Systems Analysis and Control

Matthew M. Peet
Illinois Institute of Technology
Lecture 21: Stability Margins and Closing the Loop
Overview
In this Lecture, you will learn:
Closing the Loop
Eect on Bode Plot
Eect on Stability
Stability Eects
Gain Margin
Phase Margin
Bandwidth
Estimating Closed-Loop Performance using Open-Loop Data
Damping Ratio
Settling Time
Rise Time
M. Peet Lecture 21: Control Systems 2 / 34
Review
Recall: Frequency Response
Input:
u(t) = M sin(t + )
Output: Magnitude and Phase Shift
y(t) = |G()|M sin(t + +G())
0 2 4 6 8 10 12 14 16 18 20
2
1.5
1
0.5
0
0.5
1
1.5
2
2.5
Linear Simulation Results
Time (sec)
A
m
p
l
i
t
u
d
e
Frequency Response to sin t is given by G()
M. Peet Lecture 21: Control Systems 3 / 34
Review
Recall: Bode Plot
Denition 1.
The Bode Plot is a pair of log-log and semi-log plots:
1. Magnitude Plot: 20 log
10
|G()| vs. log
10

2. Phase Plot: G() vs. log
10

Bite-Size Chucks:
G()
=

i
G
i
()
M. Peet Lecture 21: Control Systems 4 / 34
Complex Poles and Zeros
We left o with Complex Poles:
G(s) =
1

2
+ 2
s

n
+ 1

M. Peet Lecture 21: Control Systems 5 / 34

Complex Poles and Zeros
The amplication at the natural frequency,
n
, is called resonance.
Figure: Frequency Sweeping with Resonance
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Complex Poles and Zeros
Figure: Frequency Sweeping with Resonance
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Complex Poles and Zeros
Figure: The Tacoma Narrows Bridge
M. Peet Lecture 21: Control Systems 8 / 34
Closing The Loop
Now we examine the eect of closing the loop on the Frequency Response.
Use simple Unity Feedback (K = 1).
Closed-Loop Transfer Function:
G
cl
() =
G()
1 + G()
We are most concerned with magnitude:
|G
cl
()| =
|G()|
|1 + G()|
G(s)
+
-
y(s)
u(s)
Figure: Unity Feedback
M. Peet Lecture 21: Control Systems 9 / 34
Closing The Loop
On the Bode Plot
20 log |G
cl
()| = 20 log |G()| 20 log |1 + G()|
Which is the combination of
The original bode plot
The new factor log |1 + G()|
We are most concerned with the eect
of the new term
20 log |1 + G()|
Specically, as 1 + G() 0
lim
1+G()0
20 log |1 + G()| =
An unstable mode!
80
70
60
50
40
30
20
10
0
10
20
M
a
g
n
i
t
u
d
e

(
d
B
)
10
1
10
0
10
1
10
2
180
135
90
45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
Figure: Open Loop: Blue, CL: Green
M. Peet Lecture 21: Control Systems 10 / 34
Closing The Loop
Stability Margin
Instability occurs when
1 + G() = 0
For this to happen, we need:
|G()| = 1
G() = 180

Stability Margins measure how far we

are from the point
(|G| = 1, G = 180

).
Denition 2.
The Gain Crossover Frequency,
gc
is the frequency at which |G(
c
)| = 1.
This is the danger point:
If G(
c
) = 180

, we are unstable
M. Peet Lecture 21: Control Systems 11 / 34
Closing The Loop
Phase Margin
Denition 3.
The Phase Margin,
M
is the phase relative to 180

when |G| = 1.

M
= |180

G(i
gc
)|

gc
is also known as the phase-margin frequency,

M
M. Peet Lecture 21: Control Systems 12 / 34
Closing The Loop
Gain Margin
Denition 4.
The Phase Crossover Frequency,
pc
is the frequency (frequencies) at which
G(
pc
) = 180

.
Denition 5.
The Gain Margin, G
M
is the gain
relative to 0dB when G = 180

.
G
M
= 20 log |G(
pc
)|
G
M
is the gain (in dB) which will
destabilize the system in closed loop.

pc
is also known as the gain-margin frequency,
G
M
M. Peet Lecture 21: Control Systems 13 / 34
Closing The Loop
Stability Margins
Gain and Phase Margin tell how stable the system would be in Closed Loop.
These quantities can be read from the Open-Loop Data.
M. Peet Lecture 21: Control Systems 14 / 34
Closing The Loop
Stability Margins: Suspension System
80
70
60
50
40
30
20
10
0
10
20
M
a
g
n
i
t
u
d
e

(
d
B
)
10
1
10
0
10
1
10
2
180
135
90
45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 42.1 deg (at 0.891 rad/sec)
Frequency (rad/sec)
M. Peet Lecture 21: Control Systems 15 / 34
Closing The Loop
Stability Margins

M
= 35

G
M
= 10dB
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Closing The Loop
Stability Margins
Note that sometimes the margins are undened
When there is no crossover at 0dB
When there is no crossover at 180

M. Peet Lecture 21: Control Systems 17 / 34

Transient Response
Closing the Loop
Question: What happens when we Close the Loop?
We want Performance Specs!
We only have open-loop data.

M
and G
M
can help us.
Unity Feedback:
G(s)
+
-
y(s)
u(s)
We want:
Damping Ratio
Settling Time
Peak Time
0 1 2 3 4 5 6 7 8 9 10
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
M. Peet Lecture 21: Control Systems 18 / 34
Transient Response
Quadratic Approximation
Assume the closed loop system is the quadratic
G
cl
=

2
n
s
2
+ 2
n
s +
2
n
Then the open-loop system must be
G
ol
=

2
n
s
2
+ 2
n
s
Assume that our open-loop system is G
ol
Use
M
to solve for
Set 20 log |G
cl
| = 3dB to solve for
n
M. Peet Lecture 21: Control Systems 19 / 34
Transient Response
Damping Ratio
The Quadratic Approximation gives the Closed-Loop Damping Ratio as

M
= tan
1
2

2
2
+

4
4
+ 1

M
is from the Open-Loop Data!
A Handy approximation is
=

M
100
Only valid out to

= .7.
Given
M
, we nd closed-loop .
M. Peet Lecture 21: Control Systems 20 / 34
Transient Response
Bandwidth and Natural Frequency
We nd closed-loop from Phase
margin.
We can nd closed-loop Natural
Frequency
n
from the closed-loop
Bandwidth.
Denition 6.
The Bandwidth,
BW
is the frequency
at gain
20 log |G(
BW
) = |20 log |G(0)| 3dB.
Closely related to crossover frequency.
The Bandwidth measures the range of frequencies in the output.
For 2nd order, Bandwidth is related to natural frequency by

BW
=
n

(1 2
2
) +

4
4
4
2
+ 2
M. Peet Lecture 21: Control Systems 21 / 34
Transient Response
Finding Closed-Loop Bandwidth from Open-Loop Data
Question: How to nd closed-loop bandwidth?
Finding the closed-loop bandwidth from open-loop data is tricky.
Have to nd the frequency when the Bode plot intersects this curve.
Heuristic: Check the frequency at 6dB and see if phase is

= 180

.
M. Peet Lecture 21: Control Systems 22 / 34
Finding Closed-Loop Bandwidth from Open-Loop Data
Example
80
70
60
50
40
30
20
10
0
10
20
M
a
g
n
i
t
u
d
e

(
d
B
)
10
1
10
0
10
1
10
2
180
135
90
45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
At phase 135

, 5dB, we get closed loop

BW

= 1.
M. Peet Lecture 21: Control Systems 23 / 34
Transient Response
Bandwidth and Settling Time
We can use the expression T
s
=
4

n
to get

BW
=
4
T
s

(1 2
2
) +

4
4
4
2
+ 2
Given closed-loop and
BW
, we can nd T
s
.
M. Peet Lecture 21: Control Systems 24 / 34
Transient Response
Bandwidth and Peak Time
We can use the expression T
p
=

1
2
to get

BW
=

T
p

1
2

(1 2
2
) +

4
4
4
2
+ 2
Given closed-loop and
BW
, we can nd T
p
.
M. Peet Lecture 21: Control Systems 25 / 34
Transient Response
Bandwidth and Rise Time
Using an expression for T
r
, we get a relationship between
BW
T
r
and .
Given closed-loop and
BW
, we can nd T
r
.
M. Peet Lecture 21: Control Systems 26 / 34
Transient Response
Example
Question: Using Frequency Response Data, nd T
r
, T
s
, T
p
after unity
feedback.
First Step: Find the phase Margin.
Frequency at 0dB is
gc

= 2
G(2)

= 145

M
= 180

145

= 35

M. Peet Lecture 21: Control Systems 27 / 34

Transient Response
Example
Step 2: Closed-Loop Damping Ratio

=

M
100
= .35
Step 3: Closed-Loop Bandwidth
Intersect at

= (|G| = 6dB, G = 170

)
Frequency at intersection is
BW

= 3.7
M. Peet Lecture 21: Control Systems 28 / 34
Transient Response
Example
Step 4: Settling Time and Peak Time

BW
= 3.7, = .35

BW
T
s
= 20 implies T
s
= 5.4s

BW
T
p
= 4.9 implies T
p
= 1.32
M. Peet Lecture 21: Control Systems 29 / 34
Transient Response
Example
Step 5: Rise Time

BW
= 3.7, = .35

BW
T
r
= 1.98 implies T
r
= .535
M. Peet Lecture 21: Control Systems 30 / 34
Transient Response
Example
Step 6: Experimental Validation.
Use the plant
G(s) =
50
s(s + 3)(s + 6)
We nd
T
p
= 1.6s

predicted 1.32
T
r
= .7s

predicted .535
T
s
= 4s

Predicted 5.4
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Figure: Step Response
M. Peet Lecture 21: Control Systems 31 / 34
Steady-State Error
Finally, we want steady-state error.
Steady-State Step response is
lim
s0
G(s) = lim
0
G()
Steady-state response is the Low-Frequency Gain, |G(0)|.
Close The Loop to get steady-state error
e
ss
=
1
1 +|G(0)|
M. Peet Lecture 21: Control Systems 32 / 34
Steady-State Error
Example
A Lag Compensator
lim
0
20 log G() = 20dB
So lim
0
|G()| = 10.
Steady-State Error:
e
ss
=
1
1 + G(0)
=
1
11
= .091
20
10
0
10
20
30
40
M
a
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n
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t
u
d
e

(
d
B
)
10
0
10
1
10
2
10
3
10
4
10
5
90
45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
M. Peet Lecture 21: Control Systems 33 / 34
Summary
What have we learned today? Closing the Loop
Eect on Bode Plot
Eect on Stability
Stability Eects
Gain Margin
Phase Margin
Bandwidth
Estimating Closed-Loop Performance using Open-Loop Data
Damping Ratio
Settling Time
Rise Time
Next Lecture: Compensation in the Frequency Domain
M. Peet Lecture 21: Control Systems 34 / 34