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SoC Presentation Title 2004

ME2142 - Feedback Control Systems


Part II: Frequency Response
Tutorial Problem Set 2

Tutor: Li Jiaxin, PhD


Office: T-Lab, Level 4, UAV Group
Email: jli@u.nus.edu

SoC Presentation Title 2004


Introduction

Feedback Control System: Analysis and Design


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 )

System Stability and Performance

1. Routh Stability Criterion


2. Root Locus Method
3. Nyquist Stability Criterion

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Reviews

Polar Plots (also known as Nyquist Plot)


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

Nyquist Stability Criterion


It determines the stability of a closed-loop system from its open-loop frequency
response and open-loop poles.

SoC Presentation
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Main advantage is that frequency response characteristic of the system is


depicted in one plot.

Usually Negative Angle!

Vary and see change of Gain


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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Nyquist Stability Criterion


Stable

Special Case! => Relative Stability

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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

(Split into Re and Im parts respectively.)

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1. Split into Re and Im parts.


2. Find Gain and Phase for varying .

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Nyquist Plot

Bode Plot

Posi:ve Phase Margin

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-1

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-1

Another method: No encirclement of -1 point. N=0


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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SoC Presentation Title 2004

THANK YOU

Li Jiaxin
Email: jli@u.nus.edu