Stability based on frequency response

Stability based on Bode diagram

The Bode stability criterion has two important
advantages in comparison with the Routh stability
criterion

1. It provides exact results for processes with time delays,

while the Routh stability criterion provides only
approximate results due to the polynomial approximation
that must be substituted for the time delay.

2. The Bode stability criterion provides a measure of the

relative stability rather than merely a yes or no answer to
the question, “Is the closed-loop system stable?”
Stability based on Bode diagram

Before considering the basis for the Bode stability criterion, it is useful to review
the General Stability Criterion:
A feedback control system is stable if and only if all roots of the characteristic
equation lie to the left of the imaginary axis in the complex plane.
Before stating the Bode stability criterion, we need to introduce two important
definitions:

1. A critical frequency ωc is defined to be a value of ω for which φOL  ω   180 .

This frequency is also referred to as a phase crossover frequency.
2. A gain crossover frequency ω gis defined to be a value of ω for which
AROL  ω   1
Stability based on Bode diagram

Bode Stability Criterion. Consider an open-loop transfer function

GOL= GcGvGpGm that is strictly proper (more poles than zeros) and has
no poles located on or to the right of the imaginary axis. Assume that
the open-loop frequency response has only a single critical frequency
and a single gain crossover frequency ωg . Then the closed-loop
system is stable if AROL( ωc) < 1. Otherwise it is unstable.
Stirred-tank heater
Stirred-tank heater
Bode diagram for open-loop transfer function
of control system for stirred-tank heater
This is the AR between the signals  and B. Note that it is
dimensionless, as  and B both have the units of temperature
The control system is redrawn for Kc = 5000, with the loop opened. That is, the
feedback signal B is disconnected from the comparator.

Assume that a set point of is applied to the open loop.

Now imagine that, at some instant in time, R is set to zero and simultaneously
the loop is closed. It can be observed that the closed loop continues to oscillate
indefinitely. This oscillation is theoretically sustained even though both R and
U are zero.
• Now suppose Kc is set to a slightly higher value and
the same experiment repeated. This time, the signal e
is amplified slightly each time it passes around the loop.
• If Kc is set to 5001, after the first time around the loop
the signal e becomes (5001/5000) sin 43 t. After the
second time, it is (5001/5000)2 sin 43 t, etc.

• The phase angle is not affected by changing Kc .

• We thus conclude that, for Kc > 5000, the response is

unbounded, since it oscillates with increasing
amplitude.
The condition Kc > 5000 corresponds to
AR > 1
for the open-loop transfer function, at the frequency 43
rad/min, where the open-loop phase lag is 180 °
1. If the open loop AR < 1, the sine wave will
gradually diminish in amplitude and the system is
stable.

2. If the open loop AR = 1, the sine wave will sustain

with a constant amplitude and the system is
marginally stable.

3. If the open loop AR > 1, the sine wave will

gradually increase in amplitude and the system is
unstable.
A control system is unstable if the open-loop
frequency response exhibits an AR exceeding
unity at the frequency for which the phase lag
is 180°. This frequency is called the crossover
frequency. The rule is called the Bode stability
criterion.
Example

2
G p(s) 
(0.5s  1)3
Also, Gv = 0.1 and Gm = 10. For a proportional controller, evaluate the stability of
the closed-loop control system using the Bode stability criterion for three values
of Kc: 1, 4, and 20.

Solution:

2 2K c
G OL  G cG vG pG m  ( K c)(0.1) (10) 
(0.5s  1) 3
(0.5s  1)3

17
Figure. Bode plots for GOL = 2Kc/(0.5s+1)3.

18
Based on the amplitude ratio AROL for each value of Kc, we make the
following classifications:

Kc AROL  for ω  ωc  Classification

1 0.25 Stable
4 1 Marginally stable
20 5 Unstable

19
Understanding relative stability

+  AR=1
• The gain margin represents the additional gain for
destabilization.

• The phase margin represents the additional amount

of phase lag required to destabilize the system.
Example

Specify the proportional gain Kc for the control system when (i) D
= 0 (ii) D = 0.5
 The crossover frequency is 8.62 rad/min

 At this frequency, the AR is 0.0445 if Kc = 1

 According to the Bode theorem, the value of Kc

necessary for marginally stable condition is 1/0.0445
= 22.5
 To achieve a gain margin of 1.7, Kc must be taken as
22.5/1.7, or 13.2
Case-1: PD controller

AR/Kc
Case-1: PD controller
0.0815*Kc = 1

AR/Kc

g

Phase margin = 300

 The crossover frequency is 8.62 rad/min
 At this frequency, the open-loop gain is 0.0445 if the
value of Kc is unity
 According to the Bode criterion, the value of Kc
necessary to destabilize the loop is 1/0.0445 = 22.5
 To achieve a gain margin of 1.7, Kc must be taken as
22.5/1.7, or 13.2
 The frequency for which the AR is unity (phase
margin is 30°) is 5.52 rad/min
 To achieve a phase margin of 300, Kc must be 12.3.
 Hence, select 12.3 as the controller gain which
provides a gain margin of 1.83
Case-2: P controller
Case-2: P controller

 Kc = 6.7 is needed for satisfactory gain

margin and Kc = 5.14 for satisfactory phase
margin.
 Hence, Kc is taken as 5.14, and the resulting
gain margin is 2.2
Limitations of Bode analysis
 Can not be applied to unstable processes
 Can not be applied when there exist multiple
cross over frequencies