FREQUENCY RESPONSE METHODS

In this Lecture:
 Gain Margin And Phase Margin
 Relative stability

Minimum Phase: A transfer function is called minimum phase when all

the poles and zeros are LHP and non-minimum-phase when there are RHP
poles or zeros.

Minimum phase system Stable

Gain Crossover Frequency : is defined to be a value of ω g for

which 𝐺𝐻(𝑗𝜔𝑔 ) = 1

Phase Crossover Frequency: is defined to be a value of ωc for which

∠𝐺𝐻 𝑗𝜔𝑐 = −180
 Relative stability
Gain Margin (GM): is defined as the change in open loop gain required
to make the system unstable.

The gain margin (GM) is the distance on the bode magnitude plot from
the amplitude at the phase crossover frequency up to the 0 dB point.
GM=-(dB of G measured at the phase crossover frequency)

Phase Margin (PM): is defined as the change in open loop phase shift
required to make a closed loop system unstable.

The phase margin (PM) is the distance from -180 up to the phase at
the gain crossover frequency. PM=180+phase of GH measured at
the gain crossover frequency
 Determining Phase and Gain Margins

Define two frequencies: wg = frequency of 0 dB gain

wp = frequency of -180 degree phase shift
Open Loop
Gain

0 dB
Gain Margin
-m180
bodB

Phase Margin
-180+b0dB
-180o

Open Loop ωg ωp
Phase

lesson22et438a.pptx
Determining Phase and Gain Margins

Procedure: 1) Draw vertical lines through 0 dB on gain and -180 on phase plots.
2) Draw horizontal lines through 0 dB and -180 so that they intersect with the vertical lines.
3.) Draw two more horizontal lines that intersect the -180 line on the gain plot and the 0 dB line
on the phase plot.

0 dB 1 1
2 Read Gain Margin
-m180 dB
3
Read Phase Margin
2 here -180+b0dB
-180o

ωg ωp
 Phase and Gain Margins

Where the phase margin is measured in degree

 Bode Plot Stability Criteria

Open loop gain of less than 1 (G<1 or G<0dB) at

Stable Control
open loop phase angle of -180 degrees
System

Oscillatory
Open loop gain of exactly 1 (G=1 or G= 0dB) at
Control System
open loop phase angle of -180 degrees
Marginally Stable

Unstable Control Open loop gain of greater than 1 (G>1 or G>0dB)

System at open loop phase angle of -180 degrees
 Stability

 0dB
GH (dB) (1,0)  
 180 0

wg w Gain crossover frequency: w g

G.M.>0 phase crossover frequency:w p

GH
180 0
0 Stable system
90
w
 900
P.M.>0 wp
 180 0
 Stability

GH (dB)
G.M.<0
Unstable system
wg
w

GH
180 0
0
Stable system
90
w
 900
wp
 180 0

P.M.<0 Unstable system

 Example

For the system shown below find the gain and phase margins for K=10 and K=100,
then determine the system stability for.
Example

G.M.>0

Stable system
P.M.>0
Example

G.M.<0

P.M.<0 Unstable system