Linear Robust Output Regulation in a Class of Switched Power Converters

Table 1

State space descriptors of a class of switched power converters.

Converters	$k_1$	$k_2$	${\widehat{u}}^{-}$	${\widehat{u}}^{+}$
NonInverting Buck-Boost	$\mathrm{\hspace{0.17em}\hspace{0.17em}}0\mathrm{\hspace{0.17em}\hspace{0.17em}}$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}0\mathrm{\hspace{0.17em}\hspace{0.17em}}$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}0\mathrm{\hspace{0.17em}\hspace{0.17em}}$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}1\mathrm{\hspace{0.17em}\hspace{0.17em}}$
Full-Bridge NonInverting Buck-Boost	$\mathrm{\hspace{0.17em}\hspace{0.17em}}0\mathrm{\hspace{0.17em}\hspace{0.17em}}$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}0\mathrm{\hspace{0.17em}\hspace{0.17em}}$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}-1\mathrm{\hspace{0.17em}\hspace{0.17em}}$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}1\mathrm{\hspace{0.17em}\hspace{0.17em}}$
Watkins-Johnson	$\mathrm{\hspace{0.17em}\hspace{0.17em}}1\mathrm{\hspace{0.17em}\hspace{0.17em}}$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}0\mathrm{\hspace{0.17em}\hspace{0.17em}}$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}0\mathrm{\hspace{0.17em}\hspace{0.17em}}$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}1\mathrm{\hspace{0.17em}\hspace{0.17em}}$
Inverse of Watkins-Johnson	$\mathrm{\hspace{0.17em}\hspace{0.17em}}0\mathrm{\hspace{0.17em}\hspace{0.17em}}$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}1\mathrm{\hspace{0.17em}\hspace{0.17em}}$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}0\mathrm{\hspace{0.17em}\hspace{0.17em}}$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}1\mathrm{\hspace{0.17em}\hspace{0.17em}}$