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Welcome any forms of ideas and advices! * 0917-3272388huhao1111@263.net examples some Exam.5-6 a open-loop TF is： Check closed loop stability。 Fig.5-44 Curve surrounds -1+j0 once clockwise. Polar plot 1 pole in right s plane Fig. 5-44 Nyquist diag. shows， This shows 2 closed loop poles in right s plane,the system is unstable. Fig.5-44 Exam.5-7 a open-loop TF is：。 Fig.5-45 Polar plot Check closed loop stability。 asymptote GH plane Exam.5-8 a open-loop TF is： where Are positive。To make the system stable，how to select ？ set crossing point to negative real axis expand ？crossing point to negative real axis 5.4.4 bode stability criterion Exam. a open-loop TF is： Check its stability . 5.5.1phase margin and amplitude margin In fig 5-46,K↑ → unstable; K↓ Curve crossing with -1+j0; K↓ → stable。 The relative position of trajectory and -1+j0 can measure stability margin。In actual system, amplitude margin and phase margin are usually used. 5.5relative stability ?Phase Margin Assure system gain cut-off frequency definition Phase Margin meaning delays more ，the system will be unstable. To a closed-loop stable system,if open loop frequency characteristic when ， Phase Margin is positive to make minimum phase system stable, Phase Margin must be positive。 ，Phase Margin is negative. when Positive Gain Margin Positive Phase Margin -1 1 Negative Gain Margin Negative Phase Margin -1 1 Stable System Unstable System ? ? ? ? Positive Gain Margin Positive Phase Margin Negative Gain Margin Negative Phase Margin Stable System Unstable System 0 dB 0 dB ?Gain Margin h Assure Phase cross-over frequency definition Margin meaning to stable system, if the open loop gain increases more h times, the system will change into critically stable. If in db When expressing to db, , Gain Margin is positive. ， positive Gain Margin (in decibel) means system stable, negative Gain Margin (in decibel) means system unstable 。 if Gain Margin is negative。 Posit