# Σ _. Feedback Amplifiers: One and Two Pole cases. Negative Feedback:

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2 Feedback Amplifiers: One and Two Pole cases Negative Feedback: Σ _ a f There must be 180 o phase shift somewhere in the loop. This is often provided by an inverting amplifier or by use of a differential amplifier. Closed Loop Gain: When a >> 1, then a A= 1 + af a 1 A = af f This is a very useful approximation. The product af occurs frequently: Loop Gain or Loop Transmission T = af a f

3 At low frequencies, the amplifier does not produce any excess phase shift. The feedback block is a passive network. But, all amplifiers contain poles. Beyond some frequency there will be excess phase shift and this will affect the stability of the closed loop system. Frequency Response Using negative feedback, we have chosen to exchange gain a for improved performance Since A = 1/f, there is little variation of closed loop gain with a. Gain is determined by the passive network f But as frequency increases, we run the possibility of Instability Gain peaking Ringing and overshoot in the transient response We will develop methods for evaluation and compensation of these problems. Bandwidth of feedback amplifiers: Single Pole case Assume the amplifier has a frequency dependent transfer function as () as () As () = = 1 + as ( ) f 1 + Ts ( ) and ao as () = 1 s/ p where p 1 is on the negative real axis of the s plane. 1

4 With substitution, it can be shown that: a 1 As () = + + )] o 1 aof 1 s/[ p1(1 aof We see the low frequency gain with feedback as the first term followed by a bandwidth term. The 3dB bandwidth has been expanded by the factor 1 + a o f = 1 + T o. S - plane x p 1 (1+To) x p 1 Bode Plot 20 log a(jω) x 20 log A(jω) = 20 log (1/f) a(jω) 0-90 p 1 p 1 (1+To) -180

5 Note that the separation between a and A, labeled as x, x= 20log( a( jω) ) 20log(1/ f) = 20log( a( jω) f ) = 20log( T( jω)) Therefore, a plot of T(jω) in db would be the equivalent of the plot above with the vertical scale shifted to show 1/f at 0 db. We see from the single pole case, the maximum excess phase shift that the amplifier can produce is 90 degrees. Stability condition: If T(jω) > 1 at a frequency where T(jω) = -180 o, then the amplifier is unstable. This is the opposite of the Barkhousen criteria used to judge oscillation with positive feedback. In fact, a round trip 360 degrees (180 for the inverting amplifier at low frequency plus the excess 180 due to poles) will produce positive feedback and oscillations. This is a feedback based definition. The traditional methods using T(jω) Bode Plots Nyquist diagram Root locus plots can also be used to determine stability. I find the Bode method most useful for providing design insight. To see how this may work, first define what is meant by PHASE MARGIN in the context of feedback systems.

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20 Two pole frequency and step response. Low pass. No zeros. Frequency Response 3 db ω3db = ωn 1 2ζ + 2 4ζ + 4ζ bandwidth Gain 1 M P = ζ < peaking 2 2ζ 1 ζ Step Response Risetime (10-90%) tr = 2.2/ ω3db Overshoot πζ (%) 100 exp 2 1 ζ Ringing 2 ωd = ωn 1 ζ frequency Settling time 1 % ts ζω = ln 100 n

21 Zero in Loop Gain, T(s). There will be some cases where we will want to add a zero to the loop gain T(s). How does this zero affect the transient response? Let s locate the zero frequency relative to the real part of the closed loop pole location using α as a proportionality factor s = - αζω n. H() s = ( s ) 2 ( s αζ ) + 1 ω + 2 ζs/ ω + 1 n A large α will place the zero far to the left of the poles. Let s normalize ωn = 1. Then, n H() s = s s αζ ζ s + 1 Split this into 2 equations. 1 1 s H() s = s + 2ζs+ 1 αζ s + 2ζs+ 1 We see that the second term is the derivative of the first term (first term is multiplied by s times a coefficient). This can produce a bump in the step response. See the next figure from G. Franklin, et al, Feedback Control of Dynamic Systems, 3 rd edition, Addison- Wesley, Ho(s) is the first term; Hd(s) is the derivative term. We see that if α is close to 1, we get a big increase in the overshoot.

22 Ref. Franklin, op.cit.

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25 Compensation Question: What happens when the phase margin is too small or negative for the particular value of feedback required for an application. The transient response will ring, gain will peak, or possibly oscillation. If you are building an oscillator, that might be good, but if you intended it as an amplifier then you must modify its frequency response to make it useable. Compensation is a technique that accomplished this, albeit at the expense of bandwidth. Many techniques are available: Add a dominant pole Move a dominant pole Miller compensation Add a zero to the closed loop gain 1. Dominant Pole Compensation Add another pole that is much lower in frequency than the existing poles of the amplifier or system. This is the least efficient of the compensation techniques but may be the easiest to implement. Reduces bandwidth, but increases the phase margin at the crossover frequency. T is reduced over the useful bandwidth, Thus, some of the feedback benefits are sacrificed in order to obtain better stability Extrapolate back from the crossover frequency at 20 db/decade The frequency, P D, where the line intersects the open loop gain Ao is the new dominant pole frequency. In this case, T(jω) = 1 at ω = p 1 45 o phase margin Note that we are assuming that the other poles are not affected by the new dominant pole. This is not always the case, and computer simulation will be needed to optimize the design. Nevertheless, this simple method will usually help you get started with a solution that will generally work even though not optimum.

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27 For example, you could add C to produce a dominant pole at p D 1 = 2 CR ( R ) L1 i2 This approach may require a large compensating capacitor, C. Let s look at some better approaches.

28 2. Reduce p1 instead of adding yet another pole. Retains more bandwidth Requires less C to shift an existing pole p2 and p3 may even be moved up to a higher frequency Move p 1 to p 1 'such that the new crossover frequency is at p 2 >> p 1 From Gray, Hurst, Lewis and Meyer, Analysis and Design of Analog Integrated Circuits, 4th ed., J. Wiley, 2001.

29 3. What if we reduce p1 and increase p2 at the same time! Big bandwidth improvement Phase margin improves without sacrifice of bandwidth Pushes out crossover frequency MILLER COMPENSATION The first and second pole frequencies can be estimated by the method of time constants. Assuming that K Hs () = 2 as + as+ a then, 1 p1 a 1 and a p 1 2 a 2

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35 Alternatively, if we assume that the non-dominant pole is at a very high frequency CF behaves like a short The current source just looks like: so, V 1 Z = 1 = i 1 g m p 2 gm C + C π L A much easier way to see how the pole splitting comes about...

36 Compensation by adding a zero in the feedback path In wideband amplifier applications, adding dominant poles or Miller compensation is undesirable due to the loss in bandwidth that is incurred. In some cases, it is possible to add a zero to the feedback path by adding a frequency dependent component. The zero bends the root locus and improves the bandwidth as well as the damping of the amplifier. Adding a zero to f(s) will put a zero in T(s) and thus affects the root locus. But, it doesn t add a zero to A(s). Thus, it doesn t produce the overshoot problems that a zero in the forward path would cause. The forward path zero would show up in the closed loop transfer function. If we consider the overall gain with feedback as: a( s) A( s) = 1 + a( s) f ( s) and a(s) = Na(s)/Da(s) and f(s) = Nf(s)/Df(s) Then, A( s) = D f a ( s) D a o N a ( s) D ( s) + T N o f ( s) a ( s) N f ( s) Here we see that the zero Nf(s) shows up in the denominator of A(s) multiplied by To. And, typically for this type of compensation, the pole contributed by the f(s) block is at a much higher frequency than the zero. Referring to the circular root locus sketched on the next page, we see that the zero bends the poles away from the jω axis. This increases ζ, improving damping, and also improves bandwidth.

37 The root locus will travel around the zero in a circle if there are no other poles to the left. The poles will terminate at large T on zeros at ω 2 and at infinity. ω 2 ω 1 We can appreciate the effectiveness of this by comparing with the two pole low pass case where the poles remain at the same distance from the jω axis as T is increased. ω 1 4 K 1 2 ω V 1 ω 1 ω 1 /2

38 So, how do you implement a zero in the feedback path? We need to find f(s). With SHUNT at input, currents are summed With SERIES output, current is sampled f() s i RE 1+ srfc F i R RR E+ R F 1+ sc E F F R E+ R F = 1 = 2 Zero: 1 R C F F Pole: 1 R E CFR RE + RF F Typically, the pole frequency is much higher than the zero, so it does not bend the root locus very much.

39 Next, let s look at the phase margin. Recall that This blows up when a0 A( jω) = 1 + T( jω) T( jω) = 1e jπ = 1 Thus, even if the phase reaches -180 degrees, if the magnitude is not equal to 1, we do not have instability.

ECSE 4440 Control System Engineering Fall 2001 Project 3 Controller Design in Frequency Domain TA 1. Abstract 2. Introduction 3. Controller design in Frequency domain 4. Experiment 5. Colclusion 1. Abstract

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