LINEAR CONTROL

SYSTEMS
Ali Karimpour
Associate Professor
Ferdowsi University of Mashhad
 Lecture 21

Lecture 21

Frequency domain charts

Topics to be covered include:
Nyquist chart.
 Constant M loci.
 Constant N loci.
Nichols chart.
 Constant gain loci.
 Constant phase loci.
 Nichols chart specification.
Effect of adding poles and zeros on loop transfer function.
2
Dr.Ali Karimpour Apr 2013
 Lecture 21

Closed loop transfer functions

R(s)+ C (s )
Gc (s ) G (s )
-

Gc ( s )G ( s) L( s ) 1 1
L( s)  Gc ( s )G ( s) T ( s)   S ( s)  
1  Gc ( s)G ( s ) 1  L( s ) 1  Gc ( s)G ( s ) 1  L( s)

|L|

MP Ms
BW | T |

|S|

Frequency (rad/s)  p 3
Dr.Ali Karimpour Apr 2013
 Lecture 21

Closed loop values from Nyquist chart

R(s)+ C (s )
Gc (s ) G (s )
- 150
Let Gc ( s)G( s) 
s( s  5)( s  10)
Nyquist Diagram
T ( j1)  ?  1
 7   20
0  5
4
 G( j1)Gc ( j1)  0.86  2.8 j
-0.5
 3
T ( j1)  ?
-1 2
Imaginary Axis

L( j1)  0.86  2.8 j

T ( j1)  
-1.5 1  L( j1) 1  0.86  2.8 j

-2 T ( j1)  1.04  20
-2.5
 1 T ( j 2)  ? T ( j 3)  ? T ( j )  ?
-3
-2.5 -2 -1.5 -1 -0.5 0 0.5 1
Mp ? 4
Dr.Ali Karimpour Apr 2013
Real Axis
 Lecture 21

M circles (constant magnitude of T)

5
Dr.Ali Karimpour Apr 2013
 Lecture 21

N circles (constant phase of T)

6
Dr.Ali Karimpour Apr 2013
 Lecture 21

Closed loop values from Nichols chart

R(s)+ C (s )
Gc (s ) G (s )
- 150
Let Gc ( s)G( s) 
s( s  5)( s  10)

20
Nichols Chart
T ( j1)  ?  1

10  1 20 log Gc ( j)G( j)  9.43

2 Gc ( j )G( j )  107
0
4  3  G ( j1)Gc ( j1)  2.93  107
Open-Loop Gain (dB)

 5
-10 T ( j1)  ?
 6
 8 L( j1) 2.93  107
T ( j1)  
-20 1  L( j1) 1  2.93  107
T ( j1)  1.04  20
-30 Gc ( j )G( j )
  20 T ( j 2)  ? T ( j 3)  ? T ( j )  ?
-40
-270 -225 -180 -135 -90 M p Dr.Ali 7
? Karimpour Apr 2013
Open-Loop Phase (deg)
 Lecture 21
Constant gain and phase loci in Nichols chart
R+ C
Gc G
-

M circles and N circles

on Nichols chart

8
Dr.Ali Karimpour Apr 2013
 Lecture 21

Nichols chart specification

R+ C
Gc G How to plot |T| versus
-
frequency?
How to plot <T versus
frequency?
How to derive cross over
frequencies?
How to derive φm and GM?
How to derive open loop
bandwidth?
How to derive closed loop
bandwidth?
How to derive Mp?
How to derive ωp?
How to derive type of
system?
How to derive error
coefficient? 9
Dr.Ali Karimpour Apr 2013
 Lecture 21

Effect of adding poles on Bode plot.

r e c2
G (s )
-

Adding poles

r e 1 c2
G (s )
- 1  s
1/

BW System speed tr 10
Dr.Ali Karimpour Apr 2013
 Lecture 21

Adding poles to open loop transfer functions

‫اضافه کردن قطب به تابع انتقال حلقه باز‬
r e 1 c2 C2 ( s ) n2
G (s ) M 2 ( s)   3
- 1  s R( s) s  (1  2n ) s 2  2n s  n2

n  1   0.5   0 ,1, 2 , 5

Step Response
2

τ=5.0
P.O.
1.8
τ=2.0
1.6 tr
1.4 τ=1.0
τ=0
1.2

System speed
Amplitude

0.8

0.6 BW
0.4

0.2
More problem as
0
0 2 4 6 8 10 12 14 16 18 20
poles go to ?? 11
Time (sec) Dr.Ali Karimpour Apr 2013
 Lecture 21

Effect of adding zeros on Bode plot.

r e c2
G (s )
-

Adding zeros

r e c2
G (s ) 1  s
-
1/

BW System speed tr 12
Dr.Ali Karimpour Apr 2013
 Lecture 21

Adding zeros to open loop transfer functions

‫اضافه کردن صفر به تابع انتقال حلقه باز‬
r e c2
1  s C2 ( s ) 6(1   s)
-
G (s ) M 2 ( s)   3
R( s) s  3s 2  (2  6 ) s  6
  0 , 0.2 , 0.5 , 2 , 5 ,10
Step Response
2

1.8
τ=0
τ=0.2
P.O.
1.6
τ=10
1.4 τ=5.0 τ=0.5 tr
τ=2.0
1.2
Amplitude

0.8
System speed
0.6

0.4 BW
0.2

0
0 1 2 3 4 5 6 7 8 9 10
Note: For τ<0 system
Time (sec)
is unstable. Why?13
Dr.Ali Karimpour Apr 2013
 Lecture 21
Example 1: Derive the Bode plot of following system.
a s  1
G ( s) 
 s 1
Bode Diagram
30
50
Let a  1

Magnitude (db)
20
40

20 log G( j) 

Magnitude (dB)
1030
20 log a
1
 20 log a j  1  20 log 020
 j  1
10

G ( j )   200
9090
1
 (a j  1)  ( ) m
 j  1
Phase (deg)
Phase (deg)

?
045
 m  tan (a )  tan ( )
1 1

a  
tan(  m )   900
1  a 2 2 10
10
00
1011
10 1/ a 1 /  10102
2
10
10
3

Frequency (rad/sec)
Frequency (rad/sec)
 tan(m ) (a   )(1  a  )  2a  (a  )
2 2 2
1 a 1
 (1  a 
2 2
)  2a 
2 2
  sin  
 (1  a 2 2 ) 2  a 14
m
a 1
Dr.Ali Karimpour Apr 2013
 Lecture 21
Example 1: Derive the Bode plot of the following system.
a s  1
G ( s) 
 s 1

Bode Diagram
Let a  1 30
50

Magnitude (db)
20
40
20 log G( j) 

Magnitude (dB)
1030
1
 20 log a j  1  20 log 020
 j  1
10 20 log a
G ( j )   200
9090
1
 (a j  1)  ( )
 j  1
Phase (deg)
Phase (deg)

045

 900
10
10
00
1011
10 1/ 1/ a 10
1022
10
10
3

Frequency (rad/sec)
Frequency (rad/sec)
15
Dr.Ali Karimpour Apr 2013
 Lecture 21

Exercises
‫تمرینها‬
1 The Nichols chart of an open loop system with negative unit feedback
is shown.
a) Find the GM and PM.
b) Find MP.
Nichols Chart
40
0 dB
0.25 dB
0.5 dB
20 1 dB -1 dB
3 dB
6 dB -3 dB
0 -6 dB
-12 dB
Open-Loop Gain (dB)

-20 -20 dB

-40 -40 dB

-60 -60 dB

-80 -80 dB

-100 -100 dB answer a :GM  14 db, PM  45 b : M p  1.8 db

-120
-120 dB 16
-360 -315 -270 -225 -180 -135 -90 -45 0
Open-Loop Phase (deg) Dr.Ali Karimpour Apr 2013
 Lecture 21

Exercises
‫تمرینها‬
2 The Nichols chart of a open loop system with negative unit feedback is shown.
a) Find the error constants
b) Find the GM and PM and gain crossover frequency and phase crossover frequency.
c) Find MP , open loop bandwidth and closed loop bandwidth.

Nichols Chart
40
0 dB
0.25 dB   0.1
0.5 dB
20 1 dB -1 dB
3 dB
6 dB 2 -3 dB
0  3 -6 dB
 5
 7
-12 dB
Open-Loop Gain (dB)

-20
  12 -20 dB

-40 -40 dB

-60 -60 dB

-80 -80 dB
answer a : k p  , kv  5, k a  0
-100 -100 dB b : GM  10 db, PM  32 , c  3.75 rad / sec, 180  7 rad / sec
-120 dB
c : M p  5.3 db, BWopenloop  4.7 rad / sec, BWclosedloop  6.3 rad / sec
-120
-360 -315 -270 -225 -180 -135 -90 -45 0 17
Open-Loop Phase (deg) Dr.Ali Karimpour Apr 2013