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2007131 1

Control Systems Design


Control Systems Design
2007131 2

iTextbook:
Richard C. Dorf and Robert H. Bishop, MODERN CONTROL SYSTEMS 10th Edition
iReference:
Benjamin C. Kuo, AUTOMATIC CONTROL SYSTEMS 7th Edition
Katsuhiko Ogata, Modern Control Engineering" 2th Edition
iMATLAB and SIMULINK:
Mathworks Inc., Matlab Users Guide and Simulink Users Guide

i
i MATLABSIMULINK
2007131 3

iChapter 1 Introduction to Control Systems


iChapter 2 Mathematical Models of Systems
iChapter 3 State Variable Models
iChapter 4 Feedback Control System Characteristics
iChapter 5 The Performance of Feedback Control Systems
iChapter 6 The Stability of Linear Feedback Systems
iChapter 7 The Root Locus Method
iChapter 8 Frequency Response Methods
iChapter 9 Stability in The Frequency Domain
iChapter 10 The Design of Feedback Control Systems
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CHAPTER 1
Introduction to Control Systems
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FIGURE 1.2
Open-loop control system (without feedback).
An open-loop control system utilizes an actuating
device to control the process directly without using
feedback
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Control :
Plant or
Process
Input
Reference
Output
Results
Manual Control
Automatic Control
Automobile Cruise-Control
Airplane Flight Control
Robot Arm Control
Inkjet Printer Head Control
Disk Drive Read/Write Head Positioning Control
M
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FIGURE 1.3 Closed-loop feedback control
system (with feedback).
A closed-loop control system uses a measurement of
the output and feedback of this signal to compare it
with the desired output (negative feedback).
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FIGURE 1.4 Multivariable control system.
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FIGURE 1.5 Watts flyball governor.
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Advantages of Feedback:
Increased accuracy (reduced the steady-state error)
Reduced sensitivity to parameter variations
Reduced effects of disturbances
Increased speed of response and bandwidth
Computer Aided Control System Design (CACSD)
Matlab & Simulink
Matrixx
Simnon
Program CC
M
2007131 8
FIGURE 1.19 The control system design process.
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Differential Equations of Physical System
Linear Approximations of Physical System
The Laplace Transform
The Transfer Function Of Linear System
Block Diagram Models
Signal-Flow Graph Model
Computer Analysis of control system
Design Examples
The Simulation of System Using Matlab
CHAPTER 2
Mathematical Models of Systems
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Differential Equations of Physical System
The approach to dynamic system problem can be listed as follow:
1. Define the system and its components
2. Formulate the mathematical model and list the necessary assumptions.
3. Write the differential equations describing the model.
4. Solve the equations for the desired output variables.
5. Examine the solutions and the assumptions.
6. If necessary, reanalyze or redesign the system
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FIGURE 2.1 (a) Torsional spring-mass
system.(b) Spring element.
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) ( ) (
) ( ) (
2
2
t r t ky
dt
t dy
b
dt
t y d
M = + +
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2007131 6
Linear Approximations of Physical Systems
)] ( [ )] ( [ )] ( ) ( [
2 1 2 1
t r g t r g t r t r g + = +
A linear system satisfied the properties of superposition and homogeneity.
system
r(t) y(t)
)] ( [ ) ( ) ( ) ( t r g t y t y t r =
) ( ) ( ) ( ) ( ) ( ) (
) ( ) (
) ( ) (
2 1 2 1
2 2
1 1
t y t y t y t r t r t r
t y t r
t y t r
+ = + =

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Linearization of a nonlinear systems:
Expanding the nonlinear equation into a Taylor series about the operation point,
then we have
)] ( [ ) ( t x g t y =
L +

+ = =
= = ! 2
) (
) (
! 1
) (
) ( ) ( ) (
2
2
2
o
x x
o
x x
o
x x
x g
dx
d x x
x g
dx
d
x g x g y
o o
Neglecting all the high order terms, to yield
) (
! 1
) (
) ( ) (
0 o
o
x x
o
x x m y
x x
x g
dx
d
x g y
o
+ =

+ =
=
x m y or
x x m y y
o
=
=

) (
0
) ( ) ( ) ( ) , , (
) , , (
2 2
2
1 1
1
1
1
no n x x
n
o x x o x x no o
n
x x
x
g
x x
x
g
x x
x
g
x x g
x x g y
o o o

+ +

+ =
=
= = =
L L
L
2007131 9


Mgl
Mgl T
T where
Mgl T T
Mgl T
=
=
=


=
=

) 0 )( 0 (cos
. 0
) ( |
sin
sin
0
0
0 0
0
Example 2.1 Pendulum oscillator model
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Rotational Motion
Newtons Law for rotation motion :
T : Torque J : Inertia : Angular acceleration
: Angular velocity : Angular displacement
) ( ) ( ) ( ) (
2
2
t
dt
d
J t
dt
d
J t J t T = =

=
1. Inertia
) ( ) ( t k t T =
2. Torsional Spring
k : Torsional spring constant
) ( ) ( t
dt
d
B t T =
3. Friction for rotational motion : viscous, static, coulomb friction
B : Viscous friction coefficient
) (t
) (t T
J
k ) (t T
) (t
B
) (t
) (t T
2007131 11

= + +
t
t r dt t v
L dt
t dv
C
R
t v
0
) ( ) (
1 ) ( ) (
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The Transfer Function of Linear Systems
) (
) (
) (
s G
s R
s Y
=
Definition:
The ratio of the Laplace transform of the output variable to the
Laplace transform of the input variable, with all initial conditions
assumed to be zero.
The Laplace transform of the impulse response, with all the initial
conditions set to zero.
system
r(t) y(t)
)] ( [ ) ( t y L s G =
or
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Example : Mass-Spring-Friction System
m ) (t f
B
) (t y
k
) ( ) ( ) ( ) (
2
2
1
t y
dt
d
m t v
dt
d
m t ma t f = = =
) ( ) (
2
t ky t f =
) ( ) (
3
t y
dt
d
B t f =
2007131 14
) (
1
) ( ) ( ) ( t f
m
t y
m
k
t y
m
B
t y = + + & & &
) ( ) ( ) (
) (
2
2
3 2 1
t ky t y
dt
d
B t y
dt
d
m
f f f t f
+ + =
+ + =

Taking the Laplacetransform with zero initial conditions, we have


) (
1
) ( ) ( ) (
2
s F
m
s Y
m
k
s Y
m
B
s s Y s = + +
Then the transfer function between Y(s) and F(s) is obtained
k sB m s s F
s Y
+ +
=
2
1
) (
) (
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Newtons Law for rotation motion :
T : Torque J : Inertia : Angular acceleration
: Angular velocity : Angular displacement
) ( ) ( ) ( ) (
2
2
t
dt
d
J t
dt
d
J t J t T = =

=
1. Inertia
) ( ) ( t k t T =
2. Torsional Spring
k : Torsional spring constant
) ( ) ( t
dt
d
B t T =
3. Friction for rotational motion : viscous, static, coulomb friction
B : Viscous friction coefficient
) (t
) (t T
J
k ) (t T
) (t
B
) (t
) (t T
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and the torque developed by by the dc motor is
The air-gap flux of the dc motor is
Field-current controlled DC motor (Homework #1)
Armature-controlled DC motor
Mathematical modeling of PM DC motor:
) ( ) ( t i k t
f f
=
) (
constant ) ( ), (
) ( ) ( ) ( ) ( ) (
1
1 1
t i k
t i t i I k k
t i t i k k t i t k t T
a m
f a f f
a f f a m
=
= =
= =
a
R
a
L
+

) (t e
b
) (t i
a
) (t v
a Load
T
B J ,
,
a
R
Armature resistance
a
L
Armature inductance
) (t v
a
Applied voltage
) (t i
a
Armature current
) (t e
b
Back-emf
b
k
Back-emf constant
m
k
Torque constant
) (t T
m
Motor torque
) (t T Load torque
d
T Disturbance torque
J Rotor inertia
B
Viscous friction coefficient
) (t Rotor displacement ) (t Rotor angular velocity
2007131 17
If L
a
/R
a
0, the approximate model of the dc motor is obtained as
1
) ( ) (
) (
+

+ +
=

s
k
k k BR s JR
k
s V
s
m b a a
m
a
where
m b a
m
m b a
a
k k BR
k
k
k k BR
JR
+
=
+
= ,
Relation between k
m
and k
b
The power input to the rotor = The power delivered to the shaft
) ( ) ( ) ( ) (
) ( ) ( ) ( ) (
t t i k t i t k
t t T t i t e
a m a b
a b


=
=

b m
k k =
2007131 18
The cause and effect equation for the motor circuit are
d
d
b b b
b a a a a a
T t
dt
d
B t
dt
d
J
T t B t
dt
d
J t T
t k t k t e
t e t i
dt
d
L t i R t v
+ + =
+ + =
= =
+ + =
) ( ) (
) ( ) ( ) (
) ( ) ( ) (
) ( ) ( ) ( ) (
2
2



The motor torque is equal to the torque delivered to the load, that is
) ( ) ( t T t T
m
=
Hence the transfer function of the dc motor, with T
d
=0, is
m b a a
m
a
k k B Js sL R
k
s V
s
+ + +
=
) )( ( ) (
) (
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Tachometer
) ( ) ( ) ( t
dt
d
k t k t e
t t t
= =
Potentiometer
N
V
k t k t e
app
p p p

2
), ( ) ( = =
Incremental encoder (Homework #2)
1. Measuring angular displacement
2. Measuring angular velocity
V
app
e
p
2007131 20
DC motor Filed-controlled
Home work 2:
?
) (
) (
=
s V
s
f

2007131 21
?
) (
) (
1
2
=
s V
s V
Homework 3
2007131 22
? =
=
L
m
m L
T
T
n
m
T
L
T
Homework 4:
2007131 23
The block diagram
FIGURE 2.26 Multiple-loop feedback control
system.
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2007131 25
FIGURE 2.27 Block diagram reduction of the system of
Fig.2.26
2007131 26
Signal-flow Graph Modes
FIGURE 2.28 Signal-flow graph of the dc
motor.
) (s V
f
) (s
) (s G
2007131 27
Signal-flow Graph Modes
Branch:
Nodes:
Forward-path gain:
Loop gain:
Non-touching:
FIGURE 2.31 Two-path
interacting system.
2007131 28
Masons signal-flow gain formula:
:
:
:

ijk
ijk
k
ijk ij
ij
P
node output
node input
P
T

=

2007131 29
Example 2.11
1
G
2
G
3
G
4
G
5
G
7
G
6
G
1
H
2
H
3
H
8
G
4
H
R
Y
2007131 30
The Simulation of System
Assuming that a mode and the simulation are reliably accurate,computer
simulation has the following advantages:
1. System performance can be observed under all conceivable conditions.
2. Results of field-system performance can be extrapolated with a simulation
model for prediction purposes.
3. Decisions concerning future system presently in a conceptual stage can be
examined.
4. Trials of system under test can be accomplished in a much-reduceedperiod
of time.
5. Simulation results can be obtained at lower cost than real experimentation.
6. Study of hypothetical situation can be achieved even when the hypothetical
situation would be unrealizable in actual life at the present time.
7. Computer modeling and simulation is often the only feasible or safe
technique to analyze and evaluate a system.
2007131 31
FIGURE 2.34 Analysis and design
using a system model.
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Example 2.12 Electric traction motor control
FIGURE 2.35 Speed control of an electric traction
motor.
?
) (
) (
=
s v
s
in

2007131 33
FIGURE 2.35 Speed control of an electric traction motor.
2007131 34
The simulation of system using Matlab
) (t r ky y b y M = + +
& & &
The unforced dynamic response,y(t), of the spring-mass-damper mechanical system is
) 1 sin(
1
) 0 (
) (
2
2

=

t e
y
t y
n
t
n
2007131 35
FIGURE 2.40 Script to analyze the spring-mass-
damper.
2007131 36
FIGURE 2.41 Spring-mass-damper unforced response.
2007131 37
Exercises
E2.8 E2.9
2007131 1
CHAPTER 4
CHAPTER 4
Feedback Control System Characteristics
Feedback Control System Characteristics
Open and Closed-Loop Control.
Sensitivity of Control System to Parameter Variations.
Control of the Transient Response of Control system.
Disturbance Signals in a Feedback Control system.
Steady-state Error.
The cost of Feedback
2007131 2
Open-Loop and Closed-Loop Control Systems
Open-loop
G(s)
R(s) C(s)
Transfer function:
) (
) (
) (
s R
s C
s G =
Error signal: ) ( ) ( ) ( s C s R s E =
Output:
)] ( ) ( )[ ( ) ( ) ( ) ( s C s R s G s E s G s C = =
2007131 3
2007131 4
Closed-loop
Transfer function:
) ( ) ( 1
) (
) (
) (
) (
s H s G
s G
s R
s C
s T

= =
Error signal: ) ( ) ( ) ( s B s R s E =
m
+
) (s G
) (s H
) (s E ) (s R C(s)
B(s)
Feedback signal: ) ( ) ( ) ( s C s H s B =
)] ( ) ( )[ ( ) ( ) ( ) ( s B s R s G s E s G s C = = Output:
Error transfer function:
) ( ) ( 1
1
) (
) (
s H s G s R
s E

=
2007131 5
Sensitivity of Control Systems to Parameter variations
)) ( ln(
)) ( ln(
) (
) (
) (
) (
) (
) (
) (
) (
lim
) (
) (
) (
) (
) ( / ) (
) ( / ) (
0
) (
) (
s G
s T
s T
s G
s G
s T
s T
s G
s G
s T
s T
s G
s G
s T
s G s G
s T s T
s T
s G

Definite: System sensitivity is the ratio of the change in the system transfer
function to the change of a process transfer function( or parameter) for a
small incremental change
The chain rule:

=
) ( ) (
) (
) ( s T s T
s G
s G

2007131 6
Closed-loop
Transfer function:
) ( ) ( 1
) (
) (
) (
) (
s H s G
s G
s R
s C
s T
+
= =
) ( ) ( 1
1
) (
) (
) (
) (
) (
) (
s H s G s T
s G
s G
s T
s T
s G
+
=

Open-loop
Transfer function: ) (
) (
) (
) ( s G
s R
s C
s T = =
1
) (
) (
) (
) (
) (
) (
=

s T
s G
s G
s T
s T
s G
2007131 7
f
R
a
K
i
R
in
V
o
V
n
e
3000 =
a
K
Homework
Answer the questions:
1. The necessary assumptions, such that the transfer function of the inverse amplifier can
be obtained as follows:
in
f
in
o
R
R
s V
s V
=
) (
) (
2. The largest ratio of the and , why?
f
R
in
R
T
R
T
A
f
o
S
S
. 4
. 3
2007131 8
Control of then Transient Response of Control System
s
A
s R
a s
b
s G =
+
= ) ( , ) (
Open-loop
Transfer function:
a s
b
s R
s Y
s T
+
= =
) (
) (
) (
Output:
0 ), 1 ( )} ( { ) (
) ( ) ( ) (
1
= =

+
= =

t e
a
Ab
s Y L t y
s
A
a s
b
s R s G s Y
at
Time constant:
a
1
=
Settling time:
5
2007131 9
Error signal:
at
e
a
Ab a Aa
a
Ab a
s E L t e
a s s
Ab a As
s Y s R s E


+

= =
+
+
= =
) (
)} ( { ) (
) (
) (
) ( ) ( ) (
1
Rise time:
) 9 . 0 ln(
1
) ( 1 . 0 | ) (
) 1 . 0 ln(
1
) ( 9 . 0 | ) (
1
1
2
2
a
t
y t c
a
t
Cy t y
t t
t t
=
=
=
=
=
=
1 2
t t t
r
=
) 9 . 0 ln(
1
) 1 . 0 ln(
1
a a
t
r
+ =
0 1 2 3 4 5
0
0.2
0.4
0.6
0.8
1
1.2
2
t
1
t
2007131 10
Closed-loop
Transfer function:
) ( ) (
) (
) (
b a s
b
s R
s C
s T
+ +
= =
Output:
0 ), 1 ( )} ( { ) (
) (
) ( ) ( ) (
) ( 1

+
= =

+ +
= =
+
t e
b a
Ab
s Y L t y
s
A
b a s
b
s R s T s Y
t b a
Time constant:
b a +
=
1

) 1 ) ( ( = s H
Error signal:
at
e
b a
Ab
b a
Aa
s E L t e
b a s s
Aa As
s Y s R s E

+
+
+
= =
+ +
+
= =
)} ( { ) (
) (
) ( ) ( ) (
1
2007131 11
Disturbance Signal in a Feedback Control System
d
+ +
G(s)
R(s) Y(s)
Open-loop
Output due to R(s):
) ( ) ( | ) (
0 ) (
s R s G s Y
d s R
=
=
Output due to d:
) ( 1 | ) (
0
s d s Y
R d
=
=
Total output:
) ( ) ( ) (
) ( ) ( ) (
) ( ) (
s d s R s G
s Y s Y s Y
s d s R
+ =
+ =
2007131 12
) (s R
+

+
+
) (s T
d
) (s H
) (s G
Y(s)
Closed-loop
Output due to R(s): ) (
) ( ) ( 1
) (
| ) (
0 ) (
s R
s H s G
s G
s Y
d
T s R

+
=
=
Output due to T
d
(s): ) (
) ( ) ( 1
1
| ) (
0
s T
s H s G
s Y
d R T
d

+
=
=
Total output:
) (
) ( ) ( 1
1
) (
) ( ) ( 1
) (
) ( ) ( ) (
s T
s H s G
s R
s H s G
s G
s Y s Y s Y
d
T R
d

+
+
+
=
+ =
2007131 13
5
8
+ s
) (s T
d
) (s R
) (s Y
Fig. H5a
) (t r
t
t
) (t t
d
5
0
3
1
) (t y
t
Homework #5
2007131 14
5
8
+ s
) (s N
d
) (s R
) (s Y
Fig. H5b
) (t r
t
t
) (t n
d
5
0
3
1
) (t y
t
2007131 15
Steady-state Error
1 ) ( = s H when
) ( lim ) ( lim
) ( | ) (
0
s E s t e
e t e e
s t
t ss
= =
= =


Open-loop
Error signal: ) ( )) ( 1 ( ) ( ) ( ) ( s R s G s Y s R s E = =
Steady-state error:
)) 0 ( 1 ( ) ( )) ( 1 ( lim
) (
0
G A s R s G e
s
A
s R if
s
ss
= =
=

Closed-loop
Error signal: ) (
) ( ) ( 1
1
) ( s R
s H s G
s E
+
=
Steady-state error:
) 0 ( ) 0 ( 1
)) ( ( lim
) (
0
H G
A
s sE e
s
A
s R if
s
ss
+
= =
=

) ( 1
1
lim
0
s G
e
s
ss
+
=

2007131 16
The Cost of Feedback System
1. Loss of gain
2. Increased number of components and complexity
3. Possibility of instability
2007131 17
Lab #1
Introduction to Matlab and Simulink
Simulation (Lab #3,4,5,6)
How can the Simulink be applied to measure the angular
velocity and angular displacement in which an incremental
encoder are used in control systems?
Exercises:
E4.1 E4.3 E4.6 E4.7 P4.4 P4.14 AP4.6 AP4.7
2007131 1
Introduction
Test Input Signal
Performance of a Second-order System
The S-Plane Root Location and The Transient Response
The Steady-state Error of Feedback Control System
Performance Indices
CHAPTER 5
The Performance of Feedback
Control Systems
2007131 2
Introduction
2007131 3
Test Input Signal
Step-function
s
A
t u L s U = = )} ( { ) (
or

<

=
0 0
0
) (
t
t A
t u
) ( ) ( t u A t u
s
=
t
) (t u
Ramp-function
2
)} ( { ) (
s
A
t r L s R = =
or

<

=
0 0
0
) (
t
t At
t r
) ( ) ( t u At t r
s
=
t
) (t r
2007131 4
Parabolic-function
3
)} ( { ) (
s
A
t p L s P = =
or

<

=
0 0
0
2
1
) (
2
t
t At
t p
) (
2
1
) (
2
t u At t p
s
=
t
) (t p

General Form General Form


1
) ( ) (
!
) (
+
= =
n
s
n
s
A
s R t u
n
t
A t r
2007131 5
Performance of a Second-order System
2 2
2
2
2
) ( ) (
) ( 1
) (
) (
n n
n
s s
s R
K ps s
K
s R
s G
s G
s Y

+ +
=
+ +
=
+
=

n
is held constant while the damping ratio is varied
1
2
2 , 1
=
n n
s >1 : Overdamped
n
s =
2 , 1
=1 : Critically damped
2
2 , 1
1 =
n n
j s 0< <1 : Underdamped
n
j s =
2 , 1
=0: Undamped
2
2 , 1
1 =
n n
j s <0 : Negatively damped
With a unit step input, we obtain
) 2 (
) (
2 2
2
n n
n
s s s
s Y

+ +
=
2007131 6
Performance of a Second-order System
2
2 2
2
1 ) sin(
1
1 ) (
1 0
) 2 (
) (

= + =
< <
+ +
=

t e t y
when
s s s
s Y
n
t
n n
n
n
2
1
1

) (t y
(sec) t
max
y
p
t
s
t
d
t
1
0
1 . 0
5 . 0
9 . 0
2
t
1
t
Overshoot
t
r
=t
2
-
t
1
% 5 % 2 or =
Typical unit-step response of a control system
2007131 7
% 100 % 100 .
1
1
1
1
1 0 1 sin
t 0
0 1 sin
1
) (
2
2
1 / max
1 /
2
2
2 2
2
2
=

=
+ =

=
= =

=
= =
=
=

e
y
y y
O P
e M
t
t t n
n
t
n t t
e
t e
dt
t dy
fin
fin
p
n
p
p
n
n n
t
n
t n
n
n
Settling Time:
02 . 0 for ,
4
) 1 02 . 0 ln(
1
02 . 0
1
1
2
2
< =
<


ss
n n
s
t
e t
e
s n


n
Factor Damping = :
2007131 8
2007131 9
The S-plane Root Location and the Transient Response
=


1


2

n d
2007131 10
S-plane
A
B
C
Second-order step response
System A
Draw the step responses of the system B and
C,. respectively
2007131 11
j

1 n

2 n

3 n

1 2 3 n n n
> >
constant
n

j
0 =
1

1 2 3
> >
constant

j
2

0
0
3
1 2
>
< <


constant

j
1 d

2 d

1 2 d d
>
constant
d
2007131 12
0>>-1
0>>-1
0<<1
0<<1
=-1
=0
=1
>1 <-1
=0
-
2007131 13
> 1
S-
0

j
1
0
t
c t ( )
1
0
t
c t ( )
= 1
S-

j
0
1
0
t
c t ( )
0 1 < <
S-

j
0
1
0
t
c t ( )
= 0
S-

j
0
1
0
t
c t ( )
< < 1 0
S-

j
0
Step response
1
0
t
c t ( )
< 1
S-

j
0
2007131 14
2007131 15
The Steady-state Error of Feedback Control System
Type of Control Systems

+
) (s G
) (s H
) (s E ) (s R C(s)
Loop transfer function:
) (
) (
) (
) (
) ( ) (
1
1
0 1
2
2
1
1
0 1
1
1
i
N n
i
N
j
m
j
n
n
n
n
n
n
m
m
m
m
p s s
z s K
a s a s a s a s a
b s b s b s b
s P
s Q
s H s G
+
+
=
+ + + + +
+ + + +
=
=

=
=

L
L
The loop transfer function as s approaches zero depends on the
number of integrations N.
The number of integrations is often indicated by labeling a
system with a type number that simply is equal to N.
2007131 16
Error function: ) (
) ( ) ( 1
1
) ( s R
s H s G
s E
+
=
Steady-state error:
) ( lim
0
s E s e
s
ss
=

Step-function input
) ( lim 1
) ( 1
1
lim
0
0
s G
A
s
A
s G
s e
s
s
ss

+
=

+
=
Define the position error constant as:
) ( lim
0
s G K
s
p

=
p
ss
K
A
e
+
=
1
1 ) ( = s H
if
2007131 17
Ramp-function input
) ( lim ) ( 1
1
lim
0
2
0
s sG
A
s
A
s G
s e
s
s
ss

=
+
=
Define the velocity error constant as:
) ( lim
0
s sG K
s
v

=
v
ss
K
A
e =
Parabolic-function input
) ( lim ) ( 1
1
lim
2
0
3
0
s G s
A
s
A
s G
s e
s
s
ss

=
+
=
Define the acceleration error constant as:
) ( lim
2
0
s G s K
s
a

=
a
ss
K
A
e =
2007131 18
Error Constant
Steady-state error
ss
e
Type of
system
N
p
K
v
K
a
K
p
K
A
+ 1
v
K
A
a
K
A
0 K 0 0 Constant

1

K 0 0 Constant

2

K 0 0 Constant
3

0 0 0
Summary of steady-state errors (unit feedback)
2007131 19
Performance indices
A performance index is a
quantitative measure of the
performance of a system and is
chosen so that emphasis is given to
the important system specifications.
A system is consider an optimum
control systemwhen the system
parameters are adjusted so that the
index reaches an extreme value,
commonly a minimum value.
The Integral of the Square of the Error:
dt e ISE
T

=
0
2
2007131 20
2007131 1
CHAPTER 6
The Stability of Linear Feedback Systems
The Concept of Stability
The Routh-Hurwitz Stability Criterion
The Relative Stability of Feedback Control Systems
2007131 2
The Concept of Stability
Stability
Absolute stability
Relative stability
The methods for the determination of stability
of linear continuous-time systems:
Routh-Hurwitz criterion
Nyquist criterion
Bode diagram
j

S-plane
stable
stable
unstable
unstable
A stable system is a dynamic system with a
bounded response to a bounded input
2007131 3
S-plane
2007131 4
2007131 5
2007131 6
Bounded-input bounded-output (BIBO) stability:
System
) (t u ) (t y
) (t ) (t h


d h t u t y d h t u t y
d h t u t y
) ( ) ( ) ( ) ( ) ( ) (
) ( ) ( ) (
0 0
0
=
=

M t u ) (
If u(t) is bounded,
d h M t y


0
) ( ) (
< N t y ) (
Thus, if y(t) is to be bounded, or
<
<

Q d h
N d h M


0
0
) (
) (
number positive finite are Q and N M,
2007131 7
The Routh-Hurwitz Stability Criterion
Consider the characteristic equation of a linear SISO system
0 ) (
0 1
1
1
= + + + + =

n n
n
n
n
n
a
a
s
a
a
s
a
a
s s q L
s f the root products o
ime ree at a t s taken th f the root products o
e o at a tim s taken tw f the root products o
all roots
n
a
a
a
a
a
a
a
a
n
n
n
n
n
n
n
) 1 (
0
3
2
1
=
=
=
=

M

0 ... ) 1 ( .... ...) (
...) ( ) ... (
0 ) ).....( )( ( ) (
2 1
3
4 2 1 3 2 1
2
3 2 2 1
1
2 1
2 1
= + + + + +
+ + + + + + =
= =


r r a s r r r r r r a
s r r r r a s r r r a s a
r s r s r s a s q
n
n
n
n
n
n
n
n n
n
n
n n
2007131 8
1
b
1
c
.
.
.
.
The necessary condition to guarantee that all roots of q(s)=0with
negative real part are:
All the coefficients of the equation have the the same sign.
None of the coefficients vanishes.
Necessary but not sufficient!
0 ..... ) (
0 1
1
1
= + + + + =

a s a s a s a s q
n
n
n
n
0
3
2
7 5 3 1 1
6 4 2
.
.

....
......
s
s
s
s
a a a a s
a a a a s
n
n
n n n n n
n n n n n



n
n n n n
a
a a a a
b
3 2 1
1

=
2
b
n
n n n n
a
a a a a
b
5 4 1
2

=
3
b
1
2
1 3
1
1
b
b a a b
c
n n

=
The Routh-Hurwitz criterion states that the number of roots of q(s)
with positive real parts is equal to the number of changes in sign
of the first column of the Routharray
2007131 9
Case1:No element in the first column is zero
Second-order system
0 ) (
0 1
2
2
= + + = a s a s a s q
0
1
2
s
s
s
0

1
0 2
a
a a
0
1
2 0 1
1
0
a
a
a a a
b =

=
The system is stable if all the coefficients
have the same sign.
Third-order system
0 ) (
0 1
2
2
3
3
= + + + = a s a s a s a s q
0
1
2
3
s
s
s
s
0 2
1 3


a a
a a
0
2
0 3 1 2
1
a
a a a a
b

=
0
a
set
The system is stable if
0 ~
0 3
> a a
0 3 1 2
a a a a >
2007131 10
Case 2: Zeros in the first column while some other elements of the row containing a
zero in the first column are nonzero.
0 10 11 4 2 2 ) (
2 3 4 5
= + + + + + = s s s s s s q
0
1
2
3
4
5
s
s
s
s
s
s
10
0
2
1
1
1
d
c
0
0
10
6
4
2
0
0
0
0
10
11

) (
) 10 11 4 2 2 1 (
10 11 4 2 2 ) (
5
5
1 2 3 4 5
1
1
5 4 3 2 1
1
1 1 1 1 1
x F
x x x x x
s F
x
x
x x x x x s
x

+ + + + + =
+ + + + + =
=

=

12 12 4
1
c
6
10 6
1
1
1

c
c
d

0 >
2007131 11
Case 3: Zeros in the first column, and the other element of the row containing the
zero are also zero.
This condition occurs when the polynomial contains singularitiesthat are symmetrically
located about the origin of the s-plane.
S-plane S-plane S-plane
2007131 12
0 8 4 2 ) (
2 3
= + + + = s s s s q
0
1
2
3
0 0
8 2
4 1
s
s
s
s
j2 s
0 4 s
0 8 2 ) (
2
2
=
= + =
= + = s s A
8 2s
8 2s
4s s
8 4 2 s 4 s
2 s
) 1 (
2
2
3
2 3 2
+
+
+
+ + + +
+
s s
0 ) 2 )( 2 )( 2 ( ) ( = + + = j s j s s s q
The system has not any pole on the RHP,
but system is marginally stable.
2
) (

) 2 (
s
ds
s dA
=
8
0
8 2
4 1
0
1
2
3
s
s
s
s
2
2007131 13
.
0 0 0 s
0 1 1
0 4 4
1 2 1
1 2 1
1
2
3
4
5
s
s
s
s
s s
ds
s dA
4 4
) (
3
+ =
1 2s s
1 2 s
s 2s
1 2 2 s 1 2
1
2 4
2 4
3 5
2 3 4 5 2 4
+ +
+ +
+ +
+ + + + + + +
+
s
s
s s s s s s
s
.
0 0 0
1 2 1
1 2 1
0 1 2 2 ) (
2
3
4
5
2 3 4 5
s
s
s
s
s s s s s s q = + + + + + =
j j j j s
s s s s A
=
= + = + + =
, , ,
0 ) 1 ( 1 2 ) (
2 2 2 4
(2)
The resulted of Routharray is Falsely
indicated.
(1)
j j j j s
s s s s A
=
= + = + + =
, , ,
0 ) 1 ( 1 2 ) (
2 2 2 4
The system has not any root on the RHP,
but the system is unstable.
Repeated roots on the imaginary axis
Case 4: Repeated roots of the characteristic equation
on the imaginary axis.
2007131 14
0 4 2 ) (
2 3
= + + + = k s s s s q
k s
k
s
k s
s

0
2
8

2
4 1
0
1
2
3

0 ) 2 (
8 ) 1 (
>
>
k
k

8
0
Ans: k>8, system is stable.
0 4 ) 2 ( 3 ) (
2 3
= + + + + = s k ks s s q
Ans: k>0.528, system is stable.
2007131 15
2007131 16
ka s
s
ka b s
k s
ka s

c

0 ) 10 ( 8
17 1
0
1
1
1
2
3
4
+
0 ) 10 ( 17 8 ) (
2 3 4
= + + + + + = ka s k s s s s q
0 64 ) 126 )( 10 (
0
126
8 ) 10 (
and ,
8
126
1
1
1 1
> +
>
<
+
=

=
ka k k
ka
k
b
ka k b
c
k
b
2007131 17
2007131 18
Exercises and Problems
E6.1,E6.2,E6.6,E6.17
P6.6,P6.12,P6.15,P6.18
AP6.4,DP6.1
2007131 1
The Root Locus Method
The Root Locus Concept
The Root Locus Procedure
The Root contour
The Root Locus Using Matlab
CHAPTER 7
2007131 2

+
) (s G
) (s H
) (s E ) (s R C(s)
) (
) (
) (
) (
) (
s q
s p
s R
s Y
s T = =
0 ) ( ) ( 1 ) ( = + = s H s G s q
Roots to find out the solution of the characteristic
equation.
K
s H s G
s H s KG s q
1
1 ) ( ) (
0 ) ( ) ( 1 ) (
1 1
1 1
=
= + =

=
<
>
=
=
... 2 , 1 , 0
0 for , 2 0
0 for , 2 180
) ( ) (
| |
1
| ) ( ) ( |
0
1 1
1 1
k where
K k
K k
s H s G
K
s H s G

) 2 (
4
) ( ) (
0
) 2 (
4
1
0 ) 4 ( 2
0 4 2 ) (
2
1 1
2
2 3
2 3
+
+
=
=
+
+
+ =
= + + + =
= + + + =
s s
s
s H s G
s s
s
K
s K s s
K Ks s s s q
2007131 3
2007131 4
0
) 2 (
1
1 ) ( ) ( 1 ) ( =
+
+ = + =
s s
K s H s G s q
1
1
1
| ) ( ) (
) 2 (
1
| ) ( ) ( |
1 1
1 1
s s
s s
s s
s H s G
s s
s H s G
=
=
=

=
+
=
1
s
2007131 5
2007131 6
2007131 7
The Root Locus Procedure
Step Related equation or Rule
1. Write the characteristic equation so that
the parameter of interest K appears as a
multiplier.
0 ) ( ) ( 1 ) (
1 1
= + = s H s KG s F
2. Factor ) ( ) (
1 1
s H s G in terms of n poles and
m zeros.
) (
) (
) ( ) (
1
1
1 1
i
n
i
j
m
j
p s
z s
s H s G
+
+
=
=
=
3. Locate the open-loop poles and zeros of
) (s F in the s-plane with selected symbols.

: poles, : zeros,
or : roots of characteristic equation
4. Locate the segments of the real axis that
are root locus.
a). Locus begins at a pole and ends at zero.
b). Locus lies to left of an odd number of
poles and zeros ( 0 K ).
5. The number of branch on the root loci, .
; , m n when n =
n: number of finite poles, m: number of finite zeros
6. Theroot loci aresymmetrical with respect
to the horizontal real axis.
7. Intersect of the asymptotes (Centroid)
m n
z p
j i

=

or
m n
z p
j i

=

) Re( ) Re(

8. Angles of asymptotes of the root loci.


1 , , 2 , 1 , 0 ;
0 ,
2
0 ,
) 1 2 (
=

<

+
= m n k
K
m n
k
K
m n
k
k
L

2007131 8
9. Breakaway points (saddle points) on the
root loci.
Roots of 0 ) ( ) (
1 1
= s H s G
ds
d
or 0 = K
ds
d
10. Intersection of root loci with imaginary
axis.
Routh-Hurwitz criterion.
11. Angles of departure and angles of arrival
of the root loci.
L , 2 , 1 , 0 ,
0 2
0 ) 1 2 (
) ( ) (
1 1
=

<
+
= k
K k
K k
s H s G


at
i
p s = or
j
z s = .
12. Calculation of K at a specific root
i
s .
i
j
m
j
i
n
i
s s
z s
p s
K
=
+
+
=
=
=
) (
) (
1
1
2007131 9
2007131 10
Step 4: The root locus on the real axis always lies in a section of the
real axis to the left of an odd number of poles and zeros.
Odd segments
Step 5: Determine the number of separate loci,SL.The number
of separate loci is equal to the number of poles
2007131 11
Step 6: The root loci must be symmetrical with respect to the horizontal real
axis.
Step 7: The linear asymptotes are centered at a point on the real axis given
by The angle of the asymptotes with respect to the
real axis is
m n
zeros poles
A

0
180
) 1 2 (

+
=
m n
q
A

1 , 2 , 1 , 0 , 180
1 4
) 1 2 (
, 1 , 4
0
1
=

+
= = = m n q
q
m n
2007131 12
Step 8:The actual point at which the root locus crosses the imaginary axis is
readily evaluated by utilizing the Routh-Hurwitz criterion.
Step 9: Determine the breakaway point
the tangents to the loci at the breakaway point are equally over
0 =
ds
dK
0
360
0
) 4 )( 2 (
1
1 ) ( 1
1
=
+ +
+ = +
s s
K s KG
2007131 13
3 , 0 ) 6 2 (
) 4 )( 2 (
= = + =
+ + =
s s
ds
dK
s s K
ds
dK
s
2
-2
2007131 14
Step 10:Determine the angle of departure of the locus from a pole and the
angle of arrival of the locus at a zero,using the phase angle criterion.
2007131 15
Examples
) 2 (
1
1 ) (
+
+ =
s s
K s F
) 3 )( 2 (
1
1 ) (
+ +
+ =
s s s
K s F
-4 -3 -2 -1 0 1 2
-6
-4
-2
0
2
4
6
Real Axis
I
m
a
g

A
x
i
s
-3 -2 -1 0 1 2
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
Real Axis
I
m
a
g

A
x
i
s
Effects adding poles to G
1
(s)H
1
(s)
2007131 16
) 4 )( 3 )( 2 (
1
1 ) (
+ + +
+ =
s s s s
K s F
-6 -5 -4 -3 -2 -1 0 1 2
-4
-3
-2
-1
0
1
2
3
4
Real Axis
I
m
a
g

A
x
i
s
-5 -4 -3 -2 -1 0 1 2
-5
-4
-3
-2
-1
0
1
2
3
4
5
Real Axis
I
m
a
g

A
x
i
s
) 3 )( 2 (
4
1 ) (
+ +
+
+ =
s s s
s
K s F
Effects adding zeros to G
1
(s)H
1
(s)
Effects adding poles to G
1
(s)H
1
(s)
2007131 17
s s s s
K s F
32 64 12
1
1 ) (
2 3 4
+ + +
+ =
-6 -5 -4 -3 -2 -1 0 1 2
-6
-4
-2
0
2
4
6
Real Axis
I
m
a
g

A
x
i
s
-6 -5 -4 -3 -2 -1 0 1 2 3
-4
-3
-2
-1
0
1
2
3
4
Real Axis
I
m
a
g

A
x
i
s
) 2 2 )( 3 (
1
1 ) (
2
+ + +
+ =
s s s s
K s F
Effects adding poles to G
1
(s)H
1
(s) -<K<
Lab #3
Written a M-file to plot the root loci step by step. (rlocfind)
2007131 18
0 ) (
2 3
= + + + = s s s s q
0 1
2 3
=
+ +
+

s s
s
0
) 1 (
1
0
2
2 3
=
+
+
= + +
s s
s s


2007131 19
) 2 (
1
+ s s
k
s k
2
) (s R
) (s Y
Specifications:
1. Steady-state error for a ramp input
2. Damping ratio of dominant roots sec.
3. Settling time to within 2 % of the final value sec.
% 35
707 . 0
3
1 1 2
2
,
0 2 ) ( 1
k k k
s s s s GH
= =
= + + + = +


2007131 20
2007131 21
2007131 22
0
) (
1
1 ) ( ) ( 1
2
1 1
=
+
+
+ = +
a s s
s
K s H s G
-10 -9 -8 -7 -6 -5 -4 -3 -2 -1 0
-10
-8
-6
-4
-2
0
2
4
6
8
10
Root Locus
Real Axis
I
m
a
g
in
a
r
y

A
x
is
10 = a
-9 -8 -7 -6 -5 -4 -3 -2 -1 0
-8
-6
-4
-2
0
2
4
6
8
Root Locus
Real Axis
I
m
a
g
in
a
r
y

A
x
is
9 = a
-8 -7 -6 -5 -4 -3 -2 -1 0
-8
-6
-4
-2
0
2
4
6
8
Root Locus
Real Axis
I
m
a
g
in
a
r
y

A
x
is
8 = a
-7 -6 -5 -4 -3 -2 -1 0
-8
-6
-4
-2
0
2
4
6
8
Root Locus
Real Axis
I
m
a
g
in
a
r
y

A
x
is
7 = a
-2 -1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4 -0.2 0
-5
-4
-3
-2
-1
0
1
2
3
4
5
Root Locus
Real Axis
I
m
a
g
in
a
r
y

A
x
is
2 = a
-1.2 -1 -0.8 -0.6 -0.4 -0.2 0 0.2
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
0.4
Root Locus
Real Axis
I
m
a
g
in
a
r
y

A
x
is
1 = a
2007131 23
2007131 24
2007131 25
2007131 26
2007131 1
Introduction
Frequency Response Plots
Polar Plot
Bode Plot
Log Magnitude and Phase Plot
Frequency Response Measurements
Performance Specifications in The Frequency Domain
CHAPTER 8
Frequency Response Methods
2007131 2
Introduction
If ) sin( ) ( ) sin( ) ( + = = t C t c t A t r
For sinusoidal steady-state analysis, we replace s by j, and
output c(t) becomes
) (
) ( ) ( ) ( ) ( ) ( ) (


j C j
e j C j C j C j R j T j C

= = =
Output:
) ( ) ( ) ( s R s T s C =
T(s)
r(t) c(t)
R(s)
C(s)
For a closed-loop system
) ( ) (
) ( ) (
) ( ) ( 1
) (
) ( ) (
w jX w R or
j T j T
j H j G
j G
s T j T
j s
+
=
+
= =
=


2007131 3
) ( ) ( 1
) (
) (

j H j G
j G
j T
+
=
where
) (
) (
tan ) (
) ( ) ( ) (
) ( ) (
)] ( Im[ )] ( Re[ ) (
1
2 2




R
X
j T
X R j T
jX R
j C j j T j T

=
+ =
+
+ =
) ( ) ( 1 ) ( ) ( j H j G j G j T + =
and
[ ]
[ ] ) ( Im ) (
) ( Re ) (


j T X
j T R
=
=
2007131 4
The Laplace transform pair
{ }


= =
0
) ( ) ( ) ( dt e t c t c L s C
st
{ }

+

= =
j
j
st
ds e s C
j
s C L t c

) (
2
1
) ( ) (
1
The Fourier transform pair
{ }



= = dt e t c t c F j C
t j
) ( ) ( ) (
and
{ }


= =
j
t j
d e j C j C F t c


) (
2
1
) ( ) (
1
The Fourier transform exists for f(t) when
<


dt t c ) (
2007131 5
Polar plot
A plot of the magnitude versus phase in the polar coordinates as is
varied from 0 .
Find T(j); | T(j)|, T(j), R (j) and X(j).
To Determine the behavior of the magnitude and phase of T(j) at
0 and .
) ( lim ; ) ( lim
) ( lim ; ) ( lim
0 0




j T j T
j T j T



To Determine the the intersection




= =
= =
= =
= =
r r
i i
R X
X R
) ( 0 ) (
) ( 0 ) (
To Determine the the asymptotic line
[ ] jb a jX R j T + = + =

) ( ) ( lim ) ( lim
0 0


Frequency Response Plots
2007131 6
Case 1: Integral and derivative factor
1
s

j
j T A
1
) ( ). =
j j T B = ) ( ).
0

0

Case 2: First-order factor
1
) 1 ( ) (

+ = s s T

1
0
i
=
0

1

j
j T A
+
=
1
1
) ( ). j j T B + =1 ) ( ).
2007131 7
Case 3: Quadratic factor
0

n

small :
1
1
2
1
1
2
) ( ).
2
2
2 2
2
+ +
=
+ +
=
s s
s s
s T A
n n
n n
n

( ) ( )
( ) ( )
n n
n n
j
j T
j j

2 1
1
2 1
1
) (
2
2
+
=
+ +
=
2
2 2
2
) ( ).
n
n n
s s
s T B

+ +
=
0

1
2007131 8
Bode plot
The Bode plot of the function T(j) is composed of two plots:
The amplitude of T(j) in decibels (dB) versus or log
10
.
The phase of T(j) in degree versus or log
10
.
) ( log 20
) ( ) (
10
) (



j T gain c Logarithmi
e j T j T
j T j
=
=

Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
-100
-50
0
50
100
10
-2
10
-1
10
0
10
1
10
2
-300
-250
-200
-150
-100
-50
2007131 9
Constant factor: K
K K
dB
log 20 =
and

<
>
=
0 180
0 0
K for
K for
K
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
12.5
13
13.5
14
14.5
15
10
-1
10
0
10
1
10
2
-100
0
100
200
2007131 10
) log( 20 ) ( log 20 ) ( = =

p j j T
p
dB
and
=

90 ) ( p j
p

decade dB p p
d
d
/ 20 )] log( 20 [
) (log
=

Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
-200
-100
0
100
200
10
-1
10
0
10
1
10
2
-300
-200
-100
0
100
200
2007131 11
Simple zero:
s + 1
2
) ( 1 log 20 ) ( log 20 ) ( + = = j T j T
dB
and
) ( tan ) (
1


= j T
) log( 20 ) ( log 20 ) ( 1
0 ) 1 log( 20 ) ( 1
2


= >>
= <<
dB
dB
j T
j T

= =
=
=

45 ) 1 ( tan ) (
3 2 log 20 ) (
1
1

j T
j T
dB
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
-5
0
5
10
15
20
25
10
0
10
1
10
2
0
20
40
60
80
100
2007131 12
Simple pole:
s + 1
1
2
) ( 1
1
log 20 ) ( log 20 ) (


+
= = j T j T
dB
and
) ( tan ) (
1


= j T
) log( 20 ) ( 1
0 ) 1 log( 20 ) ( 1


>>
= <<
dB
dB
j T
j T

= =
=
=

45 ) 1 ( tan ) (
3 2 log 20 ) (
1
1

j T
j T
dB
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
-20
-15
-10
-5
0
5
10
0
10
1
10
2
-100
-80
-60
-40
-20
0
2007131 13
Quadratic poles:
2 2
2
2
n n
n
s s

+ +
[ ] [ ]
2
2
2
) ( 2 ) ( 1
1
log 20 ) (
n n
dB
j T

+
=
and

=

2
1
) ( 1
) ( 2
tan ) (
n
n
j T

( ) ( )
n n dB
n
dB
n
j T
j T

log 40 log 20 ) ( 1
0 ) 1 log( 20 ) ( 1
2
= >>
= <<
= >>
= <<
180 ) ( 1
0 ) ( 1

j T
j T
n
n
2007131 14
= =
= =
90 ) (
) 2 log( 20 ) (


j T
j T
n
dB
n
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
-40
-20
0
20
10
0
10
1
10
2
-200
-150
-100
-50
0
2 . 0 , 1 . 0 =
Log Magnitude and Phase Plot
2007131 15
Performance Specifications in The Frequency Domain
Resonant peak: M
p
The resonant peak is the maximum value of |T(j)|.
Resonant frequency:
r
The resonant frequency is the frequency at which the peak resonant occur.
Bandwidth: BW (
B
)
The bandwidth is the frequency at which T(j) drops to 70.7% of, or 3 dB
down from, its zero-frequency value.
Cutoff rate
The cutoff rate is the slop of log-magnitude curve near the cutoff frequency.
r

p
M
707 . 0
1
2007131 16
2007131 17
2007131 18
2007131 19
2007131 20
2007131 21
2007131 22
2007131 23
2007131 24
2007131 25
2007131 26
2007131 27
2007131 28
2007131 29
2007131 30
2007131 31
2007131 32
2007131 33
2007131 34
2007131 35
2007131 36
2007131 37
2007131 38
2007131 39
2007131 40
2007131 41
2007131 42
2007131 43
2007131 44
2007131 1
Introduction
Mapping Contours in the s-Plane
The Nyquist Criterion
Relative Stability and the Nyquist Criterion
Time-Domain performance Criteria Specified in
the Frequency Domain
CHAPTER 9
Stability in the Frequency Domain
2007131 2
Time-domain
Routh-Hurwitz criterion
Root-Locus
by locating the roots of characteristic equation in the s-plane.
Frequency domain
Nyquist stability criterion
based on the theorem of complex variables due to Cauchy,
commonly known as principle of argument.
H. Nyquist 1932
Introduction
2007131 3
1 2 ) ( + = s s F
j j s s F A
j s
2 3 1 2 2 1 2 | ) ( :
1
+ = + + = + =
+ =
j s s F B
j s
2 3 1 2 | ) ( :
1
= + =
=
Enclose
Clockwise and eyes right
2007131 4
2
) (
+
=
s
s
s F
s

Cauchys Theorem:If a contour in the s-plane encircles Z zeros and P poles of


F(s) and does not pass through any poles or zeros of F(s) and the traversal is in the
clockwise direction along the contour, the corresponding contour in the F(s)-plane
encircles the origin of the F(s)-plane N=Z-P time in the clockwise direction
s

2007131 5
5 . 0
) (
+
=
s
s
s F
s

2007131 6
p z F
F p p z z
s F s F
p s p s z s z s
p s p s
z s z s
s F s F s F


=
= + =
+ + + + +
+ +
+ +
= =
| ) ( | ) ( | ) ( |
) (
| || |
| || |
) ( | ) ( | ) (
2 1 2 1
2 1 2 1
2 1
2 1
2007131 7
2 1 3 , 3 , 1 = = = = = P Z N Z P
2007131 8
Nyquist contour (Nyquist path)
Since the Nyquist contour must not pass through any poles and zeros
of F(s), the small semicircles shown along the j-axis are used to
indicate that the path should go around these poles and zeros if they
fall on the j-axis.

0
1
j
1
j
j
j
j

a
b
c
d
e
f
g
h
i
j
2007131 9
Path ab:
s=j ; 0<<
1
Path bc:
s=j
1
+e
j
; 0 and -90 <<90
Path cd:
s=j ;
1
<<
Path def:
s=Re
j
; R and 90 <<-90
Path fg:
s=j ; -<<-
1
Path gh:
s=-j
1
+e
j
; 0 and -90 <<90
Path hi:
s=j ; -
1
< <0
Path ija:
s=e
j
; 0 and -90 <<90

0
1
j
1
j
j
j
j

a
b
c
d
e
f
g
h
i
j
2007131 10
) 1 (
) (
+
=
s s
K
s GH

0 0
0
90 ~ 90 ,
) 1 (
lim ) (
, 90 ~ 90 : , 0 0 : . 1
=
+
=
=



j
j j
j
e
e e
K
s G
e s
180 ~ 180 , 0
) 1 Re ( Re
lim | ) (
90 ~ 90 : , , Re , - ~ : . 3
2 2
2 Re
+ =
+
=
=


=

j j
j j
R
s
j
e e
R
K K
s GH
R s
j
0
2
180 , 0 | ) ( | , ,
) 1 (
) (
, 0 : . 2

+
=
+
=
=
+



j GH
j
K
j j
K
s GH
j s

0 : . 4
The portion of the polar plot from to
is symmetrical to the polar plot from to
=

= 0
+
= 0
+ =
2007131 11
) 1
10
)( 1 (
100
) (
+ +
=
s
s
s G
2007131 12
Nyquist criterion and the GH(s) plot
Since the open-loop transfer function GH(s) is generally known, it
would be simpler to construct the GH(s) plot that corresponds to the
Nyquist path, and the same stability conditions of the closed-loop
system can be obtained by observing the number of encirclements of
the (-1,j0) point in the GH(s)-plane.
) ( 1 ) ( ) ( 1 ) ( s F s GH s GH s F = + =
j

s-plane
s

+ j
j
) 0 , 1 ( j
u
jv
GH(s)
2007131 13
Stability requirements
For the closed-loop system to be stable, there should be no zeros
of F(s) in right half s-plane; i.e.,
Z=0
this condition is met if
N=ZP=0 P= P
The special case of P=0, means open-loop stable system, the
closed-loop system is stable if
N=ZP=0
1 1 1
1
1 1 1
0 1
0 0 0
0
loop - closed for stable 0
) ( ) ( of poles

= =
=
=
= =
=
P P N
Z
P Z N
s F s L P P
P Z N
) (
) ( ) (
) (
) (
1 ) ( 1 ) ( :
) (
) (
) ( :
s D
s N s D
s D
s N
s GH s F loop closed
s D
s N
s GH loop Open
+
= + = + =
=
2007131 14
) 1 )( 1 (
) (
2 1
+ +
=
s s s
K
s GH

90 ~ 90 : , | ) ( | ,
) 1 )( 1 (
lim ) (
90 ~ 90 : , 0 , , 0 0 : . 1
2 1
0
= =
+ +
=
=

S GH e
e e e
K
s GH
e s
j
j j j
j
Im Re
) ( 1
) 1 )(
1
( ) (

) 1 )( 1 (
) (
, , 0 : . 2
2
2
2
1
4 2
2
2
1
2
2 1
2
2 1
2 1
J
jK K
j j j
K
s GH
j s
+ =
+ + +
+
=
+ +
=
=
+




Let Im=0
2 1
1

=
The magnitude of the real part,Reof the GH(jw) at this frequency is
= Re
2 1
2 1
2 1
2
2
2
1
4 2
2
2
1
2
2 1
-

1
,
) ( 1
) (
Re




+
=
=
+ + +
+
=
K
K



3
2 1
0
) 1 )( 1 (
lim ) (
90 ~ 90 : , , , - : . 3
j
j j j
r
j
e
e r e r re
K
s GH
r re s



+ +
=
= +
2007131 15
) 1 )( 1 (
) (
+ +
=
s s s
K
s GH
stabl
K 1 =
2 = K
unstab
K 3 =
2007131 16
System with a pole in the right-hand s-plane
0 ,
) 1 (
) (
2
1
=

= K
s s
K
s GH
+
= 0 0 . 1
2007131 17
90 ~ 90 : , , 0 0 : . 1 =
+

j
e s w
jw s w =
+
, 0 : . 2
90 ~ 90 : , , : . 3 =
j
re s w

= =

180
) 1 (
lim ) (
0
j
j j
e
e e
K
s GH
) ( tan 90
) (

) ( tan 90
) (
) 1 (
) (
1
2
1
2 4
1 0
2
1
2 4
w
w w
K
w
w w
K
jw jw
K
jw GH

+
+
=

+
=

=
2007131 18
0
) 1 (
) 1 (
1 ) (
0 ) ( ,
) 1 ( ) (
) (
2 1
1 2 1
2
1 2 1
2
1
=

+
+ =
= + + =
+ +
=

s s
s K K
s F
K s s K K s s F
K s K K s
K
s R
s Y
loop closed
2007131 19
2
) 1 (
) 2 (
) (
+

=
s
s K
s GH
System with a zero in the right-hand s-plane

= = = =
= = =

2 , 1 , 1
0 1 , 1
1 1 0 1
0 0 0
Z N P P
P N Z
Closed-loop system is unstable
1
0
= N
1
1
=

N
2007131 20
The Nyquist stability criterion is defined in term of (-1,j0) points on the
polar plot or the 0 dB, -180 point on the Bode diagram or Log-magnitude-
phase diagram. Clearly, the proximity of L(j) locus to this stability point is
a measure of the relative stability of the system.
Relative Stability and the Nyquist Criterion
Definition
Phase Crossover
A phase crossover on the L(j) plot
is a point at which the plot intersects
the negative real axis.
Phase Crossover Frequency:
p
The phase crossover frequency is the
frequency at the phase crossover, or
where
L(j
p
)= 180
1

2007131 21
Gain Crossover
The gain crossover is a point on L(j) plot at which the
magnitude of L(j) is equal to 1.
Gain Crossover Frequency:
g
The gain crossover frequency is the frequency of L(j) at the
gain crossover, or where
|L(j
g
)|=1
g

) 0 , 1 ( j
2007131 22
Gain Margin: (GM)
The gain margin is the increase in the system gain when phase =- 180
that will result a marginally stable system with intersection of (-1,j0)
point on the Nyquist plot.
Gain margin is the amount of gain in decibels (dB) that can be added to
the loop before the closed-loop system become unstable.
p
=
) (
p
j L
) 0 , 1 ( j
}
) (
1
log{ 20
} ) ( log{ 20
} ) ( 1 log{ 20
p
p
p
j L
or
j L
j L GM

=
=
2007131 23
Bode plot
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
-150
-100
-50
0
50
Gm=15.563 dB (at 2.2361 rad/sec), Pm=43.21 deg. (at 0.77934 rad/sec)
10
-2
10
-1
10
0
10
1
10
2
-300
-250
-200
-150
-100
-50
g
=
p
=
PM
GM
2007131 24
) 1 )( 1 (
) (
2 1
+ +
=
s s s
K
s GH

2007131 25
-280 -260 -240 -220 -200 -180 -160 -140 -120 -100 -80
-120
-100
-80
-60
-40
-20
0
20
40
60
PM
GM
p
=
g
=
degree
dB
Log-magnitude-phase curve
2007131 26
PM
01 . 0 =
2007131 27
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2 2
2 2 2 2 2 2
2
1
2 2
2 2
) (
1 1
1 1 1 1
2
2 ) 1 ( ) 1 (
) 1 ( 1 ) ( 1
) (
) (
) (
) ( 1
) (
) (
) (
) (

= +

+
= +
+ +
+
=
+ +
+
=
+
=
+ =
=
+
= =
M
M
v
M
M
u
M
M
M
M
M
M
M
u M
v u
M u M v M u M
v u
v u
jv u
jv u
jw G
jw G
M
jv u jw G
e w M
jw GH
jw G
jw T
jw R
jw Y
w j

+ = + +
= + +
=

= + + + = =

2
2 2
2 2
1 1
1
1
4
1
)
2
1
( ) 5 . 0 (
0
tan
1
tan tan ) 1 /( ) ( ) (
N N
v u
N
v
u v u
N let
u
v
u
v
jv u jv u jw T

2007131 28
2007131 29
2007131 30
Time-Domain performance Criteria Specified in
the Frequency Domain
Open-Loop Phase (deg)
O
p
e
n
-
L
o
o
p

G
a
i
n

(
d
B
)
Nichols Charts
-280 -260 -240 -220 -200 -180 -160 -140 -120 -100 -80
-40
-30
-20
-10
0
10
20
30
40
1
k k =
2
k k =
B
=
-3dB
r
=
M
p
=8dB
2007131 31
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 32
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 33
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 34
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 35
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 36
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 37
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 38
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 39
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 40
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 41
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 42
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 43
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 44
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 45
Table 9.6 Transfer Function Plots for Typical Transfer Functions
2007131 46
Exrcises
E9.1,E9.7,E9.8,E9.15,E9.21,P9.2,P9.4,P9.17,P9.21,AP9.4,
2007131 1
The Design of Feedback Control System
Introduction
Time Domain Design
P-Control PI-Control PD-Control PID-Control
Phase-Lead Compensation Design
Phase-Lag Compensation Design
Frequency Domain Design
Phase-Lead Design Using Bode Diagram
Phase-Lag Design Using Bode Diagram
Design for Deadbeat Response
CHAPTER 10
The Design of Feedback Control Systems
2007131 2
Design procedure
Determine what the system should do and how to it (design specifications).
Determine the controller or compenstaor configuration relative to how it is
connected to the controlled plant.
Determine the parameter values of the controller or compensator to achieve
the design goals.
Simulation verifications and recheck the specifications.
Experimental results.
Design specification
Time domain: maximum overshoot, rise time, settling time and steady-state
accuracy
Frequency domain: gain margin, phase margin, resonant peak, bandwidth
Introduction
2007131 3
Controller (Compensator) configuration
Cascade (series) compensation
Feedback compensation
Series-feedback compensation
Forward compensation with series compensation (two degree of
freedom)
Feedforwardcompensation (two degree of freedom)
State-feedback compensation
) (s G
c
) (s G
p
) (t r
) (t e ) (t u ) (t y
Figure 1 Cascade
) (s G
c
) (s G
p
) (t r ) (t e ) (t u
) (t y
Figure 2 Feedback
2007131 4
) (s G
c
) (s G
p
) (t r
) (t e ) (t u
) (t y
) (s G
H
Figure 3 Series-feedback compensation
Figure 4Forward compensation with series compensation (two degree of freedom)
) (s G
cF
) (s G
c
) (s G
p
) (t r
) (t e
) (t u ) (t y
2007131 5
) (s G
c
) (s G
p
) (s G
cF
) (t r
) (t y
) (t u
Figure 5 Feedforwardcompensation (two degree of freedom)
) (t r
) (t u
) (t y ) (t x
) (s G
p
K
C
Figure 6 State-feedback compensation
2007131 6
Time Domain Design
) (s G
c
) (s G
p
) (t r
) (t e ) (t u ) (t y
s K K K
s E
s U
s G
s E s K K K s U
t e
dt
d
K t e K t e K t u
PID
d s i p c
d s i p
d I p
+ + = =
+ + =
+ + =

1
1
) (
) (
) (
) ( ) ( ) (
) ( ) ( ) ( ) (
Design Controller
) (s E
) (s U
p
K
s
K
I
1
s K
d
db
p
K log 20

db
decade db / 20

0
90
db
decade db / 20 +

0
90 +
Controller p
Controller I
Controller D
2007131 7
Closed-loop control with P-controller
P-control for first order system
p
K
a s
a
+
) (s R
) (s Y
GM PM ,
p
K
a
0 > a
plane j GH ) (
plane S
1 =
p
K
2 =
p
K
3 =
p
K
) (t r
t
) 1 (
1
) (
) ( ) (
) (
) 1 ( t K a
P
P
p
p
P
e
K
K
t y
a aK s
aK
s R
s Y
+

+
=
+ +
=
2007131 8
P-control for second order system
p
K
) ( a s s
a
+
) (s Y
GM
0 > a
) (s R
p
p n
p
p
aK
a
aK
aK as s
aK
s R
s Y
2
,
) (
) (
2
= =
+ +
=

plane j GH ) (
plane S
+
0

1 P
K
2 P
K
3 P
K
3 2 1 p p p
K K K > >
1
2007131 9
PI-control for first order system
p
K
a s
b
+
) (s Y
0 , > b a
) (s R
s
K
I
1
1 , 0 4
1 , 0 4
1 , 0 4
), ( , 1 , ,
) (
) (
) (
) (
1
) (
2
2
2
2
< <
= =
> >
= + = =
+
= =
+ + +
+
=
+ =


AC B
AC B
AC B
bK C bK a B A
bK
bK a
bK
bK s bK a s
K s K a
s R
s Y
s
K K s G
I p
I
p
I n
I p
I p
I p c
GM
plane j GH ) (
+
0

1
plane S
2007131 10
PI-control for second order system
) (s Y
p
K
) ( a s s
b
+
0 , > b a
) (s R
s
K
I
1
) (
) (
1 ) ( ,
) (
) (
1
) (
) (
2
2
a s s
K
K
s bK
s F
a s s
K s K b
s
K s K
b
s R
s Y
P
I
p
I p
I p
+
+
+ =
+
+
+
+
=
plane j GH ) (

+
0

a
P
I
K
K

a
K
K
P
I
<<
plane S
2007131 11
PD-control for second order system
p
K
) ( a s s
b
+
0 , > b a
) (s R
s K
D
1 , 0 4
1 , 0 4
1 , 0 4
), ( , 1 , ,
) (
) (
) (
) (
) (
2
2
2
2
< <
= =
> >
= + = =
+
= =
+ + +
+
=
+ =


AC B
AC B
AC B
bK C bK a B A
bK
bK a
bK
bK s bK a s
K s K a
s R
s Y
s K K s G
I d
p
d
p n
p d
p d
d p c
GM
plane j GH ) (
+
0

1
plane S
2007131 12
PID-control for second order system
) (s Y
p
K
) ( a s s
b
+
0 , > b a
) (s R
s
K
I
1
s K
d
I p d
I p d
I p d
I d p c
bK bK bK a
bK s bK s bK a s
K s K s K b
s R
s Y
s
K s K K s G
> +
+ + + +
+ +
=
+ + =
) (
) (
) (
) (
) (
1
) (
2 3
2
plane j GH ) (
plane S
The Optimum Coefficients of T(s) Based on the ITAE
Criterion for a step Input (P.252 Table 5.6)
3 2 3
15 . 2 75 . 1
n n n
s s s + + +
2007131 13
1 ,
) 1 (
) 1 (
) (
,
} 1 )] /( {[
) 1 (
) (
) (
) (
2
2 1
2 1
2 1
2 1 2 1
1
2 1
2
1
2
>
+
+
=
+
=
+
=
+ +
+
+
= =




s
s
s G
R
R R
C
R R
R R
Cs R R R R
Cs R
R R
R
s V
s V
s G
m
m
m
m
m
m
when
p z p zp

sin 1
sin 1
,
1
1
sin
2
1
1 1
) / 1 ( / (
tan
,
)) ( 1
tan
,
1
,
1
z
1
,
2
1

+
=
+

=
+

=
=
+

=
< = = = =

Phase-lead Compensation Network


2007131 14
Phase-Lag Compensation Network
2
2 1
2
2 1
2
2 1
2
) (
, ,
1
1
1

1 ) (
1
)
1
(
)
1
(
) (
R
R R
C R
p s
z s
s
s
Cs R R
Cs R
Cs
R R
Cs
R
V
V
s G
in
o
+
= =
+
+
=
+
+
=
+ +
+
=
+ +
+
= =

zp p z
m
= > = =

, 1 ,
1
,
1
2007131 15
Root Locus Method
Phase-Lead Compensation Design
p z
p s
z s
s G
c
<
+
+
= , ) (
plane S
z
p
The s-plane root locus method is as follows:
1. List the system specifications and translate them into a desiredroot
location for the dominant roots.
2. Sketch the uncompensated root locus, and determine whether the
desired root locations can be realized with an uncompensated system.
3. If a compensator is necessary, place the zero of the phase-lead network
directly below the desired root location (or to the left of the first two
real poles).
4. Determine the pole location so that the total angle at the desired root
location is 180
0
5. Evaluate the total system gain at the desired root location and then
calculate the error constant.
6. Repeat the steps if the error constant is not satisfactory.
2007131 16
) (s G
c 2
2
s
) (s Y
0 > a
) (s R
p s
z s
K s G
c
+
+
= ) (
onds T
s
sec 4
The specification for the system are
Settling time(2% criterion)
Percent overshoot for a step input,

% 35
Sol:
1 4
4
71 cos , 32 . 0 35 . 0 .
0 1 1
2
=
= = =

n
n
s
T
e O P

45 . 0 4 . 63 2 1
0
2 1
= = = j r r
Select the desired roots location are
1
r
1
r
2
plane S
0
0 0 0 1 0
38 180
142 90 ) 116 ( 2 90 ) 2 tan 180 ( 2
= =
= + = + =

p p

1
p
p

1
r
2007131 17
6 . 3 6 . 2 1 6 . 2
7812 . 0
2
,
tan
, tan
= + = = =
+ = = =
p M
m z p
Q
M
M
Q
p
p

M
p
jQ R+
z
A
B
C
6 . 3
1
1 . 4 ) (
1 . 4
2 * 2
25 . 3 * 23 . 2
2
* *
) (
1
0 ) ( 1 ) ( ,
) 6 . 3 (
) 1 ( 2
) (
2
1 1
1 1
2
1
+
+
=
= = = =
= + =
+
+
=
=
s
s
s G
C
B A A
s H G
K
s H KG s F
s s
s K
s G G
c
r s
p c
2007131 18
Phase-Lag Compensation Design
The steps necessary for the design of a phase-lag network on the s-plane are as
follows:
1. Obtain the root locus of the uncompensated system.
2. Determine the transient performance specifications for the system and locate
suitable dominant root location on the uncompensated root locus that will
satisfy the specifications.
3. Calculate the loop gain at the desired root location and thus the system error
constant,
4. Compare the uncompensated error constant with the desired error constant,
and calculate the necessary increase that must result from the pole-zero ratio
of the compensator,.
5. With the known ratio of the pole-zero combination of the compensator,
determine a suitable location of the pole and zero of the compensator so that
the compensated root locus will still pass through the desired root location.
Locate the pole and zero near the origin of the s-plane in comparison to . n

2007131 19
) (s G
c
2
) 10 ( + s s
K
) (s Y
) (s R
Sol:
2000 ,
10
) ( lim 20
20 , 707 . 0 : .
2
0
= = = =
= =

K
K
s G K
K Spec
s
v
v

If K=2000, the system will be unstable


236
9 . 2 9 . 2 707 . 0
2 , 1
=
= =

K
j s
0111 . 0 9 / 1 . 0 , 1 . 0
5 . 8
236
2000
= = =
= = =
p z select
p
z

2007131 20
Frequency Domain Design
Phase-Lead Design Using Bode Diagram
1. Determined the system DC-gain such that the error constant can be satisfied.
2. Evaluate the uncompensated system phase margin when the error constant are satisfied
3. Allowing for a small of safety(5~10 degree), determine the necessary additional phase
lead,
4. Evaluate from Eq.(10.11).
5. Evaluate 10 log and determined the frequency where the uncompensated magnitude
curve is equal to -10 log . Because the compensation network provides a gain of
10 log at ,this frequency is the new 0-dB crossover frequency and simultaneously.
6. Calculate the pole and
7. Draw the compensated frequency response, check the resulting phase margin, and repeat
the steps if necessary. Finally, for an acceptable design, raise the gain of the amplifier in
order to account for the attenuation( )

1
m


m
p =

p
z =
0 0
10 ~ 3 + =
n d m

m
m

sin 1
1 sin

+
=
2007131 21
dB

0
180
log
log 10
m

2007131 22
Example 10.1
p s
z s
z
p
K
+
+

) 2 (
2
+ s s
) (s Y
) (s R

1
,
1
, ) ( = =
+
+
= p z
p s
z s
z
p
K s G
c
4 . 0 %, 5 : . <
v
K Spec
The system dc-gain>=20
Phase margin :45
0
dB
w
w
w w dB
jw jw
jw GH
m
m
n d m
c n
c
77 . 4 log 10
3
5 . 0 1
5 . 0 1
sin 1
sin 1
30 3 18 45 10 ~ 3
18 162 180 ) 5 . 0 ( tan 90 180
2 . 6
] 1 w) 10log[(0.5 - 20logw - 20log20
] 1 ) 5 . 0 log[( 20 log 20 20 log 20 0
) 1 5 . 0 (
20
) (
0 0 0 0 0 0
0 1
2
2
1
2
=
=

+
=

+
=
= + = + =
= = =

+ =
+ =
+
=

4 . 14
8 . 4
60 ) (
60 3 * 20 ) ( *
8 . 4 , 4 . 14 4 . 8
diagram bode the from frequency crossover new the find
m
+
+
=
= =
= = = = =
s
s
s G
z
p
K
p
z p
c
m


2007131 23
-80
-60
-40
-20
0
20
40
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
2007131 24
-40
-20
0
20
40
60
80
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
2007131 25
Phase-lag Design Using the Bode Diagram
1. Obtain the Bode diagram of the uncompensated system with the gain adjusted for
the desired error constant.
2. Determined the phase margin of the uncompensated system and , if it is
insufficient, proceed with the following steps.
3. Determined the frequency where the phase margin requirement would be
satisfied if the magnitude curve crossed the 0-dB line at this frequency. ( allow
phase lag from the phase-lag network when determining the new crossover
frequency.
4. Place the zero of the compensator one decade below the new crossover frequency
and thus ensure only of additional phase lag at due tothe lag network.
5. Measure the necessary attenuation at to ensure that the magnitude curve
crosses at this frequency.
6. Calculate by noting that the attenuation introduced by the phase-lag network is -
20log at .
7. Calculate the pole as ,and thedesign is completed.

/
1
z p
= =

0
5
0
5
'
c

'
c

2007131 26
dB
log

0
180
'
c

z p
log 20
10
'
c
z

=

z
p =
2007131 27
Example:
p s
z s
z
p
+
+

) 2 (
20
+ s s
) (s Y
) (s R

1
,
1
)
1
(
)
1
(
1
1
) (
= =
+
+
=
+
+
=
+
+
=
z p
p s
z s
z
p
s
s
s
s
s G
c
2 / 20 ,
) 1 5 . 0 ( ) 2 (
20
) ( =
+
=
+
=
v
v
K
w j jw
K
jw jw
jw GH
Spec. :phase margin=45
0
the uncompensated system
has a phase margin of 20
0
Allowing for the phase-lag compensator, we locate
the frequency where which is to be
our new crossover frequency
0 '
130 ) ( =
c

5 . 1 =
c

The attenuation necessary to cause to be the new


crossover frequency is equal to 20 dB.
015 . 0
15 . 0
10
1
) (
015 . 0
10
, 15 . 0
10
5 . 1
10 log 20 20
'
+
+
=
= = = = = = =
= =
s
s
s G
p z
dB
c
z
p
c
z


2007131 28
-60
-40
-20
0
20
40
60
M
a
g
n
it
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
-100
-50
0
50
100
M
a
g
n
it
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
-180
-150
-120
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
2007131 29
Design for Deadbeat Response
Deadbeat response: proceeds rapidly to the desired level and
holds at that level with minimal overshoot.
A deadbeat response has the following characteristics:
1. steady-state error=0
2. Fast response: minimum rise time and settling time
3. 0.1%<=percent overshoot<2%
4. Percent undershoot<2%
4 3 2 2 3 4
3 2 2 3
) (
) (
n n n n
n n n
s s s s s F
s s s s F


+ + + + =
+ + + =
2007131 30
p s
z s
K
+
+
) 2 (
2
+ s s
) (s Y
) (s R
kz s k p s p s
Kz
s G G
s G G
z s
z
s T
s s p s
z s K
s G G
p c
p c
p c
2 ) 2 2 ( ) 2 (
2
) ( 1
) (
) (
) 2 (
2 ) (
) (
2 3
+ + + + +
=
+ +
=
+ +
+
=
z s
z
+
Pre-filter
sec 1.2 time settling : Spec.
kz s k p s p s s s s s T
s s s s T
T sol
n n n
n s n
2 ) 2 2 ( ) 2 ( 27 . 38 98 . 24 4 . 6 ) (
2 . 2 , 9 . 1
) (
37 . 3
2 . 1
04 . 4
, 04 . 4 :
2 3 2 3
3 2 2 3
+ + + + + = + + + =
= =
+ + + =
= = =



4 . 4
36 . 2
09 . 8 ) (
36 . 2 , 09 . 8 , 4 . 4
+
+
=
= = =
s
s
s G
z K p
c
2007131 31
2007131 32
0 5 10 15
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Uncompensated system step response
system step response with deadbeat compensated
2007131 33
PD controller
2007131 34
PI controller
2007131 35
PID controller
2007131 36
Exercises:
E10.1, E10.2, E10.4, E10.8, P10.9 P10.11,
P10.14, P10.21, P10.39 ,AP10.9 AP10.10, DP10.4
DP10.5

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