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Routh-Hurwitz Stability Criterion, (7) Root Locus & (8) Freq. Response Analysis

This document contains lecture notes on control systems. It discusses topics like the Routh-Hurwitz stability criterion, root locus analysis, frequency response analysis using Bode plots. It provides examples of 1st order, 2nd order and general Bode plots. It also discusses concepts like gain margin, phase margin from the root locus and Bode plots. Homework problems are assigned from the textbook on these topics. Examples of root locus, Bode plots showing gain and phase margins are presented. Control system homework problems from an online resource are also listed.

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Reinhard Tetap Semangat
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18 views18 pages

Routh-Hurwitz Stability Criterion, (7) Root Locus & (8) Freq. Response Analysis

This document contains lecture notes on control systems. It discusses topics like the Routh-Hurwitz stability criterion, root locus analysis, frequency response analysis using Bode plots. It provides examples of 1st order, 2nd order and general Bode plots. It also discusses concepts like gain margin, phase margin from the root locus and Bode plots. Homework problems are assigned from the textbook on these topics. Examples of root locus, Bode plots showing gain and phase margins are presented. Control system homework problems from an online resource are also listed.

Uploaded by

Reinhard Tetap Semangat
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Lecture 8:

(6) Routh-Hurwitz Stability Criterion,


(7) Root Locus &
(8) Freq. Response Analysis

May 22, 2014


TKM415 Control Systems
Teknik Pengaturan

Dr. Joga Dharma Setiawan


HW Due 28 May 2014
In textbook “Feedback Control Systems”
by Phillips-Harbor
Problems:
6.2 a
6.3 a,b,c
6.7 a,b,c,d
7.5 a,b
7.7 a,b,c,d

Universitas Diponegoro 2014 TKM415 Control Systems 2


Chapter 6: Routh-Hurwitz Stability Criterion
 Section 6.1
 Example 6.2, 6.6, 6.7

Universitas Diponegoro 2014 TKM415 Control Systems 3


Chapter 7:Root Locus Analysis & Design
 Root Locus
 A plot of the roots of the system characteristic equation as
some parameter of the system is varied
 Rule for Root Locus Development
 Table 7.2, page 225
 Can use Matlab command: rlocus

Universitas Diponegoro 2014 TKM415 Control Systems 4


Universitas Diponegoro 2014 TKM415 Control Systems 5
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Universitas Diponegoro 2014 TKM415 Control Systems 7
Chapter 8:Frequency Response Analysis
(Bode Plot)
 Magnitude
 Phase
 Other information can be extracted
 Steady state gain
 Response to a sinusoidal input
 System order
 Estimate of Damping
 Bandwidth
 Gain Margin & Phase Margin
 Stability
 Relation to Root Locus
 How to sum more than one Bode Plots for a series of TFs?
 Application: example PID control

Universitas Diponegoro 2014 TKM415 Control Systems 8


Review of dB
 deciBell=20log(Mout/Min) Gain dB
40
0.01 -40
0.1 -20
1 0
30

20 10 20
10 100 40
dB

0
29.4 29.4
-10

-20

-30

-40
0 10 20 30 40 50 60 70 80 90 100
Gain

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Bode Plot: 1st Order

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Bode Plot: 2nd Order

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Bode Plot: GM & PM

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Root Locus
3

Example GM & PM
2

1
Imaginary Axis

-1
System: sys
Gain: 31.5
Pole: 0.0182 - 2.28i
Damping: -0.00796
Overshoot (%): 103
-2
Frequency (rad/sec): 2.28

-3
-7 -6 -5 -4 -3 -2 -1 0 1
Real Axis

Universitas Diponegoro 2014 TKM415 Control Systems 13


Bode Diagram
50

0
GM=30dB
Magnitude (dB)

-50

-100

-150
-90

-135
Phase (deg)

-180

-225
PM=75 deg
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

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1
GOL ( s ) 
s s  1
2

GM=6dB
PM=20deg

P8.16

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Homework
 http://ctms.engin.umich.edu/

Universitas Diponegoro 2014 TKM425 Control Systems 17


Homework
 http://ctms.engin.umich.edu/
 Cruise Control
 Motor Speed
 Motor Position
 Suspension
 Inverted Pendulum
 Aircraft Pitch
 Ball & Beam
 Basics: Matlab + Simulink
 Animation
Universitas Diponegoro 2014 TKM425 Control Systems 18

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