Scribd
Upload
31 views3 pages

(034020) Divnehe e Dxwal Ean: TECHNION - Israel Institute of Technology, Faculty of Mechanical Engineering

This document discusses stability analysis of linear time-invariant systems using Nyquist and Bode plots. It provides the transfer functions of 4 systems and plots their Nyquist, Bode and step responses. It then asks 4 questions: 1) Find the geometric location satisfying a given equation for the systems. 2) Plot curves of constant value for the equation. 3) Prove the distance from a point to the Nyquist plot is the inverse of sensitivity. 4) Explain how to find the maximum sensitivity from the Nyquist plot and prove a relationship between sensitivity and gain margin when the system is stable.

Uploaded by

Hagai Bar
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
31 views3 pages

(034020) Divnehe e Dxwal Ean: TECHNION - Israel Institute of Technology, Faculty of Mechanical Engineering

This document discusses stability analysis of linear time-invariant systems using Nyquist and Bode plots. It provides the transfer functions of 4 systems and plots their Nyquist, Bode and step responses. It then asks 4 questions: 1) Find the geometric location satisfying a given equation for the systems. 2) Plot curves of constant value for the equation. 3) Prove the distance from a point to the Nyquist plot is the inverse of sensitivity. 4) Explain how to find the maximum sensitivity from the Nyquist plot and prove a relationship between sensitivity and gain margin when the system is stable.

Uploaded by

Hagai Bar
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 3

   

TECHNION Israel Institute of Technology, Faculty of Mechanical Engineering

(034020) divnehee dxwal ean


11 qn zia ilibxz oeilb

1 qn dly
:dnilynd zeyibxde zeyibxd zeivwpet lr zeyixc oldl


|S(j)| 0.1 0.32 [0, 1]

.1
|T (j)| 0.1 0.32 [9, )


|S(j)| 0.1 0.32 [0, 9]

.2
|T (j)| 0.1 0.32 [1, )

.zeliaw T (s)-e S(s) erivd biydl ozipy zeyixcd xear .exiaqd ? zipexwr biydl ozip zeyixcd on el
Nyquist Diagram

Nyquist Diagram

wg 8

0.5

1
Imaginary Axis

1
Imaginary Axis

wg 0.8

0.5

1.5

1.5

2.5

2.5

3
1.5

0.5

0
Real Axis

0.5

3
1.5

1.5

L2 (s) ly ixlet mewr (a)

0.5

0.5

1.5

L1 (s) ly ixlet mewr ()

Nyquist Diagram

Nyquist Diagram
0

0.5

0.5

1
1

wg 2

Imaginary Axis

Imaginary Axis

0
Real Axis

1.5

wg 1.2

1.5

2.5
2.5
3

3.5
3.5

3.5

2.5

1.5
Real Axis

0.5

4
1.5

0.5

0.5

Real Axis

L3 (s) ly ixlet mewr (b)

L4 (s) ly ixlet mewr (c)

:1 xeiv

2 qn dly
dcea zenxbic zepezp 3-e 2 mixeiva .(Li (s)) gezt bega zxeqnz zeivwpet rax ly miixlet mixeiz mibven 1 xeiva
.dnzda ( er ) Si (s) zeieyibxd zeivwpet ly dbxcnd zeaebze Ti (s) zenilynd zeieyibxd zeivwpet ly
.mixeivd oia enizd .1
? (i = 1, 2, 3, 4) Li (s)-l miaivi l miahw dnk .2
1

Bode Diagram
20

20

20
Singular Values (dB)

Singular Values (dB)

Bode Diagram
20

40

60

40

60

80

80

100

100

120

10

10
Frequency (rad/sec)

120

10

10

10

10
Frequency (rad/sec)

(a)

Bode Diagram
20

20

20
Singular Values (dB)

Singular Values (dB)

Bode Diagram

40

60

40

60

80

80

100

100

10

10
Frequency (rad/sec)

10

()

20

120

10

120

10

10

10

10
Frequency (rad/sec)

(c)

10

10

(b)

Ti (j) ly zecehiltn :2 xeiv

Step Response
1

0.8

0.8

0.6

0.6
Amplitude

Amplitude

Step Response
1

0.4

0.4

0.2

0.2

10

20

30
Time (sec)

40

50

60

10

20

(a)

0.8

0.8

0.6

0.6

0.4

0.2

30
Time (sec)

60

40

50

60

0.4

0.2

20

50

Step Response
1

Amplitude

Amplitude

Step Response

10

40

()

30
Time (sec)

40

50

60

10

(c)

20

30
Time (sec)

(b)

Si (s) ly dbixcn zeaebz :3 xeiv

' 3
)L(s

= M

)L(j
)1 + L(j

= )T(j

M ?

M ,1.5,2}
M = 0.5,
2

' 4
. ) ( 1, 0 )(
). S(j
. .
? S m max S( j) :

. ,

Sm
Sm 1

. GM

You might also like