Course roadmap

ME451: Automatic Control Modeling Analysis Design

Laplace transform Time response

Design specs
• Transient
Lecture 24 Transfer function • Steady state
Root locus
Bode diagram of connected systems
Models for systems Frequency response
Frequency domain
• electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Dr. Jongeun Choi Block diagrams • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist

Michigan State University

(Matlab simulations &) laboratories

1 2

Sketching Bode plot Bode plot of basic functions (review)

ƒ Basic functions ƒ G(s)=K ƒ G(s)=s
ƒ Constant gain 21 40

ƒ Differentiator and integrator 20.5 20

ƒ Double integrator 20 0

19.5 -20
ƒ First order system and its inverse
19 -40
ƒ Second order system 10
-2 -1
10
0
10
1
10
2
10 10
-2 -1
10
0
10
1
10 10
2

ƒ Time delay 1 91

ƒ Product of basic functions 0.5 90.5

0 90
1. Sketch Bode plot of each factor, and
-0.5 89.5
2. Add the Bode plots graphically.
-1 89
Main advantage of Bode plot! 10
-2 -1
10
0
10
1
10
2
10 10
-2 -1
10
0
10
1
10 10
2

3 4
 Bode plot of basic functions (review) Bode plot of basic functions (review)
ƒ G(s)=1/s ƒ G(s)=1/(s*s) ƒ G(s)=1/(Ts+1) ƒ G(s)=Ts+1
40 100 0 50

-10 40
20 50
-20 30
0 0
-30 20
-20 -50 -40 10

-40 -100 -50 0

-2 -1 0 1 2 -2 -1 0 1 2 -2 -1 0 1 2 -2 -1 0 1 2
10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10
1/T 1/T
-89 -179 0 100

-179.5 -20 80
-89.5
-40 60
-90 -180
-60 40
-90.5 -180.5
-80 20

-91 -181 -100 0

-2 -1 0 1 2 -2 -1 0 1 2 -2 -1 0 1 2 -2 -1 0 1 2
10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10

5 6

Bode plot of a 2nd order system Bode plot of a time delay

resonance
1
20
0.5
0
0

-20 -0 . 5

Resonant freq. -40 -1

10
-2
10
-1
10
0
10
1
10
2

Huge phase lag!

-60 0
-1 0 1
10 10 10
-2 0 0 0
0
Peak gain -50
-4 0 0 0

-6 0 0 0
-2 -1 0 1 2
-100 10 10 10 10 10

-150 The phase lag causes instability of the closed-

closed-loop
-200 system, and thus, the difficulty in control.
-1 0 1
10 10 10
7 8
 An advantage of Bode plot Short proofs
ƒ Bode plot of a series connection G1(s)G2(s) is ƒ Use polar representation
the addition of each Bode plot of G1 and G2.
ƒ Gain

Then,
ƒ Phase
Therefore,

ƒ We use this property to design C(s) so that

G(s)C(s) has a “desired” shape of Bode plot.

9 10

Example 1 Example 1 (cont’d)

dB
ƒ Sketch the Bode plot of a transfer function

1. Decompose G(s) into a product form: -20

deg

2. Sketch a Bode plot for each component on the

same graph.
3. Add them all on both gain and phase plots.

11 12
Example 2 Example 3
dB dB
-20 -20

deg deg -40

13 14

Example 4 Example 5
dB dB
+20 +20

-20

-20
-40

deg deg

+45 -45 +45 -45

-45
-90

15 16
 Summary and exercises Exercises
ƒ Sketching Bode plot ƒ Sketch the Bode plot of:
ƒ basic functions
ƒ connections of basic functions
ƒ Exercise ƒ Find a transfer function having the gain plot:
ƒ Read Section 8.2 of the textbook.
20dB
+20
-40

0dB
2 20

Ans.

17 18