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# SoC Presentation Title 2004

## ME2142 - Feedback Control Systems

Part II: Frequency Response
Tutorial Problem Set 2

## Tutor: Li Jiaxin, PhD

Office: T-Lab, Level 4, UAV Group
Email: jli@u.nus.edu

Introduction

## Feedback Control System: Analysis and Design

Input

Gc (s )
Controller

1 + Gc ( s )G p ( s ) = 0

G p (s)
Plant

Output

Gc ( s )G p ( s )
Output
=
Input 1 + Gc ( s )G p ( s )

## 1. Routh Stability Criterion

2. Root Locus Method
3. Nyquist Stability Criterion

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## Polar Plots (also known as Nyquist Plot)

It is the plot of Gain versus Phase Angle, as is varied from zero to infinity.

## Nyquist Stability Criterion

It determines the stability of a closed-loop system from its open-loop frequency
response and open-loop poles.

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## Main advantage is that frequency response characteristic of the system is

depicted in one plot.

and Phase Angle

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Order Title
System

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System

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Order
System

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Polar Plot
Where it begins

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Polar Plot
Where it ends

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Stable

## Special Case! => Relative Stability

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Rela:ve Stability
Bode Plot

Polar Plot

Note: Only apply for Minimum Phase System(No positive open loop poles and zeros)! Non
-minimum Phase System may have negative phase margin and gain margin but can still be
stable! Always check open loop poles and zeros before use it!

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Rationalizing by multiplying
by its conjugate

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## 1. Split into Re and Im parts.

2. Find Gain and Phase for varying .

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Nyquist Plot

Bode Plot

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-1

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-1

## Another method: No encirclement of -1 point. N=0

Refer: http://www.atp.ruhr-uni-bochum.de/rt1/syscontrol

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Z = N+P
P = 1
N = 0
Therefore, Z = N+P = 1 (Unstable!)

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A
H

D
E

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## SoC Presentation Title 2004

THANK YOU

Li Jiaxin
Email: jli@u.nus.edu