Stability of

Operational amplifiers
Willy Sansen
KULeuven, ESAT-MICAS
Leuven, Belgium
willy.sansen@esat.kuleuven.be
Willy Sansen

10-05

051

Table of contents

Use of operational amplifiers

Stability of 2-stage opamp
Pole splitting
Compensation of positive zero
Stability of 3-stage opamp

Willy Sansen

10-05

052

Operational amplifiers do operations

RF
v1
v2

R1
R2

vOUT

vOUT
RF

v1
R1

v2
R2

v3
R3

Requires High gain

R3
High speed
v3
Low noise
Low power
Opamp specs : Voltage gain is large
Differential input voltage 0
Input current = 0
Bandwidth is high
Gainbandwidth GBW is very, very high
Willy Sansen

10-05

053

Single-ended or fully differential ?

Willy Sansen

10-05

054

Voltage input or current input ?

Voltage input
Current output

Current input
Current output

Willy Sansen

10-05

055

Classification
Opamp

OTA

Operational
amplifier

Operational
Transconduct.
amplifier

+
Av =
Av =
GBW

vOUT
vIN

OCA

CM amp

Operational
Current
amplifier

Current
Mode
amplifier

Ag =

iOUT
vIN

= Ag RL

Ai =

iOUT
iIN

= Ai

RL
RS

Ar =

vOUT
iIN

= Ar
Willy Sansen

1
RS

10-05

056

Feedback configurations
R2
vIN R1

R1

R2
R1

RIN = R1

vOUT

vOUT

Av = -

vIN

vIN

R2

Av = 1 +
RIN =

vOUT

R2
R1

Av = 1
RIN =
Willy Sansen

10-05

057

Integrator
|Av|

C
vIN

-20 dB/dec

vOUT

(Av)

90o

0o
-90o

Av =
j

fp =

1
2 RC

fp
Willy Sansen

10-05

058

Low-pass filter
C

|Av|

R2
vIN

R1

Av0

-20 dB/dec

vOUT

(Av)

fp

90o

0o
-90o

Av0 = -

R2
R1

Av =

Av0
(1 + j

f
fp

fp =
)

1
2 R2C

Willy Sansen

10-05

059

High-pass filter
L

|Av|
Av0

R2
vIN

R1

20 dB/dec

vOUT

fp

(Av)

90o

0o

Av0 = -

R2
R1

j
Av = Av0

-90o

f
fp

(1 + j

f
fp

fp =
)

R2
2 L

Willy Sansen

10-05

0510

High-pass filter
vOUT

vIN

|Av|

20 dB/dec

R1

Av0

R2

(Av)

fz

90o

0o

Av0 = 1 +

R2

-90o

R1

Av = AV0 (1 + j

f
fz

fz =

1
2 RC

R = R1//R2 =

R 1R 2
R1+R2

Willy Sansen

10-05

0511

Low-pass filter with finite attenuation

vOUT

vIN

|Av|
-20 dB/dec

R1

R2

Av0

fz

(Av)

90o

0o

Av0 = 1 +

R2
R1

(1 + j
Av = Av0
j

fz
f

fz

-90o

)
fz =

1
2 RC

R = R1+R2

Willy Sansen

10-05

0512

Exchange of gain and bandwidth

|A|
Ao

Loop gain (1+T)

Ao open loop gain

Ac closed loop gain

Ac
Ac

Ao f1 =

GBW
1
A
0o
-90o

f1
45o
45o

f1c

f1c

Ac f1c =

Ac f1c =
GBW

-180o
Willy Sansen

10-05

0513

Open- and closed-loop gain

vIN

vOUT

G
H

v = vIN - H vOUT
vOUT = G v

Ac =

vOUT
vIN

G
1 + GH

1
H

if the loop gain GH = T >> 1

P. Gray, P.Hurst, S.Lewis, R. Meyer: Design of analog integrated circuits,
4th ed., Wiley 2001
Willy Sansen

10-05

0514

What makes an opamp an opamp ?

vout
+
vin

CL

vout
vin

Operational amplifier :
Single-pole amplifier
High impedance = high gain
Exchange Gain-Bandwidth
Stable for all gain values

Wideband amplifier :
Multiple-pole amplifier
Low impedances at nodes
Wide Bandwidth
Stable for one gain only
Willy Sansen

10-05

0515

Single-pole system
|A|

Ao open loop gain

Ao

Closed loop gain Ac = 1

-20 dB/dec

loop gain
Ac=1
A
0o
-90o
-180o

GBW
open loop

f1

closed loop

f
f

PM

PM phase margin
Willy Sansen

10-05

0516

Two-pole system
|A|

Ao open loop gain

Ao

Closed loop gain Ac = 1

-20 dB/dec

loop gain

vIN

GBW
-40 dB/dec

Ac=1
A
0o
-90o
-180o

f1
open

f2

vOUT

f
closed loop

PM

PM phase margin
Willy Sansen

10-05

0517

Higher loop gain gives less PM

|A|
Ao

loop gain

Ao open loop gain

Ac closed loop gain

Ac

1
A
0o
-90o
-180o

open

f1

PM

f2

PM phase margin
Willy Sansen

10-05

0518

Higher loop gain gives less PM

|A|
Ao

loop gain

Ao open loop gain

Ac closed loop gain

Ac

1
A
0o
-90o
-180o

open

f1

f2

PM

PM phase margin
Willy Sansen

10-05

0519

Higher loop gain gives less PM

|A|
Ao

loop gain

Ao open loop gain

Ac closed loop gain

Ac
1
A
0o
-90o
-180o

open

f1

f2

PM

PM phase margin
Willy Sansen

10-05

0520

Higher loop gain gives less PM

|A|
Ao

loop gain

Ao open loop gain

Ac closed loop gain

Ac=1
A
0o
-90o
-180o

open

f1

f2

PM

Worst case
for Ac = 1
PM phase margin
Willy Sansen

10-05

0521

Increase PM by increasing f2 : low f2

|A|

Closed loop gain Ac = 1

Ao

Ac=1
A
0o
-90o

open

f1

f2

f
f

PM 0o

-180o
Willy Sansen

10-05

0522

Increase PM by increasing f2
|A|

Closed loop gain Ac = 1

Ao

Ac=1
A
0o
-90o

open

f1

f2

f
f

PM 45o

-180o
Willy Sansen

10-05

0523

Set PM by setting f2 3 GBW

|A|

Closed loop gain Ac = 1

Ao

f2 3 GBW

GBW
Ac=1
A
0o
-90o

open

f1

f2

f
f

PM 70o

-180o
Willy Sansen

10-05

0524

Calculate PM for f2 3 GBW

vIN

Ao

Open loop gain A =

(1 + j
Closed loop gain Ac =

f1

A
1+A

is the damping (=1/2Q)

)(1 + j

f
f2

Ac = 1
vOUT
+
A

H=1

1
f
f2
2
1+j
+j
GBW
GBW f2
1
2
f
f
1 + j 2
+ j2
fr
fr2

fr is the resonant frequency

Willy Sansen

10-05

0525

Relation PM, damping and f2/GBW

fr = GBW f2
f2
GBW

PM (o)

PM

(o)

90o

1
=
2

f2

f2
GBW
- arctan
= arctan
f2
GBW

GBW

Pf (dB)

Pt (dB)

0.5

27

0.35

3.6

2.3

45

0.5

1.25

1.3

1.5
2

56
63

0.61
0.71

0.28
0

0.73
0.37

72

0.87

0.04
Willy Sansen

10-05

0526

Amplitude response vs frequency

Pf

= Q = 0.7

Pf =

1
2 1 - 2

Willy Sansen

10-05

0527

Amplitude response vs time

Pt

0.1

0.4

VIN

0.7

VOUT

= Q = 0.7

1
2

Pt =
-
1+e
Willy Sansen

1 - 2

10-05

0528

Table of contents

Use of operational amplifiers

Stability of 2-stage opamp
Pole splitting
Compensation of positive zero
Stability of 3-stage opamp

Willy Sansen

10-05

0529

Generic 2-stage opamp

1
Av = gm1
j Cc

Cc
vIN1
vIN2

-g

m1

vOUT

-g

m2

GBW

RL

CL
f

|Av| = 1

gm1
GBW =
2 Cc

gm2
fnd =
2 CL
Willy Sansen

10-05

0530

Generic 2-stage opamp

1
Av = gm1
j Cc

Cc
vIN1
vIN2

-g

m1

Cn1

vOUT

-g

m2

GBW

RL

CL
f

|Av| = 1

gm1
GBW =
2 Cc

gm2
fnd =
2 CL

1
1+

Willy Sansen

Cn1
Cc

10-05

0531

Elementary design of 2-stage opamp

gm2
gm1

gm2
fnd = 3 GBW =
2 CL

1
1+

Cn1
Cc

gm1
GBW =
2 Cc
4

CL
Cc

0.3

Larger current in 2nd stage !

GBW = 100 MHz for CL = 2 pF

Solution:

choose Cc = 1 pF
Willy Sansen

10-05

0532

Table of contents

Use of operational amplifiers

Stability of 2-stage opamp
Pole splitting
Compensation of positive zero
Stability of 3-stage opamp

Willy Sansen

10-05

0533

Generic 2-stage opamp : Miller OTA

Cc
vIN1
vIN2

-g

vOUT

-g

m1

Cn1

m2

RL

gm1(vIN2-vIN1) 1

CL

Cc

vOUT

+
vn1

Rn1

Cn1 -

Av0 = - Av1Av2

gm2vn1

RL

CL

Av1 = gm1Rn1
Av2 = - gm2RL
Willy Sansen

10-05

0534

Generic two-stage opamp

Cc
vIN1
vIN2

-g

m1

+
Rn1 Cn1

Av = Av0

Av0 = - Av1Av2
vOUT

-g

m2

RL

CL

Av1 = gm1Rn1
Av2 = gm2RL

Cc
1s
gm2
1 + (Rn1Cn1+Av2Rn1Cc+RLCL)s + Rn1RLCCs2
CC = Cn1Cc + Cn1CL + CcCL
Willy Sansen

10-05

0535

Approximate poles and zeros

A = A0

1 - cs
1 + a s + b s2

1
Zero s =
c
1
Pole s1 = a
a
s2 = b

if s2 >> s1

Willy Sansen

10-05

0536

Miller OTA : pole splitting with Cc

Cc

fd

1pF

fz
Pole splitting

0.1pF
10fF

|Av|
1000
100

Av0

1M

1k

Pole splitting
for high Cc :

fnd
Hz

fd =

10fF

BW

fz =
1pF

1
2 Av2Rn1Cc
gm2
2 Cc

10

is a positive zero !

1
0.1

GBW
1k

1M

Hz

f
Willy Sansen

10-05

0537

Effect of positive zero

Negative zero
Av = Av0
|Av |

A
0o

Positive zero

1 + j f / f2

Av = Av0

1 + j f / f1

f1

f2

|Av |

0o

-90o

-90o

-180o

-180o

1 - j f / f2
1 + j f / f1

f1

For phase,
a positive
zero
is like
a negative
pole !!!

f2

f
f

180o
Willy Sansen

10-05

0538

Miller OTA : pole splitting with gm2

gm2
10S
1S
0.1S

|Av|
1000
100
10

250 S
10 S

fd

Pole splitting
fnd

fz

1 S
0.1 S BW
1k

1M

Hz

fd =

250 S
10 S

fz =

1S

GBW

0.1S

1k

1M

1
2 Av2Rn1Cc
gm2
2 Cc

is a positive zero !

1
0.1

Pole splitting
for high gm2 :

Hz

f
Willy Sansen

10-05

0539

Pole splitting by ...

gm2
gm1

CL
Cc

or gm2 Cc 4 gm1 CL

both gm2 Cc
Willy Sansen

10-05

0540

Table of contents

Use of operational amplifiers

Stability of 2-stage opamp
Pole splitting
Compensation of positive zero
Stability of 3-stage opamp

Willy Sansen

10-05

0541

Positive zero because feedforward

Cc
vIN1
vIN2

-g

m1

Cn1

-g

vOUT

m2

RL

CL

Cc
vIN1
vIN2

Feedforward

-g

vOUT

m1

Cn1

Miller effect
Is feedback

RL

CL

Cut !
Willy Sansen

10-05

0542

Cut feedforward through Cc - 1

Cc

-g

m1

Cn1

vOUT

-g

m2

RL

CL

Cc

vOUT
Voltage
buffer
Source
follower

Ref. Tsividis, JSSC Dec.76, 748-753

Willy Sansen

10-05

0543

Cut feedforward through Cc - 2

Cc

-g

m1

Cn1

Cc

vOUT

-g

vOUT
Current
buffer
Cascode

m2

RL

CL

Ref. Ahuja, JSSC Dec 83, 629-633

Cc

vOUT
Current
buffer
Cascode

Willy Sansen

10-05

0544

Compensation with cascodes

+3

Cc

+2

IB
vout

vout
+2

CL

+1

vin

IB

+3

CL

+1

M1

vin

M1

Cc

Willy Sansen

10-05

0545

Cut feedforward through Cc - 3

Cc

-g

Cn1

Rc

Cc

vOUT

vOUT

-g

m1

fz =

m2

RL

1
2 Cc (1/gm2 - Rc)

CL

Rc
1

Cc

vOUT

Rc = 1/gm2 No zero
Rc > 1/gm2 Negative zero
Ref. Senderovics, JSSC Dec 78, 760-766
Willy Sansen

10-05

0546

Negative zero compensation

Rc >> 1/gm2

fz = -

fz = 3 GBW

Rc =

1
2 Cc Rc
1
3 gm1

Final choice :
1
1
< Rc <
3gm1
gm2

Willy Sansen

10-05

0547

Exercise of 2-stage opamp

GBW = 50 MHz for CL = 2 pF
Find IDS1; IDS2 ; Cc and Rc !
Choose Cc = 1 pF > gm1 = 2 CcGBW = 315 S
IDS1 = 31.5 A & 1/gm1 3.2 k
fnd = 150 MHz

> gm2 = 2 CL4GBW = 8gm1 = 2520 S

IDS2 = 252 A & 1/gm2 400

400 < Rc < 1 k : Rc = 1/2.5 4002.5 640 60%

Willy Sansen

10-05

0548

Table of contents

Use of operational amplifiers

Stability of 2-stage opamp
Pole splitting
Compensation of positive zero
Stability of 3-stage opamp

Willy Sansen

10-05

0549

1-stage CMOS OTA

GBW =

gm1
2 CL

vOUT
vIN
M1

CL

gm1

Willy Sansen

10-05

0550

2-stage Miller CMOS OTA

GBW =
CC

fnd1 =

vOUT

gm1
2 CC
gm2
2 CL

CL

vIN
M1

M2

gm1

gm2
fnd1 = 3 GBW
Willy Sansen

10-05

0551

3-stage Nested Miller CMOS OTA

GBW =

CC
CD

fnd1 =

vOUT
CL

vIN
M1

M2

M3

gm1

gm2

gm3

fnd2 =

gm1
2 CC
gm2
2 CD
gm3
2 CL

fnd1 = 3 GBW
fnd2 = 5 GBW
Willy Sansen

10-05

0552

Nested Miller with differential pair

CD

CC

gm2
gm1

gm3

Huijsing, JSSC Dec.85, pp.1144-1150

Willy Sansen

10-05

0553

Relation between the fnds

fnd1
GBW

10

PM with two fnd's

9

PM60

PM = 90o

PM65
7

PM70

- arctan(

- arctan(
4

GBW
fnd1
GBW
fnd2

)
)

fnd2

2
2

10

GBW
Willy Sansen

10-05

0554

Relation fnds and power

fnd1
GBW

10
9
8
7
6

Total
current
2I1+2I2+I3

5
4
3

PM = 60o

2
1

fnd2

0
0

10

GBW

Willy Sansen

10-05

0555

Elementary design of 3-stage opamp

gm2
fnd1 = 3 GBW =
2 CD

gm1
GBW =
2 CC

gm3
fnd2 = 5 GBW =
2 CL

Choose CD CC !
gm2
gm1

gm3
gm1

CL
CC

Even larger current in output stage !

Willy Sansen

10-05

0556

Exercise of 3-stage opamp

GBW = 50 MHz for CL = 2 pF
Find IDS1; IDS2 ; IDS3 ; CC and CD !
Choose CC = CD = 1 pF > gm1 = 2 CCGBW = 315 S
IDS1 = 31 A
fnd1 = 150 MHz

> gm2 = 2 CD3GBW = 3gm1 = 945 S

IDS2 = 95 A

fnd2 = 250 MHz

> gm3 = 2 CL5GBW = 10gm1 = 3150 S

IDS3 = 315 A
Willy Sansen

10-05

0557

Comparison 1, 2 & 3 stage designs

GBW = 50 MHz for CL = 2 pF
Single stage :
Two stages :

IDS1 = 31 A
Choose CC = 1 pF

IDS1 = 31 A IDS2 = 252 A

Three stages :

ITOT = 2IDS1 = 62 A

ITOT = 2IDS1 + IDS2 = 314 A

Choose CC = CD = 1 pF

IDS1 = 31 A IDS2 = 95 A

IDS3 = 315 A

ITOT = 2IDS1 + 2IDS2 + IDS3 = 567 A

Willy Sansen

10-05

0558

Table of contents

Use of operational amplifiers

Stability of 2-stage opamp
Pole splitting
Compensation of positive zero
Stability of 3-stage opamp

Willy Sansen

10-05

0559