Abstract:
desired stability margins. To verify whether the
This paper presents a method to design of robust
controller of Non-Minimum Phase Systems (NMP)
using CRC - bode plots. The control of SISO NMP
systems under variation of parameters, and
disturbance conditions is a difficult task, hence
there is a need to design of a control strategy under
these conditions. In CRC Bode plot the robust
performance contours are super imposed on
magnitude and phase angle plots of the controller.
The performance characteristic plots are densely
packed or loosely packed. The frequency response
is passing through the densely packed region
exhibits less robustness or more sensitivity. A
controller robustness is examined by observing the
frequency response characteristic curves and these
characteristic curves should not pass through
forbidden region (densely packed region). To verify
the controller robustness in MATLAB environment
using CRC bode approaches the NMP systems are
considered and for these systems controller is
designed using ZN tuning method. The closed-loop
step and frequency response characteristics are
correlated using conventional SISO design
approach.
Introduction:
The non-minimal phase systems are having
RHP zero. These systems also exhibit have limited
gain margin and bandwidth. The control complexity
is exhibited by these systems and results in
degradation of the system performance under
disturbance conditions. Therefore, the system with
RHP-ZERO are difficult to regulate, and to regulate
the performance of these systems, robust controllers
are needed.
These are various methods to find the
appropriate controllers for these complex systems
like classical controller design using root-locus,
Bode, Nyquist, loop shaping methods, optimization
methods and controller tuning. Ziegler-Nichols is
very popular tuning method to obtain PID controller
parameters when critical gain and time period are
known from open-loop step response. The
controller robustness of a system can be evaluated
using several quantifiers for SISO system for
example GM and PM, MM and also using
sensitivity functions and CRC bode plot. The
controller designed using ZN method may ensure
the stability of the system but may not ensure the
controller is exhibiting the specified requirements
CRC bode can be used.
2.1. Non-minimum phase systems
The transfer function having zeros on right half of
s-plane, are known as non-minimal phase systems
and these Non-minimum-phase zeros limit closed-
loop performance. For these systems as the gain is
increased, poles move toward zeros, and thus
destabilization inevitably occurs. Here, if the loop
transfer function has non-minimum-phase zeros and
it exhibits limited gain margin. This limited margin
indicates limitation of robustness of the closed-loop
system.
The behavior of the non-minimum phase system
which contain a single RHP zero is shown in Fig
(1), the step response initially moves in the “wrong”
direction and after some time it gets a proper
direction and one zero crossing happens. The
number of zero crossings in the step response is
greater than or equal to the number of positive
zeros. Consider for example a continuous-time
transfer function denoted using equation (1). Here,
one RHP -zero is located at s = 0.5, that is G has
one positive zero, the step response initially moves
in the “wrong” direction and shown in Fig. (1).
G(s)= (-6 s + 3)/ (50 s^2 + 15 s + 1) (1)
Step Response
3
G
2.5
2
1.5
Amplitude
1
0.5
0
-0.5
0 10 20 30 40
Time (seconds)
50 60 70
Figure 2.1 Step Response of NMP Systems
2.2. Controller Design Methods
PID controller design methodologies can be
classified into analytical methods, trial and error
methods, classical tuning methods, auto tuning
methods and Robust tuning methods for specified
performance. Here, PID controllers are designed for
non-minimum phase systems using Zeigler Nichols
method. Ziegler Nichol’s closed-loop ultimate cycle
method is also known as the second method used to
find the PID controller parameters.
 The closed-loop system is considered with
proportional controller is connected in
cascading with the non-minimum phase
plant with the Kd and Ki parameters of PID
controller are zero.
 A step input is applied to the closed-loop
system and the proportional gain increased
till the output of the non-minimum phase
system exhibit sustained oscillations.
 The gain at which the closed-loop system
exhibits sustained oscillations is called
ultimate gain or critical gain Kcr and the
period of oscillation is called critical time-
period Tcr.
 Based on the Tcr and Kcr the PID tuning
parameters are obtained.
The design of controller using SISO tools
provide a easy way to design controllers for fixed
operating point cases such controllers cannot
guarantee the robustness if the system subjected to
the high frequency noise and low frequency
disturbances. Different controlling schemes and
design methods are adapted which includes classical
loop shaping method and H ∞ based robust controller
methods etc. and for these classical methods the
controller is obtained through an iterative process.
These methods have certain limitations like
resulting higher ordered controller even for simple
systems, the construction of the weighting functions
and their alteration is a difficult task in the event of
failure in the synthesis algorithms. To overcome
some of these limitations, a CRC Bode methods are
adapted this method essentially combines the salient
features of the classical loop shaping techniques and
robust control theory The CRC Bode plot contains
robust performance contours or robust metric,
which are supper imposed on the magnitude and
phase plots of the controller. Robust stability and
performance is guaranteed if the controller
frequency response does not intersect the with the
forbidden region of the CRC Bode.
Optimizing the controller iteratively becomes
simpler as the Γ(ω) contours’ relative position with
reference to the forbidden regions is clearly visible
in the CRCBP. Here, the less dense contours imply
increased level of robustness while high dense
contours indicate more sensitive regions, i.e. less
robustness. Further, this approach offers freedom in
terms of controller parameter selection without
altering the weighting functions. This method is
more suitable for the NMP systems which impose
performance limitation due to RHP zero systems.
Consider a non-minimum phase system and its
controller, these are defined using G(s), C(s)
respectively. By using these transfer functions, the
sensitivity and complementary sensitivities are
defined using S(s) and T(s) respectively using
equation (2.1). The performance weight and
uncertainty weights are denoted using wP , wI .
1 Lg(s)
S(s)  ; T(s) 
1  Lg(s) 1  Lg(s)
Achievement of the desired performance of a
system is verified by plotting the frequency
response of sensitivity function ‘S’. And this
magnitude frequency response is expected to be
small in a frequency region where it is needed and
the limits of the magnitude are defined using
performance weight function WP. The magnitude
frequency response of S is expected to lower than
inverse of WP or in other words wPS <1. Similarly,
the requirement of stability of a nominal system is
verified by plotting the complementary sensitivity
function and its magnitude should be small in a
frequency region where it is required. The
magnitude frequency response of T is lower than
inverse of uncertainty weight WI (upper bound).
RP  Sp  1/ w P  Sp RS  T  1/ w 
I
RP  w PSp  1  Sp RS  w IT  1 
The robust performance analysis using CRC
bode plot is carried out by defining a robust
performance matric Γ and it is defined using
equation (2.2). The robustness of the controller is
verified using Γ and it should be less than 1 for the
frequency range consideration. The controller is
said to be robust it should not pass through the
forbidden regions defined by the equation (4.1). The
frequency response of the controller is obtained and
super imposed on the CRC Bode plot, controller
frequency response should not pass through the
FBR then it exhibits robust stability as well as
robust performance. If the frequency response
passes through FBR then the controller needs to be K i∗1 [3.2]
C(S)= K p + K d *s +
updated i.e, redesign the controller. s
2.3. Constructing CRC Bode Plots Consider a simplest PID controller (Eq[2]) with unity
proportional gain Kp =1 , and Kd=0 ,Ki=0, The closed
CRC bode plots are constructed either in
loop step response of the system with this controller is
CRC Bode magnitude (at fixed controller phase) or shown in figure (3) .
in CRC Bod phase (at fixed controller magnitude)
considering either of the above, evaluate Γ(w) for 0.6
Step Response

all plants over a range of controller magnitude or

phase. And plot contours of the maximum Γ over 0.5

all frequencies along with the controller frequency 0.4

response. The design steps of CRC bode as 0.3

Amplitude
follows. 0.2

 Consider the Non-Minimum Phase System 0.1

and represent using Gp (s) and specify the 0

desired specifications. -0.1

0 0.5 1 1.5 2 2.5 3

 Obtain the step-response of the open-loop Time (seconds)

frequency response and obtain the Figure 3.1 Step response of closed loop system with
characteristics of the system. Kp=1.
 Define the performance and uncertainty
weight functions to verify controller Remarks : the closed loop system is exhibiting SSE
robustness. so an appropriate controller need to be designed to
reduce the SSE and also to minimize the settling
 Design the simplest proportional controller.
time along with sufficient margins .
 With this controller obtain the closed-loop
step and open-loop frequency response. The frequency response of this system is shown
Using these responses obtain the below considering loop gain L=G*C Eq(3.3)
specifications Mp, ts, eSS and (GM & PM).
s−0.5 [3.3]
 Verify the robustness using closed-loop L(S)= 3 2 *1
frequency response characteristics using s + 60 s + 500 s
sensitivity and complementary sensitivity
functions.
 Verify the robustness using CRC Bode plot.
 Co-relate the frequency response and time-
response characteristics using CRC Bode
plot and derive the conclusions.
 Identify the whether all specifications met or
not with the simplest controller.
If specifications are not met then design an
appropriate controller using suitable method and
repeat the steps (e) to (i).
3. Design Systems and Simulation Results
Figure 3.2 Bode phase and magnitude plots of closed
EXAMPLE 1 loop system.

Let us consider a NMP system whose transfer Remarks :the Bode frequency response
function G(s) and controller transfer function is C(s) characteristics obtained from the loop-gain is
and loop gain transfer function is L(S)= G(s)* C(s) exhibiting the Gain margin of 14 dB. Though this
s−0.5 [3.1] system is stable the damping is unknown as the
G (s) = 3 2 system GCF is unknown and PM is also unknown.
s + 60 s + 500 s
Observation ::GM is positive shows that the closed- Bode Diagram
loop system is stable and unable to get the damping 0
INVSEN
of the overall system.
-20

The closed-loop sensitivity Eq (3.4) and

complementary sensitivity Eq (3.5) Frequency -40

responses are obtained in the mat-lab environment.

-60
These frequency responses are shown in figure (3.3

Magnitude (dB)
& 3.4) -80

3 2 [3.4]
s +60 s +500 s
S= 3 2
-100

s + 60 s + 501 s−0.5
-120
10 0
T = [3.5] Frequency Fi
(rad/s)

4 3 2 gure 3.4. Bode magnitude frequency response of

2 s +119 s + 940 s −500 s complementary sensitivity transfer functions
6 5 4 3 2
s +120 s + 4600 s + 60000 s +250000 s
Observation: The desired characteristics of
0.645 s +0.129 [3.6] sensitivity is, at high frequency the magnitude of
Wp=
2 s+ 0.001 sensitivity should be maximum with unity
magnitude and at low frequency it should be
0.625 s +0.375 [3.7] minimum, therefore, the system follows the desired
Wi=
0.25 s +1 characteristics (figure (3.4)).

The frequency response of sensitivity and The frequency response of inverse of performance
complementary sensitivity are shown in figure (3.3) weight function and sensitivity function are
obtained in the MATLAB environment is shown below.
Bode Diagram
10
SEN Bode Diagram
10
0 SEN
CMSEN
0

-10
-10
Magnitude (dB)

-20
Magnitude (dB)

-20

-30
-30

-40 -40

-50 -50
10 -4 10 -2 10 0 10 2 10 -4 10 -2 10 0 10 2
Frequency (rad/s) Frequency (rad/s)

Figure 3.3. Bode magnitude frequency response of Figure 3.5 Bode magnitude frequency response plots of
sensitivity transfer functions S(jw) , 1/W p

From this frequency response the product of

performance weight function and sensitivity should
be less than one for all frequencies if the system is
exhibiting the desired performance. In another way
sensitivity function should be below the inverse of
performance function. But the closed-loop
sensitivity function is violating the constraint in low
frequency region.
Observation: from the frequency response of the
sensitivity function it is observed that the inverse of
performance function below the sensitivity function
in low frequency region. The closed-loop sensitivity
function is violating the constraint in low frequency
region indicates the system is exhibiting poor
disturbance rejection characteristics. 4 3 2
s +60 s +500 s
CRC BODE plot of this system with following weight S= 4 3 2
s +178 s +243 s +95.17 s+1.915
functions are shown in figure (3.6)
T=

7 6 5 4 3
236 s +13646 s +8.735e04 s −2.456e05 s + 9.54e04 s +1915
8 7 6 5 4
s +120 s + 4600 s +60000 s +250000 s

0.645 s +0.129 0.625 s +0.375

Wp= Wi=
2 s+ 0.001 0.25 s +1
Step Response
1.2

0.8

Figure 3.6. CRCBode plot of the system with Kp=1 0.6

0.4
Amplitude
0.2

Observation: 0

The CRC bode plot is passing through forbidden -0.2

regions and it can be easily identified by a red line -0.4

fig(3.6). This shows that the system is having less -0.6

or insufficient stability margins. 0 50
Time (seconds)
100

The CRC bode curve is conforming the results of
bode curve. now proper controller is design by
using ZN tuning method. And it is Based on open
loop step response parameters. The parameters of
the controller obtained using this method is as
follows
Proportional gain constant Kp =-198, integral gain
constant Ki= -3.83, derivative gain constant Kd
=118 . and the transfer function of PID controller is
C(s) Eq(14)
−3.83∗1 [3.8]
C(S)= −198+118 *s +
s 3
The closed loop step response of this system using
these controller parameters is shown in fig (6).
Figure 3.7. step response of closed loop system with
designed controller C.
The frequency response of inverse of performance
weight function and sensitivity function are
obtained in the matlab environment is shown below
Observation : the closed loop system step response
with this controller shows zero steady-state
characteristic with very less settling time .
The frequency response of this system is shown
below considering loop gain L=G*C , Eq (3.9)
2
118 s −257 s + 95.17 s+ 1.915 [3.9]
L(S) = 4 3 2
s +60 s +500 s

Remarks :From Bode frequency response

considering loop-gain the gain and phase margins
are as follows: GM= 9.5 and PM= 112 .
Observation ::GM and PM are positive shows that
the closed-loop system is stable.
 80
Bode Diagram
Figure 3.9 .Bode plots of S(jw) , 1/W p
60

40

20

0
From this frequency response the product of
-20
90
performance weight function and sensitivity are
less than one for all frequency ,therefore the system
Magnitude (dB)

-90
is exhibiting the desired performance .
-180
10 0
Observation:: The desired characteristics of
Phase (deg)

Frequency (rad/s)
Fig
ure 3.8 Bode phase and magnitude plots of closed
loop system.
The closed-loop sensitivity Eq (3.10) and
complementary sensitivity Eq (3.11). These
frequency responses are shown in figure (3.9).
Remarks :From Bode frequency response The
sensitivity and complementary sensitivity are
obtained and therefore the system is exhibiting the
stable response .
CRC BODE plot of this system with selected
weight functions are shown in figure(5)

T= [3.11]
7 6 5 4 3 2
236 s +13646 s +8.735e04 s −2.456e05 s + 9.54e04 s +1915 s
8 7 6 5 4
s +120 s + 4600 s +60000 s +250000 s

0.645 s +0.129 [3.12]

Wp =
2 s+ 0.001 Figure 3.10.CRCBode plot of the system with C(s) =
0.001∗1
0.625 s +0.375 [3.13] 0.25+ 0.00513 *s +
Wi = s
0.25 s +1
Observation ::The CRC bode plot is not passing
through forbidden regions and it can be easily identified
by a weight line fig(3.10). This shows that the system is
robustly stability at all frequencies.
frequency response of inverse of performance
weight function and sensitivity function are The CRC bode curve is conforming the results of
obtained in the matlab environment is shown below bode curve.

50
Bode Diagram EXAMPLE 2
Let us consider a NMP system whose transfer function
0 G(s) and controller transfer function is C(s) and loop
gain transfer function is L(S)= G(s)* C(s) .
-50
−6 s +3 [3.14]
G (s) = 2
-100
50 s +15 s+1
Magnitude (dB)

-150 Consider a simplest PID controller Eq (3.14) with

unity proportional gain Kp =1 , and Kd=0 ,Ki=0,
-200 The closed loop step response of the system with
10 -5 10 0
Frequency (rad/s) this controller is shown in figure (3.11) ,
 Observation :: GM and GM are positive shows that
the closed-loop system is stable and these margins
6
Step Response are insufficient stability margins.
5 The closed-loop sensitivity Eq (3.16) and
4
complementary sensitivity Eq (3.17) Frequency
responses are obtained in the mat-lab environment.
3
These frequency responses are shown in figure
Amplitude

2 (3.14)&figure(3.15).
1

2
0
50 s +15 s+1 [3.16]
S= 2
-1
0 20 40 60 80 50 s +9 s +4
3 2
Time (seconds)
−300 s + 60 s + 39 s+3 [3.17]
T= 4 3 2
Figure 3.11, step response of closed loop system 2500 s +1200 s +385 s +69 s +4
with Kp=1.and SettlingTime: 47.5428 ,Undershoot:
2.8571 0.55 s +0.5445 [3.18]
Wp=
s
Remarks : the closed loop system is exhibiting SSE 2
0.2 s + 0.03428 s+ 0.001469 [3.19]
so an appropriate controller need to be designed to Wi= 2
reduce the SSE and also to minimize the settling s
time along with sufficient margins .
The frequency response of this system is The frequency response of sensitivity and
shown below considering loop gain L=G*C Eq(11) complementary sensitivity are shown in figure
(3.12)

−3 s −1.5 s −7.5 s+ 4.5

3 2 [3.15] 10
Bode Diagram

L(S)= 3 2 *1 SEN

50 s + 15 s + s 5

Bode Diagram 0
10
Magnitude (dB)

0 -5
Magnitude (dB)

-10
-10

-20
-15
10 -3 10 -2 10 -1 10 0 10 1
-30 Frequency (rad/s)

-40
360
Figure 3.12 Bode magnitude frequency response of
315
270
sensitivity transfer functions
Phase (deg)

225
Bode Diagram
180 5
INVSEN
135 0

90 -5
10 -3 10 -2 10 -1 10 0 10 1
Frequency (rad/s) -10

Figure 3.12. Bode phase and magnitude plots of

Magnitude (dB)

-15

closed loop system. -20

-25

Remarks :the Bode frequency response -30

characteristics obtained from the loop-gain is -35

exhibiting the Gain margin of 7.96 dB and PM of -40

10 -2 10 -1 10 0 10 1

48.5deg Though this system is stable Frequency (rad/s)

Figure 3.13.Bode magnitude frequency response of

complementary sensitivity transfer functions
Observation:: The desired characteristics of
sensitivity is, at high frequency the magnitude of
sensitivity should be maximum with unity
magnitude and at low frequency it should be
minimum , therefore the system follows the desired
characteristics (figure (3.13)) .
The frequency response of inverse of performance
weight function and sensitivity function are
obtained in the matlab environment is shown
below.

Bode Diagram
10
SEN
0
INVSEN Figure 3.15 . CRCBode plot of the system with
Kp=1
-10
Observation ::The CRC bode plot is passing
through forbidden regions and it can be easily
Magnitude (dB)

-20

-30
identified by a red line fig(3.15). This shows that
the system is having less or insufficient stability
-40 margins.
-50 The CRC bode curve is conforming the results of
-60
bode curve.Now proper controller is design by
using ZN tuning method. And it is Based on open
-70 loop step response parameters.the parameters of the
10 -3 10 -2 10 -1 10 0 10 1 10 2
Frequency (rad/s)
controller obtained using this method is as follows

Figure 3.14.Bode magnitude frequency Proportional gain constant Kp =0.715, integral gain
response plots of S(jw) , 1/W p constant Ki= 0.036, derivative gain constant Kd
=0.795 . and the transfer function of PID controller
From this frequency response the product of is C(s) Eq(3..20)
performance weight function and sensitivity should
0.795∗1 [3.20]
be less than one for all frequencies if the system is C(S)= 0.715+ 0.036 *s +
exhibiting the desired performance. In another way s
sensitivity function should be below the inverse of The closed loop step response of this system using
performance function. But the closed-loop these controller parameters is shown in fig (3.16).
sensitivity function is violating the constraint in low
Step Response
frequency region. 1.2

1
Observation:: from the frequency response of the
sensitivity function it is observed that the inverse of 0.8

performance function below the sensitivity function 0.6

Amplitude

in low frequency region. The closed-loop 0.4

sensitivity function is violating the constraint in low 0.2

frequency region indicates the system is exhibiting

0
poor disturbance rejection characteristics.
-0.2
0 20 40 60 80 100 120
CRC BODE plot of this system with following Time (seconds)

weight functions are shown in figure(3.15)

Figure 3.16. step response of closed loop system
with designed controller C
Observation : the closed loop system step response (3.18&3.19)
with this controller shows zero steady-state 5
Bode Diagram

characteristic with very less settling time . SEN

0

The frequency response of this system is shown -5

below considering loop gain L=G*C , Eq(3.21) -10

3 2
−3 s −1.5 s −7.5 s+ 4.5 [3.21] -15

Magnitude (dB)
L(S) = 3 2
50 s + 15 s + s -20

-25
Bode Diagram
30
-30
20
-35
Magnitude (dB)

10

0 -40

-10 -45
10 -3 10 -2 10 -1 10 0 10 1
-20
315 Frequency (rad/s)

270
Figure 3.18.Bode magnitude frequency response of
Phase (deg)

225
sensitivity transfer functions
180
Bode Diagram
135 5
10 -2 10 -1 10 0 10 1 INVSEN
Frequency (rad/s)

Figure 3.17. Bode phase and magnitude plots of -5

Magnitude (dB)

closed loop system.

-10

Remarks :From Bode frequency response -15

considering loop-gain the gain and phase margins
are as follows: GM= 17.6 dB and PM= 60.3 deg.
-20
10 -3 10 -2 10 -1 10 0 10 1
Observation ::GM and PM are positive shows that Frequency (rad/s)

the closed-loop system is stable. Figure 3.19. Bode magnitude frequency response of
complementary sensitivity transfer functions
The closed-loop sensitivity Eq (3.22) and
complementary sensitivity (Eq(3.22)Frequency Observation::The desired characteristics of
responses are obtained in the mat-lab environment. sensitivity is, at high frequency the magnitude of
3 2 sensitivity should be maximum with unity
50 s +15 s + s [3.22]
S= 3 2
magnitude and at low frequency it should be
47 s +13.5 s −6.5 s+ 4.5 minimum , therefore the system follows the desired
[3.23] characteristics (figure (3.20)) .
2
0.2 s + 0.03428 s+ 0.001469
T= 2 The frequency response of inverse of performance
s
weight function and sensitivity function are
0.55 s +0.5445 [3.24]
Wp= obtained in the matlab environment is shown below.
s
[3.25]
2
0.2 s + 0.03428 s+ 0.001469
Wi= 2
s
The frequency response of sensitivity and
complementary sensitivity are shown in figure
 Bode Diagram
10

SEN
-10
CMSEN

-20
Magnitude (dB)

-30

-40

-50

-60

-70

-80
10 -3 10 -2 10 -1 10 0 10 1 10 2
Frequency (rad/s)

Figure 3.20..Bode plots of S(jw) , 1/W p

From this frequency response the product of
performance weight function and sensitivity are
less than one for all frequency ,therefore the system
is exhibiting the desired performance .
Observation::
The desired characteristics of sensitivity and
complementary sensitivity are obtained and
therefore the system is exhibiting the stable
response .
CRC BODE plot of this system with selected
weight functions are shown in figure(20)

Figure 3.21.CRCBode plot of the system with C(s)

0.791∗1
=0.715+ 0.036 *s +
s
Observation
The CRC bode plot is not passing through forbidden
regions and it can be easily identified by a wight
line fig(3.21). This shows that the system is robustly
stability at all frequencies.
The CRC bode curve is conforming the results of
bode curve.