18MHC201J – LINEAR AND DIGITAL CONTROL SYSTEMS
EXERCISE 5
STABILITY ANALYSIS USING BODE PLOT
Date: Reg. No. :
LAB PREREQUISITES:
Exercise 1 to 4
PREREQUISITE KNOWLEDGE:
Fundamentals of SCILAB programming
OBJECTIVE:
The objective of this exercise is to analyze the stability of the system with help of Bode plot using SCILAB.
BODE PLOT:
Bode Plot deals with the frequency response of a system simultaneously in terms of magnitude and phase.
More precisely, the log-magnitude and phase frequency response curves are known as Bode Plots Such plots
are useful due to the following reasons: – For designing lead compensators – For finding stability, gain and
phase margin For finding stability, gain and phase margin – For system identification from the frequency
response.
Rules for Construction of Bode Plots:
Follow these rules while constructing a Bode plot.
Represent the open loop transfer function in the standard time constant form.
Substitute, s=jω in the open loop transfer function.
Find the corner frequencies and arrange them in ascending order.
Consider the starting frequency of the Bode plot as 1/10 th of the minimum corner frequency or 0.1
rad/sec whichever is smaller value and draw the Bode plot upto 10 times maximum corner
frequency.
Draw the magnitude plots for each term and combine these plots properly.
Draw the phase plots for each term and combine these plots properly.
Note − The corner frequency is the frequency at which there is a change in the slope of the magnitude plot.
From the Bode plots, we can say whether the control system is stable, marginally stable or unstable based on
the values of these parameters.
Gain cross over frequency and phase cross over frequency
Gain margin and phase margin
DEPARTMENT OF MECHATRONICS ENGINEERING EXERCISE 5
18MHC201J – LINEAR AND DIGITAL CONTROL SYSTEMS
Phase Cross over Frequency:
The frequency at which the phase plot is having the phase of -180 0 is known as phase cross over frequency.
It is denoted by ωpc. The unit of phase cross over frequency is rad/sec.
Gain Cross over Frequency:
The frequency at which the magnitude plot is having the magnitude of zero dB is known as gain cross over
frequency. It is denoted by ωgc. The unit of gain cross over frequency is rad/sec.
The stability of the control system based on the relation between the phase cross over frequency and the
gain cross over frequency is listed below.
If the phase cross over frequency ωpc is lesser than the gain cross over frequency ωgc, then the control
system is stable.
If the phase cross over frequency ωpc is equal to the gain cross over frequency ωgc, then the control
system is marginally stable.
If the phase cross over frequency ωpc is greater than the gain cross over frequency ωgc, then the
control system is unstable.
Gain margin GM:
GM is equal to negative of the magnitude in dB at phase cross over frequency.
Where, Mpc is the magnitude at phase cross over frequency. The unit of gain margin (GM) is dB.
Phase Margin:
The formula for phase margin PM is
Where, ϕgc is the phase angle at gain cross over frequency. The unit of phase margin is degrees.
The stability of the control system based on the relation between gain margin and phase margin is listed
below.
If both the gain margin GM and the phase margin PM are positive, then the control system is stable.
If both the gain margin GM and the phase margin PM are equal to zero, then the control system
is marginally stable.
If the gain margin GM and / or the phase margin PM are/is negative, then the control system
is unstable.
PRE-LAB EXERCISE
Sketch the Bode plot for the system whose open loop transfer function is G(s) = 1/s(s+1)(s+5)
DEPARTMENT OF MECHATRONICS ENGINEERING EXERCISE 5
18MHC201J – LINEAR AND DIGITAL CONTROL SYSTEMS
PROGRAMS, OBSERVATIONS AND INFERENCES
Write the SCILAB program for drawing the Bode plot for the system whose open loop transfer
function is G(s) = K/s(s+1)(s+5) and also list out the values of gain margin and phase margin by
varying the gain value ‘K’ of the open loop system. By considering the phase margin as reference,
draw the step responses for stable, marginally stable and unstable systems by choosing proper ‘K’
values.
Program:
DEPARTMENT OF MECHATRONICS ENGINEERING EXERCISE 5
18MHC201J – LINEAR AND DIGITAL CONTROL SYSTEMS
INFERENCE & RESULTS (Write Your Inference on the Exercise Below):
Marks Marks
Contents
allotted Obtained
Performanc 5
e
Execution & 5
Documentat
ion
Postlab/ 5
VIVA
Submission 5
Total 20
Signature of the Faculty
DEPARTMENT OF MECHATRONICS ENGINEERING EXERCISE 5