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G( s)
T ( s)
1 G( s) H ( s)
N G ( s) N H ( s)
G( s) H ( s)
DG ( s) DH ( s)
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Open-loop system:
N G ( s) N H ( s)
G( s) H ( s)
DG ( s) DH ( s)
Characteristic equation:
N G N H DG DH N G N H
1 G( s) H ( s) 1
DG DH DG DH
Closed-loop system:
G( s) N G ( s) DH ( s)
T ( s)
1 G( s) H ( s) DG ( s) DH ( s) N G ( s) N H ( s)
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( s 1)(s 2)(s 3)(s 4)
G( s) H ( s)
( s 5)(s 6)(s 7)(s 8)
G( s)
G( s) H ( s) 1 G( s ) H ( s )
1 G( s) H ( s)
system is stable.
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Nyquist Criterion
mapping contour
( s z1 )(s z2 )
function F ( s)
( s p1 )(s p2 )
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( s z1 )(s z2 )
F ( s)
( s p1 )(s p2 )
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• Pole/zero inside the
contour has 360 deg.
angular change.
• Pole/zero outside
contour has 0 deg.
angular change.
• Move clockwise around
contour, zero inside
yields rotation in
clockwise, pole inside
yields rotation in
counterclockwise
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Characteristic equation F ( s ) 1 G( s ) H ( s )
N = P-Z
N = # of counterclockwise direction about the origin
P = # of poles of characteristic equation inside contour
= # of poles of open-loop system
z = # of zeros of characteristic equation inside contour
= # of poles of closed-loop system
Z = P-N
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Characteristic equation
• Increase size of the contour to cover the right half plane
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Nyquist diagram of G(s) H (s)
‘Open-loop system’
Z = P-N
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Properties of Nyquist plot
If there is a gain, K, in front of open-loop transfer function, the Nyquist
plot will expand by a factor of K.
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Nyquist plot example
1
G( s)
s2
• Closed-loop system has pole at 1
G( s) 1
1 G( S ) ( s 1)
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Nyquist plot example (cont.)
K 2
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Adjusting an open-loop gain to guarantee stability
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How to make a Nyquist plot?
Easy way by Matlab
• Nyquist: ‘nyquist’
• Bode: ‘bode’
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Step I: make a Nyquist plot
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( s 3)( s 5) s 2 8s 15
G ( s) H ( s) 2
( s 2)( s 4) s 6s 8
2 8 j 15 (15 2 ) 8 j
G ( j ) H ( j )
6 j 8
2
(8 2 ) 6 j
(15 2 ) 8 j (8 2 ) 6 j
(8 ) 6 j (8 2 ) 6 j
2
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At dc, s=0,
At imaginary part=0
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Step II: satisfying stability condition
• P = 2, N has to be 2 to guarantee stability
• Marginally stable if the plot intersects -1
• For stability, 1.33K has to be greater than 1
K > 1/1.33
or K > 0.75
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Example
Evaluate a range of K that makes the system stable
K
G( s)
( s 2 2s 2)(s 2)
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Step I: find frequency at which imaginary part = 0
Set s j
K
G ( j )
(( j ) 2 2 j 2)( j 2)
4(1 2 ) j (6 2 )
16(1 2 ) 2 2 (6 2 ) 2
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Step II: consider stability condition
K < 1/0.05
or K < 20
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Gain Margin and Phase Margin
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GM and PM via Nyquist plot
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GM and PM via Bode Plot
GM
•The frequency at which
the magnitude equals 1 is
called the gain crossover
frequency
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Example
Find Bode Plot and evaluate a value of K
that makes the system stable
The system has a unity feedback
with an open-loop transfer function
K
G( s)
( s 2)( s 4)(s 5)
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• GM>0, system is stable!!!
• Can increase gain up 20 dB without causing instability (20dB = 10)
• Start from K = 40
• with K < 400, system is stable
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Closed-loop transient and closed-loop frequency
responses
‘2nd system’
C ( s) n2
T ( s) 2
R( s ) s 2 n s n2
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Damping ratio and closed-loop frequency response
1
Mp
2 1 2
p n 1 2 2
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Response speed and closed-loop frequency response
BW n (1 2 2 ) 4 4 4 2 2
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BW (1 2 2 ) 4 4 4 2 2
Ts
BW (1 2 2 ) 4 4 4 2 2
Tp 1 2
1
M
2
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BW
Find from
Open-loop Frequency Response
Nichols Charts
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Relationship between
damping ratio and phase margin
of open-loop frequency response
2
M tan 1
2 2 1 4 4
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Example
Open-loop system with a unity feedback has a bode plot
below, approximate settling time and peak time
BW = 3.7
PM=35
37
2
M tan 1
2 2 1 4 4
Solve for PM = 35 0.32
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Ts (1 2 2 ) 4 4 4 2 2
BW
5.5
Tp (1 2 2 ) 4 4 4 2 2
BW 1 2
1.43
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