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me2142 Tutorial 5

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Part II: Frequency Response

Tutorial Problem Set 2

Office: T-Lab, Level 4, UAV Group

Email: jli@u.nus.edu

Introduction

Input

Gc (s )

Controller

1 + Gc ( s )G p ( s ) = 0

G p (s)

Plant

Output

Gc ( s )G p ( s )

Output

=

Input 1 + Gc ( s )G p ( s )

2. Root Locus Method

3. Nyquist Stability Criterion

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It is the plot of Gain versus Phase Angle, as is varied from zero to infinity.

It determines the stability of a closed-loop system from its open-loop frequency

response and open-loop poles.

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depicted in one plot.

and Phase Angle

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First

Order Title

System

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First

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System

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Second

Order

System

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Polar
Plot

Where it begins

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Polar
Plot

Where it ends

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Stable

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Rela:ve
Stability

Bode Plot

Polar Plot

Note: Only apply for Minimum Phase System(No positive open loop poles and zeros)! Non

-minimum Phase System may have negative phase margin and gain margin but can still be

stable! Always check open loop poles and zeros before use it!

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Rationalizing by multiplying

by its conjugate

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2. Find Gain and Phase for varying .

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Nyquist Plot

Bode Plot

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-1

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-1

Refer: http://www.atp.ruhr-uni-bochum.de/rt1/syscontrol

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Z = N+P

P = 1

N = 0

Therefore, Z = N+P = 1 (Unstable!)

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A

H

D

E

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THANK YOU

Li Jiaxin

Email: jli@u.nus.edu

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