LINEAR CONTROL

SYSTEMS
Ali Karimpour
Associate Professor
Ferdowsi University of Mashhad
 Lecture 20

Lecture 20

Frequency domain charts

Topics to be covered include:
 Relative stability measures for minimum phase systems.
 Gain margin.
 Phase margin.
 Nichols chart or gain phase plot.
 Stability analysis with gain phase plot.
 Bode plot.
 Stability analysis with Bode plot.
 Step by step Bode plot construction.

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Dr. Ali Karimpour Feb 2013
 Lecture 20

Stability margins

Stability Is Not A Yes/No Proposition

It's not enough to know that a system is stable or unstable. If a

system is just barely stable, then a small gain in a system
parameter could push the system over the edge, and you will
often want to design systems with some margin of error.

If you're going to do that, you'll need some measure of how

stable a system is. To get such measures - and there are at least
two that are widely used.

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Dr. Ali Karimpour Feb 2013
 Lecture 20

Stability margins
R(s)+
Gc (s ) G (s)
C (s )
Phase Margin
-

Phase margin is the most widely used

measure of relative stability when
working in the frequency domain.
ω=ω180
We define phase margin as the phase
ω=ωc
(angle) that the frequency response
would have to change to move to the
-1 point.
G (jω) Gc(jω)
c : Is the gain crossover frequency
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Dr. Ali Karimpour Feb 2013
 Lecture 20

Phase margin computation

R (s )+ C (s)
Gc (s ) G (s )
-

The phase margin,  m is defined as follows:

ω=ω180

 m  180  G ( jc )Gc ( jc )

ω=ωc

How to derive c
G (jω) Gc(jω)

Let G ( j )Gc ( j )  1  c 
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Dr. Ali Karimpour Feb 2013
 Lecture 20

Stability margins

Phase Margin

The two different Nyquist plot above would lead to two different
phase margins. The system with the frequency response with the
dashed line is less stable.
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Dr. Ali Karimpour Feb 2013
 Lecture 20

Stability margins

Phase Margin

The two different gains shown for the

Nyquist plot below would lead to the
same phase margins. But do they have -1

the same stability margin? Clearly no.

Thus we need another measure of

relative stability.

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Dr. Ali Karimpour Feb 2013
 Lecture 20

Stability margins
R (s )+ C (s )

-
Gc (s ) G (s) Gain Margin
Gain margin is another widely used
measure of relative stability when
working in the frequency domain.
ω=ω180
We define gain margin as the gain
that the frequency response would
ω=ωc
have to increase to move to the -1
point.
G (jω) Gc(jω) 180 : Is the phase crossover frequency
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Dr. Ali Karimpour Feb 2013
 Lecture 20

Gain margin computation

R(s)+ C (s)
Gc (s ) G (s) The gain margin, GM is defined as follows:
-

GM  1 / G ( j180 )Gc ( j180 )

But gain margin is usually specified in db.

ω=ω180

GM  20 log1 / G ( j180 )Gc ( j180 ) 

ω=ωc

How to derive 180

Let  G ( j )Gc ( j )   180

G (jω) Gc(jω)

 180 
or Im G ( j )Gc ( j )   0 9
Dr. Ali Karimpour Feb 2013
 Lecture 20

Stability margins

Phase and Gain Margin

Same Phase Margin

-1
But different Gain Margin

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Dr. Ali Karimpour Feb 2013
 Lecture 20

Sensitivity and complementary sensitivity

peak
R (s )+ C (s )
Gc (s ) G (s)
-

Gc ( s)G ( s) L( s ) 1 1
L( s)  Gc ( s)G ( s ) T ( s)   S ( s)  
1  Gc ( s )G ( s) 1  L( s) 1  Gc ( s )G ( s ) 1  L( s)

|L|

MP Ms
|T |

|S|

Frequency (rad/s) 11
Dr. Ali Karimpour Feb 2013
 Lecture 20

Sensitivity peak
R(s)+ C (s )
1
Gc (s ) G (s) Ms
-

1  G ( j0 )Gc ( j0 )

1
S ( j )   S 1 ( j 0 )

1  G ( j )Gc ( j ) 0

G (jω) Gc(jω)

The sensitivity peak, Ms is defined as follows:

1
M s  max S ( j ) 
 1  G ( j s )Gc ( j s )
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Dr. Ali Karimpour Feb 2013
 Lecture 20
Nyquist chart (polar plot) R(s)+ C (s )
Gc (s ) G (s)
construction -
150
Let Gc ( s )G ( s ) 
s ( s  5)( s  10)
Nyquist Diagram
 Gc ( j )G ( j )  7   20
0  5
1 2.93  107  4

2 1.37  123 -0.5

 3
3 0.82  138
-1 2
4 0.54  151 Imaginary Axis


5 0.38  162 -1.5

6 0.27  171 -2

7 0.20  179
-2.5
8 0.16  187   1
9 0.12  193 -3
-2.5 -2 -1.5 -1 -0.5 0 0.5 1
20 0.02  229 
Real Axis

Gc ( j1)G ( j1) 
150
 2.93  107 ?   180  ?7
c  2?.6 PM  45 GM 13???
? db
j ( j1  5)( j1  10) Dr. Ali Karimpour Feb 2013
 Lecture 20

Nichols chart (gain phase plot) R(s)+

Gc (s ) G (s)
C (s )

construction -

150
Let Gc ( s )G ( s )  Nichols Chart
s ( s  5)( s  10) 20
 Gc ( j )G ( j ) 20 log Gc ( j )G ( j )
10  1

1 2.93  107  9.33 db 2

0
2 1.37  123 2.71 db  3
Open-Loop Gain (dB)
4
3  5
0.82  138  1.71 db
-10
 6
4 0.54  151  5.29 db  8

5 0.38  162  8.42 db -20

6 0.27  171  11 .23 db

-30
7 0.20  179  13.80 db   20
8 0.16  187   16.18 db -40
-270 -225 -180 -135 -90
9 0.12  193 
 18.39 db Open-Loop Phase (deg)

20 0.02  229  35.77 db

?   180  ?7 GM 13
c  2?.6 PM  45 ?.8 db
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Dr. Ali Karimpour Feb 2013
 Lecture 20

R(s)+ C (s )
Bode plot construction -
Gc (s ) G (s)

150
Let Gc ( s )G ( s )  Bode Diagram
s ( s  5)( s  10) 20

 Gc ( j )G ( j ) 20 log Gc ( j )G ( j ) 0

Magnitude (dB)
-20
1 2.93  107 
9.33 db -40

2 1.37  123 2.71 db -60

3 0.82  138  1.71 db -80

-90
4 0.54  151  5.29 db
-135
5 0.38  162  8.42 db
Phase (deg)

-180
6 0.27  171  11 .23 db
-225
7 0.20  179 
 13.80 db
-270
8 0.16  187 
 16.18 db 101
0 2 3 4 5 67 10
10
1 20 30 100
10
2

Frequency (rad/sec)
9 0.12  193 
 18.39 db
20 0.02  229  35.77 db ?   180  ?7 GM 13
c  2?.5 PM  48 15? .8 db
Dr. Ali Karimpour Feb 2013
 Step by step bode plot construction Lecture 20

k ( s  z1 )(s  z 2 )
Let Gc ( s )G ( s )  2
s ( s  p1 )(s  p2 )( s  p3 )

Step 1:
k z1 z 2 ( s / z1  1)( s / z 2  1) ( s / z1  1)( s / z 2  1)
Gc ( s )G ( s )   k
p1 p2 p3 s ( s / p1  1)( s / p2  1)( s / p3  1)
2 s 2
( s / p1  1)( s / p2  1)( s / p3  1)

Step 2:
20 log Gc ( j )G ( j )  20 log k  20 log j / z1  1  20 log j / z 2  1
1 1 1
 20 log 1 /( j ) 2  20 log  20 log  20 log
j / p1  1 j / p 2  1 j / p3  1
Step 3:
Gc ( j )G ( j )  k  ( j / z1  1)  ( j / z 2  1)  (1 /( j ) 2 )
1 1 1
 ( )  ( )  ( )
j / p1  1 j / p 2  1 j / p3  1 16
Dr. Ali Karimpour Feb 2013
 Step by step bode plot construction Lecture 20

( s / z1  1)( s / z2  1)
Let Gc ( s)G ( s)  k
s 2 ( s / p1  1)( s / p2  1)( s / p3  1)

20 log Gc ( j )G ( j )  20 log k  20 log j / z1  1  20 log j / z 2  1  20 log 1 /( j ) 2

1 1 1
 20 log  20 log  20 log
j / p1  1 j / p 2  1 j / p3  1

Gc ( j )G ( j )  k  ( j / z1  1)  ( j / z 2  1)  (1 /( j ) 2 )
1 1 1
 ( )  ( )  ( )
j / p1  1 j / p 2  1 j / p3  1

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Dr. Ali Karimpour Feb 2013
 Lecture 20

Step by step bode plot construction

20 log Gc ( j )G ( j )  20 log k Gc ( j )G ( j )  k

Bode Diagram
20
Magnitude (db)

0
Magnitude (dB)

20 log(
-20 k)

-40

-60

-80
-90
Phase (deg)
Phase (deg)

-135
0 or 180
Why 0 or 180?
It depends to
sign of k.
-180
10
0 1
10
2
10 10
3
18
Frequency (rad/sec) Dr. Ali Karimpour Feb 2013
 Lecture 20

Step by step bode plot construction

20 log Gc ( j )G ( j )  20 log j / z1  1 Gc ( j )G ( j )  ( j / z1  1)

Let z1  20
Bode Diagram
40
50

30
Magnitude (db)

40
20 db / dec
Magnitude (dB)

20
30

10
20

0
10

 10
0
90
90
Phase (deg)
Phase (deg)

45
45

00
1000
10
11
10
10 z1 22
10
10 10
10
33 19
Frequency(rad/sec)
Frequency (rad/sec) Dr. Ali Karimpour Feb 2013
 Lecture 20

Step by step bode plot construction

20 log Gc ( j )G ( j )  20 log 1 /( j ) 2 Gc ( j )G ( j )  (1 /( j ) 2 )

Bode Diagram
20
50

040
Magnitude (db)
Magnitude (dB)

 20
30

 40
20 -40 db/ dec

 10
60

 800
 90
90
Phase (deg)
Phase (deg)

 180
45

 270
0
00 11 22 33
10
10 10
10 10
10 10
10 20
Frequency(rad/sec)
Frequency (rad/sec) Dr. Ali Karimpour Feb 2013
 Lecture 20

Step by step bode plot construction

1 1
20 log Gc ( j )G ( j )  20 log Gc ( j )G ( j )  ( )
j / p1  1 j / p1  1

Let p1  20
Bode Diagram
10
50

040
Magnitude (db)
Magnitude (dB)

 10
30
-20 db / dec
 20
20

 10
30

 400
090
Phase (deg)
Phase (deg)

 45
45

 900
10
10
00
1011
10 p1 10
10
22
1033
10 21
Frequency(rad/sec)
Frequency (rad/sec) Dr. Ali Karimpour Feb 2013
 Lecture 20

Example 1: Derive the GM and PM of following system

by use of Bode plot.
R (s )+ 500 C (s)

- s( s  5)( s  10) Bode Diagram

20
50

040

Magnitude (db)
Magnitude (dB)
Open loop transfer function is:  20
30

 40
20
500
G (s)   10
60
s( s  5)( s  10)  800
 90
90
10

s( s / 5  1)( s / 10  1)
Phase (deg)
Phase (deg)

 180
45

 270
0
00 11 22 33
10
10 10
10 10
10 10
10
Frequency(rad/sec)
Frequency (rad/sec) 22
Dr. Ali Karimpour Feb 2013
 Lecture 20

Example 1: Derive the GM and PM of following system

by use of Bode plot.
R (s )+ 500 C (s)
Bode Diagram
20
50
- s( s  5)( s  10)
040

Magnitude (db)
Magnitude (dB)
 20
30

 40
20

c  6? .5 rad / sec  10
60

 800
 90
90
 PM  10
Phase (deg)
Phase (deg)

180  ?7.2 rad / sec  180

45

 GM  3 db  270
0
00 11 22 33
10
10 10
10 10
10 10
10
Frequency(rad/sec)
Frequency (rad/sec)
23
Dr. Ali Karimpour Feb 2013
 Lecture 20

Exercises

1: Derive the gain crossover frequency, phase crossover frequency ,

GM and PM of following system by use of Bode plot.

R(s )+ C (s)
1
200
- s( s  10)

Answer : c  12.5 , 180   , GM   and  m  38

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Dr. Ali Karimpour Feb 2013
 Lecture 20

Exercises

2 The polar plot of an open loop system with negative unit feedback is
shown.
a) Find the open loop transfer function.
b) Find the closed loop transfer function.
Nyquist Diagram
2

1.5

0.5
Imaginary Axis

-0.5   11 .18 rad / sec  0.447

-1

-1.5 150 150

answer a : b: 2
s ( s  25) s  25s  150
-2
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0 25
Real Axis
Dr. Ali Karimpour Feb 2013
 Lecture 20

Exercises

3 The Bode plot of an open loop system with negative unit feedback is
shown.
a) Find the open loop transfer function.
b) Find the closed loop transfer function.
Bode Diagram
40

20
Magnitude (dB)

-20

-40

-60

-80
-90
Phase (deg)

-135

200 200
answer a : b: 2
s ( s  20) s  20s  200
-180
10
0 1
10
2
10
3
10 26
Frequency (rad/sec) Dr. Ali Karimpour Feb 2013