Circuit Response
every model has an edge, and the figure carries it
Concept

Crossover frequency — where it appears

The frequency at which a loop's gain passes unity, where everything that loop was doing stops and where its phase margin is quoted. Everything a loop does for its circuit stops there, so the desensitivity a design relies on is bounded by it and not by the open-loop gain.

Named by 10 essays across 2 fields — each of them below, with the objects they name alongside it.

Loop gain of a three-pole amplifier closed for a gain of 100. Unity loop gain at 5.73 kHz, where 34.9° of phase remains before −180°. The phase reaches −180° at 89.6 kHz, where the loop gain is 46.1 dB below unity.

What is left at crossover

A feedback loop is stable or not according to one number read at one frequency — how much phase remains before −180° at the point where the loop gain passes unity. The loop gain here is obtained the way it is obtained on a bench: cut the loop, drive one side of the cut, and measure what comes back to the other.

feedback · Loop gain How much of the amplifier reaches the answer, at 35° of phase margin. computed by solving, not by drawing by multiplying the forward path's gain by 1 + 10⁻⁵ and solving again. At low frequency 0.0999% of a fractional change in the device reaches the closed-loop gain, which is one over the loop gain of 995.04. It changes sign at 258 Hz — above there a better amplifier gives a smaller gain — and reaches 1.61 at 8.08 kHz, which is worse than having no feedback, and settles at exactly 1 above crossover (5.73 kHz), where there is no loop gain left to spend. The second route, the real part of 1/(1 + T) from the cut loop, agrees to 9.6e-6.

How much of the amplifier gets through

The reason to build an amplifier from a bad amplifier and two resistors is that a change in the device barely reaches the answer — a tenth of a per cent of it at low frequency, measured by making the device better and solving again. Near crossover the same fraction rises above one, so feedback makes the gain more device-dependent than no feedback at all, and below fifty degrees of margin it changes sign on the way.

feedback · Desensitivity What the summing junction of an inverting amplifier actually is, at 1.00 MHz of gain–bandwidth. computed by solving, not by drawing by driving a current into the node and reading the voltage. It is 100 mΩ at direct current, rises 1.000 decades per decade of frequency, and settles at 909.5 Ω — which is the 1 kΩ and 10 kΩ in parallel, with the amplifier contributing nothing. It passes one per cent of the input resistor at 995 Hz, a factor of 1,005 below the gain–bandwidth. The second route — the open-loop impedance over one plus the return ratio from the cut loop — agrees to 0.045%.

The node that is at ground for a while

An inverting amplifier's summing junction is held at ground by the loop, so it is at ground exactly as well as the loop is strong. Driven with a current and measured, it is a tenth of an ohm at direct current, ten ohms at a kilohertz, and 909 ohms above a megahertz — which is the two feedback resistors in parallel, with the amplifier contributing nothing.

feedback · Virtual earth The straight lines report 45.00° of margin, and the solved loop has 51.83°. computed by solving, not by drawing. The gain and phase of a loop made of an integrator and one pole, the corner at 1.00 kHz, with the integrator set so that the straight-line asymptotes cross unity at 1.00 kHz. The solved loop crosses at 786 Hz instead. Read at the lines' crossover, with the phase taken from the solve, the margin is 45.00°; at the loop's own crossover it is 51.83°. Closed, the loop is stable: the largest real part among its closed-loop poles is -5.00e-1 of the corner's angular frequency. The solved gain never rises above its asymptotes, so the lines cannot report more margin than the loop has.

The margin the straight lines report

A phase margin read off a sketch is read where the straight lines cross unity, and that is not where the loop does. For an integrator and one real pole the lines report 45.00 degrees on a loop that has 51.83 — short, and always short, because a real pole's response never rises above its asymptotes. A pair that peaks reverses the sign and removes the bound: at a quality factor of two the lines report 71.57 degrees on a loop that has no margin at all, and at five they report 82.41 on a loop that is unstable.

frequency · Asymptotic approximation Lead zero at 500 Hz: the lines over-report by at most 3.12° with the loop's phase, and short by up to 20.6°. computed by solving, not by drawing. The error in the phase margin read off the straight lines of an integrator, two poles at 1.00 kHz and a lead section with its zero at 500 Hz and its pole 10 times higher, against where the lines cross unity, measured in decades from the zero. Gaps are placements where the lines are flat at unity or the loop crosses more than once. Read with the loop's own phase the reading is over by at most +3.12°, with the lines crossing −0.01 decades from the zero on a loop with 73.4° of margin, and never over on any loop with 60° or less; it is short by as much as 20.65°. Read with the phase off its straight lines too, on loops with 60° or less, it is never over.

The zero that lifts the lines

A phase margin read off the straight lines of an all-pole loop can only be short, and the proof takes three steps. A lead section breaks two of them: a zero's response lies above its lines, and between a zero and its pole the phase rises. The two breaks pull opposite ways, and measured across every placement of the crossing, in every sweep drawn, they leave an over-report of at most 6.58°, on a loop with 87.5°; on loops with sixty degrees or less it never exceeds 1.52°. The phase sketch is another matter: with the lines crossing at a lead zero above the plant's corner, it reports 17.91° on a loop with 1.17°.

frequency · Asymptotic approximation A summing junction with a second pole above it: 3.1 dB of peak, and inductive. computed by solving, not by drawing on a two-pole amplifier — a gain block, two sections and a buffer, so the feedback network loads the output exactly as it does with one pole. The faint curve is the one-pole case, which rises to 909.1 Ω and stops. With a second pole at 100 kHz the junction reaches 1304 Ω at 112 kHz — 3.13 dB above the two resistors in parallel — because the division is by |1 + T| and near crossover that is smaller than one. A third of a decade below the peak the node's impedance leads its current by 84.4°, which is an inductance: the node is no longer a resistance that a capacitance loads, it is a reactance that a capacitance resonates with. The slider puts capacitance on the node and moves the peak.

The node that is an inductance

A summing junction with a one-pole amplifier round it rises to the two feedback resistors in parallel and stops there, and that ceiling is the whole of what a virtual earth can be. Give the amplifier a second pole and the node overshoots it — 1074 ohms against 909 with the second pole at 300 kilohertz, 1868 with it at thirty — and below the peak the impedance leads its current by more than twenty degrees, which is an inductance. So a stray capacitance on the node is no longer a load on a resistance; it is a resonance, and the peak grows with it rather than being damped by it.

feedback · Virtual earth The gain's sensitivity to the device and to the divider add to one at every frequency, and at crossover each is exactly one half (34.9° of margin). computed by solving, not by drawing, three times at each of 241 frequencies: nominal, with the amplifier's gain raised by one part in 10⁵, and with the feedback fraction raised by one part in 10⁵. The fraction of the device's change reaching the closed-loop magnitude is 9.97 × 10⁻⁴ at 10.0 Hz and 1.60 at its peak near 7.94 kHz; the fraction of the divider's change is 0.99899 at 10.0 Hz and falls to −0.60 at 7.94 kHz. They add to one within 1.16 × 10⁻⁵ everywhere, and at the loop's crossover, 5.73 kHz, they are 0.5000 and 0.5000: the real parts of 1/(1 + T) and T/(1 + T), which are one half at |T| = 1 for any phase. The cut loop, a second route, agrees to 9.55 × 10⁻⁶.

Half to the amplifier, half to the resistors

A feedback amplifier is supposed to hand its accuracy to the resistors, and at low frequency it does — 99.9 per cent of a change in the divider reaches the gain and 0.1 per cent of a change in the device. The two fractions are measured here by nudging each and solving again, and they add to one at every frequency, to five parts in a hundred thousand. At the loop's crossover each is exactly one half, whatever the margin: the gain's magnitude answers the amplifier and the resistors equally. As complex numbers both are 1/(2 sin(φ/2)) there, above one for any margin under sixty degrees, and around the crossover lies a band where the gain is more sensitive to both than it would be with no feedback at all.

feedback · Desensitivity On a linear frequency axis the loop's desensitisation is an area, and the area it gives back above crossover is the same: 6.74 and 6.74 kilohertz-nepers at 34.9° of margin. computed by solving, not by drawing. The logarithm of the device sensitivity |1/(1 + T)|, from the cut loop at 3601 frequencies between 0.01 Hz and 10 GHz, drawn in decibels against linear frequency to 60 kHz. It is −60.0 dB at low frequency, crosses zero at 4.47 kHz (the crossover is 5.73 kHz), peaks at +5.70 dB at 6.87 kHz, and returns towards zero as the loop gain goes. The area below zero is 6.74 kHz·Np (58.6 dB·kHz); the area above, integrated to 10 GHz, is 6.74, of which 6.11 lies inside the drawing. The net is −1.48 × 10⁻⁸ Hz·Np. Bode's sensitivity integral says it must be zero for a loop that falls two poles or more and is stable when cut.

The area that feedback only moves

A feedback amplifier divides its device's variation by the loop gain, sixty decibels of it at low frequency, and pays for it with a sensitivity peak near crossover. The payment is exact. Integrated over linear frequency, the logarithm of the sensitivity has as much area above zero as below — 6.74 kilohertz-nepers each side at 34.9° of margin, net zero to eight parts in a billion — at every margin and every gain, because the loop falls by more than one pole. Margin decides only the shape of the repayment: a 14-decibel spike at 11.7°, a one-decibel hump spread past half a megahertz at 80.4°. Only a loop that falls as a single pole keeps any of it, (π/2) times its crossover, and no amplifier is one.

feedback · Desensitivity A 10 µs delay in the loop: the peak rises to 13.53 dB and the sensitivity above crossover becomes a comb, and the two areas are still equal — 7.14 kHz·Np each side. computed by solving, not by drawing, from the loop's closed form, held against the netlist's cut loop to a part in a billion. The three-pole amplifier of the area essay (second pole 4 kHz) with a pure delay of 10 µs in its loop. Its margin falls from 34.9° to 14.3° at an unchanged crossover of 5.73 kHz, and the peak of |1/(1 + T)| rises from +5.70 to +13.53 dB. Above crossover the delay keeps turning the loop's phase, so the sensitivity rises and falls about zero with a period of 100 kHz. The area below zero is 7.144 kHz·Np, the area above 7.144, net 9.00 × 10⁻⁵ Hz·Np — integrated to 50 MHz on a grid that takes sixty steps a tooth.

The phase a delay never stops adding

Put a pure delay in a feedback loop and Bode's sensitivity integral does not notice: with 10 µs in the three-pole amplifier's loop the logarithm of the sensitivity still has equal areas above and below zero, 7.14 kHz·Np each side. What changes is where they are. The delay keeps turning the loop's phase above crossover, so the sensitivity becomes a comb with a tooth every 100 kHz; the desensitisation shrinks from 6.74 to 6.48 kHz·Np, the main peak rises from 5.70 dB to 13.53 and overpays it by 7%, and the comb hands the excess back below zero. The margin reads the peak from below by about 1.4 dB at every delay. Past 16.9 µs the loop is unstable and the integral stops balancing — by exactly the growth rate of the pole pair that has crossed.

feedback · Desensitivity One loop, cut at its output wire with 160 nF on it: the voltage injection crosses unity twice, the current injection reads 57 dB too much at low frequency, and together they are the loop gain. computed by solving, not by drawing. A three-pole amplifier closed for a gain of a hundred, with 100 Ω of output resistance and 160 nF of load. The loop gain read at the controlled source's own input, which draws no current (solid); read by a voltage injected in series with the output wire (dashed); and by a current injected into the same wire (dotted). The true loop crosses unity at 5.31 kHz with 8.9° of margin. The voltage reading first crosses at 5.04 kHz with 15.1°, and rises through it again at 10.6 kHz, because above 9.95 kHz the load is a lower impedance than the source. The current reading crosses at 5.82 kHz with 19.8°. Combined through 1/(1 + T) = 1/(1 + Tv) + 1/(1 + Ti) (dots), the two give the controlled source's reading to 3e-9 at every frequency.

Two wrong readings and one loop gain

A loop gain measured on a bench is measured at a wire, and a wire has an impedance on each side. Cut an amplifier's output with 100 Ω behind it and 160 nF ahead, inject a voltage in series, and the reading is the loop gain plus (1 + T)·Zs/Zl — 15.1° of margin where the loop has 8.9°, and a second unity crossing at 10.6 kHz that the loop does not have. Inject a current into the same wire and the error is (1 + T)·Zl/Zs: 19.8°, and 57 dB too much loop gain at low frequency. The two errors are reciprocal, so the readings combine exactly: 1/(1 + T) = 1/(1 + Tv) + 1/(1 + Ti) returns the loop gain at the controlled source's own input to a few parts in a billion, at every frequency and every load.

feedback · Loop gain

Named alongside it

The objects these essays reach for when they reach for this one.

Loop gainPhase marginModel rangeDesensitivityReturn ratioAsymptotic approximationBode plotComplementary sensitivityComponent sensitivityIntegrationLoadingStability

All concepts