Control Engineering
Lecture 13
Muhammad Sajjad Sabir
1
Bode Plo fo G(s) = s2 + 2 ns + n
2
( wn2 for second-order
)
Now that we have covered Bode plots 2 for first-order systems,
s s
Bode = s 2 + 2ζwns +and
G(s)log-magnitude wn2 phase
= wn2 plots+ 2ζ +1 polyno
second-order polynomial is of the form wn
At low frequencies
The magnitude, M, in dB is:
Unlike the first-order frequency response approximation, the
between the asymptotic approximation and the actual frequen
be great
At high for some values of . A correction to the Bode diagram
frequencies
to improve the accuracy. We first derive the asymptotic appro
2
FIGURE 10.13 B de a e f ali ed a d caled
G(s1) : a. ag i de; b. ha e s
3 Plot s12
= + 2ζs1 + 1, where s1 =
w 2
The low-frequency asymptote
n wn
[Eq. (10.27)] and the high-frequency Break frequency: wn
asymptote
Corrections to Second-order Bode plots
Error found between the actual response and the asymptotic approximation of the
second-order polynomial. It normally depends on value of damping ratio.
( )
G( jw) = (s 2 + 2ζwns + wn2)s → jw = wn2 − w 2 + j2ζwnw
4
FIGURE 10.14 N ali ed a d caled l g- ag i de e e
f
5
FIGURE 10.15 Scaled ha e e ef
FIGURE 10.15 Scaled ha e e
2
ef 2
6 Bode Plo fo G(s) = 1/(s + 2 ns + n ) Home Assignment
Stability, Gain Margin and Phase Margin via
Bode Plots
Gain and Phase margins are two quantitative measures of how stable a system is.
System with greater margins can withstand greater changes in system parameters
before becoming unstable.
Gain margin, GM. The gain margin is the change in open loop gain, expressed in
decibels (dB), required at 1800 of phase shift to make the closed-loop system unstable.
Phase margin, ΦM. The phase margin is the change in open-loop phase shift required at
unity gain to make the closed-loop system unstable.
The gain margin is found using the phase plot to find the frequency, where the phase
angle is 1800.
The phase margin is found using the magnitude curve to find the frequency, where the
gain in 0 dB.
7
arrived at the root locus by factoring the
E am le 10.9 Range of Gain fo S abili
second-
ia Bode
n the
Plo denominator of the transfer function. Consider
n ifPROBLEM:
that polynomial were of fifth or tenth order.
er,Use
factoring the polynomial would be quite a
Bode plots to determine the range of K within which the unity-
rous values
feedback ofshown
system gain.
in Figure 10.10 is stable. Let G( ) = K/[( + 2)( +
4)( + 5)].
amine the properties of the root locus. From these
SOLUTION:
beSince
ablethistosystem
make a ofrapid
has all ke poles
its open-loop ch of theleftroot
in the locus
half-plane, the for
msopen-loop
without having
system is [Link] factor
Hence, the
from the denominator
discussion of Section 10.5,of
thethe
closed-loop system will be stable if the frequency response has a gain less
er function.
than unity when the phase is 180°.
heBegin
root by sketching the Bode magnitude and phase diagrams shown in
locus
Figure 10.36. can 10.2,
In Section be derived
we summed from the
normalized general
plots control
of each factor
.1(a).
of G( The closed-loop
) to create transfer
the Bode plot. We saw that at function for the
each break frequency,
slope of the resultant Bode plot changed by an amount equal to the new
the
slope that was added. Table 10.6 demonstrates this observation. In this
example, we use this fact to draw the Bode plots faster by avoiding the
sketching of the response of each term.
(8.12)
(8.1
pole, , exists when the characteristic polynomial in
ecomes zero, or
8
where −1 is represented in polar form as 1∠(2k + 1)180°. Alternately, a
FIGURE 10.36 B de l g- ag i de a d ha e diag a f
he e fE a le 10.9
The low-frequency gain of G( )H( ) is found by setting to zero. Thus, the
9
Bode magnitude plot starts at K/40. For convenience, let K = 40 so that
FIGURE 10.36 B de l g- ag i de a d ha e diag a f
he e fE a le 10.9
The low-frequency gain of G( )H( ) is found by setting to zero. Thus, the
Bode magnitude plot starts at K/40. For convenience, let K = 40 so that
the log-magnitude plot starts at 0 dB. At each break frequency, 2, 4, and 5,
a 20-dB/decade increase in negative slope is drawn, yielding the log-
magnitude plot shown in Figure 10.36.
The phase diagram begins at 0° until a decade below the first break
frequency of 2 rad/s. At 0.2 rad/s, the curve decreases at a rate of
10
−45°/decade, decreasing an additional 45°/decade at each subsequent
frequency (0.4 and 0.5 rad/s) a decade below each break. At a decade
FIGURE
The gain10.37
marginGaiis found
a d using
ha etheaphase
gi plot he B de
to find thediag a
frequency, where the phase
angle is 1800.
The phase margin is found using the magnitude curve to find the frequency,
, where the
Thegain is 0 dB.
phase On theisphase
margin foundcurve
usingatthe
that frequency,curve
magnitude the phase
to find the frequency,
11
margin, ΦM, iswhere
the difference
the gainbetween
in 0 [Link] phase value and 180°.
Example: Given the unity-feedback system, G(s) is given and K=200. Find the gain
margin and the phase margin?? K
G(s) =
(s + 2)(s + 4)(s + 5)
FIGURE 10.36 B de l g- ag i de a d ha e diag a f
he e fE a le 10.9
The low-frequency gain of G( )H( ) is found by setting to zero. Thus, the
Bode magnitude plot starts at K/40. For convenience, let K = 40 so that
the log-magnitude plot starts at 0 dB. At each break frequency, 2, 4, and 5,
a 20-dB/decade increase in negative slope is drawn, yielding the log-
magnitude12plot shown in Figure 10.36.
Skill-A e men E e ci e 10.6
PROBLEM:
For the system shown in Figure 10.10, where
do the following:
a. Draw the Bode log-magnitude and phase plots.
b. Find the range of K for stability from your Bode plots.
c. Evaluate gain margin, phase margin, zero dB frequency, and 180°
frequency from your Bode plots for K = 10, 000.
ANSWERS:
a. See the answer at
13 [Link]/go/Nise/ControlSystemsEngineering8e.
–60
–80
20 log M –100
–120
–140
–160
–180
1 10 100 1000
Frequency (rad/s)
–50
Phase (degrees)
–100
–150
–200
–250
–300
1 10 100 1000
Frequency (rad/s)
14
Please read Section 8.5: Refining the Root locus again.
This is the pre-requisite of next lecture.
15