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Many power electronic system designs focus on energy conversion circuit parameters rather than controller parameters which drive the circuits. Controllers must be designed on the basis of circuit models, which are generally nonlinear systems (Brockett & Wood (1974)), in order to improve performance of controlled systems. The performance of controlled systems depend on nominal models to design the controllers. More broad class of models controllers are designed for, better control performance may be given. Many works (e.g. Kassakian et al. (1991)) design controllers for linearized models because it is not easy to concretely design controllers for the nonlinear models. Controller design in consideration of nonlinear models has been discussed since a work by Banerjee & Verghese (2001) because a research on nonlinear controller design has grown in those times.

Lyapunov-Based Robust and Nonlinear Control for Two-Stage Power Factor Correction Converter