Lecture 30

Instructor
Dr. Alivelu M Parimi

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Or Phase Margin Frequency : Phase Margin Frequency is defined as the
frequency at magnitude is 0dB

Or Gain Margin Frequency: Gain Margin Frequency is the frequency at 180o phase

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 Gain Margin is the change in open loop gain, expressed in decibel, required at
180o of phase shift to make the closed loop system unstable

Using Bode lot, at Gain Margin Frequency, Gain Margin is defined as the gain
required to raise the magnitude curve to 0 db

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 Gain Margin = 0 - GM dB

M=10^(GM/20))

Gain Margin = 1/M

=1/|G(jω)|.

or ωpc

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 M

Phase Margin is the change in open loop

phase shift required at unity gain to make
the closed loop system unstable
Using Bode plot, Phase Margin is defined as
the difference between the phase (at phase
margin frequency) and -180o

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 If the phase ∠GH(jω) at the frequency of |GH(jω)|=1 is greater than −180° as shown
in the left of Fig, meaning a positive phase margin, the closed-loop system is stable. If
the gain |GH(jω)| at the frequency of ∠GH(jω)=−180° is greater than 0 dB as shown in
the left of Fig. , meaning a positive gain margin, then the closed-loop system is stable.
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A TF is called a minimum phase TF if all its zeros lie in the left
hand s-plane.

It is called a non-minimum phase TF if it has zeros in the right

hand s-plane.

The meaning of the term minimum phase becomes clear from

the following example.

Suppose z,p>0, the TF G1(s)=(s+z)/(s+p) has no zero in the

right hand s-plane

But TF G2(s)=(s-z)/(s+p) has a zero in the right hand s-plane.

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 The frequency response curves can be
evaluated for real frequency s=jω on the s-plane
(with ω varying along jω-axis). Thus,

sz j  z
G1 ( j )  
s p s  j
j  p

sz j  z
G2 ( j )  
s p s  j
j  p

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 sz j  z sz j  z
G1 ( j )   G2 ( j )  
s p j  p s p s  j
j  p
s  j

The amplitude characteristics of G1(jω) and G2(jω) are the

same as can be seen from 2  z2
G1 ( )  G 2 ( ) 
2  p2
However, the phase characteristics of G1(jω) and G2(jω) are
different because
1 ()   j  z    j  p  1  2  ( )   j  z    j  p     
2
*
1 2

Phase
characteristics
for minimum
phase &
nonminimum
phase TF

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we can get the G(s) from L( )
－ 40dB/dec

the Bode diagram : － 20dB/dec

 (log  )
0dB, 0o
K ( 0.5s  1) 0.1 1
2 20
10 100
200

G ( s)  2 40dB/dec
s ( 0.005s  1)
－

and :
L( )  2o log K  20 log  2  20 log( 0.5 )  0  K  40
  20

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 Example

we can get the G(s) from the

Bode diagram :
Ks
G ( s) 
(T1s  1)(T2 s  1)
L( )
20dB
20dB/dec －20dB/dec
0.5 200
 (log  )
0dB 10 100
0.1 1

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 L( )
we can get the G(s) from the 20dB
20dB/dec －20dB/dec
Bode diagram : 0.5 200
 (log  )
0dB 10 100
Ks 0.1 1
G ( s) 
(T1s  1)(T2 s  1)

and :
L( )  20 log K  20 log   0.5  0  K 2
L( ω)  20 log 2  20 log   1 / T  20 dB  T1  0.2
1
L( )  20 log 2  20 log   20 log(0.2 )  20 log(T2 )   200  0  T2  0.05

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 L( )
－20dB/dec

we can get the G(s) from 8.136 dB

20 dB
the Bode diagram :  (log  )
0dB
0.1 1 10 100
－60dB/dec
－20dB/dec

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 L( )
－20dB/dec
we can get the G(s) from
8.136 dB
the Bode diagram : 20 dB
0dB  (log  )
K ( 0.01s  1)2 0.1 1 10 100
G ( s)  －60dB/dec
s(T 2 s  2Ts  1) －20dB/dec

1
 10  T  0.1
T
L( )  20 log K  20 log   10  20 dB  K  100 then :
1 100(0.01s  1) 2
20 log  8.136    0.2 G(s) 
2ζ 1   2 s(0.01s  0.04s  1)

For the non-minimum phase system we must combine the magnitude

response and phase response together to determine the transfer function.

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 1. Using Bode plot find phase
margin and bandwidth
frequency.
2. Phase margin will gives
damping ratio.
3. Phase margin and bandwith
frequency will give peak time
and settling time.
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  Sketch the bode plot for the following transfer
function and determine the system gain K for
the gain crossover frequency to be 5 rad/sec.

Ks 2
G( s) 
(1  0.2s)(1  0.02 s)

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 K
G( s) 
( s  5)( s  20)( s  50)

1. Draw the Bode log-magnitude and phase plots

2. Find the range of K for stability from your bode plots
3. Evaluate gain margin, phase margin, zero dB frequency and
180 degree frequency from your Bode plots for K = 10,000.

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  Using open loop frequency response for the
system where

100
G( s) 
s( s  5)
 Estimate the percent overshoot, settling time
and peak time for the closed loop step
response.

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