Automatic Control System In Practice

Lesson 2: MATLAB APPLICATION IN ASSESSING SYSTEM STABILITY

Group 7: Confirmation of Lecturer
1) Đoàn Lê Thiên Bảo – 19151066
2) Tạ Ngọc Gia Huy – 21151017

2.1.3. Assess the stability of the negative feedback system with open-loop
transfer function of ( ) =
( . )( )

a. With K = 10, , draw the amplitude and phase Bode plot of the open system
over the frequency range (0.1, 100).

b. Based on the Bode plot, find the Gain crossover frequency, phase margin,
phase crossover frequency, and edge margin of the system.
- Gain crossover frequency: 0.452 (rad/s)
- Phase margin: 105
- Phase crossover frequency: 4.62 (rad/s)
- Gain margin: 24.7
c. The above system is stable since both its phase margin and gain margin are
positive.
d. Draw the transient response of the above system with a unit step function input
in the time interval t= 0 → 10s.

e. For K = 400 ⇒ G(s) =

( . )( )
a. Bode plot:
 b. Based on the Bode plot:
- Gain crossover frequency: 6.25 (rad/s)
- Phase margin: -24
- Phase crossover frequency: 4.68 (rad/s)
- Gain margin: -7.45
c. The above system is unstable since both its phase margin and gain margin
are negative.
d. System’s transient response:
2.2.3. Assessing system using Nyquist plot
1) Assess a negative feedback system with open-loop transfer function of
G(s) =
( + 0.2)( + 8 + 20)
a. With K=10, draw the Nyquist plot of the system.
Imaginary Axis

b.
- Gain crossover frequency: 0.455 (rad/s)
- Phase margin: 103
- Phase crossover frequency: 4.65 (rad/s)
- Gain margin: 24.8
These data is similar to those in Question 2.1.3.
c. The system is stable since both its phase margin and gain margin are
positive.
d. With K = 400:
a. Nyquist plot:
Imaginary Axis
Imaginary Axis

b.
- Gain crossover frequency: 6.73 (rad/s)
- Phase margin: -23.4
- Phase crossover frequency: 4.65 (rad/s)
- Gain margin: -7.27
These data is similar to those in Question 2.1.3
 c. This system is unstable since both its phase margin and gain margin is
negative.

2) Assess the stability of a unit negative feedback system with the open-loop
transfer function of:
a. G(s) =
( )( )
Imaginary Axis
Imaginary Axis

- Gain crossover frequency: 0.446 (rad/s)

- Phase margin: 53.4
- Phase crossover frequency: 1.41 (rad/s)
- Gain margin: 15.6
 This system is stable since both its phase margin and gain margin are positive.

b. G(s) =
( )
Imaginary Axis
Imaginary Axis

- Phase margin: -41

- Gain crossover frequency: 0.869 (rad/s)
This system is unstable because its phase margin is negative.
2.3.3. Assessing system’s stability using root locus method
Experiment :
a. Draw the solution trajectory root locus of the system. Based on root locus, find
the Kgh of the system, clearly indicating this value on the figure :
Imaginary Axis (seconds -1 )
b. Find K so that the system has a natural oscillation frequency ωn = 4 :

⇒K=15.2 when the frequency ωn=4.

c. Find K so that the system has a damping coefficient ξ = 0.7:

Imaginary Axis (seconds -1 )

⇒ K=23 when damping ξ =0.701

d. Find K so that the system has an overshoot σmax% = 25% :

Imaginary Axis (seconds -1 )

⇒K=43.6 when overshoot equal 25%

e. Find K so that the system has a setup time (2% standard) txl=4s.
txl = 4 ⇔ ξωn = 1
Imaginary Axis (seconds -1 )

⇒K=52.8 when txl = 4

2.2.4. Exercise
Using root locus method, research a control system with the transfer function of:

]
a. Plot the root locus of the system. Find Kgh:
)
-1
Imaginary Axis (seconds
Imaginary Axis (seconds -1 )

=> Kgh = 103

b. Find K so that the system has a natural oscillation frequency ωn = 4:

Imaginary Axis (seconds -1 )

⇒ K = 78.6
c. Find K so that damping coefficient ξ = 0.7
Imaginary Axis (seconds -1 )
)
-1
Imaginary Axis (seconds

⇒ There is no K so that damping coefficient ξ = 0.7

d. Find K so that the system has an overshoot σmax% = 25% :
Imaginary Axis (seconds -1 )

⇒ K = 9.17
 f. Find K so that the system has a setup time (2% standard) txl=4s.
txl = 4 ⇔ ξωn = 1
Imaginary Axis (seconds -1 )

⇒ K = 19.2
2.2.5. Open question
1. Comparison of control system survey methods
*Bode plot: - Advantage:
+ Easy to draw and understand, often used in basic control textbooks.
+ Allows determination of the system's cutoff frequency, phase and amplitude in
the frequency domain.
+ Suitable for analyzing simple linear and non-linear systems. - Limit:
+ Does not provide information about the system's response in the time domain
(transient response).
+ It is not possible to determine the system stability in the spatial frequency
domain.
*Nyquist plot: - Advantage:
+ Allows determining system stability by checking the number of switching
points
of the diagram.
+ Provides information about the system's frequency and phase response in the
frequency domain.
+ Especially useful for analysis of non-linear systems and systems with negative
feedback.
- Limit:
+ Requires detailed data calculations and can be more complicated than Bode
charts.
+ It is not possible to determine the relative amplitude and phase of the system in
the spatial frequency domain.
*Root Locus method: - Advantage:
+ Allows to define how changing system parameters affects the position of atoms
(roots) on the arithmetic plane.
+ Useful for control design by adjusting system parameters to achieve desired
and stable performance.
- Limit:
+ More complex to apply than Bode and Nyquist diagrams, especially for highly
complex systems.
+ Does not provide information about the frequency response or frequency
response of the system.

2. When do we use control system research methods?

Control system research methods are used when there is a need to gain a
comprehensive understanding of the performance, behavior, and potential issues
within a control system. These methods play a crucial role in making informed
decisions about system optimization, troubleshooting, and improvement.

3. Show the relationship between Bode and Nyquist diagrams

Bode diagrams and Nyquist diagrams are both important tools in control theory
and systems analysis. Although they represent information about the system in
different aspects, there is a close relationship between them.
a. Bode plots and Nyquist diagrams represent information about the system at
different frequencies: Bode plots represent the magnitude and phase of the
system at different frequencies. The Nyquist plot represents the amplitude and
phase of the system at different frequencies in a different way. The main goal of
both charts is to provide information about the system's stability and
performance.
b. Stability information: Both the Bode plot and the Nyquist plot provide
information.
about the stability of the system. In the Bode plot, the interaction between the
magnitude and phase of the system can show if the system is stable or unstable.
In the Nyquist diagram, the circle closing around the point (-1, 0) in a counter-
clockwise direction can indicate the stability of the system.
c. Phase and amplitude feedback: Bode plot and Nyquist plot provide
information.
about the interaction between the phase and amplitude feedback of the system. In
a Bode plot, the phase change can affect the magnitude and vice versa. In a
Nyquist plot, the phase change can change the closed-circle shape.
d. Symmetry: Nyquist diagrams are usually symmetric about the real axis, while
Bode plots usually don't have the same symmetry.