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Input
Gc (s )
Controller
1 + Gc ( s )G p ( s ) = 0
G p (s)
Plant
Output
Gc ( s )G p ( s )
Output
=
Input 1 + Gc ( s )G p ( s )
SoC Presentation
Title 2004
Some
Reviews
SoC Presentation
Title 2004
Some
Reviews
SoC Presentation
2004
First
Order Title
System
SoC Presentation
2004
First
Order Title
System
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Title 2004
Second
Order
System
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Title 2004
Some
Reviews
Polar
Plot
Where it begins
SoC Presentation
Title 2004
Some
Reviews
Polar
Plot
Where it ends
SoC Presentation
Title 2004
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Title 2004
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Reviews
Rela:ve
Stability
Bode Plot
Polar Plot
Note: Only apply for Minimum Phase System(No positive open loop poles and zeros)! Non
-minimum Phase System may have negative phase margin and gain margin but can still be
stable! Always check open loop poles and zeros before use it!
SoC Presentation
Question
1 Title 2004
Rationalizing by multiplying
by its conjugate
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1 Title 2004
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1 Title 2004
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2 Title 2004
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2 Title 2004
Nyquist Plot
Bode Plot
SoC Presentation
Question
3 Title 2004
-1
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3 Title 2004
-1
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4 Title 2004
Z = N+P
P = 1
N = 0
Therefore, Z = N+P = 1 (Unstable!)
SoC Presentation
Question
5 Title 2004
A
H
D
E
SoC Presentation
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5 Title 2004
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5 Title 2004
THANK YOU
Li Jiaxin
Email: jli@u.nus.edu