Chapter @ Stability Le The frequency Doman Tt uct on = Conrro) 4 Stem a ce Mecestary to cletermoe Where tus Sse " : r, : oil Gn seb anal aloo GE nulattve Sfability - Tn tee Chapter te dO i aivearigute tue Stability 4 a Systeme dt “Aaa L tu syn aeeea anaes A frejuemay clomaia Stability eritenon was developed He Nugucs {in 1922) The Ny quasi Stability, Criteion CS basal om & Hreorem mhru ftory 4, tue poser 4 coupux Variabu olue fo Cauchy Cauchy's tucorem is tmanud with eta conics te te Comper S-plane To chteennaee fue Arlarove Sta biiery a Closed - Loop Dystem , we muse fuweergate fie Chara cramer ean biemtes Sy se, Fs): 14 Git) =O Bus) yw) TO emsure sdbitthy bos mut Ascerteun tat guh ha Boos J Fe) cig om tus feft esl S -plane jue i Nyquat "Pre era ran eet fe _Haht -hand s- plane auto hu Fu) plane - Therefore fo UNIZE and tunctliut Kebab vol tue Ny g ures Criterion wa auall fost emiidn ba oe ofl, fee mapptcy con tour Pi hea coumpiax Mapping 4, conours is tee S plant hy 2 function 3 Fes) je gu s -planu a uajy jy ped ple 7; a a ——> yz couicle mapping 4 @ S- plane cunit quae coitcur fo tus 7 FU) plane thronph Re nletion FO) = act! Uajve FUL deel = alr+ jw) +l c ein tule come UL 2T 41 omA VLW ao a jo pote \ pede plane lo acsuntour 4 an éctenrical Thue come mapped bey FU) te Counter sifted be Ou Uae and C om, 0 equa wits he fue mag achice F fur silt aye multiplied be, 2h kad 9 polich arden te arple 4 So plont on he 4 This j meget FOS) pla au calle conoormal map piey : F Cauchy's orem 4a conamed wiin mappiry a puncioow Ec) tat hac Q fortte naw 4 pole ud Bert wituiu fx catntor Fu): (it) Sis Zeat za ru) Te (se se) Bp = poles? eel Qu Char. e454 eu): 1+ Lis) = 14 Gis) Hu) pou 6s HO) = in pts) eups 14 GCM = IF NED = Dis) NED seni (sess deed pe ! T (1&2) pel Tw pow 4 Bw HE) one the poles Fu)» Pht Howwn, ay he Bevo F Ele) “Ick ant tr Charactorsies Mavis Gf Seu anual tra Leela dus ay skim Caponea te oe ) 3 rele Z Zens ancl P po F or tere 4, FOS) ameltus Cauchy's theoren | a contour ff] aw tu 5 plane ener clone vot pass tureph omy polis Fis) od 7 praveual is em thu, ChoelwTe dovection alory tue contour , We Cert coumtur Te in te Fs) plane encircle tus gogo 4 te FO plant (N= z2-P) Himes En fe Cheek wire clirectoy ape? Hi sun te > HM exanpts 4 we ae 4 Cauchy’ Pucren. , Corser Te pok- Berm parrew Olnon im Fig GIB wits conuteur ET te be consrdd 2 ciel [Ne plows Nea-l= +2 complet nee Clockusae encrrolement 4 fut ovtgcem din FG) phase The Nyquist Créterion we Enver qecl Tae Stability 4 4 Cour) syst, Woe couidie Me Chor. ese whith 2 = fuy=O © a Le Fu)? peur He iT (aes) he ae (45a) est i am Fe) much (ce que uct han Sly syst fo be Stable, atl fn Zee yous S-plant Thue we foul tat hu ami 5 a Dabu eqstem (zene 0 pie to he ft 4 ra ju axes aTherspore we Cleoote & contour fy fu ee S-plane prak oncloes Me Ou ea = £- 7, oma pig chateeneot oekun Be one BDSG EC) 11 white Ld Te ey UHRIEBRY Cauchy's hemes re ama cleyecers fhe musntbee pe Wwe pot Ty iw tut Ftc) — ; ys N- Then he nua bar 4 zen ty Fes) wita te eucorlemunt 9 tu orig Hu Te contour Lawl hae unsinde BeOS F FS) JTL s Car > G P20 co rhas muntbir 4, Uatdiabis Aeots F Tue systeur 2 ejuat oN, thas nawbad ancerctyead Y tae origin 4, tue FO)- planeg Tete puretre fotinas frat te conmur lon F GUN correaponding a Tha Nuquat commur im tue s-plane ts the tame do fe Contour ik 4 [4 QU) HES) Arawor frm fur pot (-i+jo) b ue tur dneirchtenend fe oreg tam bey tus Comme EES Sagi Ssuivlant 4 fee oom pomd — (-14j0) te tus corntrur (ey. Nuquist Stability Criterion fated ao Lf fe carmesue lon 4, he opentecp tromifer function G8) HES) Correpouling TO the Nyguirt Coumtour in fe s-phane encotrolee tur poo’ (-1+fo) 14 tu countec-clockwize clirection ao Muay tones ao hu nwa vignt nal} sptaue poleo ih GOH) | tue Choted » Loop Sy stow c_Sfaoo In the comma occuring Cree Fhe Open Adop stable £4 eu, C te Chesed Aoop system io stabi Th fue cetour len 3 ote te) ote nol emeoelt 0.1470) pomd re fumes encirelemsd 4-20 o JRO plone [eq cengour sears “Tue mapping % te Ayq unt contour into he Contour ley An carried OVt a2 Poltows- Te Maeepog 9 fra tinegonany axa in carried oud bey substation J S2jio am 6u) A) aang > Gljio) HC}IO) & frequane, functor (men), pias GU) AG) = deal toustad 6 2 eee (itd i me) s=2eh eoee Due tr fmt cater arc & tus Nog ust comrour Wiapps Map b fo arte 0 pod Onnu deal Ara #2) Tee wompur conrmur [oy te feces foe polar plet F SuwlHtjo) woibe WO Une oe pyu - @ f Ae The ta A Nyguat plot or Loess 4 BIH) foe ot Nyqusst plot 42 siypnyeeriecad abird fa deal Aa aluce : G*Go)A* (ja) * Glrja) HCA)the Nugue cae qusst comreur at oucloree thee entre rigid hand S- paste 4 jw iA a clorected gaw Cloctiwne and Compreses 4 tnfontes sepinned c, otonp ju ant amd Oy an arc or? butonte Aoditia Along Sa jw wie svaryou tm = joo re 4 je? along c= per” wim B veep hm 4A te WY, fe vrigut hat? S ptane. A” The Ny quae Contour se clttoud enelrees au perm and pols 4 FCS) Reo 2 fe GU) HE) 7 {tet fu be Z zens and P_ poles FG) ia he riguct_nalf S-ptamt, @ Closedl Comerour Tl & faverceel or tue FFs) plane colic encloses tye igi aH — Nap-® (Pema N= 2-P comes Cheese da tre Comber cleckwize cloreeh enenetinet) Tn ordes_for syste fe be Stabu , tune ououd he no_2ero 4 FOD> 1+ ou) ne an ne vig iet_hatt - S-plame 6-€ zZ-0 Chin eanclifion Ae meee oh 0 ee fe Cleseal = Lap Syste fo be Siable, fu nuimece 7 Ceusmbea —cleck— wre encoclemant g hu ovigion, Fa) Comreur fe Oueould gual fo hee mun bee tus vigut b 4 EOS) which ae he Sea leo 5 tue open. Ls jromefin fumezem 640) HUD. In spectat Cases l tr geen fiw coor Loree i Hi ost Aingte ~ Loop practical yt) A poO (ie ru open-top stable system] | hu Clored Loop Oy stow Stable c 4 Nz P=0 HOHiCh means fuet tue met eucoclemuut s S he orgem 94 FC) prane © YT Ceuntor 7 i ei ty) F Ahold be Be, EC exotly ObsenuLe Gus) HU) = [i+ GU) HE) iB -/6 Exanipe i eee Considin fecathack ay stem whose -dowp Trane, an CHO is gue by mt can Gu) Hu)> K (mst) (ae) pullceue (14 jon) (145%) Te Unfoutk ceit comlar are 9 fas Nygutat Contour maps fo Ougom The je axa Aa mapped b fue feed Les ad BF gener pe ne Pre el}: GCje) HGe)= 2 aljus} Hejwo) lace not gnenele tua pord [rio + tae syste ran aU peseros Valuar $ £, TT SCtowpue Hoo Lomidir noo 0” Open —derp Unitable dyiten wine fs pamper functor Gts) HUl= St2 ith ai ra Ten) pohanur Tus sqsiem Us Sfable when te (ey te Gowitedin clepenu oe ott) fecalback pain de Cloted« cane COUN? From ha trontper function 4 the open -devp- Sgt — Qpen-deop poe od ba tus vig ut hot} S- plane (ser) ty Pal Tue Gljad) Hj) sbetcle jv7 4 7 Tu prot imaccalts tat fre C14jo) pont encirclad by firs ote in hu ceuntar Clockuse olerecioon re Net =P tu 2-0 Ce teu au no Zea 4 du tae rift s ~plane F =) hente tes clored boop systein Ja Stable» focsus Hewes) axa Poo On ha ju Yeu) His) omol furtfre “TF OUW)HG) hasany poles Mh te jw- axa, th. 'N: quit conrmur epoud Cartien Can net de Weed ae Such ince Te Sa plame Contour stulel hob paw tummple & aingubrrity 5 proce Hes) TO Study tue Stability Ane such a Cores fa Nyquet contrur mutt he Modkfived 70 2 1% Ly pane fio asm pole This do accompltisied dy duces ac Ny quart contour around he J0-axd Poles alony A ten corde Fy ractus € wha €+O cutie Ny gus cowie opr jee 08 fan pol: Swept gusdin A qfealback Apitem Uohese sepeuntevp rmwurfor functions do grea iy euynes) = s(itst) ~ open loop aqstewt hae a pou at origrat Us Tharefore te Nyquae contour yaust puufwe be Endauted 70 by pans tu origionTie mapping 4 Tu Nyqucee Covrtsur 1 The seunicorcular odaut atone te pote at ORGIO™ AUpreseuted L. i 7 té & £2 (8 veyory tom = 90° temp O° 4» 408) maps outa —* d ke e wy > AL * EeP (i rece) Sera atanie » dL gee €20 € eso The Vote a © Appmchte infinity ao € appmchte Zero ancl 8 vente fom 490 meg OF fo 06" ays mints aleny te tem corele’ Thue fet Semieretuler sidevit arrrtiel fer origcon maps Lute @ Suni coulac arc 2 inpmitn aactiue La @ cone) plane (asm) 2. Ta mepplay 4 hu poste majmary ax® [19207 - Bm] Aa obfdund be coletaray ane aL Vari, Valuse} 9 ond petty peut joleien) : Ta te GuUrHU) ptane- (part 14) ( park f docu g polar pip 1 Fiona Jeter) V7] eo are j fa Myquce carter Ct) tap reasped by = Bg (8 Mere yo0 mmpn 0.0 - 90°) io mappest Ink Bo Me The infant semtccrmbar et SHE aero intitle rved po vel fTReP41)] Roo Tet (eit) pe Tee gee Ye Gt) 77K) ~ptoneThe Gta HIS) Locus Fue tums at AU origi. with Bow g adie pon = Ur0® tarp h O’ co +19° ae) . Ue ~The mapping ghee megane denagorary Ax00T faa ancy amaze 5 taf for PL poet kuagmart axes + creltn fo Luver et ate tun Stability tet Hy SFO, Oe fost not thet ae poles @tspHes) a fe right att ae Fin Beds For au qe value fe aA T ,tu docous 4 6 Cj@) HCO] clote uot merle (1 4jod por : ay tha sysee undin caurduotion in always Shba-Ase essed, 4 Relarive Sta biliry Yaing Nuguat Criterion Tha Nyquaze Plot Arelicatte rot Oly wheter a Sqstun in S#abu Lut alec tur clegree 4 Stability 4, A Hable 97 8teu. Tn acledeon tre. plo# Provide inmpynnalion a fo HOO Stability may be yuproved hom 8 neanary Tie stabiithy erred 9 QUIK) ‘Cope Loop tro fun] maces ‘fee nem cars corclenesuck [el +jo) pomt , a can be aurcpurvele Dewy Ord that he polar plois sete Clan to (I rpo) pone, tex tystems tence esate ae ce towwarcle tnstabrlety consiclir the Cleteal dovp polto 9 foo Syotei A oot Be ie Aye 7 BR dine hy Way Auda arn jv are fo fre left ben does Ff The tomparcion Z hes Closed! devp- poles Agcolion 4 tase fro yen Wie fucr correaperdhing polar pen quseale test bo polor plot muses clota to (-ltjo) poled, hua syster clored Loop ae closer he jo axa hance the Syste becomen feet Speece Vite vanda + considercoud. a typroal Gcfw) Hcjio) Locus aiv | f Te anit eoele paw formayn tus poo (isle) aaul ducereyeee Tht ocfleHGie deaual a fregueney Wy ¥ Tee Ae jw) Hep) wis tee shu maparive aba anc OF pe, te, edad evTne ant Lukereepe eb anit, megs te Zot? 5 Sejioy#gjied See (itjo) pood , tu aebarive stability Us Gcjwo) HLju) - toate approaches ; a ae approcties wnih, and deduces - Aimultancously jhe value 4 funk 4 f tenda fo Reve The deta ive sfbilimy F esulel be mean A or ft phase angle g Cinctomms 9. gaden manger aud prans morgen) Def Gralna Margin - Lt Aa fae factor by Which thr System Gata Cam Be imcrettel te drive it fo Te Urge 5 And fe bi tity esl Quternt 5 fas turter tepod Ae Geese au Oe pregutincy We Wey flu praae Any Lesiny nti = 10° aud — f Gcjw) He jee) |7 A 45h jus go 4 fia $4 Sun da tmerdaged by a factor 4 : oe Jecnoncio) |, Devoe 2A) =) rauce fue Oc) HY petty pol pase prrayn citjo) poad caver fu Sy Skun te fe Verge 4} Dutabaity =) Thunepre Py gain mage MJ may be defers 20 fea teprocad tue glee at fer fregueney at Which fhe phar angle beconts Loe Tia frequaneg at lily Mu prore angle 40 1500 Ae couled thn plana Cress Oder praguen tet 6Me 2 one A= 1 och) HE5W) [ici “Te tucrease tn gale qr GEPA)H CIO) plot fo pase Pomp (itje) % given Lome zolep 2 = -2oloe dB [einu azi, 6M is ave]ctue gain cree ove frequen 4s pi! frequmey ar ioncen Jourmaga)}, ” hu mapntde 4} qus open Loop trawe} in fomcinon da Unity a Dhaoe margar : Ao ta amoud 4, addacoal pros Aas at ee gain coms BO Crequaaneg ququccd to bry hun systeun fo fue Ueye 4 cut labitny prncricatley Thrphand yronyoe T= / suport) eter a et OF or PM 9 B0-8 SEALE rosette in gos eye i site Phas margm pb = Lesieirtes fsa 41h fa fala crea ove frequeus, ° pole ta ong le at wis + Dhue 7 igen ‘ ee Phaceamars 9 bot a Stabe aud Undtable System in Bock plot | pmol Peller plot - 1 wt baal 2 yee jon wh see a | 4 4 me ; -no 2 : i -1gp | ave 2M +270 ctebW sy ett unde Syston nav x am OF ee ave “Tua prone argos oF measived poservily Tr conten teat lage eee Gow fa eure ; ? fs I ecjoncji0) Guede) Fo) HoyJo Gain marge, CoM) and phase margor (pM) au Preequnty taed for Pequsuiy Anspinae specication boy cteatrnsas 7 elarge GM oy darge PM iuclitates a Very Stable feedback LoS Luk Weatially 9 Ven Slush one oA GM Close fo unity OScllatory sysiewm ERE PM cles fo Zero corveeporde oa tegen stp Sah I oes) # Se PU Omen aarg re anal please margon GM Gud PM may be computed bey fea eed Varia plot i -olied polar plot ~ Bock plot ( ervens piter plot, lag-mapuinele Vo Prrace acy le peor) : aie aioape Cases GM and PM may be comnputrd direcHiy és} Consider a Uni, feedback eqstem hawoy an open dowp traneper fumctm cts SUI! See ju (jo-zw tI) Ue oft) ) cc four (ose!) Fuad GmMad PM ite Ny quad plet pr Be 1 Gui) ——_= == Jove) wV Ue ean Ye Corel I JG tHe) = 90° — tant (ozw) - tt! 0-66 ye oro Tha Ny quad plot 7 pmslp ue now Wor fu Nyquad plot for adjus Pe suppor MA" ctewed to foul tt open-dowp gale chow c a 6M4, 20dB wi) a PM 4 uo? so] : L) For a GM >20dB | tus Nygquect plot Stesutel de dututed tinal axB at -a Whe 20403 (4) 2 20 Thin wn fate AChived 4 fu syste em da bacreaned fa o factor 4 o-lfoot = 25 Tus p20 Bey PM = 4o® ap obtain G pu system Sate 40 amcrenrea Sth fat a pert A a siApeal fo docatin A! Tis 3 aclived Q fue Sy Steet ge 40 pncreared bey & forte J od 2H aca Thue be 5-2 oA 049} aay ia) The vee Cam he dime wih arb, completers (tr thet 24 eclne Sy shou) Zz) gm=z 20dB Gy 20 te 4220 a> of & Tha Nyquat plot Lnterdectt pa deal axe ot a pad whene iyi) fate ce ; peoljoz +1) (jo-osi+t } Sagseiecresie™) it aig crak setts fe Louis ary part equsl fp Baro woe haw bee to Wy elored [eee Now fou) ]= kT 2 &20-) hoes 9-25(10)™ ‘ which Ves an heat Stee ° ane = rs 8)? a ratio) aye ie ft) Let wees be ree frm Crmurove, frequenting Pre & PM =Yo° sn. Poe Fy : yo 90° fom 0-20, tera to.os w, +190° = ¥O 4a 'o-204 + fam 0-08, = 60° all Eee _&4e 3 Se, 720, fo° = ia Je oa Ose) }= 0-0) w,2 0-012 Ww, t 40-26, —"2 =O falta for tve Va luce F bait to, 2 UY redl free [ecr)],.., Ste eon ene ou ; 4 Voresuy* Vf Cre fooaa)) ke fee ips Exornpe ‘ Determae due fre mary Ot Phase me x stm favor Om open Loop tenifer tun ood Ay Prevelect aI, Gejte)= (2 — Jrol jo-) +7) Cjoresta +7) by fae 3 Bock plot ta Back pet +2 shoon Lelrg fan + tan'B 2 © fane zie ( fane! A - asi‘) = tam (tt) + tom (1088) Fan fen) foun one B) > & A+B 1- ABwy Sbitthy clesign Vio mapping pottve ju and" eg Fad tus rye 4 pela for Stabichy aud tnshebiiny , av fut pain dor swarpinatly ofa Litity , fm tte euitty feedback syste vowene owl: ———— (taacs2) <4?) For wargouk spbitthy fend Che radian frequmcey oscillation . Cae cue Nyquist eriteton anol Ne mapper zy mus Tapa AxO sols sine chur open -Lo0p pours ane only in ae nalf Hae ) de Ny qent coiterion tells we that we wet no encercke % “1 por stability A Hens ov gas tou tran Umidy at EMD? an Anquere cArawd tus parkas 4 fun commer along fea we Omagmany By dutog bel, co ais c pe tenagary part Tuteuscton ibs hu tanagmary x0 , sett equal te 240 eta) Hels ——> (i) RO Ge aire) esd Alpwe} -7e (6-w*} ye Ts? (6 -28)™ tlie 6 par fa emery part equed he 2200 ajete-w) 20 feline) + wt (e-wo) Asal rel 2) we Ve Suber g back Rew Value vs yetdes tu ) wyealele Fue part 4 (re) e deey ee fa me) gC wey ie(-2) (re ayatee 3°Tin Claied too sysrour do stab Q tee ati 7 Theale Aap ones Ge ar ad Unite, ot ee fea atte prequeecy ree ) Hee, hu syste a sare for Ke20, unttacte fon be 20, amd marginally staLu for B= 2D, wlan tee sy btu a ma rycralley erable tae radio frequency 9 eceiilak ow 1 ie 4 fr ka fod fue gain andl pra To oud pr margow Guo) HG) = qpieon (ota etae) Cora) marge soi axa of wile =) (eat aye Geo 88 23-23 before he neal part tus Nyquist auacrone evest fue deal => Tee aul pot cabelas for E=6 Can be ancrad hy tue fue par beeante -l > Heme GM > 20!ef g-33* fo. 4SAB: qe fol PM, fod feguriae! | 1 Te ag whee tras wnrity wasp ninede at 1 = 1-283 reelfec Whe gyn Ge) At tein deg: fun phan ae =) he phat ange Lye philly fla phaw pM= TT ~C yum -112-8° tte aap aud 1908 1 67-7" ma vigCorrelation benween Phase margou avel davapeng focton Ig coin @ Urtty feetiack seco ord syctaun Lol aun open lew fram Jumerson k - wa yn? ety) 7 oe Gt gest) 3 (5+ 28,0) ww Yn? Yo ond 25h E G Gro) hej) = ie jr(ae +24!) Ad ta gain orne oven presume w2 8, tax mag nucle ews nge) | mt =) Loe eae wi Vemneatios (wt) 4 stood (wf) Hee =) | \/ testa) - 25° Tha prere margn 4h frie sysemne given b= Jecwrditjon) +1€0° (EI ean iret 2 -90"- 4" Laeiog )* = 98 pai! [ ' (ustat)é 724! aaa prsee marge az ONLY a fon crin Z 4 . Frequinty Domain Spardicaleon 4 Buon peck Mp = tha mae: Valls FM ste mapninde % Closed dovp ytton fregurney Anspenae - > 4 hage Aeamonte peat correspande to a liye ove ane 2 Desenant fresusneg We - Aa he Fpequaney of Gee eeeee ese Pek occurs: Tein at fe preg tt nthe Aare Aten tux dnert ra tromsiond3. Band wicttn - ta he renga 4 frequencaste fer wut hu syste fein de more fran sda. Such gain + considtud adegurt to enue Sud Pommesion 4, signal Th closeal Loop styStereacduquedts Prentice systun filtedt ont he signal tomrporuds lover “frequsncies ate Genter pan the tH - Ff preg uencey | pes as - 2p Fares) and banemits prose signate compute ono frasusucies ave dower fram fla ett “Kh pres uauce,, THe BW) einfermalion io a good mealure ther 2bity J gas ten 1 Arproduc tus tuput siguok and dhe meatures A: oie Aejeciam Nara raritily tf cur - Fd rele - F aot slope J te dos - rey Cume near Re Curb] Frequenty « Me cup rate aimclacakes fas abitity 4 flu Systm Fo Lar rpuck tee signal from rote Se GM aa PM. pres: rye O vr dies x rf E