Unit 4:
Stability of Control Systems
FREQUENCY RESPONSE PLOTS
Bode Plots, Polar Plots and Nyquist plots are usually drawn
for open loop systems.
From the open loop plots the performance and stability
closed loop systems are estimated.
M and N circles and Nichols charts are used to determine the
frequency response of unity feedback system closed loop
system from the open loop response.
BODE PLOT
A Bode plot maps the frequency response of the
sinusoidal transfer function of the system through
two graphs – the Bode magnitude plot (magnitude in
decibels vs Frequency) and the Bode phase
plot(phase shift vs Frequency)
The main advantage of the bode plot in dB’s is that
multiplication of magnitude can be converted into
addition.
BODE PLOT
= 20 log
BODE PLOT
To sketch the magnitude plot, a knowledge of the
magnitude variations of individual factors is
essential
Basic Factors of G(jω)
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
Phase margin and Gain margin
In a control system, phase margin and gain margin are measures
of stability that indicate how much a system's phase or gain can
vary before it becomes unstable:
BODE PLOT
BODE PLOT
The corner frequencies ωc1=1/0.2= 5rad/sec
ωc2=1/0.02= 50rad/sec
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
BODE PLOT
POLAR PLOT
The polar plot of G(jw) is a plot of the magnitude of G(jw)
versus phase angle of G(jw) on polar coordinates with
variation in ω from 0 to ∞.
It is a locus of as ω varies from 0 to ∞. The
polar plot is also called Nyquist Plot.
POLAR PLOT
The type number of the system determines the quadrant at
which the polar plots start, and the order of the system
determines the quadrant at which the polar plot ends.
POLAR PLOT
POLAR PLOT
POLAR PLOT
POLAR PLOT
POLAR PLOT
POLAR PLOT
POLAR PLOT
POLAR PLOT
POLAR PLOT
POLAR PLOT
Determination of Phase and Gain Margin
POLAR PLOT
POLAR PLOT
POLAR PLOT
POLAR PLOT
ALL PASS AND MINIMUM PHASE SYSTEMS
It has a magnitude of unity at all
frequencies; hence it is called
all-pass transfer function
The phase angle is –2tan-1 ωT
varies from 0 to -180.
ALL PASS AND MINIMUM PHASE SYSTEMS
ALL PASS AND MINIMUM PHASE SYSTEMS
It is evident that G1(jw) and G2(jw) have identical curves of
magnitude versus frequency, but their phase versus
frequency curves are different.
