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Experiment 5

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7 views

Experiment 5

Uploaded by

mehwishbano9998
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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EXPERIMENT NO.

- 5
OBJECT: Assessing gain and phase margins to examine the effect of stability margins on
closed-loop response characteristics of a control system.

Problem:

Stability of a Feedback Loop


Stability generally means that all internal signals remain bounded. For linear feedback systems,
stability can be assessed by looking at the poles of the closed-loop transfer function.
SISO System

Fig: 5.1 SISO feed back loop


Input:
>>G = tf([.5 1.3],[1 1.2 1.6 0]);
>>T = feedback(G,1);
>>pole(T)
>>rlocus(G)
>>bode(G), grid
>>step(T), title('Closed-loop response for k=1')
>>[Gm,Pm] = margin(2*G);
>>GmdB = 20*log10(Gm) % gain margin in dB
>>Pm % phase margin in degrees
>>step(feedback(2*G,1)), title('Closed-loop response for k=2')

Output:
-0.2305 + 1.3062i
-0.2305 - 1.3062i
-0.7389 + 0.0000i
Root Locus
15

10

5
Imaginary Axis

-5

-10

-15
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1
Real Axis

Fig: 5.2 Root Locus Graph

Bode Diagram
20

0
Magnitude (dB)

-20

-40

-60

-80

-100
-90
Phase (deg)

-135

-180

-225
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

Fig: 3.3 Bode diagram of Transfer Function


Closed-loop response for k=1
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 5 10 15 20 25
Time (sec)

Fig: 3.4 Closed loop Response for K=1

GmdB =
2.7471
Pm =
8.6328
Closed-loop response for k=2
1.6

1.4

1.2

1
Amplitude

0.8

0.6

0.4

0.2

0
0 10 20 30 40 50 60 70 80
Time (sec)

Fig: 3.5 Closed loop Response for K=2

Systems with Multiple Gain or Phase Crossings

Fig: 3.6 SISO feed back loop with Multiple Phase Crossovers
Input:

>>G = tf(20,[1 7]) * tf([1 3.2 7.2],[1 -1.2 0.8]) * tf([1 -8 400],[1 33 700]);
T = feedback(G,1);
step(T), title('Closed-loop response for k=1')
>>bode(G), grid
>>k1 = 2; T1 = feedback(G*k1,1);
k2 = 1/2; T2 = feedback(G*k2,1);
step(T,'b',T1,'r',T2,'g',12),
legend('k = 1','k = 2','k = 0.5')
>>m = allmargin(G)
GainMargins_dB = mag2db(m.GainMargin)
margin_gui

Output:

Closed-loop response for k=1


1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7
Time (sec)

Fig: 3.7 Closed loop Response for K=1


Bode Diagram
40

Magnitude (dB) 20

-20

-40
270

180
Phase (deg)

90

-90
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

Fig: 3.8 Bode diagram of Transfer function

Step Response
1.5
k=1
k=2
k = 0.5

1
Amplitude

0.5

0
0 2 4 6 8 10 12
Time (sec)

Fig: 3.9 Step Response of Transfer Function


m=
struct with fields:
GainMargin: [0.3408 3.3920]
GMFrequency: [1.9421 16.4807]
PhaseMargin: 68.1178
PMFrequency: 7.0762
DelayMargin: 0.1680
DMFrequency: 7.0762
Stable: 1
GainMargins_dB =
-9.3510 10.6091

Fig: 3.10 Interactive GUI

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