnetizing current. When the magnetizing
current drifts off in one direction, it adds to the inductor current in one
transistor and subtracts from it in the other transistor, making the push-
pull current pulses unequal in amplitude. With duty ratio control, current
pulse inequality will get worse and worse until the transformer saturates.
However, with current mode control this cannot happen because the controller
terminates each pulse when the same specific current is reached. Thus the
pulses must always have the same amplitude, although the pulse widths will
be slightly different. This pulse width differential that is created
effectively corrects for the original asymmetry.

Runaway in Half-Bridge Circuits: As noted above, when current mode control

is applied to any push-pull circuit, small differences in the alternate
pulse widths will be created in order to correct any volt-second asymmetry
applied to the transformer. Unfortunately, this causes asymmetry in the
current waveforms drawn through each transistor -- the peak currents are
maintained identical, therefore different pulse widths result in small
differences in ampere-seconds, or charge, drawn alternately through the
switching transistors.

In the half-bridge, one side of the transformer primary is connected to the

midpoint of a capacitive voltage divider. When the charge flowing in
alternate directions is slightly different because the alternate pulse
widths are not the same, the capacitor divider voltage will drift in one
direction. The direction is unfortunately such that it tends to reinforce
the original volt-second asymmetry. This causes the current mode controller
to further correct the volt-second asymmetry, making the charge unbalance
worse. Thus, the capacitive divider voltage will run away until it reaches
one or the other source voltage extreme.

This small charge imbalance is of no consequence in full bridge or full-wave

center-tap circuits which do not involve a "soft" source such as the
capacitive divider in the half bridge.
Noise Immunity: In continuous inductor
current mode circuits, current mode
control suffers from poorer noise
immunity than duty ratio control. Both
methods acheive control by comparing the
amplified output voltage error to a ramp
voltage. Referring to Figure 2, with
current mode control the ramp represents
inductor current. It sits on a pedestal
and is quite shallow, especially when
Vi is low, making 0 large. The ramp
voltage is never far away from the
control voltage, Ve. A relatively small
noise spike will cause the current pulse
to terminate prematurely. This problem
is solved by: using care in circuit
layout and proper location of ground
returns to avoid pulses generated by Figure 7

Texas Instruments 4 SLUP075

 fast switched high currents through wlrlng inductance, using differential
input current sense amplifiers, using a small filter inductor (consistent
with keeping out of the discontinuous mode at minimum load current), and by
filtering out any remaining noise spikes with a simple RC filter at the
input of the current sense amplifier as shown in Figure 7.

Small-Signal Loop Compensation: When current mode control is used with a

cont inuous mode buck regulator, the inner (current control) loop includes
the filter inductor. This eliminates the inductor from the small signal
model of th.e outer (voltage control) loop. The voltage control loop then
has only the single pole of the output filter capacitor and load resistance,
as shown in Figure 9. Because the 90 0 phase lag of a single pole is
inherently stable without additional compensation, it is easy to get high
loop gain and excellent small signal dynamic performance.

With conventional duty ratio control applied to the buck regulator, the LC
power filter has a two-pole second order charactistic as shown in Figure 8.
There is an abrupt 180 0 phase lag at filter resonance (often near 100 Hz).
This will cause ringing and instability if not compensated. At least one
and usually two zeros near filter resonance must be provided in the error
amplifier compensation network. This requires much more error amplifier
gain-bandwidth than with current mode control and requires large
compensation capacitors with time constants in the order of milliseconds.

When properly compensated (although with much greater difficulty), the small
signal dynamic behavior of the buck regulator with conventional duty ratio
control may be nearly as good as with current mode control. With a 50 kHz
switching frequency, small-signal response times in the order of 100
microseconds can be achieved with either control method.

40 60
BUCK, CONT I NUOUS M)DE SUCK, CONT I NUOUS MODE
DUTY CYCLE CONTRCL CURRENT ~IODE CONTRCL

20 + + fa + 4C
.,. ... t-

O + + 20 + +
Control to Output
GAIN GAIN
IdS) (dB)

-20 + + 0 + +

-40 + + + -20 + + "" +

"---

-60 -40
(Hz) 1 10 100 1K 10K 1001<. (Hz) 1 10 100 lK 10K lOOK

0 0
/'
./
PHASE PHASE /'
./
-90 + + -90 --'f '" +

-180 -100

Figure 8. Figure 9.

Texas Instruments 5 SLUP075

 Loop Gain Irregularities with Multiple outputs: Figure 1 is a current mode
controlled circuit of the buck family with one output. It is clear that the
current which is sensed and controlled on the primary side is directly
controlling the current through the single filter inductor to the output on
the secondary side.

Additional outputs can be created by adding additional transformer

secondaries, rectifiers, independent LC filters and loads. The current
controlled on the primary side now suppies all of the outputs, which are
effectively in parallel. Since the DC output of each LC filter must equal
the average of the input voltage waveform (above the critical minimum load
current), the DC voltages of the different outputs are absolutely related by
their secondary turns ratios. The current supplied and controlled from the
primary side will automatically apportion itself according to the demands of
each load. Otherwise the voltages would diverge, which is not possible at
DC and at frequencies below filter resonance. The DC and low frequency AC
gain from the control input to the controlled output is proportional to the
paralleled combination of all load resistances, adjusted by the square of
the turns ratios.
At or above filter resonance, the story is different. With only one output,
the single filter inductor is in series with the current source, causing the
inductor to disappear. With multiple outputs, there are several LC filters
being driven in parallel from one common current source. The inductors now
do not disappear unless the resonant frequency and the Q of each filter are
exactly the same, which would make the paralleled filters look like a single
common unit. This is not likely, because the Q values are largely
determined by load resistances which normally vary considerably.
Only one output is usually sensed and fed back to become part of the closed
voltage control loop. The input of the LC filter of this controlled output
is driven from the primary current source, but the LC filters of the other
outputs attached in parallel to this same driving point. These other LC
filters are really series resonant circuits which shunt the common driving
point to ground. At the resonant frequency of each of these series resonant
filters, they become a very low impedance, especially if its Q is high under
lightly loaded conditions. The low shunt impedance at resonance chops a
hole in the gain characteristic of the controlled output, with dramatic
unexpected phase shifts. This problem is really severe if the controlled
output is a lower power output and is shunted by a much higher power output,
especially when the high power output is lightly loaded making its Q high.
The best solution to this problem is to couple the filter inductors together
by winding them on a common core. The filters are no longer independent and
do not have separate resonances. This also dramatically improves the
dynamic cross regulation, which is very poor with independent filters.
Large Signal Behavior: Unlike small-signal behavior, when large-signal
conditions prevail, such as at startup or with large and rapid load changes,
there is a dramatic difference in performance between the two control
methods. The large filter inductance values inherent in continuous mode
circuits make it impossible for the inductor current to follow rapid changes
in load regardless of the control method. This limitation in the slew rate
of inductor current causes the power supply output voltage to go out of
regulation temporarily. The error amplifier is driven into the stops,

Texas Instruments 6 SLUP075

 causing the voltage control loop to become temporarily open until after the
inductor current reaches the new load current level.

Under small-signal conditions, error amplifier feedback keeps the inverting

input at a DC level within a millivolt of the DC reference voltage applied
to the inverting input. But while the inductor current is slew rate limited
and the error amplifier is in the stops, the voltage at the inverting input
is uncontrolled. Referring to Figure 10, during this large-signal
transition the compensation capacitors required with the duty ratio method
will charge to voltage levels totally unrelated to normal operation. After
the inductor current reaches the new value of load current (in perhaps 100
microseconds) and the error amplifier starts to regulate again, the power
supply output voltage will be regulated with a significant error offset
(perhaps 6 volts instead of 5) because of the unusual compensation capacitor
voltages. The time constants to discharge the capacitors and bring the
power supply output voltage back to normal will be 2 to 5 milliseconds.

R;p

>-......-_vc

Figure 10. Figure 11.

In other words, the compensation capacitors necessary for good small-signal

performance with duty ratio control cause poor large-signal performance --
large output glitches which take a long time to recover. In contrast to the
above, current mode control achieves excellent small-signal performance
without compensation capacitors other than one small capacitor which cancels
the output capacitor's ESR zero. It recovers accurate regulation much more
rapidly -- as soon as the inductor current reaches the new value of load
current. The circuit of Figure 11 shows the simplicity of the current mode
control error amplifier circuit. The single capacitor used is less than one
tenth the value and time constant of the 2 capacitors necessary with duty
ratio control.
Violation of Conditional Loop stability: During large-signal episodes such
as above, the time averaged loop gain is reduced. The crossover frequency
is effectively lowered, which may cause a serious problem with simple duty
cycle control if the control loop is undercompensated. If the loop is only
conditionally stable (phase shift exceeding 180 degrees at frequencies well
below crossover), the reduction in crossover frequency will initiate large-
signal oscillation. The circuit will most likely remain in this oscillatory
state until it is shut down and restarted. For this reason, conditional
loop stability should be avoided in the design of switching power supplies.
This is very easy to achieve with current mode control.

Texas Instruments 7 SLUP075

 BOOST AND FLYBACK (Continuous Inductor Current Mode)
(l-D) Current Error: In boost or flyback continuous mode regulators, there
is a large error between the average inductor current, IL (regulated by the
current control loop) and the load current, Io' This is because IL is
provided to the output only during periods of diode conduction and not
continuously as in the buck regulator. The load current Io equals the
average diode current ID which equals IL (1-D). For any continuous mode
regulator, the duty ratio, D, is a direct function of Vin' Referring to
Figure 12, if Vin changes, D must also change, and this changes the
relationship between Io and IL' If Vin changes, IL must then be changed to
accomodate a constant load. In other
words, the open loop line regulation is
poor, unlike the buck regulator where IL
always equals Io, making it independent
of Vin'
The error between peak and average
inductor current and the inherent
instability of continuous mode circuits
can both be eliminated by using slope
compensation, just as with the buck
regulator. The (1-0) error between IL
and Io cannot be eliminated dynamically
(this is what causes the right-half-
plane zero), but the low frequency (l-D) o
error can be eliminated by appropriate
feed-forward of Vin into the current
control loop. Figure 12

Right-Half-Plane Zero: Current mode control does not eliminate the right
half-plane zero inherent in boost and flyback continuous mode circuits,
although i t does eliminate the inductor pole and the 2nd order resonant
filter characteristic. The RHP zero gives a 20 dB/decade gain boost with a
90 0 phase lag, which is considered impossible to compensate, and usually
forces the designer to roll the loop gain off a decade or more below what
could otherwise be achieved. Current mode control does not help in this
respect. Refer to the separate paper titled "The Right-Half-Plane Zero -- a
Simplified Explanation"

Texas Instruments 8 SLUP075

 DISCONTINUOUS INDUCTOR CURRENT MODE

In the discontinuous inductor current mode, the

inductor current by definition is at zero during
part of each switching cycle, as shown in Figure
13. There are therefore three states during
each cycle, rather than two as in the continuous
mode. Most of the relevant problems encountered
with continuous mode operation are not present
in the discontinuous. Likewise, many of the
advantages of current mode control in continuous
mode operat ion are irrelevant in the
discontinuous mode. IQ

Current mode control does have one important

advantage as applied to the discontinuous mode
-- good line regulation by virtue of the
inherent feed-forward capability. It shares
this advantage with feed-forward ICs such as the
UC3840 . The choice would be mainly on the cost
of the IC vs. its functionality. Voltage feed-
forward and current mode control are both much
better than simple duty ratio control .

In the discontinuous mode, all of the energy Figure 13.

stored in the inductor is delivered to the load
each cycle. Power output equals the energy stored in the inductor each
cycle times the frequency. This inductor energy (and the power delivered to
the load) is established by the peak inductor current at the time the
transistor switch is turned off. With fixed Vin' current mode control and
duty ratio control methods both determine the peak inductor current -- one
directly, the other indirectly. With current mode control, the peak current
value and the the power output do not change when Vin changes. With simple
duty ratio control, the peak current varies proportional to Vin' therefore
the open loop line regulation is inherently poor. With voltage feedforward,
such as in the UC3840, the open loop line regulation is good because the
duty cycle is automatically changed in inverse proportion to Vin. This
results in constant peak inductor current and power output regardless of Vin
changes.

REFERENCES:
(1) B. Holland, "A New Integrated Circuit for Current Mode Control
Powercon 10 Proceedings, B-2, 1983.

(2) B. Holland, "Modelling, Analysis and Compensation of the Current-Mode

Controller," Powercon 11 Proceedings, 1-2, 1984.

(3) Shi-Ping Hsu , A. Brown, L. Rensink, R. Middl ebrook, "Modelling and

Analysis of Switching DC to DC Converters in Constant Frequency Current
Programmed Mode," PESC '79 Record, pp 284-301.

Texas Instruments 9 SLUP075

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SLUP075
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