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UCK363E_Lecture03&04_Printout

The document covers lectures on Frequency Domain Analysis and Design in Automatic Control II, focusing on Bode plots, gain and phase margins, and dynamic compensator design. Key topics include the importance of Bode plots, the Nyquist Stability Criterion, and characteristics of non-minimum phase systems. The summary emphasizes the learning outcomes of sketching Bode plots, understanding gain and phase margins, and applying frequency domain analysis in control design.

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2 views

UCK363E_Lecture03&04_Printout

The document covers lectures on Frequency Domain Analysis and Design in Automatic Control II, focusing on Bode plots, gain and phase margins, and dynamic compensator design. Key topics include the importance of Bode plots, the Nyquist Stability Criterion, and characteristics of non-minimum phase systems. The summary emphasizes the learning outcomes of sketching Bode plots, understanding gain and phase margins, and applying frequency domain analysis in control design.

Uploaded by

yabguu58
Copyright
© © All Rights Reserved
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
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UCK 363E Automatic Control II 19/11/2020

Lecture 3 & Lecture 4 Handouts 26/11/2020

UCK363E: Automatic Control-II


Lecture 03 & 04: Frequency Domain
Analysis and Design
Class Instructor:
Asst. Prof. Dr. İsmail Bayezit

19.11.2020
26.11.2020
ITU FAA, Istanbul, Turkey
0

Lecture Objectives

Objectives of this lecture are as follows:

─ Details of graphical representation of frequency responses: Bode plots

─ Introduce gain margin and phase margin, and how to find them from

Bode plots

─ See dynamic compensator (controller) design using frequency responses

and Bode Plots.


1

Asst. Prof. Dr. İsmail BAYEZİT 1


UCK 363E Automatic Control II 19/11/2020
Lecture 3 & Lecture 4 Handouts 26/11/2020

Reminders: Sketching Bode Plot

Reminders: Importance of Bode Plots

Asst. Prof. Dr. İsmail BAYEZİT 2


UCK 363E Automatic Control II 19/11/2020
Lecture 3 & Lecture 4 Handouts 26/11/2020

Gain and Phase Margins

Gain and Phase Margins

Asst. Prof. Dr. İsmail BAYEZİT 3


UCK 363E Automatic Control II 19/11/2020
Lecture 3 & Lecture 4 Handouts 26/11/2020

Gain and Phase Margins

Nyquist Stability Criterion

Asst. Prof. Dr. İsmail BAYEZİT 4


UCK 363E Automatic Control II 19/11/2020
Lecture 3 & Lecture 4 Handouts 26/11/2020

Nyquist Stability Criterion

Nyquist Stability Criterion

Asst. Prof. Dr. İsmail BAYEZİT 5


UCK 363E Automatic Control II 19/11/2020
Lecture 3 & Lecture 4 Handouts 26/11/2020

Nyquist Stability Criterion

10

Gain and Phase Margins

11

Asst. Prof. Dr. İsmail BAYEZİT 6


UCK 363E Automatic Control II 19/11/2020
Lecture 3 & Lecture 4 Handouts 26/11/2020

Second Part: Frequency Domain Analysis and Design

• Objective of the lectures in this part is to:


Lead & Lag Compensators
See dynamic compensator (controller) design using
frequency responses and Bode Plots.

12

Terminology

13

Asst. Prof. Dr. İsmail BAYEZİT 7


UCK 363E Automatic Control II 19/11/2020
Lecture 3 & Lecture 4 Handouts 26/11/2020

Non-minimum Phase Systems

 G(s) is what is called a non-minimum phase system; it has a zero in the


right half plane.
16  4s 1
G(s)   4 1 0.25s
4 1.2s s 2 1 0.3s  0.25s2

 (1 + 0.25s) would have produced +90 deg phase for m → ∞.

 (1 —0.25s) produces -90 deg phase for m → ∞.

The result is a “loss” (compared to the minimum-phase system) of 180 degrees. Losing
phase is bad if you want to apply this system in closed loop control.
14

Step Response of Non-minimum Phase Systems

• Non-minimum phase systems show a typical initial response


opposite to the final response (undershoot).

step input
• You can verify by calculating the derivative of the step
response at t = 0 (use Laplace initial value theorem!)

• Some examples of non-minimum phase systems:


• bicycle
non-minimum
• inverted pendulum
phase behavior • some aircraft

15

Asst. Prof. Dr. İsmail BAYEZİT 8


UCK 363E Automatic Control II 19/11/2020
Lecture 3 & Lecture 4 Handouts 26/11/2020

Lead-Lag Compensator

16

Frequency Domain Control Design

17

Asst. Prof. Dr. İsmail BAYEZİT 9


UCK 363E Automatic Control II 19/11/2020
Lecture 3 & Lecture 4 Handouts 26/11/2020

Frequency Domain Control Design

18

Frequency Domain Analysis and Design

19

Asst. Prof. Dr. İsmail BAYEZİT 10


UCK 363E Automatic Control II 19/11/2020
Lecture 3 & Lecture 4 Handouts 26/11/2020

Frequency Domain Analysis and Design

20

Frequency Domain Analysis and Design

21

Asst. Prof. Dr. İsmail BAYEZİT 11


UCK 363E Automatic Control II 19/11/2020
Lecture 3 & Lecture 4 Handouts 26/11/2020

Frequency Domain Analysis and Design

22

Summary

─ We learned how to sketch Bode plots for fundamental transfer

functions.

─ We have seen Gain Margin and Phase Margin, and how to find

them from Bode plots

─ Frequency domain Analysis and Dynamic Compensator Design

23

Asst. Prof. Dr. İsmail BAYEZİT 12

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