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Me2142 Tutorial 5

This document is a presentation on feedback control systems and frequency response analysis. It introduces feedback control systems and how they are analyzed. It discusses stability criteria like the Routh stability criterion, root locus method, and Nyquist stability criterion. It specifically focuses on the Nyquist stability criterion and how polar plots are used to depict the frequency response of a system. It provides examples of applying these concepts to first and second order systems. It also discusses relative stability and reviews concepts like gain margin and phase margin. The presentation concludes with worked examples applying these frequency response analysis techniques to example systems.

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342 views23 pages

Me2142 Tutorial 5

This document is a presentation on feedback control systems and frequency response analysis. It introduces feedback control systems and how they are analyzed. It discusses stability criteria like the Routh stability criterion, root locus method, and Nyquist stability criterion. It specifically focuses on the Nyquist stability criterion and how polar plots are used to depict the frequency response of a system. It provides examples of applying these concepts to first and second order systems. It also discusses relative stability and reviews concepts like gain margin and phase margin. The presentation concludes with worked examples applying these frequency response analysis techniques to example systems.

Uploaded by

dave low
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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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: [email protected]

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

SoC Presentation
Title 2004
Some
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
Title 2004
Some
Reviews

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

SoC Presentation
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First
Order Title
System

SoC Presentation
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First
Order Title
System

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Second
Order
System

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Some
Reviews

Polar Plot
Where it begins

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Reviews

Polar Plot
Where it ends

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Reviews

Nyquist Stability Criterion


Stable

Special Case! => Relative Stability

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Reviews

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!

SoC Presentation
Question
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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: [email protected]

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