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Lecture 4
Nyquist 2: Stability Margins
using the Bode Diagram
i(s)
T(s)
o(s)
o = i modified by T(s)
gain Ao/Ai
phase angle
i(t)
Ai
o(t)
Ao
Bode Plot
state
i(s)
T(s)
o(s)
Bode Plot
i(s)
+
F(s)
G(s)
o(s)
H(s)
How?
Calculate the OL poles.
Check that they all have negative real parts.
Stability Margins
i(s)
+
F(s)
G(s)
o(s)
H(s)
Im
Rl
-1
Stability Margins
reduce it.
i(s)
+
F(s)
G(s)
o(s)
H(s)
Im
Rl
-1
Stability Margins
reduce it.
i(s)
+
F(s)
G(s)
o(s)
H(s)
just stable
At some value, say k ,
the OL gain = 1 at = 180
Im
Rl
-1
Stability Margins
reduce it.
i(s)
+
F(s)
G(s)
o(s)
H(s)
just stable
unstable
Im
safely
stable
Rl
-1
k
k
Stability Margins
i(s)
+
F(s)
G(s)
o(s)
H(s)
Rl
-1
Stability Margins
i(s)
F(s)
G(s)
o(s)
H(s)
phase
increased lag from
margin = unity gain to -180
Exercise
G s
Im
Rl
-1
3
s2 s 2
H s
1
s 1
k=1
Stability Margins
i(s)
F(s)
G(s)
o(s)
H(s)
Im
2. It is difficult to use.
Rl
-1
Stability Margins
state
i(s)
o(s)
Im
Rl
Bode Plot
state
i(s)
T(s)
o(s)
log
scale
Im
Rl
logarithmic scale
Bode Plot
i(s)
Asint
T(s)
o(s)
Bsin(t+)
Bode Plot
i(s)
T(s)
Asint
o(s)
Bsin(t+)
A complication
Power V2
So the ratio of powers = (B/A)2
20dB = 10 -20dB = 10
6dB 2 -6dB 2
Bode Plot
state
i(s)
o(s)
Im
gain
Rl
0.2 rad/s
Bode Plot
state
i(s)
o(s)
Im
Rl
0.8 rad/s
gain
Bode Plot
state
i(s)
o(s)
Im
Rl
gain
6 rad/s
Bode Plot
i(s)
+
F(s)
G(s)
o(s)
H(s)
Bode Plot
i(s)
+
F(s)
G(s)
o(s)
H(s)
Rl
-1
Bode Plot
i(s)
G(s)
H(s)
F(s)
o(s)
then the
gain (dB)
20
10
0
-10
10
20 30
50 100
500 1000
phase
Rl
-1
200
frequency (Hz)
-20
-90
10
20 30
50 100
200
500 1000
frequency (Hz)
-180
-270
Bode Plot
i(s)
G(s)
H(s)
F(s)
o(s)
then the
gain (dB)
20
10
0
-10
10
20 30
50 100
500 1000
phase
Rl
-1
200
frequency (Hz)
-20
-90
10
20 30
50 100
200
500 1000
frequency (Hz)
-180
-270
Bode Plot
Gain margin
Find the frequency where = 180
G(s)
o(s)
H(s)
F(s)
6dB
gain (dB)
20
10
0
-10
10
20 30
50 100
200
500 1000
frequency (Hz)
-20
0
phase
-90
10
20 30
50 100
200
500 1000
frequency (Hz)
-180
-270
Bode Plot
Gain margin
Find the frequency where = 180
G(s)
o(s)
H(s)
F(s)
6dB
20
gain (dB)
10
0
-10
10
20 30
50 100
200
500 1000
frequency (Hz)
-20
phase
-90
10
20 30
50 100
200
500 1000
frequency (Hz)
-180
-270
Bode Plot
Gain margin
Phase margin
o(s)
H(s)
F(s)
G(s)
gain (dB)
20
10
0
-10
10
20 30
50 100
200
500 1000
frequency (Hz)
-20
phase
-90
10
20 30
50 100
200
500 1000
frequency (Hz)
-180
205
-270
Bode Plot
Gain margin
Phase margin
H(s)
10
0
-10
10
20 30
50 100
200
500 1000
frequency (Hz)
-20
0
phase
(negative because it
refers to lag)
o(s)
20
gain (dB)
F(s)
G(s)
-90
10
20 30
50 100
200
500 1000
frequency (Hz)
-180
205
-270
Bode Plot
G(s)
o(s)
H(s)
F(s)
nyquist(sys)
sys = OLTF(s)
gain (dB)
20
Im
10
0
-10
10
20 30
50 100
500 1000
phase
Rl
-1
200
frequency (Hz)
-20
-90
10
20 30
50 100
200
500 1000
frequency (Hz)
-180
-270
Bode Plot
Summary
The Nyquist stability criterion
will tell you if a closed loop
system will be stable
provided the open loop system
is stable (it almost certainly will
not be if the OL is unstable).
i(s)
F(s)
G(s)
o(s)
H(s)