  Dynamics and stability of average current-mode control of buck converters are
analyzed by sampled-data and harmonic balance analyses. An exact sampled-data
model is derived. A new continuous-time model "lifted" from the sampled-data
model is also derived, and has frequency response matched with experimental
data reported previously. Orbital stability is studied and it is found
unrelated to the ripple size of the current-loop compensator output. An
unstable window of the current-loop compensator pole is found by simulations,
and it can be accurately predicted by sampled-data and harmonic balance
analyses. A new S plot accurately predicting the subharmonic oscillation is
proposed. The S plot assists pole assignment and shows the required ramp slope
to avoid instability.
