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Chapter Objective:
Plot and sketch the frequency response of a system
Nyquist Plots
Nyquist Stability Criterion
Relative Stability
Feb-17 ME2142 Feedback Control Systems C10.1
Copyright ME, NUS. All Rights Reserved.
Frequency Response of a System
From previous chapter, we have:
Given a system ,
U(s) Y(s)
G(s)
Re
90
and 90
or Arrowindicate
directionoffrequency
0 increasing.
0,
Differentiator, , we have Im
and 90
or
0 90
0, Re
At 0, 0.5
1
0 1 and 0 0
T
At ,
and tan 1 45
As ,
0 and tan 90
The polar plot of this transfer function is a semicircle.
(*)
and
1
0
0.25 0.25
0.5 0.5 Equationofacirclewithcenterat
(0.5,0)
0 1 and 0 0
At ,
Re
1 1 2 and tan 1 45 1.0
As ,
and tan 90
where
:Large
Therefore
and tan
At 0 (or 0),
0 1 and 0 0
As (or ),
0 and tan 180
:Small
At (or 1),
and tan 90
We have
1
1
and
90 tan
Imaginary Axis
Imaginary Axis
Imaginary Axis
Real Axis
Real Axis Real Axis
1 1 1 1 1 1 1 1 1
2
2 cos 2 2cos sin 2 2sin
where
Imaginary Axis
Imaginary Axis
11
00
R
Let us define a closed path, , on
the s-plane such that 11
,0 2 . 22
3 3 2 2 1 1 00 1 1 22 33
1 33
FF Plane
Plane
is known as a function that maps 22
FF2
the complex variable from the s- 11
2
Axis
plane to the F-plane.
ImaginaryAxis
FF1
1
00
Imaginary
Case 1: 0.5 1
11
No encirclement of origin
22
Case 2: 2 1
CCW encirclement of origin 33
3
3
2
2
1
1
0
0
1
1
2
2
3
3
Real
RealAxis
Axis
Imaginary Axis
With the same closed path, , on 0
the s-plane
1
We have
2
3 2 1 0 1 2 3
Real Axis
Case 1: 0.5 1 3
F1 move in CW direction F Plane
2
No encirclement of origin
1 F2
Imaginary Axis
F1
0
Case 2: 2 1
CW encirclement of origin 1
3
3 2 1 0 1 2 3
Real Axis
Imaginary Axis
defined by
: ,0 2
Case I: 0.5
In s-plane: Real Axis
did not encircle any pole or zero.
In F-plane: 1
We have 0.8
0.6
2 0.4
3 1
Imaginary
0.2
No encirclement of 0
0.2
origin. 0.4
3 /2 0.4 0.5
Feb-17 ME2142 Feedback Control Systems C10.20
Copyright ME, NUS. All Rights Reserved.
Mathematical background
Consider another complex function
s Plane
With defined by
Imaginary Axis
: ,0 2
Case II: 1.5
In s-plane:
did not encircle any pole or zero. 5 4 3 2 1 0 1
Real Axis
2 3 4 5
In F-plane: 1.5
Encirclement of origin. 1
CW
0.5
Imaginary 0
0.5
0 0
/2 0.2 0.4 1
4.7 1.5
1 0 1 2 3 4 5
With defined by
Imaginary Axis
: ,0 2
Case III: 2.5
In s-plane:
did not encircle any pole or zero. 5 4 3 2 1 0
Real Axis
1 2 3 4 5
In F-plane: 2.5
No encirclement of origin. 2
1.5
1
0.5
Imaginary 0
0 0.026 0.5
/2 0.3 0.1 1
1.5
6
2
3 /2 0.3 0.1 2.5
0 1 2 3 4 5 6 7
Real
With defined by
Imaginary Axis
: ,0 2
Case III: 4
In s-plane:
did not encircle any pole or zero. 5 4 3 2 1 0
Real Axis
1 2 3 4 5
In F-plane: 1.5
CW encirclement of origin. 1
0.5
Imaginary 0
0 0.1
0.5
/2 0.21 0.05
2 1
Real
Imaginary
3 0.5
0
Fplane 0.5
2 1
1.5
2 1 0 1 2 3
1 Real
Imaginary
Imaginary
25
0
20
Fplane
0.2
15
0.4
0.4 0.2 0 0.2 0.4 0.6
10
Real
5
Imaginary
10
15
20
25
1 CCW encirclements on origin
20 10 0 10 20 30 40 50
Real
Imaginary
80
0
Fplane
60
0.2
40 0.2 0 0.2 0.4
Real
20
Imaginary
20
40
60
Imaginary
50
0
40
Fplane
0.1
30
0.2
0.2 0.1 0 0.1 0.2 0.3
20
Real
10
Imaginary
10
20
30
40
No CCW encirclements on origin
50
0 20 40 60 80 100 120 140 160
Real
Answer:
Yes, we can, if we have solved these two problems:
i. Define an appropriate .
ii. Define an appropriate .
ThepolesofF(s)arealsotheopenloop
polesofthesystem.
If we can find a closed-contour such that it encircle all the unstable roots of
the closed loop characteristic equation, then we can tells the stability of the
systems by just observing the number of encirclement on the origin.
H(s)
The stability of the closed-loop system can be
Im
determined by observing on the number
encirclement of the origin for F-plane
1
for on the D-contour.
The number of unstable closed-loop poles ,
can be determined by Re
origin.( 1).
Conclusion:
1 1 0
System closed-loop stable
Feb-17 ME2142 Feedback Control Systems C10.34
Copyright ME, NUS. All Rights Reserved.
Graphical interpretation of Nyquist Stability Criterion
F-plane GH-plane
Re -1 Re
1
S-plane
For a closed-loop system as shown below.
Rs Ys Re
G(s)
+
-
H(s)
The stability of the closed-loop system can be determined
by observing on the number encirclement of the -1 point GH-plane
Im
where
Z = number of unstable closed-loop poles
N = the number of clockwise encirclement on the
1 point
P = the number of poles of G(s)H(s) in the right-half
plane.
1 1
Gain is Im
1 1
Phase is
tan tan
When 0, 0
When , 0 180
Re
Nyquist condition is
We have,
0, 0 0
system is closed-loop stable.
At 0,
.
At , 0 180
At 1, 1 1 0.26 138 Re
At 5, 5 5 0.439 108
We have,
1, 0 1
system is closed-loop unstable for 1.
How can we make it stable?
Feb-17 ME2142 Feedback Control Systems C10.38
Copyright ME, NUS. All Rights Reserved.
Relative Stability
Beside stability, we also like to have some
measure on the degree of the stability Im
of a system.
In here, we introduce two measures of
1
relative stability
Kg
Gain Margin
Gain margin is defined as the reciprocal
Re
of the magnitude at the
frequency where phase angle is
180.
Phase Margin.
180 plus the phase angle of the
systems open-loop transfer function at
the frequency where
1.
Comparing (**) with a generic 2nd order system of the form , we can
deduce that the O.L.T.F. (*) can be written in the form of
where and are the damping ratio and natural undammed frequency of the
closed-loop system, respectively.
PhaseMargin,
Therefore, at this frequency, the phase is 50
40
90 tan
30
Hence the phase margin, , is
20
180
10
180 90 tan 0
0 0.5 1 1.5 2
tan DampingRatio,
Hence,
10 log 1 G(s) H(s) G(s)H(s)
Gain Phase Gain Phase Gain Phase
tan 0.01 55.01 90.1 0.00 0.6 55.01 90.6
For the overall gain and phase, 0.02 48.99 90.1 0.00 1.1 48.98 91.3
Plotting of 4040
40 135
135
135
Finding Gain Margin
2020
20 GM
GM 9090
90
6
6 6dB
00 0
6dB
4545
45
Phase(Deg)
Phase(Deg)
Phase(Deg)
Gain(dB)
Gain(dB)
Gain(dB)
168
4040
40 4545
45
12
6060
60 90
90
90
8080
80 135
135
135
168
100
100
100 180
180
180
120
120
120 225
225
225
140
140
140 270
270
270
0.01
0.01
0.01 0.1
0.1
0.1 11 1 1010
10 100
100
100
Frequency(Rad/s)
Frequency(Rad/s)
Frequency(Rad/s)
1 0.1 1 0.001
Determine the value of if the steady-state error of the output position must be
less than or equal to 0.1 to a unit ramp input. With this value of , what is the
gain margin and phase margin of the system? Find the resonant frequency
and resonant gain of the system.
1
Tracking error, , is
1
1 1
For unit ramp input, ,
lim
lim
0.1
10
. . 20 135
20 log
0 90
20 20 log
10 log 1 0.01 20 GM 45
10 log 1 0.000001
90 tan 0.1 tan 0.001 40 0
Phase(Deg)
Gain(dB)
60 45
From the plotted Bode Diagram, the
Gain and Phase margins are 80 90
140 225
160 270
0.1 1 10 100 1000
Frequency(Rad/s)