线性控制课件 module 16 08-4-15-english_new.ppt

Phase margin in Bode diagram - Phase margin is the amount of pure phase lag to move down the phase curve until the gain and phase crossover point occur at the same frequency. - In Fig 16.1 The phase margin is obtained by investigating the gain crossover frequency. It is the difference between the phase at this frequency and the -180o line. There are 2 phase crossover frequencies, at ω=3 and ω=300. The gain margin at 2 frequencies are positive, indicating the system is stable. The phase margin is reliable, and the system is unstable. - The modified Nyquist criterion, based on trav