294 (CHAPTER 8 FREQUENCY-DOMAIN TECHNIQUES Exercise 8.4.2 Plot the Nyquist plots of Gi) = ee and F(s) = 1 + G(s). 8.4.3 Nyquist Stability Criterion Consider the unity-feedback system shown in Figure 8.17(a). Its overall transfer function is Gis) _, GAs) ~1+G@ Fs) a THEOREM Criterion) The G,(s) in (8.13) is stable if and only if the Nyquist plot of G,(s) does not pass through critical point (— 1, 0) and the number of counterclockwise encirclements of (~ 1, 0) equals the number of open right-half-plane poles of G(s). i To prove this theorem, we first show that G,(s) is stable if and only if the Nyquist plot of F(s) does not pass through the origin of the F-plane and the number of counterclockwise encirclements of the origin equals the number of open right-half- plane poles of G,(s). Clearly G,(s) is stable if and only if F(s) has no closed right- half-plane zeros. If the Nyquist plot of F(s) passes through the origin of the F-plane, then F(s) has zeros on the imaginary axis and G,(s) is not stable. We assume in the following that F(s) has no zeros on the imaginary axis. Let Z and P be, respectively, the numbers of open right-half-plane zeros and poles of F(s) or, equivalently, the numbers of zeros and poles of F(s) encircled by C,. Because F(s) and G,(s) have the same denominator, P also equals the number of open right-half-plane poles of Gs). Now the principle of argument states that N=Z-P Clearly F(s) has no open right-half-plane zeros, or G,(s) is stable if and only if Z = OorN = —P. Because C; is chosen to travel in the clockwise direction, the stability condition requires the encirclements to be in the counterclockwise direction. This establishes the assertion. ye ¥ Go) Gis) @) ) Figure 8.17 Unity-feedback systems.332 (CHAPTER 8 FREQUENCY-DOMAIN TECHNIQUES 1_CONCLUDING REMARKS PROBLEMS We give a number of remarks to conclude this chapter. 1. 2 An important feature of the Bode-plot design method is that it can be carried out from measured data without knowing transfer functions. All other methods discussed in this text require the knowledge of transfer functions to carry out design, The design is carried out on loop transfer functions. In order to do so, specifi- cations for overall systems are translated into those for loop transfer functions in the unity-feedback configuration. Thus the method is applicable only to this configuration. The relationships between the specifications such as rise time and overshoot for overall systems and the specifications such as phase and gain margins for loop transfer functions are not exact. Therefore, it is advisable to simulate the re- sulting systems after the design. If a plant transfer function has open right-half-plane poles, then its Bode plot may have two or more phase and gain margins. In this case, the use of phase and gain margins becomes complex. For this reason, the Bode-plot design method is usually limited to plants without open right-half-plane poles. In this chapter, we often use asymptotes of Bode gain plots to carry out the design. This is done purposely because the reader can see better the plots and the design ideas, In actual design, one should use more accurate plots. On the other hand, because the relationships between phase and gain margins and time responses are not exact, design results using asymptotes may not differ very much from those using accurate plots. The method is a trial-and-error method. Therefore, a number of trials may be needed to design an acceptable system. In the Bode-plot design method, the constraint on actuating signals is not con- sidered. The constraint can be checked only after the completion of the design. If the constraint is not met, we may have to redesign the system. The method is essentially developed from the Nyquist plot, which checks whether or not a polynomial is Hurwitz. In this sense, the design method con- siders only poles of overall systems. Zeros are not considered. Plot the polar plots, log magnitude-phase plots, and Bode plots of 10, ql 20 @- se+h 8.2. Plot the Bode plots of the following transfer functions: s+5 Ur/ PROBLEMS 333 so5 Dee GEDGEa0) ©. G(s) = = (8 + 2)(s? + Bs + 25) 8.3. a. Consider the Bode gain plot shown in Figure P8.3. Find all transfer func- tions that have the gain plot. Figure P8.3 b. If the transfer functions are known to be stable, find all transfer functions that have the gain plot. . If the transfer functions are known to be minimum phase, find all transfer functions that have the gain plot. 4. If the transfer functions are known to be stable and of minimum phase, find all transfer functions that have the gain plot. Is this transfer function unique? 8.4. Consider the three Bode plots shown in Figure P8.4. What are their transfer functions? dB dB 20dB/decade = 20 20dB/decade 20 o 40 dB/decade 40 dB decade Phase Phase 90° 0 1000, loo ——>_- © o 0 101001000 90°F = = got - =- 180° — @) o) Figure Pa.4334 CHAPTER 8 FREQUENCY-DOMAIN TECHNIQUES 20. o 40 4B/decade fe) Figure P8.4 (Continued) 85. Consider KL + 05s) GO = TGs + Dis + 10) Its Bode plot is plotted in Figure P8.5. What are k and b? oB 10 -20dB/decade —40 dB/decade Figure P8.5PROBLEMS 335 86. A typical frequency response of a Fairchild 4A741 operational amplifier is shown in Figure P8.6. What is its transfer function? |AGj@)| sA(jo) 105 10 1 on . 110 10° Hz 110 10° Hz Figure P8.6 8.7. Use the Nyquist criterion to determine the stability of the system shown in Figure 8.17(a) with Gyo) = 22 +10 2 I)” SF is — D 2st & Gio = 2 100s + 1) G(s) = ——“* 9 © GIO) = = ys + 10) 8.8. Consider the unity-feedback system shown in Figure 8.17(b). If the polar plot of G,(s) is of the form shown in Figure P8.8, find the stat following cases: «@. G;(s) has no open right-half-plane (RHP) pole and zero. y range for the 151617 Figure P6.8CHAPTER 8 FREQUENCY-DOMAIN TECHNIQUES b. G;(s) has one open RHP zero, no open RHP pole. ¢. G(s) has one open RHP pole. 4. G;(s) has two open RHP poles, one open RHP zero. @. G,(s) has three open RHP poles. 8.9. Find the stability range of the system in Figure 8.17(b) with st2 oo (F + 3s + 6.256 — D using (a) the Routh test, (b) the root-locus method and (c) the Nyquist stability criterion, 8.10. What are the gain-crossover frequency, phase-crossover frequency, gain mar- gin, phase margin, position-error constant, and velocity-error constant for each of the transfer functions in Problem 8.2? 8.11. Repeat Problem 8.10 for the Bode plots shown in Fig. P8.4. 8.12. Consider the unity-feedback system shown in Figure 8.1, The Bode plot of the plant is shown in Figure P8.12. Let the compensator C(s) be a gain k. (a) Find the largest k such that the phase margin is 45 degrees. (b) Find a k such that the gain margin is 20 dB. Figure P8.12 8.13. Consider the system shown in Figure 8.1. The Bode plot of the plant is shown in Figure P8.13. The compensator C(s) is chosen as a gain k. Find k to meet (1) phase margin =60°, (2) gain margin =10 dB, and (3) position error =25%.PROBLEMS 337 Figure P8.13 8.14. The Bode plot of the plant in Figure 8.1 is shown in Figure P8.14. Find a phase-lag network to meet (1) phase margin =60° and (2) gain margin =10 dB. ot 1 lo 100 Figure P8.14 8.15. Consider the control of the depth of a submarine discussed in Problem 7.8. Design an overall system to meet (1) position error =10%, (2) phase margin338 CHAPTER 8 FREQUENCY-DOMAIN TECHNIQUES 8.16. 8.17. 8.18, 8.19. =60°, and (3) gain margin =10 dB. Compare the design with the one in Prob- Jem 7.8, Consider the ship stabilization problem discussed in Problem 7.14, Design an overall system to meet (1) position error =15%, (2) phase margin =60°, (3) gain margin =10 dB, and (4) gain-crossover frequency =10 rad/s. Consider the problem of controlling the yaw of the airplane discussed in Prob- Jem 7.15, Design an overall system to meet (1) velocity error <10%, (2) phase margin =30%, (3) gain margin =6 dB, and (4) gain-crossover frequency as large as possible, Consider the plant transfer function given in Problem 7.16, which is factored as 300 s(s + 0.225\(s + 3.997\(5 + 179.8) Design an overall system to meet (1) position error = 0, (2) phase margin =55°, (3) gain margin =6 dB, and (4) gain-crossover frequency is not smaller than that of the uncompensated plant. [Hint: Use a lag-lead network.] Go) = @. Plot the Bode plot of se ow = po © = 354 10 What are its phase margin and gain margin? b. Compute G(s) = G(s)/(1 + G(s)). Is G,(s) stable? ¢. Is it always true that the unity-feedback system is stable if the phase and gain margins of its loop transfer function are both positive?