Lecture 20
Lecture 20
Lecture 20
Control Systems
Lecture 20
Stability Margins
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Videos in this lecture
Lecture: https://youtu.be/IXSLZ-B0Zn0
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Outline of Lecture 20
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Applications
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Applications
If b changes during operation, how can we ensure that the system remains
stable?
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Bode vs Nyquist plots
The closed loop system
kG(s)
T (s) =
1 + kG(s)
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Bode vs Nyquist plot
k
L(jω) =
jω(jωτ1 + 1)(jωτ2 + 1)
0.5
Imaginary Axis
-0.5
-1 Real Axis 0
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Bode vs Nyquist plot
k
L(jω) =
jω(jωτ1 + 1)(jωτ2 + 1)
50
Magnitude (dB)
0
-50
-100
-150
-90
-135
Phase (deg)
-180
-225
-270
10-1 100 101 102 103
Frequency (rad/s)
Gain margin: The increase in the loop gain when φ = −180◦ that results in
|L(jω)| = 1 or 0 dB.
Phase margin: The amount of phase shift at the crossover frequency that
results in ∠L(jω) = −180◦ .
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Gain and phase margins
Magnitude (dB)
0
Phase (deg)
-180
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Gain and phase margins
0 0
Magnitude (dB)
-180 -180
Phase (deg)
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True or false?
The following open-loop transfer function is closed-loop stable for any k > 0.
s 2 + 0.1s + 0.5
L(s) = k
s(s + 1)(s 2 + 0.05 + 0.5)
1
Imaginary Axis
-1
-1 Real Axis 0
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True or false?
The following open-loop transfer function is closed-loop stable for any k > 0.
s 2 + 0.1s + 0.5
L(s) = k
s(s + 1)(s 2 + 0.05s + 0.5)
50
Magnitude (dB)
-100
-90
-135
Phase (deg)
-180
10-2 10-1 100 101 102
Frequency (rad/s)
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Phase margin
As an example, consider the open-loop second-order system
ωn2 ωn2
G(s) = → (1)
s(s + 2ζωn ) jω(jω + 2ζωn )
ωn2
p = 1.
ωc ωc2 + 4ζ 2 ωn2
Step 2 - Find the phase of G(jω) at ωc for ωc found in Step 1, i.e. ∠G(jωc )
◦ ωc
φ = −90 − tan
2ζωn
Step 3 - The margin phase is PM = 180 − |φ|
If PM < 0, the system is closed-loop unstable.
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Gain margin
Consider the same open-loop second-order system
ωn2 ωn2
G(s) = →
s(s + 2ζωn ) jω(jω + 2ζωn )
2ζωn3 ωf
− =0
ωf4 + 4ζ 2 ωn2 ωf2
ωf = 0 Not a valid frequency
ωf = ∞ What does it mean?
ωf = constant. Proceed to Step 2
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Gain margin
MG = −20 log(kMG )
→ MG > 0: Stable. The gain can be multiplied by kMG dB before the system
becomes marginally stable (or MG dB can be added before instability);
→ MG = 0 The system is marginally stable.
→ MG < 0: Unstable. The gain can be divided by kMG dB before the system
becomes marginally stable (or MG dB must be subtracted to achieve stability).
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Exercise 117
k
L(s) =
s(s + 2)(s + 10)
For k = 50, determine the cross over frequency, the gain margin, and the phase
margin.
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Exercise 117 - continued
k
L(s) =
s(s + 2)(s + 10)
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Exercise 117 - continued
k
L(s) =
s(s + 2)(s + 10)
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Exercise 118
k
L(s) =
(s + 1)2
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Exercise 118 - continued
k
L(s) =
(s + 1)2
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Exercise 118 - continued
k
L(s) =
(s + 1)2
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Exercise 118 - continued
Bode plot for k = 4.
20
Magnitude (dB)
0
-20
-40
-60
0
-45
Phase (deg)
-90
-135
-180
10-2 10-1 100 101 102
Frequency (rad/s)
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Exercise 119
1 + s/5
T (s) = 10.5
s(1 + s/2)(1 + s/10)
Show that the crossover frequency is 5 rad/s and that the phase margin is 40◦
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Exercise 119 - continued
1 + s/5
T (s) = 10.5
s(1 + s/2)(1 + s/10)
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Exercise 119 - continued
1 + s/5
T (s) = 10.5
s(1 + s/2)(1 + s/10)
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Exercise 120 - continued
k
L(s) =
s(s + 1)(s + 4)
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Exercise 120 - continued
k
L(s) =
s(s + 1)(s + 4)
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Exercise 120 - continued
k
L(s) =
s(s + 1)(s + 4)
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Exercise 120 - continued
-50
-100
-150
-90
-135
Phase (deg)
-180
-225
-270
10-2 10-1 100 101 102
Frequency (rad/s)
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Exercise 121 - Using Matlab
Consider a unit feedback system with a proportional controller such that the
loop transfer function is
s 2 + 0.1s + 0.5
L(s) = k
s(s + 1)(s + 2)(s 2 + 0.05s + 0.5)
with
Using Matlab, plot the phase and gain margins for 0 ≤ k ≤ 10. Specify the
maximum value of k that results in a stable closed loop system.
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Matlab code for Exercise 121
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Skills check 50 - From 2018 final examination
The Bode and Nyquist plots of a given transfer function G(s) are shown below.
Identify the gain and phase margins of G(s) on each diagram (3 marks):
0 1.5
-20 1
0.5
Imaginary Axis
-40 1
-60 0
0
-0.5
Phase (deg)
-90
-1
-180
-1.5
-270 -2
10-1 100 101 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Frequency (rad/s) Real Axis
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Skills check 51 - From 2018 final examination
(c) Draw the Bode plot of G(s). Based on the Bode plot, specify the
approximate gain at the cut-off frequencies and at 103 rad/s .
The Bode and Nyquist plots of a given transfer function G(s) are shown below.
Identify the gain and phase margins of G(s) on each diagram (3 marks):
0 1.5
-20 1
0.5
Imaginary Axis
-40 1
-60 0
0
-0.5
Phase (deg)
-90
-1
-180
-1.5
-270 -2
10-1 100 101 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Frequency (rad/s) Real Axis
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Skills check 53 - From 2018 deferred final examination
The Nyquist plot for a control system resembles the one shown below. What
are the gain and phase margins ? (3 marks).
https://www.cci-survey.ca/ontariotechu/ca/
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