Lectures On Stability: Effect of Feedback On Frequency Response

EECS140 ANALOG CIRCUIT DESIGN
LECTURES ON STABILITY
Effect of Feedback on Frequency Response

University of California Berkeley
College of Engineering Department of Electrical Engineering and Computer Science
SB-1
O( )
IN ( )
a( )
Robert W. Brodersen
EECS140
Analog Circuit Design
Lectures on STABILITY
macro block of a ( )
aO R C
Effect of Feedback on Frequency Response (Cont.)

j RHP
SB-2

Let a ( ) be a single pole response, aO aO a ( s ) = ------------ a ( ) = ----------------- s 1 + j ------1 ---p1 p1 p 1 = p1 OUT ( s ) a (s ) T( s) ---------------- = A ( s ) = -------------------------- = 1 - -------------------- i n (s ) 1 + a (s ) f f 1 + T( s) aO ------------s 1 --- p1 aO 1 A ( s ) = ----------------------------- = -------------------------------------------------------------- aO 1 + a O f s 1 + ------------f 1 ---------------------------------- s p 1 ( 1 + a O f) 1 ---p1
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p1
Impulse
exp ( p 1 t )
LHP
exp ( p 2 t )
p2
Impulse

Let T O = a O f aO 1 A ( s ) = ------------- -------------------------------------- 1 + TO s 1 ---------------------------- p 1 (1 + T O ) Pole is at To X p1 ( 1 + T o) p 1 ( 1 + T O) p1 ( 1 + T O)
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20 log ( a o ) open loop a ( ) 1 a - closed loop A ( ) 20 log ( 1 + T o )
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ao 20 log ------------- 1 + T o
p1 5 HZ
p1 ( 1 + T o) 50 k H Z T o = 10
4
To = 0 X p1 Root Locus - motion of poles as loop Gain is increased .
Gain reduction by negative feedback reduces Gain by and increases bandwidth by

( 1 + T o)
1 ------------- 1 + T o

Why not let T O ? ( a o )d B Problems if we have more than one pole. aO -----------------------------------------------------------------s s s 1 ---- 1 --- 1 ---- p 1 p 2 p 3
SB-6

Lets look at the motion of a single pole with positive feedback : IN ( )
+
SB-7
a( )
O( )
a ( )
0.1 p 1 p1 90
0
0.1 p 2 p2 10 p 1
0.1 p 3 p3 10 p 2 10 p 3 aO a ( ) = ------------s 1 ---p1 p 1 = p1
180 0 270 0
corresponds to a sign inversion
aO s A ( s ) = ------------- ------------------------------------1 + T O p 1 (1 a O f )
At the frequency ( 10 p 2 ) the pahse shift is 180 0 or negative feedback at DC is now positive feedback.

Since, T o = ao f ao f = 1 Stable Unstable
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The condition for stability of a multipole response is the Nyquist Criteria. a (s ) a ( s) A ( s ) = -------------------------- = -------------------1 + a (s ) f 1 + T (s ) Simple Version : If Tj > 1 at the frequency where the phase of T ( j ) = 180 0 , then the circuit is unstable.
SB-9
p1 ao f < 1 ao f > 1 pole is at p 1 ( 1 a o f )
T ( j ) = T ( s)
s = j
I m {T ( j ) } T (j ) = a r c tan ---------------------------R e {T ( j ) }
If T < 1 or (1+T) < 0 the circuit is unstable

Complex Nyquist Criteria : Plot T ( j ) on complex plane. As increases count number of times 1 is circled - even number means unstable (I Think).
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IN ( )
+
SB-11
O( )
a( )
p3 <0 = 0 >0 p 2 p1
3 - Poles
T( j )
1802
<1
Worst Case Stability Condition

aO d B f = 0.1 T (j )
dB
SB-12
Effect of Feedback on Frequency Response (Cont.) SB-13

PHASE MARGIN : Difference between the actual phase shift and 180 0 when T ( ) = 1
f = 1 T ( ) = a( ) Frequency where = 180 0
20 d B T ( ) = 1 = 180 0 0dB 0.1 p 1 p 1 10 p 1 p2 0.1 p 2 10 p 2
i.e. m Phase Margin = [ T ( ) ] ( 180 0 ) if m > 0 then the amplifier is stable - typically 45 0 60 0
0.1 p 3 p3 10 p 3
1 A = --f
more gain more stable higher R OUT with more gain
90 0 180 0 270 0
ro R O U T = -----------1+T

IN ( ) a( ) Always Stable
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A s m approaches 0 the amplifier is becoming unstable. m = 30 0 m = 45 0 m = 60 0 m = 90 0
SB-15
O( )
IN ( )
a ( )
O( )
A ( ) d B closed loop gain ( A O) d B
IN ( )
a ( )
Worst Case for Stability O( ) p1 ( 1 + T )

a() A ( ) = --------------------------1 + a() f N (s ) a ( s ) = ----------D( s) N ( s) ----------D (s ) N (s ) zeros of a(s) A ( s ) = --------------------------- = ----------------------------------N ( s) D ( s) + N ( s ) f 1 + ----------- f D (s ) poles of a(s) if the feedback factor is frequency dependent, then, N f( s ) f (s ) = -----------D f( s) N (s )D ( s ) A ( s ) = ------------------------------------------------------D ( s ) D f ( s ) + N ( s) N f ( s )
SB-16
Compensation Compensation is the method in which an amplifier is modified so that it is stable. One way is to decrease f (less feedback). If 180 is the frequency where,
( a ( 180 ) ) = 180 0
0
SB-17
then if,
1 f < ----------------a ( 180 )
2
then,
T ( 180 ) = f a ( 180 )
0 0
and stability is ensured.
Narrowbanding for Compensation

This entails the addition of a dominant pole p1 aOdB p2 p3
SB-18 For,
Narrowbanding for Compensation (Cont.)
SB-19
m = 45 T ( j )
dB
add a compensation pole,

p1 ----------= C aO f P1 --------= C ao f P = 1M H z 4 a o f = 10 C = 100 Hz 90 135 or m = 45
0 0
at the fequency,
0 dB Compensation pole 90 0 180 0 270 0
m = 45 0 180
45
of phase shift from the new compensation pole. from the second pole.
Pole Splitting It is better to use an existing pole rather than add another.
SB-20
Pole Splitting (Cont.) Lets say p1 and p4 are given with,

p4 p1 C G D C GS , C D
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RL C GD in
+
then,
Output Stage OUT 1 p 2 = -----------------RD I F F C G S gm Z = -------C GD 1 p 3 = ----------R LC D
+ Diff. Pair C GB CGS CD
in
--
a1 ----------------- 1 + j p1
g m RL ---------------------------------------------------- 1 + j ------- 1 + j p 2 p 3
a2 ----------------- 1 + j p4
p4
X X
p1
p3 p2
X X
p 2 with C C
O
gm -------C GD
after C C
SB-22
A ( ) dB closed loop gain ( A O )d B < 3dB
Pole Splitting (Cont.) If we add a compensation capacitor,

1 p 2 = -----------------------------------------------------R DIFF ( 1 + g m R L ) C C gm p 3 = -------------------C GS + C D CC
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GD
in parallel with C
Lets put numbers in :

R DIFF = 10 M e g RL = 5 Meg tS E T T L E tFALL t RISE + tF A L L = ---------------------2 C GS = 0.1 p F C D = 0.1 p F rad p 1 = 10 10 6 --------sec rad p 4 = 100 10 6 --------sec a 1 = 10 3 a2 = 1
t RISE
g m = 10 3 M h o s
Pole Splitting (Cont.) Before compensation, and with,

C GD = 0 1 rad p 2 = ---------------------= 10 6 --------10 7 10 13 sec 1 rad p 3 = -----------------------------= 2 10 6 --------5 10 6 10 13 sec 10 3 a ( ) = -------------------------- 1 + j -------------- 4 10 6 10 3 5 10 6 ------------------------------------------------------------- 1 + j ------ 1 + j ---------------6 10 6 2 10 1 ------------------- 1 + j -------8 10
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Pole Splitting (Cont.) Compensate this amplifier for the worst case,
f = 1
SB-25
with,
m = 45 0
in + OUT
Worst Case Stability Condition
Pole Splitting (Cont.)

( 5 10 6 ) 13.4 d B 10 6 2 10 6 10 10 6
SB-26

P1 10 7 rad P2 = ----------------6 = ---------------6 = 2 --------5 10 5 10 sec
SB-27
10 5
= 135 0 = 225 0
Formula for
C C C G S, C D
P 2 & P 3
with
CC :
Somewhere between 2MHz and 10MHz,

= 180 1 T1
0
1 P 2 = -----------------------------------------------------R DIFF ( 1 + g m R L) C C gm P3 = -------------------C GS + C D g m Z = CC
but the loop gain,

T 10 5
So how to compensate it? Add Cc so that the gain at the first non-dominant pole (w p1 ). since wp3 will move to a higer frequency and wp2 will move lower

C C = 10 pF 1 P2 = ------------------------------------------10 7 5 103 C C 10 3 9 P 3 = ----------------------- 12 = 5 10 r a d sec = 5000 M r a d sec 0.2 10 10 3 8 rad Z = ---------= 10 -------- 11 10 sec
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in
SB-29
+ OUT
So by adding a 10pF capacitor this circuit is made stable.
Slew Rate Limited
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Slew Rate & Compensation Miller Op Amp

CC I SS I SS GAIN id ----2 id ----2 0 M1 M2 I SS I SS o
SB-31
small m
Output Stage A = 1
large m
Gm cd I SS
Slew Rate & Compensation Miller Op Amp (Cont.)

in + OUT
SB-32

Circuit situation with large i d CC basically VB
SB-33
A few 100mV I SS
o Slewrate
d o I SS = C C ------dt Slew Rate Volts/ sec 10 low 20 50 med 100 high
or
I d o SS - = slew rate ------- = CC dt linear with time
1 I SS o = -- I SS d t = - t C C

T ( ) aO 1 p1 p2
SB-34

CC
+ -
SB-35
id
aD I F F R D, D I F F
ag
a DIFF = g m R D, D I F F m = 45 f = 1 a o = aD I F F ag 1 P2 P 2 C = ------------------------------ = ------- = -----------------R D ,d i f f a g C C ao a DIFF a g P2 1 P2 --------= ------------------------ = ----------------------aD I F F R D, D I F F C C g m R D, D I F F gm C C = ------P 2
Location of compensation pole :

P2 C = ------ao
The size of the compensation depends only on
gm & P 2

2 I DS g m = ------------V DSAT 2 I DS V D S A T = ------------gm gm1
IS S I D S = -----2
SB-36
Slew Rate & Compensation Miller Op Amp (Cont.) How to increase slew rate :
Increase V DSAT 1 More current, smaller W L Increase P 2 gm -------------------1 + g mR S
SB-37
d o I SS I SS ------- = - = ----- P2 dt CC gm1
I SS ----- 2 2 = ------------ P2 g m1
Slew rate limits max change :

A A sin S t Max rate of change here A A = 2V S = 10 2
6
d Slewrate = -------o = VD S A T 1 P2 dt V DSAT = 0.1 V P2 = 10 M H z 2 SR = 6.3 V sec
d VSIG ----------- = S A cos S t dt Max Value S A
SR = 13 V sec
MOS Miller Amp - Right Half Plane Zero

CC
+
SB-38
MOS Miller Amp - Right Half Plane Zero (Cont.)

1 Z = -------------------------------1 - R Z CC g m gm C C
SB-39
ignore for now o gm 1 C2 R O U T, G A I N
i diff R o ,d i f f
C1
-
RZ
CC o RL
CC 1 -------------------------------1 C C ----- R t gm
also
RL removes zero entirely
i diff

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EECS140 ANALOG CIRCUIT DESIGN

EECS140 ANALOG CIRCUIT DESIGN

Effect of Feedback on Frequency Response

Analog Circuit Design

EECS140 ANALOG CIRCUIT DESIGN

EECS140 ANALOG CIRCUIT DESIGN

Effect of Feedback on Frequency Response (Cont.)

Effect of Feedback on Frequency Response (Cont.)

EECS140 ANALOG CIRCUIT DESIGN

EECS140 ANALOG CIRCUIT DESIGN

Effect of Feedback on Frequency Response (Cont.)

Effect of Feedback on Frequency Response (Cont.)

To = 0 X p1 Root Locus - motion of poles as loop Gain is increased .

Gain reduction by negative feedback reduces Gain by and increases bandwidth by

EECS140 ANALOG CIRCUIT DESIGN

EECS140 ANALOG CIRCUIT DESIGN

Effect of Feedback on Frequency Response (Cont.)

Effect of Feedback on Frequency Response (Cont.)

0.1 p 3 p3 10 p 2 10 p 3 aO a ( ) = ------------s 1 ---p1 p 1 = p1

corresponds to a sign inversion

EECS140 ANALOG CIRCUIT DESIGN

EECS140 ANALOG CIRCUIT DESIGN

Effect of Feedback on Frequency Response (Cont.)

Effect of Feedback on Frequency Response (Cont.)

p1 ao f < 1 ao f > 1 pole is at p 1 ( 1 a o f )

If T < 1 or (1+T) < 0 the circuit is unstable

EECS140 ANALOG CIRCUIT DESIGN

EECS140 ANALOG CIRCUIT DESIGN

Effect of Feedback on Frequency Response (Cont.)

Effect of Feedback on Frequency Response (Cont.)

Worst Case Stability Condition

EECS140 ANALOG CIRCUIT DESIGN

EECS140 ANALOG CIRCUIT DESIGN

Effect of Feedback on Frequency Response (Cont.)

Effect of Feedback on Frequency Response (Cont.) SB-13

f = 1 T ( ) = a( ) Frequency where = 180 0

20 d B T ( ) = 1 = 180 0 0dB 0.1 p 1 p 1 10 p 1 p2 0.1 p 2 10 p 2

more gain more stable higher R OUT with more gain

EECS140 ANALOG CIRCUIT DESIGN

EECS140 ANALOG CIRCUIT DESIGN

Effect of Feedback on Frequency Response (Cont.)

Effect of Feedback on Frequency Response (Cont.)

A ( ) d B closed loop gain ( A O) d B

Worst Case for Stability O( ) p1 ( 1 + T )

EECS140 ANALOG CIRCUIT DESIGN

EECS140 ANALOG CIRCUIT DESIGN

Effect of Feedback on Frequency Response (Cont.)

and stability is ensured.

EECS140 ANALOG CIRCUIT DESIGN

EECS140 ANALOG CIRCUIT DESIGN

Narrowbanding for Compensation

Narrowbanding for Compensation (Cont.)

add a compensation pole,

0 dB Compensation pole 90 0 180 0 270 0

EECS140 ANALOG CIRCUIT DESIGN

EECS140 ANALOG CIRCUIT DESIGN

Pole Splitting (Cont.) Lets say p1 and p4 are given with,

+ Diff. Pair C GB CGS CD

EECS140 ANALOG CIRCUIT DESIGN

EECS140 ANALOG CIRCUIT DESIGN

Pole Splitting (Cont.) If we add a compensation capacitor,

Lets put numbers in :