Control Systems. Frequency Method Nyquist Analysis.


 Bruno Reeves
 3 years ago
 Views:
Transcription
1 Frequency Method Nyquist Analysis
2 Outline Polar plots Nyquist plots Factors of polar plots
3 PolarNyquist Plots Polar plot: he locus of the magnitude of ω vs. the phase of ω on polar plane as ω goes from 0 to ood: it depicts the frequency response characteristics of a system over entire frequency range in a single plot Bad: the plot does not clearly indicate the contributions of each individual factors of the openloop transfer function
4 Integrator Integrator Polar plot negative imaginary axis 270 s s 0 / tan
5 Derivative Derivative s s 90 tan 0 Polar plot positive imaginary axis
6 st Order Systems st order system Recall Bode plot s s 2 2 tan 2 2 tan 90 0, For 45, 2 For 0, For
7 st Order Zero st order zero 2 2 tan 2 2 tan 90, For 45 2, For 0, For
8 Basic factors: 2 nd order system 2 nd order system Frequency point whose distance from the origin is a maximum the resonant frequency n n 80 0, For 90, 2 For 0, For n n n
9 Basic factors: 2 nd order zeros 2 nd order zeros 2 n n 2 0
10 eneral Polar Plots l = 0 ype 0 Plot starts on the positive real axis with a tangent perpendicular to the real axis. erminal point ω= is at the origin Curve is tangent to one of the axis which one depends on relative degree, odd gives ωaxis 2 n n n n m m m m b a a a b b K l
11 eneral Shape of Polar Plots l = ype ω = 0 Plot starts at infinity with angle 90, parallel to Im ω = Plot ends at the origin tangent to one of the axis l = 2 ype 2 ω = 0 Plot starts at infinity with angle 80, parallel to Re ω = Plot ends at the origin tangent to one of the axis Every free integrator adds 90 o of phase and rotates low frequency portion of Nyquist plot
12 eneral Polar Plots Arrival angle to origin: determined by nm 2 n n n n m m m m b a a a b b K l
13 Polar Plots of Standard ransfer Functions
14 Polar Plots of Standard ransfer Functions
15 Outline Mapping of complex function Cauchy theorem Nyquist stability criterion
16 Motivation Nyquist stability criterion: a graphical technique for determining the stability of a system. based on Cauchy theorem on functions of a complex variable only need the polar plot of the open loop systems # of each type of righthalfplane singularities must be known. can be applied to systems defined by nonrational functions, such as systems with delays. restricted to linear, timeinvariant systems.
17 Complex Mapping in the splane For a complex function Fs, any point in the splane can be represented in the Fs plane as long as s isn t a pole of Fs Ex: Im F s 2s 2 Im Re Re s  plane Fs  plane
18 Complex Mapping in the splane A contour drawn in the complex s plane, encompassing but not passing through any number of zeros and poles of a function, can be mapped to another plane Fs pla ne by the function Fs. F s 2s Conformal mapping angle preserved
19 Complex Mapping in the splane Complex rational function F s s s 2 Conformal mapping angle preserved he area enclosed by a contour is the area to the right as the contour is traversed in the clockwise direction
20 Cauchy s heorem If a contour in the splane encircles Z zeros and P poles of Fs and does not pass through any poles or zeros of Fs and the traversal is in the clockwise direction along the contour, the corresponding contour in the Fsplane encircles the origin of t he Fsplane N=ZP times in the CW F s s s 0.5 N Z P 0
21 Cauchy s heorem Ex. Fs N Z P 3 2
22 Cauchy s heorem Fs N Z P 0
23 Concept of Nyquist Stability Criterion Use Cauchy heorem to determine stability Draw Nyquist contour that encircles the entire RHP Contour goes along axis, then circles back with infiniteradius halfcircle If any poles or zeros are in the RHP, they show up as encirclements of Fs at origin assume no axis poles for now
24 Concept of Nyquist Stability Criterion Let Fs=+sHs For the system to be stable, all zeros or roots of Fs must lie in LHP. he number of unstable zeros of Fs is thus Z N P When the system is openloop stablep=0, then Z=N
25 Nyquist Stability Criterion Rs +  Es s Ys Hs Examining stability of Fs=+sHs is the same as examining the CW encirclements of +0 by shs contour
26 Nyquist Stability Criterion Rs +  Es s Ys Hs Assume nm 0. If shs has k poles in the RHP and then, as goes from  to +, H must encircle +0 k times in the CW direction for stability
27 Use of Nyquist Stability Criterion In summary Z N P Z : # of zeros of +shs in RHP i.e Closedloop poles P : # of poles of shs in RHP Openloop poles N : # of CW encirclements of the +0 by shs For stable system Z=0, Openloop stable plant: P=0 N=0 A feedback system is stable if and only if the contour in shs plane does not encircle the ,0 point. Openloop unstable plant: P 0 N=P A feedback system is stable if and only if, for the contour in shs plane, the number of counterclockwise of the ,0 point is equal to the number P of poles of with positive real parts.
28 Use of Nyquist Stability Criterion Z N Z : # of zeros of +shs in RHP i.e Closedloop poles P : # of poles of shs in RHP Openloop poles N : # of CW encirclements of the +0 by shs P Following scenarios possible No encirclement of  System is stable if there are no poles of shs in RHP Otherwise unstable CCW encirclement of  System is stable if # of CCW encirclements = # poles of shs in RHP Otherwise unstable CW encirclement of  Unstable system
29 st order system Ex: s H s s Nyquist plot Rs +  Es s Hs Ys 0.5 Nyquist Diagram Imaginary Axis 0 # encirclements : N = 0 # of Poles in RHP: P = 0 Z = N + P = 0 stable Real Axis
30 Unstable system Ex: s 2 s Nyquist Diagram Imaginary Axis # CW encirclements: N =  # of Poles in RHP: P = Z = N + P = 0 stable Real Axis If gain 2 is reduced, N becomes 0 and system becomes unstable
31 2 nd order system Ex: s H s s 00 s 0 Rs +  Es s Hs Ys Nyquist plot # encirclements: N = 0 # of Poles in RHP: P = 0 Z = N + P = 0 stable
32 Poles/Zeros on the Axis For case with axis poles? Nyquist path must not pass through poles or zeros of shs use a semicircle with the infinitesimal radius K e... K K s e e H e e e e... e
33 Pole on the Axis Ex: system w/ a pole at origin s H s K s s +90 degrees at A =00 degrees at B 90 degrees at C =0 + # encirclements : N = 0 # of Poles in RHP: P = 0 Z = N + P = 0 stable
34 Example Ex: s s s Nyquist plot 5 Nyquist Diagram 0 Imaginary Axis Real Axis # encirclements: N = 0 # of Poles in RHP: P = 0 Z = N + P = 0 stable
35 Example Ex: s K s s 2s Nyquist plot
36 Example Ex: s K s s 2 = 2 = for previous example Nyquist plot K= K=2 K=3
37 Example Ex: system w/ 2 poles at origin s 2 s K s Nyquist plot # encirclements : N = 2 # of Poles in RHP: P = 0 Z = N + P = 2 unstable
38 Example Ex: system w/ a pole at RHP s K s s Nyquist plot # encirclements : N = # of Poles in RHP: P = Z = N + P = 2 unstable
39 Plots for ypical ransfer Functions
40 Plots for ypical ransfer Functions
41 Plots for ypical ransfer Functions
42 Plots for ypical ransfer Functions
43 Plots for ypical ransfer Functions
44 Plots for ypical ransfer Functions
Systems Analysis and Control
Systems Analysis and Control Matthew M. Peet Arizona State University Lecture 23: Drawing The Nyquist Plot Overview In this Lecture, you will learn: Review of Nyquist Drawing the Nyquist Plot Using the
More informationSystems Analysis and Control
Systems Analysis and Control Matthew M. Peet Illinois Institute of Technology Lecture 23: Drawing The Nyquist Plot Overview In this Lecture, you will learn: Review of Nyquist Drawing the Nyquist Plot Using
More informationLecture 15 Nyquist Criterion and Diagram
Lecture Notes of Control Systems I  ME 41/Analysis and Synthesis of Linear Control System  ME86 Lecture 15 Nyquist Criterion and Diagram Department of Mechanical Engineering, University Of Saskatchewan,
More informationLinear Control Systems Lecture #3  Frequency Domain Analysis. Guillaume Drion Academic year
Linear Control Systems Lecture #3  Frequency Domain Analysis Guillaume Drion Academic year 20182019 1 Goal and Outline Goal: To be able to analyze the stability and robustness of a closedloop system
More informationControl Systems I. Lecture 9: The Nyquist condition
Control Systems I Lecture 9: The Nyquist condition Readings: Åstrom and Murray, Chapter 9.1 4 www.cds.caltech.edu/~murray/amwiki/index.php/first_edition Jacopo Tani Institute for Dynamic Systems and Control
More informationSystems Analysis and Control
Systems Analysis and Control Matthew M. Peet Illinois Institute of Technology Lecture 22: The Nyquist Criterion Overview In this Lecture, you will learn: Complex Analysis The Argument Principle The Contour
More informationr +  FINAL June 12, 2012 MAE 143B Linear Control Prof. M. Krstic
MAE 43B Linear Control Prof. M. Krstic FINAL June, One sheet of handwritten notes (two pages). Present your reasoning and calculations clearly. Inconsistent etchings will not be graded. Write answers
More informationThe Nyquist criterion relates the stability of a closed system to the openloop frequency response and open loop pole location.
Introduction to the Nyquist criterion The Nyquist criterion relates the stability of a closed system to the openloop frequency response and open loop pole location. Mapping. If we take a complex number
More informationRobust Control 3 The Closed Loop
Robust Control 3 The Closed Loop Harry G. Kwatny Department of Mechanical Engineering & Mechanics Drexel University /2/2002 Outline Closed Loop Transfer Functions Traditional Performance Measures Time
More informationCourse Outline. Closed Loop Stability. Stability. Amme 3500 : System Dynamics & Control. Nyquist Stability. Dr. Dunant Halim
Amme 3 : System Dynamics & Control Nyquist Stability Dr. Dunant Halim Course Outline Week Date Content Assignment Notes 1 5 Mar Introduction 2 12 Mar Frequency Domain Modelling 3 19 Mar System Response
More informationTopic # Feedback Control
Topic #4 16.31 Feedback Control Stability in the Frequency Domain Nyquist Stability Theorem Examples Appendix (details) This is the basis of future robustness tests. Fall 2007 16.31 4 2 Frequency Stability
More informationControl Systems I. Lecture 9: The Nyquist condition
Control Systems I Lecture 9: The Nyquist condition adings: Guzzella, Chapter 9.4 6 Åstrom and Murray, Chapter 9.1 4 www.cds.caltech.edu/~murray/amwiki/index.php/first_edition Emilio Frazzoli Institute
More informationH(s) = s. a 2. H eq (z) = z z. G(s) a 2. G(s) A B. s 2 s(s + a) 2 s(s a) G(s) 1 a 1 a. } = (z s 1)( z. e ) ) (z. (z 1)(z e at )(z e at )
.7 Quiz Solutions Problem : a H(s) = s a a) Calculate the zero order hold equivalent H eq (z). H eq (z) = z z G(s) Z{ } s G(s) a Z{ } = Z{ s s(s a ) } G(s) A B Z{ } = Z{ + } s s(s + a) s(s a) G(s) a a
More informationDigital Control Systems
Digital Control Systems Lecture Summary #4 This summary discussed some graphical methods their use to determine the stability the stability margins of closed loop systems. A. Nyquist criterion Nyquist
More informationAnalysis of SISO Control Loops
Chapter 5 Analysis of SISO Control Loops Topics to be covered For a given controller and plant connected in feedback we ask and answer the following questions: Is the loop stable? What are the sensitivities
More informationIntro to Frequency Domain Design
Intro to Frequency Domain Design MEM 355 Performance Enhancement of Dynamical Systems Harry G. Kwatny Department of Mechanical Engineering & Mechanics Drexel University Outline Closed Loop Transfer Functions
More information1 (s + 3)(s + 2)(s + a) G(s) = C(s) = K P + K I
MAE 43B Linear Control Prof. M. Krstic FINAL June 9, Problem. ( points) Consider a plant in feedback with the PI controller G(s) = (s + 3)(s + )(s + a) C(s) = K P + K I s. (a) (4 points) For a given constant
More informationK(s +2) s +20 K (s + 10)(s +1) 2. (c) KG(s) = K(s + 10)(s +1) (s + 100)(s +5) 3. Solution : (a) KG(s) = s +20 = K s s
321 16. Determine the range of K for which each of the following systems is stable by making a Bode plot for K = 1 and imagining the magnitude plot sliding up or down until instability results. Verify
More informationNyquist Stability Criteria
Nyquist Stability Criteria Dr. Bishakh Bhattacharya h Professor, Department of Mechanical Engineering IIT Kanpur Joint Initiative of IITs and IISc  Funded by MHRD This Lecture Contains Introduction to
More informationMEM 355 Performance Enhancement of Dynamical Systems
MEM 355 Performance Enhancement of Dynamical Systems Frequency Domain Design Intro Harry G. Kwatny Department of Mechanical Engineering & Mechanics Drexel University /5/27 Outline Closed Loop Transfer
More informationMEM 355 Performance Enhancement of Dynamical Systems
MEM 355 Performance Enhancement of Dynamical Systems Frequency Domain Design Harry G. Kwatny Department of Mechanical Engineering & Mechanics Drexel University 5/8/25 Outline Closed Loop Transfer Functions
More informationFrequency methods for the analysis of feedback systems. Lecture 6. Loop analysis of feedback systems. Nyquist approach to study stability
Lecture 6. Loop analysis of feedback systems 1. Motivation 2. Graphical representation of frequency response: Bode and Nyquist curves 3. Nyquist stability theorem 4. Stability margins Frequency methods
More informationNyquist Criterion For Stability of Closed Loop System
Nyquist Criterion For Stability of Closed Loop System Prof. N. Puri ECE Department, Rutgers University Nyquist Theorem Given a closed loop system: r(t) + KG(s) = K N(s) c(t) H(s) = KG(s) +KG(s) = KN(s)
More informationROOT LOCUS. Consider the system. Root locus presents the poles of the closedloop system when the gain K changes from 0 to. H(s) H ( s) = ( s)
C1 ROOT LOCUS Consider the system R(s) E(s) C(s) + K G(s)  H(s) C(s) R(s) = K G(s) 1 + K G(s) H(s) Root locus presents the poles of the closedloop system when the gain K changes from 0 to 1+ K G ( s)
More informationNyquist Plots / Nyquist Stability Criterion
Nyquist Plots / Nyquist Stability Criterion Given Nyquist plot is a polar plot for vs using the Nyquist contour (K=1 is assumed) Applying the Nyquist criterion to the Nyquist plot we can determine the
More informationCONTROL SYSTEM STABILITY. CHARACTERISTIC EQUATION: The overall transfer function for a. where A B X Y are polynomials. Substitution into the TF gives:
CONTROL SYSTEM STABILITY CHARACTERISTIC EQUATION: The overall transfer function for a feedback control system is: TF = G / [1+GH]. The G and H functions can be put into the form: G(S) = A(S) / B(S) H(S)
More informationECE 345 / ME 380 Introduction to Control Systems Lecture Notes 8
Learning Objectives ECE 345 / ME 380 Introduction to Control Systems Lecture Notes 8 Dr. Oishi oishi@unm.edu November 2, 203 State the phase and gain properties of a root locus Sketch a root locus, by
More informationECEN 605 LINEAR SYSTEMS. Lecture 20 Characteristics of Feedback Control Systems II Feedback and Stability 1/27
1/27 ECEN 605 LINEAR SYSTEMS Lecture 20 Characteristics of Feedback Control Systems II Feedback and Stability Feedback System Consider the feedback system u + G ol (s) y Figure 1: A unity feedback system
More informationMAS107 Control Theory Exam Solutions 2008
MAS07 CONTROL THEORY. HOVLAND: EXAM SOLUTION 2008 MAS07 Control Theory Exam Solutions 2008 Geir Hovland, Mechatronics Group, Grimstad, Norway June 30, 2008 C. Repeat question B, but plot the phase curve
More information1 (20 pts) Nyquist Exercise
EE C128 / ME134 Problem Set 6 Solution Fall 2011 1 (20 pts) Nyquist Exercise Consider a close loop system with unity feedback. For each G(s), hand sketch the Nyquist diagram, determine Z = P N, algebraically
More informationSTABILITY ANALYSIS TECHNIQUES
ECE4540/5540: Digital Control Systems 4 1 STABILITY ANALYSIS TECHNIQUES 41: Bilinear transformation Three main aspects to controlsystem design: 1 Stability, 2 Steadystate response, 3 Transient response
More informationx(t) = x(t h), x(t) 2 R ), where is the time delay, the transfer function for such a e s Figure 1: Simple Time Delay Block Diagram e i! =1 \e i!t =!
1 TimeDelay Systems 1.1 Introduction Recitation Notes: Time Delays and Nyquist Plots Review In control systems a challenging area is operating in the presence of delays. Delays can be attributed to acquiring
More informationThe Nyquist Feedback Stability Criterion
ECE137B notes; copyright 2018 The Nyquist Feedback Stability Criterion Mark Rodwell, University of California, Santa Barbara Feedback loop stability A () s AOL ( s) AOL ( s) 1 A ( s) ( s) 1 T ( s) Ns ()
More informationMCE693/793: Analysis and Control of Nonlinear Systems
MCE693/793: Analysis and Control of Nonlinear Systems Introduction to Describing Functions Hanz Richter Mechanical Engineering Department Cleveland State University Introduction Frequency domain methods
More information(Continued on next page)
(Continued on next page) 18.2 Roots of Stability Nyquist Criterion 87 e(s) 1 S(s) = =, r(s) 1 + P (s)c(s) where P (s) represents the plant transfer function, and C(s) the compensator. The closedloop characteristic
More informationFrequency Response Techniques
4th Edition T E N Frequency Response Techniques SOLUTION TO CASE STUDY CHALLENGE Antenna Control: Stability Design and Transient Performance First find the forward transfer function, G(s). Pot: K 1 = 10
More informationAndrea Zanchettin Automatic Control AUTOMATIC CONTROL. Andrea M. Zanchettin, PhD Spring Semester, Linear systems (frequency domain)
1 AUTOMATIC CONTROL Andrea M. Zanchettin, PhD Spring Semester, 2018 Linear systems (frequency domain) 2 Motivations Consider an LTI system Thanks to the Lagrange s formula we can compute the motion of
More informationControls Problems for Qualifying Exam  Spring 2014
Controls Problems for Qualifying Exam  Spring 2014 Problem 1 Consider the system block diagram given in Figure 1. Find the overall transfer function T(s) = C(s)/R(s). Note that this transfer function
More informationSchool of Mechanical Engineering Purdue University. DC Motor Position Control The block diagram for position control of the servo table is given by:
Root Locus Motivation Sketching Root Locus Examples ME375 Root Locus  1 Servo Table Example DC Motor Position Control The block diagram for position control of the servo table is given by: θ D 0.09 See
More informationClass 13 Frequency domain analysis
Class 13 Frequency domain analysis The frequency response is the output of the system in steady state when the input of the system is sinusoidal Methods of system analysis by the frequency response, as
More informationECE 486 Control Systems
ECE 486 Control Systems Spring 208 Midterm #2 Information Issued: April 5, 208 Updated: April 8, 208 ˆ This document is an info sheet about the second exam of ECE 486, Spring 208. ˆ Please read the following
More information6.302 Feedback Systems Recitation 0: Nyquist Stability Prof. Joel L. Dawson
6.302 Feedbac Systems Today s theme is going to be examples of using the Nyquist Stability Criterion. We re going to be counting encirclements of the / point. But first, we must be precise about how we
More informationCHAPTER # 9 ROOT LOCUS ANALYSES
F K א CHAPTER # 9 ROOT LOCUS ANALYSES 1. Introduction The basic characteristic of the transient response of a closedloop system is closely related to the location of the closedloop poles. If the system
More informationDESIGN USING TRANSFORMATION TECHNIQUE CLASSICAL METHOD
206 Spring Semester ELEC733 Digital Control System LECTURE 7: DESIGN USING TRANSFORMATION TECHNIQUE CLASSICAL METHOD For a unit ramp input Tz Ez ( ) 2 ( z ) D( z) G( z) Tz e( ) lim( z) z 2 ( z ) D( z)
More informationThe Nyquist Stability Test
Handout X: EE24 Fall 2002 The Nyquist Stability Test.0 Introduction With negative feedback, the closedloop transfer function A(s) approaches the reciprocal of the feedback gain, f, as the magnitude of
More informationAA/EE/ME 548: Problem Session Notes #5
AA/EE/ME 548: Problem Session Notes #5 Review of Nyquist and Bode Plots. Nyquist Stability Criterion. LQG/LTR Method Tuesday, March 2, 203 Outline:. A review of Bode plots. 2. A review of Nyquist plots
More informationRoot locus Analysis. P.S. Gandhi Mechanical Engineering IIT Bombay. Acknowledgements: Mr Chaitanya, SYSCON 07
Root locus Analysis P.S. Gandhi Mechanical Engineering IIT Bombay Acknowledgements: Mr Chaitanya, SYSCON 07 Recap R(t) + _ k p + k s d 1 s( s+ a) C(t) For the above system the closed loop transfer function
More informationStability of Feedback Control Systems: Absolute and Relative
Stability of Feedback Control Systems: Absolute and Relative Dr. Kevin Craig Greenheck Chair in Engineering Design & Professor of Mechanical Engineering Marquette University Stability: Absolute and Relative
More informationControl Systems. Root Locus & Pole Assignment. L. Lanari
Control Systems Root Locus & Pole Assignment L. Lanari Outline rootlocus definition main rules for hand plotting root locus as a design tool other use of the root locus pole assignment Lanari: CS  Root
More informationINPUTOUTPUT APPROACH NUMERICAL EXAMPLES
INPUTOUTPUT APPROACH NUMERICAL EXAMPLES EXERCISE Let us consider the linear dynamical system of order 2 with transfer function with Determine the gain 2 (H) of the inputoutput operator H associated with
More informationAnalysis of DiscreteTime Systems
TU Berlin DiscreteTime Control Systems 1 Analysis of DiscreteTime Systems Overview Stability Sensitivity and Robustness Controllability, Reachability, Observability, and Detectabiliy TU Berlin DiscreteTime
More informationEssence of the Root Locus Technique
Essence of the Root Locus Technique In this chapter we study a method for finding locations of system poles. The method is presented for a very general setup, namely for the case when the closedloop
More informationFEL3210 Multivariable Feedback Control
FEL3210 Multivariable Feedback Control Lecture 5: Uncertainty and Robustness in SISO Systems [Ch.7(8)] Elling W. Jacobsen, Automatic Control Lab, KTH Lecture 5:Uncertainty and Robustness () FEL3210 MIMO
More informationMAE 143B  Homework 9
MAE 43B  Homework 9 7.2 2 2 3.8.6.4.2.2 9 8 2 2 3 a) G(s) = (s+)(s+).4.6.8.2.2.4.6.8. Polar plot; red for negative ; no encirclements of, a.s. under unit feedback... 2 2 3. 4 9 2 2 3 h) G(s) = s+ s(s+)..2.4.6.8.2.4
More informationThe FrequencyResponse
6 The FrequencyResponse Design Method A Perspective on the FrequencyResponse Design Method The design of feedback control systems in industry is probably accomplished using frequencyresponse methods
More informationFREQUENCY RESPONSE ANALYSIS Closed Loop Frequency Response
Closed Loop Frequency Response The Bode plot is generally constructed for an open loop transfer function of a system. In order to draw the Bode plot for a closed loop system, the transfer function has
More information7.4 STEP BY STEP PROCEDURE TO DRAW THE ROOT LOCUS DIAGRAM
ROOT LOCUS TECHNIQUE. Values of on the root loci The value of at any point s on the root loci is determined from the following equation G( s) H( s) Product of lengths of vectors from poles of G( s)h( s)
More informationAnalysis of DiscreteTime Systems
TU Berlin DiscreteTime Control Systems TU Berlin DiscreteTime Control Systems 2 Stability Definitions We define stability first with respect to changes in the initial conditions Analysis of DiscreteTime
More informationRoot Locus. Signals and Systems: 3C1 Control Systems Handout 3 Dr. David Corrigan Electronic and Electrical Engineering
Root Locus Signals and Systems: 3C1 Control Systems Handout 3 Dr. David Corrigan Electronic and Electrical Engineering corrigad@tcd.ie Recall, the example of the PI controller car cruise control system.
More informationModule 3F2: Systems and Control EXAMPLES PAPER 2 ROOTLOCUS. Solutions
Cambridge University Engineering Dept. Third Year Module 3F: Systems and Control EXAMPLES PAPER ROOTLOCUS Solutions. (a) For the system L(s) = (s + a)(s + b) (a, b both real) show that the rootlocus
More informationIntroduction. Performance and Robustness (Chapter 1) Advanced Control Systems Spring / 31
Introduction Classical Control Robust Control u(t) y(t) G u(t) G + y(t) G : nominal model G = G + : plant uncertainty Uncertainty sources : Structured : parametric uncertainty, multimodel uncertainty Unstructured
More informationDefinition of Stability
Definition of Stability Transfer function of a linear timeinvariant (LTI) system Fs () = b 2 1 0+ b1s+ b2s + + b m m m 1s   + bms a0 + a1s+ a2s2 + + an1sn 1+ ansn Characteristic equation and poles
More informationStability Analysis Techniques
Stability Analysis Techniques In this section the stability analysis techniques for the Linear TimeInvarient (LTI) discrete system are emphasized. In general the stability techniques applicable to LTI
More informationIC6501 CONTROL SYSTEMS
DHANALAKSHMI COLLEGE OF ENGINEERING CHENNAI DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING YEAR/SEMESTER: II/IV IC6501 CONTROL SYSTEMS UNIT I SYSTEMS AND THEIR REPRESENTATION 1. What is the mathematical
More informationChemical Process Dynamics and Control. Aisha Osman Mohamed Ahmed Department of Chemical Engineering Faculty of Engineering, Red Sea University
Chemical Process Dynamics and Control Aisha Osman Mohamed Ahmed Department of Chemical Engineering Faculty of Engineering, Red Sea University 1 Chapter 4 System Stability 2 Chapter Objectives End of this
More informationSTABILITY OF CLOSEDLOOP CONTOL SYSTEMS
CHBE320 LECTURE X STABILITY OF CLOSEDLOOP CONTOL SYSTEMS Professor Dae Ryook Yang Spring 2018 Dept. of Chemical and Biological Engineering 101 Road Map of the Lecture X Stability of closedloop control
More informationRecitation 11: Time delays
Recitation : Time delays Emilio Frazzoli Laboratory for Information and Decision Systems Massachusetts Institute of Technology November, 00. Introduction and motivation. Delays are incurred when the controller
More informationChapter 7 : Root Locus Technique
Chapter 7 : Root Locus Technique By Electrical Engineering Department College of Engineering King Saud University 1431143 7.1. Introduction 7.. Basics on the Root Loci 7.3. Characteristics of the Loci
More information6.241 Dynamic Systems and Control
6.241 Dynamic Systems and Control Lecture 17: Robust Stability Readings: DDV, Chapters 19, 20 Emilio Frazzoli Aeronautics and Astronautics Massachusetts Institute of Technology April 6, 2011 E. Frazzoli
More informationControl Systems Engineering ( Chapter 8. Root Locus Techniques ) Prof. KwangChun Ho Tel: Fax:
Control Systems Engineering ( Chapter 8. Root Locus Techniques ) Prof. KwangChun Ho kwangho@hansung.ac.kr Tel: 027604253 Fax:027604435 Introduction In this lesson, you will learn the following : The
More informationData Based Design of 3Term Controllers. Data Based Design of 3 Term Controllers p. 1/10
Data Based Design of 3Term Controllers Data Based Design of 3 Term Controllers p. 1/10 Data Based Design of 3 Term Controllers p. 2/10 History Classical Control  single controller (PID, lead/lag) is designed
More informationCHAPTER 7 : BODE PLOTS AND GAIN ADJUSTMENTS COMPENSATION
CHAPTER 7 : BODE PLOTS AND GAIN ADJUSTMENTS COMPENSATION Objectives Students should be able to: Draw the bode plots for first order and second order system. Determine the stability through the bode plots.
More informationApplications of Transfer Function Data
Master Thesis Applications of Transfer Function Data Rob Hoogendijk March 29 DCT 29.26 Student ID: 59692 Coaches: Dr. Ir. G. Z. Angelis Ir. A. J. den Hamer Supervisor: Prof. Dr. Ir. M. Steinbuch Eindhoven
More informationUnit 7: Part 1: Sketching the Root Locus
Root Locus Unit 7: Part 1: Sketching the Root Locus Engineering 5821: Control Systems I Faculty of Engineering & Applied Science Memorial University of Newfoundland March 14, 2010 ENGI 5821 Unit 7: Root
More informationIntroduction to Root Locus. What is root locus?
Introduction to Root Locus What is root locus? A graphical representation of the closed loop poles as a system parameter (Gain K) is varied Method of analysis and design for stability and transient response
More informationThe Frequencyresponse Design Method
Chapter 6 The Frequencyresponse Design Method Problems and Solutions for Section 6.. (a) Show that α 0 in Eq. (6.2) is given by α 0 = G(s) U 0ω = U 0 G( jω) s jω s= jω 2j and α 0 = G(s) U 0ω = U 0 G(jω)
More informationMAE143a: Signals & Systems (& Control) Final Exam (2011) solutions
MAE143a: Signals & Systems (& Control) Final Exam (2011) solutions Question 1. SIGNALS: Design of a noisecancelling headphone system. 1a. Based on the lowpass filter given, design a highpass filter,
More informationTable of Laplacetransform
Appendix Table of Laplacetransform pairs 1(t) f(s) oct), unit impulse at t = 0 a, a constant or step of magnitude a at t = 0 a s t, a ramp function e at, an exponential function s + a sin wt, a sine fun
More informationSystems Analysis and Control
Systems Analysis and Control Matthew M. Peet Arizona State University Lecture 13: Root Locus Continued Overview In this Lecture, you will learn: Review Definition of Root Locus Points on the Real Axis
More informationVALLIAMMAI ENGINEERING COLLEGE SRM Nagar, Kattankulathur
VALLIAMMAI ENGINEERING COLLEGE SRM Nagar, Kattankulathur 603 203. DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING SUBJECT QUESTION BANK : EC6405 CONTROL SYSTEM ENGINEERING SEM / YEAR: IV / II year
More informationLecture 6 Classical Control Overview IV. Dr. Radhakant Padhi Asst. Professor Dept. of Aerospace Engineering Indian Institute of Science  Bangalore
Lecture 6 Classical Control Overview IV Dr. Radhakant Padhi Asst. Professor Dept. of Aerospace Engineering Indian Institute of Science  Bangalore Lead Lag Compensator Design Dr. Radhakant Padhi Asst.
More informationDue Wednesday, February 6th EE/MFS 599 HW #5
Due Wednesday, February 6th EE/MFS 599 HW #5 You may use Matlab/Simulink wherever applicable. Consider the standard, unityfeedback closed loop control system shown below where G(s) = /[s q (s+)(s+9)]
More informationReturn Difference Function and ClosedLoop Roots SingleInput/SingleOutput Control Systems
Spectral Properties of Linear Quadratic Regulators Robert Stengel Optimal Control and Estimation MAE 546 Princeton University, 2018! Stability margins of singleinput/singleoutput (SISO) systems! Characterizations
More informationThe stability of linear timeinvariant feedback systems
The stability of linear timeinvariant feedbac systems A. Theory The system is atrictly stable if The degree of the numerator of H(s) (H(z)) the degree of the denominator of H(s) (H(z)) and/or The poles
More informationCh 14: Feedback Control systems
Ch 4: Feedback Control systems Part IV A is concerned with sinle loop control The followin topics are covered in chapter 4: The concept of feedback control Block diaram development Classical feedback controllers
More informationUnit 11  Week 7: Quantitative feedback theory (Part 1/2)
X reviewer3@nptel.iitm.ac.in Courses» Control System Design Announcements Course Ask a Question Progress Mentor FAQ Unit 11  Week 7: Quantitative feedback theory (Part 1/2) Course outline How to access
More informationComplex Analysis Math 185A, Winter 2010 Final: Solutions
Complex Analysis Math 85A, Winter 200 Final: Solutions. [25 pts] The Jacobian of two realvalued functions u(x, y), v(x, y) of (x, y) is defined by the determinant (u, v) J = (x, y) = u x u y v x v y.
More informationAutomatic Control Systems, 9th Edition
Chapter 7: Root Locus Analysis Appendix E: Properties and Construction of the Root Loci Automatic Control Systems, 9th Edition Farid Golnaraghi, Simon Fraser University Benjamin C. Kuo, University of Illinois
More informationCourse roadmap. ME451: Control Systems. What is Root Locus? (Review) Characteristic equation & root locus. Lecture 18 Root locus: Sketch of proofs
ME451: Control Systems Modeling Course roadmap Analysis Design Lecture 18 Root locus: Sketch of proofs Dr. Jongeun Choi Department of Mechanical Engineering Michigan State University Laplace transform
More informationTransient Response of a SecondOrder System
Transient Response of a SecondOrder System ECEN 830 Spring 01 1. Introduction In connection with this experiment, you are selecting the gains in your feedback loop to obtain a wellbehaved closedloop
More informationOutline. Classical Control. Lecture 1
Outline Outline Outline 1 Introduction 2 Prerequisites Block diagram for system modeling Modeling Mechanical Electrical Outline Introduction Background Basic Systems Models/Transfers functions 1 Introduction
More informationLecture 5: Frequency domain analysis: Nyquist, Bode Diagrams, second order systems, system types
Lecture 5: Frequency domain analysis: Nyquist, Bode Diagrams, second order systems, system types Venkata Sonti Department of Mechanical Engineering Indian Institute of Science Bangalore, India, 562 This
More informationFREQUENCYRESPONSE ANALYSIS
ECE450/550: Feedback Control Systems. 8 FREQUENCYRESPONSE ANALYSIS 8.: Motivation to study frequencyresponse methods Advantages and disadvantages to rootlocus design approach: ADVANTAGES: Good indicator
More information(1) Let f(z) be the principal branch of z 4i. (a) Find f(i). Solution. f(i) = exp(4i Log(i)) = exp(4i(π/2)) = e 2π. (b) Show that
Let fz be the principal branch of z 4i. a Find fi. Solution. fi = exp4i Logi = exp4iπ/2 = e 2π. b Show that fz fz 2 fz z 2 fz fz 2 = λfz z 2 for all z, z 2 0, where λ =, e 8π or e 8π. Proof. We have =
More informationFast Sketching of Nyquist Plot in Control Systems
Journal of cience & Technology Vol ( No( 006 JT Fast ketching of Nyquist lot in Control ystems Muhammad A Eissa Abstract The sketching rules of Nyquist plots were laidout a long time ago, but have never
More informationSolutions to practice problems for the final
Solutions to practice problems for the final Holomorphicity, CauchyRiemann equations, and CauchyGoursat theorem 1. (a) Show that there is a holomorphic function on Ω = {z z > 2} whose derivative is z
More informationThe Relation Between the 3D Bode Diagram and the Root Locus. Insights into the connection between these classical methods. By Panagiotis Tsiotras
F E A T U R E The Relation Between the D Bode Diagram and the Root Locus Insights into the connection between these classical methods Bode diagrams and root locus plots have been the cornerstone of control
More informationControl of Manufacturing Processes
Control of Manufacturing Processes Subject 2.830 Spring 2004 Lecture #19 Position Control and Root Locus Analysis" April 22, 2004 The Position Servo Problem, reference position NC Control Robots Injection
More informationEC6405  CONTROL SYSTEM ENGINEERING Questions and Answers Unit  I Control System Modeling Two marks 1. What is control system? A system consists of a number of components connected together to perform
More informationECE317 : Feedback and Control
ECE317 : Feedback and Control Lecture : RouthHurwitz stability criterion Examples Dr. Richard Tymerski Dept. of Electrical and Computer Engineering Portland State University 1 Course roadmap Modeling
More information