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    Stability Margins: Negative

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    Tejaswi J Damerla
    This document discusses stability margins in control systems, including gain margin and phase margin. It defines gain margin as the additional gain that would make a system marginally stable, and phase margin as the additional phase lag. It explains how to calculate these margins from a system's transfer function or polar plot. The key steps are finding the gain or phase crossover frequencies, and determining the additional gain or phase at those points before the system becomes unstable. MATLAB's margin function can also calculate stability margins from a transfer function.

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    Stability Margins: Negative

    Uploaded by

    Tejaswi J Damerla
    55 views5 pages
    This document discusses stability margins in control systems, including gain margin and phase margin. It defines gain margin as the additional gain that would make a system marginally stable, and phase margin as the additional phase lag. It explains how to calculate these margins from a system's transfer function or polar plot. The key steps are finding the gain or phase crossover frequencies, and determining the additional gain or phase at those points before the system becomes unstable. MATLAB's margin function can also calculate stability margins from a transfer function.

    Original Description:

    GAIN MARGIN

    Original Title

    PM_GM.pdf F

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    This document discusses stability margins in control systems, including gain margin and phase margin. It defines gain margin as the additional gain that would make a system marginally stable, and phase margin as the additional phase lag. It explains how to calculate these margins from a system's transfer function or polar plot. The key steps are finding the gain or phase crossover frequencies, and determining the additional gain or phase at those points before the system becomes unstable. MATLAB's margin function can also calculate stability margins from a transfer function.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    55 views5 pages

    Stability Margins: Negative

    Uploaded by

    Tejaswi J Damerla
    This document discusses stability margins in control systems, including gain margin and phase margin. It defines gain margin as the additional gain that would make a system marginally stable, and phase margin as the additional phase lag. It explains how to calculate these margins from a system's transfer function or polar plot. The key steps are finding the gain or phase crossover frequencies, and determining the additional gain or phase at those points before the system becomes unstable. MATLAB's margin function can also calculate stability margins from a transfer function.

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    1

    Phase Margin & Gain Margin


    M. Sami Fadali
    Professor of Electrical Engineering
    University of Nevada
    2
    Stability Margins
    What is the worst perturbation of the
    transfer function that will make the system
    marginally stable?
    Marginal stability for open loop stable
    systems is when the contour goes through
    the point (1,0).
    3
    Gain and Phase Margins
    Gain Margin: gain perturbation that makes
    the system marginally stable.
    Phase Margin: negative phase perturbation
    that makes the system marginally stable.
    4
    Model Perturbation
    G(s) = model perturbation
    Gain Margin: G(s) = K (gain perturbation)
    Phase Margin: G(s) = e
    j
    (phase lag
    perturbation)

    G(s) G(s)
    +

    C(s)
    R(s)
    5
    Definitions of Margins
    Gain Margin: additional gain that makes the
    system on the verge of instability.
    Phase Margin: additional phase lag that
    makes the system on the verge of
    instability.
    6
    Margins on Polar Plot

    gc

    pc
    gc
    /
    pc
    =gain crossover /phase crossover
    7
    Polar plot of Unstable System
    Negative GM (dBs) and PM.
    Point on Bode Plot
    Negative real axis for Nyquist plot
    corresponds to an angle of .
    Magnitude of unity corresponds to zero dB.
    For PM we need to find the phase angle at
    magnitude unity (0dB).
    For GM we need to find the magnitude at an
    angle of .
    8
    9
    Bode Plot of Stable System
    >> margin(g)
    gc pc
    10
    MATLAB Margin
    >> [Gm,Pm,Wcg,Wcp] = margin(g)
    Gm =
    2.5000
    Pm =
    22.5359
    Wcg =
    10.0000 (phase crossover freq.)
    Wcp =
    6.0783 (gain crossover freq.)
    Gain Margin Calculation
    Multiply numerator and denominator by the
    complex conjugate of the denominator.

    2
    Equate the imaginary part of the numerator to
    zero and solve for the phase crossover
    frequency:
    pc

    pc
    Calculate the gain margin
    pc
    11
    Example: Gain Margin
    Solve for phase crossover (imaginary part zero)
    2 2
    2
    pc
    12
    Calculate Gain Margin
    Evaluate the magnitude at the phase crossover
    frequency
    13
    Phase Margin Calculation
    Solve for gain crossover frequency (unity
    magnitude)
    gc
    2
    gc
    2
    gc
    2
    Calculate the phase margin
    gc
    14
    Phase Margin Calculation
    Solve for gain crossover (unity magnitude)
    2
    6
    2 2 2
    6 4 4 2 6
    2
    gc
    15 16
    Phase Margin
    0 ]
    gc
    gc
    Stability Margins
    17
    Nyquist Diagram
    Real Axis
    I
    m
    a
    g
    i
    n
    a
    r
    y

    A
    x
    i
    s
    -1 -0.5 0 0.5 1 1.5 2
    -1.5
    -1
    -0.5
    0
    0.5
    1
    1.5
    System: g
    Phase Margin (deg): 104
    Delay Margin (sec): 1.12
    At frequency (rad/s): 1.62
    Closed Loop Stable? Yes
    >> g=zpk([],[-1,-5],10)
    Zero/pole/gain:
    10
    -----------
    (s+1) (s+5)
    >> nyquist(g)
    Delay Margin
    dm
    = delay margin = time delay for the
    system to be on the verge of instability.
    Transfer function with time delay
    d
    -s1
    d
    System on verge of instability
    gc
    -]o
    gc
    1
    dm
    18
    Delay Margin Calculation
    gc
    -]o
    gc
    1
    dm
    Equate angles:
    gc gc dm
    gc
    Solve for the delay margin
    dm
    gc
    gc
    gc
    19
    Example
    gc
    gc
    dm
    gc
    Same as MATLAB answer.
    20

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