Lecture 8:

(6) Routh-Hurwitz Stability Criterion,

(7) Root Locus &
(8) Freq. Response Analysis

May 22, 2014

TKM415 Control Systems
Teknik Pengaturan

Dr. Joga Dharma Setiawan

 HW Due 28 May 2014
In textbook “Feedback Control Systems”
by Phillips-Harbor
Problems:
6.2 a
6.3 a,b,c
6.7 a,b,c,d
7.5 a,b
7.7 a,b,c,d

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 Chapter 6: Routh-Hurwitz Stability Criterion
 Section 6.1
 Example 6.2, 6.6, 6.7

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 Chapter 7:Root Locus Analysis & Design
 Root Locus
 A plot of the roots of the system characteristic equation as
some parameter of the system is varied
 Rule for Root Locus Development
 Table 7.2, page 225
 Can use Matlab command: rlocus

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 Chapter 8:Frequency Response Analysis
(Bode Plot)
 Magnitude
 Phase
 Other information can be extracted
 Steady state gain
 Response to a sinusoidal input
 System order
 Estimate of Damping
 Bandwidth
 Gain Margin & Phase Margin
 Stability
 Relation to Root Locus
 How to sum more than one Bode Plots for a series of TFs?
 Application: example PID control

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 Review of dB
 deciBell=20log(Mout/Min) Gain dB
40
0.01 -40
0.1 -20
1 0
30

20 10 20
10 100 40
dB

0
29.4 29.4
-10

-20

-30

-40
0 10 20 30 40 50 60 70 80 90 100
Gain

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 Bode Plot: 1st Order

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 Bode Plot: 2nd Order

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 Bode Plot: GM & PM

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 Root Locus
3

Example GM & PM
2

1
Imaginary Axis

-1
System: sys
Gain: 31.5
Pole: 0.0182 - 2.28i
Damping: -0.00796
Overshoot (%): 103
-2
Frequency (rad/sec): 2.28

-3
-7 -6 -5 -4 -3 -2 -1 0 1
Real Axis

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 Bode Diagram
50

0
GM=30dB
Magnitude (dB)

-50

-100

-150
-90

-135
Phase (deg)

-180

-225
PM=75 deg
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

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 1
GOL ( s ) 
s s  1
2

GM=6dB
PM=20deg

P8.16

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 Homework
 http://ctms.engin.umich.edu/

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 Homework
 http://ctms.engin.umich.edu/
 Cruise Control
 Motor Speed
 Motor Position
 Suspension
 Inverted Pendulum
 Aircraft Pitch
 Ball & Beam
 Basics: Matlab + Simulink
 Animation
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