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A. Theory
The system is atrictly stable if
The degree of the numerator of H(s) (H(z)) the degree of the denominator of H(s)
(H(z)) and/or
The poles of H(s) left half plane (interior of the unit circle for the discrete-time
case).
Wide sense stable systems
the poles of H(s), sp imaginary axis j /
the poles of H(z) zp unit circle r=1 (discrete-time).
Strictly stable system if and only if the denominator of the transfer function H(s) is a
Hurwitz polynomial.
Q(s) strictly/wide sense Hurwitz if
Has real coefficients, (strictly or not) positive +
The roots of Q(s) (poles) are in the left half plane (which means Re{z} < 0)
A strictly Hurwitz polynomial has all the minors of nth order, n > 0 (its zeros are in the
closed left half plane).
A wide sense Hurwitz polynomial can have some minors zero k =0, and the rest
positive (some of its zeros are in the closed left half plane and if there are zeros on the
imaginary axis).
a1
a0
a3
a2
a5
a4
a7
a6
...
...
0
0
a1
a3
a5
...
n = 0
a2
a4
a 6 ...
a1
a3
...
...
Y (s)
H (s)
=
(continuous time)
X ( s) 1+ H ( s)G ( s)
.
... an
Y ( z)
X (z)
H ( z)
1 + H ( z )G ( z )
(discrete time)
Y (s)
kH ( s )
=
X ( s) 1+ H ( s)G ( s)
1
R (s) = + H (s)G (s)
k
respectively
Y (s)
H (s)
=
X ( s ) 1 + kH ( s ) G ( s )
1
R( z) = + H ( z)G ( z)
k
1
+ H ( s ) G ( s ) doesnt have zeros in the right half plane or the imaginary axis j
k
=> H ( j ) G ( j ) = Nyquist hodograph of the open loop system. The number of
R (s) =
( , )
complete rotations around the point (-1/k, 0) in counter-clockwise sense is n times where
n = ni + nc 2 ,
ni = number of poles from the right half plane and nc = number of poles from the
imaginary axis (continuous time)
R( z) =
1
+ H ( z ) G ( z ) doesnt have zeros outside the unit circle r=1 (z=ej)
k
ni = number of poles outside the unit circle r=1, nc = number of poles on the unit
circle r=1 (discrete time)
B. Problems
Problem 1. Consider the amplifier with the transfer function
Ga
H (s) =
s+a
a) Find the DC gain of the amplifier.
b) What is the time constant of the system?
c) The bandwidth of the amplifier is the frequency where the magnitude of the
frequency response is 2 times smaller than the DC gain. What is the bandwidth
of this amplifier?
d) The amplifier is placed into a feedback loop:
x(t)
y(t)
Ga
s+a
K
What is the DC gain, the time constant and the bandwidth of the feedback
system?
e) Find the value k for which the bandwidth of the closed loop system is double the
bandwidth in open loop.
Solution.
a) H ( j ) =
Ga
. The DC gain is H ( 0 ) = G
j + a
b)
1 L at
e (t ) .
s+a
h ( t ) = Ga e at ( t ) =
1
a
G
Ga
. But H ( j ) =
2
2 + a2
Ga
G
=
T = a
2
M2 + a 2
c) The bandwidth is B = H ( jM ) =
d)
Y ( s ) = X ( s ) kY ( s ) H ( s )
Y ( s ) = X ( s ) H ( s ) kY ( s ) H ( s )
Y ( s ) 1 + kH ( s ) = X ( s ) H ( s )
Ga
Y (s)
H (s)
=
= s + a = H b ( s )
X ( s ) 1 + kH ( s ) 1 + k Ga
s+a
G
The DC gain of the feedback system is H closed ( 0 ) =
1 + kG
Ga
Ga
H closed ( s ) =
=
s + a + kGa s + a (1 + kG )
The time constant is =
1
a (1 + kG )
H closed ( ) =
Ga
j + a (1 + kG )
Ga
G
=
jc closed + a (1 + kG )
2 (1 + kG )
Ga
(c closed )
+ a 2 (1 + kG )
a2
G
2 (1 + kG )
=
1
(c closed ) + a (1 + kG ) 2 (1 + kG )
2
2
2
2a 2 (1 + kG ) = (c closed ) + a 2 (1 + kG )
c closed = a (1 + kG )
2
c closed = 2T a (1 + kG ) = 2a k =
1
.
G
Problem 2.
Determine the transfer function for each system represented below.
a)
x(t)
H0(s)
u(t)
H1(s)
G(s)
y(t)
b)
H0(z)
u[n]
x[n]
w[n]
H1(z)
v[n]
y[n]
G(z)
c)
x(t)
u(t)
H2(s)
v(t)
w(t)
H1(s)
y(t)
G1(s)
G2(s)
Solution.
a)
U ( s) = X ( s) H0 ( s)
Y ( s ) = U ( s ) Y ( s ) G ( s ) H1 ( s )
Y ( s ) 1 + G ( s ) H1 ( s ) = U ( s ) H1 ( s )
Y (s)
H1 ( s )
=
U ( s ) 1 + G ( s ) H1 ( s )
Y (s)
H1 ( s )
=
X ( s ) H 0 ( s ) 1 + G ( s ) H1 ( s )
b)
Y (s)
H ( s ) H0 ( s )
= 1
X ( s ) 1 + G ( s ) H1 ( s )
u [ n ] = x [ n ] w [ n ] i V ( z ) = U ( z ) H1 ( z )
U ( z ) = X ( z ) W ( z ) = X ( z ) G ( z ) V ( z ) = X ( z ) G ( z ) H1 ( z ) U ( z )
U ( z ) 1 + G ( z ) H1 ( z ) = X ( z )
U ( z) =
V ( z)
X ( z)
, but U ( z ) =
1 + G ( z ) H1 ( z )
H1 ( z )
V ( z) =
H1 ( z ) X ( z )
1 + G ( z ) H1 ( z )
Y ( z ) = X ( z ) H0 ( z ) + V ( z )
= X ( z ) H0 ( z ) +
H1 ( z ) X ( z )
1 + G ( z ) H1 ( z )
Y ( z)
H1 ( z )
= H0 ( z ) +
X ( z)
1 + G ( z ) H1 ( z )
c) U ( s ) = X ( s ) G2 ( s ) Y ( s )
V (s) = U (s) H2 (s)
W ( s ) = V ( s ) Y ( s ) G1 ( s )
Y ( s ) = W ( s ) H1 ( s )
Y ( s ) = H1 ( s ) V ( s ) Y ( s ) G1 ( s )
Y ( s ) = H1 ( s ) H 2 ( s ) U ( s ) Y ( s ) G1 ( s )
= H1 ( s ) H 2 ( s ) X ( s ) G2 ( s ) Y ( s ) Y ( s ) G1 ( s )
Y ( s ) 1 + H1 ( s ) H 2 ( s ) G2 ( s ) + H1 ( s ) G1 ( s ) = H1 ( s ) H 2 ( s ) X ( s )
Y (s)
H1 ( s ) H 2 ( s )
=
.
X ( s ) 1 + H1 ( s ) H 2 ( s ) G2 ( s ) + H1 ( s ) G1 ( s )
Problem 3. Consider the system described by the linear constant-coefficients differential
equation
y + 6 y + 9 y + y = x + 6 x + 8 x
with null initial conditions.
Study the stability of the system based on the Hurwitz stability criterion.
Solution.
s 3Y ( s ) + 6 s 2Y ( s ) + 9 sY ( s ) + Y ( s ) = s 3 X ( s ) + 6 s 2 X ( s ) + 8sX ( s )
Y (s)
s 3 + 6 s 2 + 8s
=
X ( s ) s 3 + 6s 2 + 9s + 1
The numerator has positive coefficients, which means we can apply Hurwitz criterion.
a0 = 1, a1 = 6, a2 = 9, a3 = 1
We compute the determinant:
a1 a3 a5 6 1 0
3 = a0 a2 a4 = 1 9 0
0 a1 a3 0 6 1
x(t)
y(t)
H(s)
G(s)
1
s +1
f. H ( s ) G ( s ) =
b. H ( s ) G ( s ) =
1
s 1
g. H ( s ) G ( s ) =
1
s
( s + 1) + 1
10
1
d. H ( s ) G ( s ) = 2
s 1
1
e. H ( s ) G ( s ) =
2
( s + 1)
c. H ( s ) G ( s ) =
( s + 1)
( s + 1)
(homework).
h. H ( s ) G ( s ) =
s +1
s2 4
i. H ( s ) G ( s ) =
1
s + 2s + 2
2
Solution.
1
1
H ( j ) G ( j ) =
, sp = -1
s +1
j + 1
In order to sketch the hodograph we can use the Bode plots.
1
H ( j ) G ( j ) =
2 +1
a. H ( s ) G ( s ) =
2
20 log H ( j ) G ( j ) = 10 log ( + 1) = 10 log + 1
1
arg { H ( j ) G ( j )} = arg (1 + j ) = arctg = arctg
1
2
= -1
Counter-clockwise
=0
=1
The open loop system is stable the hodograph doesnt have to make rotations around
1
the point of coordinates , 0
k
1
1
< 0 k > 0 or > 1 k ( 1, 0 )
k
k
The closed loop system is stable for k>-1!
1
s 1
The open loop system is unstable with one pole in the left half plane sp=1
1
H ( j ) G ( j ) =
2 +1
arg { H ( j ) G ( j )} = arg ( 1 + j ) = + arctg = + arctg
1
1
j + 1
j + 1
=
= 2
H ( j ) G ( j ) =
2
+1
j 1 1
1
= 2
+j 2
+1 +1
b. H ( s ) G ( s ) =
Re
Im
Re { H ( j ) G ( j )}
Im { H ( j ) G ( j )}
0
1
-1
-1/2
0
0
-1/2
0
The Nyquist hodograph makes rotations in counter-clockwise sense. The system is stable
1
if the point of coordinates , 0 is encircled one time in counterclockwise sense:
k
1
k > 1 k > 1
counterclockwise
=0
=1
10
1
. The open loop system is stable.
s
( s + 1) + 1
10
1
1
H ( j ) G ( j ) =
H ( j ) G ( j ) =
2
j
2
( j + 1) + 1
1+ 1+
10
10
c. H ( s ) G ( s ) =
2
2
20 log H ( j ) G ( j ) = 10 log 1 + 10 log 1 +
1
10
arg { H ( j ) G ( j )} = arctg ( ) arctg
10
1
k < 0
k > 1 .
1
>1
k
1
The sense of rotation of the hodograph isnt counterclockwise the point , 0
k
shouldnt be encircled.
11
counterclockwise
=0
=10
=1
1
s p1,2 = 1 . The open loop system is unstable.
s 1
1
1
H ( j ) G ( j ) =
= 2
= Re { H ( j ) G ( j )} ; Im { H ( j ) G ( j )} = 0
2
1
+1
d. H ( s ) G ( s ) =
Re { H ( j ) G ( j )}
0
1
-1 -1/2 0
Sensul e antiorar
=0
=1
12
The open loop system has a pole in the right half plane; the closed loop system is stable if
the critical point is encircled one time in counter-clockwise:
1
1 < < 0 k > 1
k
e. H ( s ) G ( s ) =
( s + 1)
H ( j ) G ( j ) =
H ( j ) G ( j ) =
( j + 1)
2
1
20 log H ( j ) G ( j ) = 20 log 1 +
1
1+ 2
arg { H ( j ) G ( j )} = 2 arctg ( )
The open loop system is stable, therefore the critical point shouldnt be encircled:
1
1
< 0 sau > 1 k > 0 sau 1 < k < 0 k > 1
k
k
13
Counterclockwise
=0
=10
=1
f. H ( s ) G ( s ) =
( s + 1)
H ( j ) G ( j ) =
H ( j ) G ( j ) =
1
1+ 2
( j + 1)
2 3
20 log H ( j ) G ( j ) = 10 log 1 +
1
arg { H ( j ) G ( j )} = 3arctg ( ) .
Counterclockwise sense
1
1
1
> 1 or < 1 < k < 0 or k < 8 k ( ,8 ) ( 1, 0 )
k
k
8
14
Counterclockwise
=0
=
= 3
Re=-1/8
=1
g. homework.
s +1
s p1,2 = 2 Re {s p1} > 0
s2 4
The open loop system is unstable.
j + 1
1
H ( j ) G ( j ) =
,
Re { H ( j ) G ( j )} = 2
2
4
+4
h. H ( s ) G ( s ) =
Im { H ( j ) G ( j )} =
Re { H ( j ) G ( j )}
+4
Im { H ( j ) G ( j )}
0
1
-1-4
-1/5
0
0
-1/5
0
15
Counter clockwise
=0
=1
1
s p1,2 = 1 j Re {s p1,2 } < 0
s + 2s + 2
It results the open loop system is stable.
i. H ( s ) G ( s ) =
H ( j ) G ( j ) =
1
2 2 2 j
2 2 2 j
=
=
2 + 2 j + 2 ( 2 2 )2 + 4 2
4 + 4
Re { H ( j ) G ( j )} =
2 2
2
; Im { H ( j ) G ( j )} =
4
4 +
4 + 4
Re { H ( j ) G ( j )}
1/2 0
Im { H ( j ) G ( j )}
k ( 2, )
16
2 2 /6 0
1
1 1
< 0 sau >
k
k 2
sau k > 2
k >0
Counter-clockwise
= 2
17
=0