Frequency Domain Methods: ROBT303 Linear Control Theory With Lab

ROBT303 Linear Control Theory with Lab
Frequency domain methods

Tohid Alizadeh
Academic year 2016-2017
Tohid Alizadeh (NU)
1 / 53
Part I
General concepts and steady-state errors
Tohid Alizadeh (NU)
2 / 53
Use of Bode diagrams for controller synthesis
As an alternative to the use of the root locus, the synthesis of a controller for a
SISO linear system can be carried out using frequency-domain methods, which
are based on Bode diagrams
Before moving to the controller synthesis, some basic analysis concepts must be
introduced for standard feedback loops
In particular, in the following we describe how the loop transfer function
L(s ) = Gc (s )Gp (s )
can be useful to describe the behavior of the closed-loop
system
We will see how to understand if a closed-loop system is BIBO stable only
looking at
L(s ),
without explicitly computing the sensitivity functions
Then, we will see what characteristics of

in particular with the purpose of
T (s )
and
S (s )
disturbance rejection
we can infer from
L(s ),
Finally, we will see how to relate the characteristics of the Bode diagram of
L(s )
to the time-domain specications about transient behavior for step response

At this point, we will be ready for controller synthesis
Tohid Alizadeh (NU)
3 / 53
Bode diagram of
L(s )
and steady-state errors
We already know that one characteristic of the closed-loop system that depends
on
L(s )
is
for polynomial references
We know that, for systems of type 0, 1 and 2, a nite value will be obtained for
Kp , Kv ,
or
Ka ,
respectively
All the other values of the static error constants will be either zero or innity
Moreover, the static error constant that has a nite value coincides with the
TABLE
generalized gain
L 4.1
Remember:
Tohid Alizadeh (NU)
4 / 53
Bode diagram of
L(s )
Kp is
0
For a Type-0 system,

Bode magnitude for
and steady-state errors (cont'ed)
nite and coincides with the DC gain, which is the
For instance, let the Bode diagram of an unknown
L( s )
be given as follows
Bode Diagram
20
10
Magnitude (dB)
10
20
30
40
50
60
70
3
10
Then, we can see that
Tohid Alizadeh (NU)
10
10
L = Kp = 20
10
Frequency (rad/sec)
dB
10
10
10
= 10
5 / 53
Bode diagram of
L(s )
For a Type-1 system,
Kv
and steady-state errors (cont'ed)
is nite and coincides with the generalized gain
which in this case is the DC gain of
For instance, let the Bode diagram of an unknown
L( s )
Figure 6.13 Determination of K from the Bode plot for the system KG(s) =
be given as follows
Copyright 2010, 1999, 1989 by Pearson

Education, Inc.
Feedback Control of Dynamic Systems, Sixth Edition
Since the low-frequency
asymptote
has expression
A() = LAll/
= Kv /,
rights reserved.
Gene F. Franklin
J. David Powell Abbas Emami-Naeini
be graphically determined as
Kv
can
Kv = A(1)
Analogous considerations are valid for
Tohid Alizadeh (NU)
L,
sL(s )
Ka
for Type-2 systems
6 / 53
Part II
Nyquist criterion and stability margins
Tohid Alizadeh (NU)
7 / 53
The argument principle
H1 (s ), which we want
C1 (contour evaluation)
Consider a transfer function

the clockwise contour
At
s0 C1 ,
The
the complex function is
argument
(angle) of
H1 (s0 )
to evaluate for values of
on
H1 (s0 ) = v~ = |~
v |e j
is
Figure 6.16 Contour evaluations: (a) s-plane

plot
= of1 poles
+ 2and
zeros
1 ofH21(s) and the contour C1; (b) H1(s) for s on
C1; (c) s-plane plot of poles and zeros of H2(s) and the contour C1; (d) H2(s) for s on C1
As
transverses
C1
in the clockwise direction,
will change, but without a net
change of 360 , as long as there are no poles or zeros inside

Therefore, the plot of
Tohid Alizadeh (NU)
H1 ( s )
C1
will not encircle the origin
8 / 53
The argument principle (cont'ed)

Consider now the transfer function
As
transverses
C1
H2 (s ),
which has a pole inside
in the clockwise direction, the contributions of
change, but they return to their original value as

Instead,
undergoes a net change of
returns to
C1
1 , 2
and
s0
360
As Feedback
a consequence,
Systems,
undergoes
the same change, and
H22010,
(s ) encircles
the
origin
Copyright
1999, 1989 by
Pearson
Education,
Control of Dynamic
Sixth Edition
All rights reser
Gene F. Franklin J. David Powell Abbas Emami-Naeini
in the counterclockwise direction
With a zero instead of a pole inside
C1 , H2 (s )
would have encircled the origin in
the clockwise direction

Tohid Alizadeh (NU)
9 / 53
The argument principle (cont'ed)

Argument principle
A contour map of a complex function will encircle the origin clockwise
where
is the number of zeros and
Z P
times,
is the number of poles of the function inside
the contour
ane plot of a contour C1 that encircles the entire RHP
Let's take the contour
C1
encircle the whole
right-hand plane (RHP)
C1 is composed of all points s = j , with

< (the same represented in the Bode
diagram!), plus the points with < 0
0
H (s ) will
H (s ) has a
Then, the resulting evaluation of

encircle the origin if and only if
pole or a zero in the RHP
Can we use this idea to study closed-loop

stability?
of Dynamic Systems, Sixth Edition

Tohid
Alizadeh
J. David Powell Abbas
Emami-Naeini
(NU)
Copyright 2010, 1999, 1989 by Pearson Education, Inc.

ROBT303 Linear Control
Theory
All rights reserved.
with Lab
10 / 53
Formulation of the Nyquist criterion
Evaluation 1
+ L(s )
on the contour
C1
Consider the particular complex function 1 + L(s ), and dene
as the number of zeros of 1 + L(s ) in the RHP
is the number of poles of 1 + L(s ) in the RHP
The total number of clockwise encirclements of the origin in the evaluation 1 + L(s )
on the contour
C1
is
N =Z P
So what?. . .
Let's look closer at 1 + L(s ):
1 + L(s )
=1+
N` ( s )
D` (s ) + N` (s )
=
D` (s )
D ` (s )
The poles of 1 + L(s ) are the poles of
L(s )
The zeros of 1 + L(s ) are the poles of
T (s ), S (s ),
Tohid Alizadeh (NU)
(open loop)
and
Q (s )
(closed-loop)
11 / 53
Formulation of the Nyquist criterion (cont'ed)

Then,
Z = number
of unstable poles of the closed-loop system
P=
Figure 6.19 number

Evaluations of KG(s)
1 + KG(s): Nyquist
plots
of and
unstable
poles
1 + L(s ) is simply
L( s )
of the open-loop system
shifted 1 unit to the right (L(s )
= KG (s )
in the picture)
Then, if the contour evaluation of 1 + L(s ) encircles the origin, the contour
evaluation of
s = 1
L(s )
(called
Nyquist plot,

Tohid Alizadeh (NU)
or
Nyquist diagram)
encircles the point

12 / 53
Formulation of the Nyquist criterion (cont'ed)

Summing up:
N =Z P
where
N is the net number of clockwise encirclements of 1 for L(s ) evaluated

C1
Z is the number of unstable (i.e., in the RHP) poles of T (s ), S (s ), and
Q (s )
P is the number of unstable (i.e., in the RHP) poles of L(s )
on
We can now formulate the Nyquist criterion
Nyquist stability criterion

The number
of closed-loop unstable poles of is equal to the number
rotations of the Nyquist plot around
s = 1
plus the number
of clockwise
of unstable poles of
L(s ):
Z =N +P
The closed-loop system is therefore BIBO stable if and only if
Z =N +P =0
Now, let's see some examples of how to draw a Nyquist plot, and how to apply
the stability criterion
Tohid Alizadeh (NU)
13 / 53
Nyquist criterion: example 1

Given a standard feedback loop, with
Gc ( s ) = K ,
Gp (s ) =
(s + 1)2
draw the Nyquist plot, and determine for what values of
the closed-loop
system is BIBO stable

Solution:
First of all, we remember that, drawing the root locus, we obtain that the
closed-loop system can never be unstable for
Figure 6.21 Root locus of G(s) =

Tohid Alizadeh (NU)
K 0
with respect to K

14 / 53
Nyquist criterion: example 1 (cont'ed)

Let's plot the Nyquist diagram of
G (s )
starting from the corresponding Bode
diagram
oop Bode plot for G(s) =
Tohid Alizadeh (NU)
15 / 53

Notice how the points A, B, C, D, E are mapped from the two diagrams
The lower part of the Nyquist diagram is obtained from the Bode diagram
(0
< +),
and is called
polar plot
The upper part is obtained by symmetry, since

of
G (j )
Also, the portion of

because
G (s )
is
C1
at innity maps into
strictly proper
G (j )
G (s ) = 0
is the complex conjugate
in the Nyquist diagram,
To apply the Nyquist criterion, we see that there are no encirclements, so

and the system is open-loop stable, so
Therefore,
Z = N + P = 0,
N = 0,
P =0
and the closed-loop system is BIBO stable
K 0 varies, the magnitude of the Nyquist diagram would change, but

1 will never be encircled, and then the closed-loop system will be
stable for all K > 0, as expected from the root locus
Also, if
the point
BIBO
K = 1, the same eect of setting a

K = Ks can be obtained by scaling the axes of a factor 1/Ks ,
checking N around point 1/Ks for the Nyquist diagram of G (s )
Once we draw the Nyquist diagram for

specic value
therefore
Tohid Alizadeh (NU)
and
16 / 53
Nyquist criterion: example 2

Given a standard feedback loop, with
Gc ( s ) = K ,
Gp (s ) =
s (s + 1)2
draw the Nyquist plot, and determine for what values of
the closed-loop
system is BIBO stable

Solution:
First
of all,
notice
4 Stability example:
(a) system
definition;
(b) root that,
locus
drawing the root locus, we obtain that the closed-loop
system is BIBO stable for 0
Tohid Alizadeh (NU)
<K <2
17 / 53

Let's plot the Nyquist diagram of
diagram
G (s )
starting from the corresponding Bode
Figure 6.26 Nyquist plot9 for G(s) = 1/s(s + 1)2
Bode plot for G(s) = 1/s(s + 1)2
Control of Dynamic Systems, Sixth Edition

anklin J. David Powell Abbas Emami-Naeini
Tohid Alizadeh (NU)

Copyright 2010, 1999, 1989 by Pearson E

All r
18 / 53

C1 contour enclosing the RHP for the system in Example 6.9
Notice how the points A, B, C, D, E are

mapped from the two diagrams
The arc at innity arises from the integrator in
G (s ),
and is obtained by taking a small detour
to the right of the pole (see gure)

Taking a detour to the right avoids inserting
poles inside the
C1

The Nyquist diagram
of G (s ) crosses
the real axis at
ck Control of Dynamic Systems, Sixth Edition

Franklin J. David Powell Abbas Emami-Naeini
For
K = Ks [0, 2)
Then,
For
we have
N = 0, P = 0,
Then,
N = 2, P = 0,
Tohid Alizadeh (NU)
=1
with
P =0
|G (s )| = 0.5
1/Ks < 0.5
and then
K = Kl [2, +)
contour, keeping
we have
and then
Z = 0,
i.e.
T (s )
is BIBO stable
0.5 < 1/Kl < 0
Z = 2,
i.e.
T (s )
is not BIBO stable
19 / 53

Frequency Domain Methods: ROBT303 Linear Control Theory With Lab

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Frequency Domain Methods: ROBT303 Linear Control Theory With Lab

Uploaded by

Copyright:

Available Formats

ROBT303 Linear Control Theory with Lab