EES42042 Fundamental of Control Systems: Bode Plots

EES42042
Fundamental of Control Systems

Bode Plots
DR. Ir. Wahidin Wahab M.Sc.

Ir. Aries Subiantoro M.Sc.
2
Bode Plots
Plot of db Gain and phase vs frequency
It is assumed you know how to construct
Bode Plots
MATLAB program bode.m available for
fast Bode plotting
useful for determining Gain and Phase
margins
Figure 10.1
The HP 35670A Dynamic
Signal Analyzer obtains
frequency response
data from a physical
system. The
displayed data can be
used to analyze, design,
or determine
a mathematical model
for the system.
Courtesy of Hewlett-Packard.
Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 10.2
Sinusoidal frequency
response:
a. system;
b. transfer function;
c. input and output
waveforms

Figure 10.3
System with
sinusoidal input

Figure 10.4
Frequency response
plots for
G(s) =1/(s + 2):
separate magnitude
and phase

Figure 10.5
Frequency response plots for
G(s) = 1/(s + 2) : polar plot

Figure 10.6
Bode plots of
G(s)=(s + a):
a. magnitude plot;
b. phase plot.

Table 10.1
Asymptotic and
actual normalized
and scaled
frequency response
data for
G(s) = (s + a)
Figure 10.7
Asymptotic and actual normalized and scaled
magnitude response of
G(s) = (s + a)

Figure 10.8
Asymptotic and actual normalized and scaled phase
response of (s + a)

Figure 10.9
Normalized and
scaled
Bode plots for
a. G(s) = s;
b. G(s) = 1/s;
c. G(s) = (s + a);
d. G(s) = 1/(s + a)

13
Gain Margin
Factorby which gain has to be increased to
encircle (-1,0) point in polar plot
Define phase crossover frequency ω1 such that
arg{G ( jω1 )} = −180°
G(s) = open loop t.f.
1
Gain margin =
G ( jω1 )
In db Gain Margin = −20 log10 [ G ( jω1 ) ]
14
Phase Margin
Theamount of lag which when applied to the open
loop t.f.will cause the polar plot encircle (-1,0)
point
Define gain crossover frequency ω 2 such that

G ( jω 2 ) = 1 or 0db
Phase Margin = 180° + arg[G ( jω 2 )]
Figure 10.54
Effect of delay
upon frequency
response

Figure 10.10 Closed-loop
unity feedback system

Figure 10.11
Bode
log-magnitude
plot for Example 10.2:
a. components;
b. composite

Figure 10.12
Bode phase
plot for
Example 10.2:
a. components;
b. composite

19
Example
open loop t.f.
K
G ( s) =
s (s + 1)(s + 5)
R(s) C(s)
+ G(s)
-
20
Example
Positive Gain margin of 21 degrees there system is stable

Now try increasing gain from 10 to 100
21
Example
Magnitude response of open loop t.f.
dB Magnitude Response
50
Gain crossover
0
frequency
DB Gain
-50
-100
-150 -1 0 1 2
10 10 10 10
Angular Frequency - rad/sec
22
Example
Phase Response of open loop t.f.
Phase Response
-50
Phase Crossover
-100
frequency
Angle - degrees
-150
-200
-250
-180o
-300 -1 0 1 2
10 10 10 10
23
Example
Magnitude response of open loop t.f.
50
DB Gain
Gain Margin
-50
-100
Phase margin
-150 -1 0 1 2
10 10 10 10
Phase
AngularResponse
Frequency - rad/sec
-50
Angle - degrees
-100
-150
-200
-250
-300 -1 0 1 2
10 10 10 10
24
Example
In this instance gain margin is +8db and
the phase margin is +210
Therefore system is stable
Now try gain K=100
25
Example
50
DB Gain
Negative gain margin

-50
-100 -1 0 1 2
10 10 10 10
Phase Response
Angle - degrees
-50
-100
-150 Negative phase margin

-200
-250
-300 -1 0 1 2
10 10 10 10
26
Example
Negative gain and phase margins mean
system is unstable for gain K=100
actual values are
– gain margin = -12dB
– phase margin = -30o
Notes on Gain and Phase 27
Margins
Measure of nearness of polar plot to (-1,0)
point
Neither ON THEIR OWN give sufficient
description of system stability
– both must be used together
Margins
For
minimum phase systems both margins
should be positive
– non-minimum phase occurs when poles of
OLTF exist in RHP
– see Ogata pp. 486-487
Margins
Satisfactory values of gain and phase
margin
– phase margin should be in the range 30o-60o
– gain margin should be >6dB
these values lead to satisfactory damping
ratios in the closed loop system
Bode plot sketches should be enough to
give you an idea of potential problems
Closed-Loop Transient
1
Mp =
2ζ 1 − ζ 2
ω p = ω n 1 − 2ζ 2
ω BW = ω n (1 − 2ζ 2 ) + 4ζ 4 − 4ζ 2 + 2

EES42042 Fundamental of Control Systems: Bode Plots

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EES42042

Fundamental of Control Systems

DR. Ir. Wahidin Wahab M.Sc.

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

G(s) =1/(s + 2):

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Define gain crossover frequency ω 2 such that

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Positive Gain margin of 21 degrees there system is stable

Negative gain margin

-150 Negative phase margin

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