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FR: Introduction
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G(s)
y(t)
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(s + 1)(s + 2)
log |G(s)| =
(s + 3)(s + 4)
(s + 1)(s + 2)
=
(s + 3)(s + 4)
(s + 1) + (s + 2)
(s + 3) (s + 4)
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Bode Example
s+1
s/10 + 1
|j + 1|
|j/10 + 1|
Approximation
log[1 + (/i)2]1/2
0
i
log[/i] i
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0 /i 0.1
(1 + j/i) 90 /i 10
45 /i = 1
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Then add them up starting from zero frequency and changing the
slope as
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Want tests on the loop transfer function L(s) = Gc(s)G(s) that can
be performed to establish stability of the closed-loop system
Gcl (s) =
Gc(s)G(s)
1 + Gc(s)G(s)
Intuition: All points on the root locus have the properties that
L(s) = 180 and |L(s)| = 1
So at the point of neutral stability (i.e., imaginary axis crossing),
we know that these conditions must hold for s = j
So for neutral stability in the Bode plot (assume stable plant),
must have that L(j) = 180 and |L(j)| = 1
So for most systems we would expect to see |L(j)| < 1 at the
frequencies for which L(j ) = 180
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Gain Margin: factor by which the gain is less than 1 at the frequen
cies for which L(j ) = 180
GM = 20 log |L(j )|
Phase Margin: angle by which the system phase diers from 180
when the loop gain is 1.
Let c be the frequency at which |L(jc)| = 1, and = L(jc)
(typically less than zero), then
P M = 180 +
Positive
phase
margin
L(j)
Image by MIT OpenCourseWare.
Fig. 5: Gain and Phase Margin for stable system in a polar plot
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Im
Positive gain
margin
Im
Negative phase
margin
1/GM
-1
Re
Re
Positive phase
margin
1/GM
L(j)
L(j)
Negative gain
margin
Unstable system
Stable system
Positive gain
margin
+
|L| db 0
Log
+
|L| db 0
Log
-90o
L
Negative gain
margin
c
-90o
-180o
-270o Positive phase
margin
Stable system
Log
-180o
-270o
Log
Negative phase
margin
Unstable system
Image by MIT OpenCourseWare.
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-1
GcG(j)
Fig. 8: Polar plot of a neutrally stable case
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Nyquist Stability
s0
We are interested in the plot of L(s) for a very specic set of values
of s, called the Nyquist Path.
Im
R
Re
C2
Case shown assumes that L(s) has no imaginary axis poles, which
is where much of the complexity of plotting occurs.
Also note that if lims L(s) = 0, then much of the plot of L(s)
for values of s on the Nyquist Path is at the origin.
Nyquist Diagram: plot of L(s) as s moves around the Nyquist
path C2
September 15, 2010
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Steps:
Construct Nyquist Path for particular L(s)
Draw Nyquist Diagram
Count # of encirclements of the critical point -1
Why do we care about the # of encirclements?
Turns out that (see appendix) that if L(s) has any poles in the
RHP, then the Nyquist diagram/plot must encircle the critical
point -1 for the closed-loop system to be stable.
It is our job to ensure that we have enough encirclements how many
do we need?
N = P
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The whole issue with the Nyquist test boils down to developing a
robust way to make accurate plots and count N .
Good approach to nd the # of crossing from a point s0 is:
Draw a line from s0
Count # of times that line and the Nyquist plot cross
N = #CWcrossings #CCWcrossings
Im
G(s)
-1
Re
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FR: Summary
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