Damping ratio — where it appears
Named by 27 essays across 8 fields — each of them below, with the objects they name alongside it.
Two measurements of one margin
A phase margin is computed from the loop gain in the frequency domain, without ever looking at a step. An overshoot is measured from the closed-loop step response in the time domain, without ever looking at a Bode plot. Inverting the standard relation on the second returns 34.9° against the first's 34.9°, and the residue is the third pole.
Where the behaviour is written down
Two numbers in the complex plane contain everything a second-order circuit will ever do. Their distance from the origin is the natural frequency, the cosine of their angle is the damping — and the fastest-settling circuit is not the critically damped one, which is the case the textbooks name.
The cliff before the fastest settling
Settling time against damping is not a smooth curve with a minimum. It falls by a third in one step of a sweep of five thousandths, and the fastest damping sits on the edge of that step — so a design a hundredth of a damping ratio to the left of the optimum settles forty-eight per cent slower, with a waveform that looks no different.
The straight lines, and where they are not the curve
Two straight lines through a corner is the most-used approximation in this subject and almost the only one with no number attached. It has one, and it is exact: at a single real pole the sketch is 3.0103 decibels high at the corner and nowhere worse, and its error is the same a factor above the corner as the same factor below — a symmetry the construction does not suggest. A pole pair has no such bound at all, and the best any two-slope sketch can do on one is 0.770 decibels, at a quality factor of 0.9152.
The inductance that limits, and lifts
Adding winding resistance to a rectifier limits the first peak and does not reduce the energy at all — the essay below measured ∫i²dt as two per cent apart over a factor of four in the resistance. Adding leakage inductance does both: it divides the peak by seven and the energy by five, and dissipates nothing to do it. What it buys instead is a rectifier whose output sits 29 per cent above the peak of its own supply, permanently, which every steady-state expression in this field says cannot happen.
The pair that is worse than either
A bulk capacitor and a ceramic are fitted together because each is good where the other is not, and between them is a frequency at which the pair presents six times the impedance either one does alone. The peak is a parallel resonance between one part's inductance and the other's capacitance, its height is one over the series resistance every data sheet asks to be minimised, and at it the two capacitors exchange 5.87 amps for every amp the load draws.
Three cliffs, and where they are
Sweep a second-order step's damping and the settling time falls by a third in one step of a five-thousandth sweep, which is usually called the cliff. There are three of them between 0.3 and 0.98, one for each excursion that stops leaving the band, and adding a third pole moves all three left and makes all three shallower — so the classic 0.78 for fastest two per cent settling is a second-order number, and at a third pole one and a half times the natural frequency the answer is 0.745 and 0.78 is on the wrong side of the step.
The gap a derivative needs
The derivative of a pole is exact and has no step size in it, and beside the formula sits a sentence nobody had measured: it divides by a quantity that vanishes when two poles meet. Driven together, the sensitivity climbs as the reciprocal of the gap — fitted exponent −1.0000, the product a constant 1.00000 times the natural frequency — while the largest change it still describes falls as the gap *squared*. A one per cent capacitor is outside first order once the poles are 3194 radians a second apart, which is an ordinary critically damped design.
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.
The best damping is not the one to build
The fastest settling damping is the right-hand limit at a discontinuity, so two thousandths below it costs 41 per cent and two thousandths above it costs 0.34 — a ratio of 120 in the penalty for the same error. With ±2 per cent on the damping ratio the nominal that minimises the worst case is 0.7927 rather than the optimum's 0.7734, and it guarantees 4.243/ωₙ against 5.943. The band moves the optimum by 0.231 of damping ratio and the third pole by 0.047, and 0.78 is exact at ±2% and 55 per cent slow at ±1%.
The gain margin the straight lines get exactly wrong
A phase margin read off the straight lines is wrong by an amount that depends on where the loop crosses unity. A gain margin read off them is not: for an integrator and a pole pair the phase passes −180° at the pair's own frequency whatever the gain, and the lines are out there by exactly 20 log Q — 6.0206 dB for two real poles, 13.98 dB at a quality factor of five, at every integrator gain drawn. The stability condition for the loop turns out to be the same inequality: it is stable exactly when the gain margin the lines report exceeds that error.
What the cure at the base costs
Bisecting for the smallest base resistor that stops an emitter follower oscillating gives 8 to 79 ohms. That bisection stops at the sign change, so at the value it returns the pole pair sits on the imaginary axis with a real part of 10⁻⁷ per second and a quality factor of 1.7 × 10¹⁵ — stable, and undamped. A quality factor of one needs 1.15 kΩ at 47 pF, sixteen times more, and that resistor takes the output impedance from 5.66 to 13.10 ohms. The other cure the model has always accepted and nothing has ever used is a resistor at the emitter: it reaches the same damping with 5.68 ohms and costs half the signal.
The heavier input that allows a longer track
Put a capacitance across a CMOS input and the longest track a 1 ns edge from a 10 Ω driver may cross inside one per cent of overshoot does not shrink steadily. It falls from the bare open end's 1.80 mm to 0.86 mm at 1.5 pF, and then it rises — 2.71 mm at 20 pF, 10.9 at 100 — nearly in proportion to the capacitance. A heavy load turns the track into the inductor of a series RLC whose damping, (Rₛ/2)·√(C/L), the driver's resistance supplies, and at every heavy load the one-per-cent length sits at the same damping, about 0.8. So the limit scales as Rₛ²·C: a slower edge buys a 20 pF input only the 0.4 power of its length, and a stronger driver — 2 Ω instead of 10 — cuts the track it may drive from 2.71 mm to 0.20. Into a heavy input, a weak driver is the clean one.
The ring a blocking capacitor buys
A series capacitor in front of a transformer stops its flux from walking: a 55%-duty drive that walks a bare core by 0.40 units of volt-time a period settles within a few dozen periods once the capacitor takes the drive's average. The price is a second-order high-pass with the magnetising inductance, and an inductance lets its poles go complex where two resistive coupling stages never could. Between equal resistances the damping cannot fall below 1/√2, and the poles are complex only for a capacitor between 0.17 and 5.8 times L/R². From a stiff driver the damping is √(L/C)/2R and has no floor: a capacitor large enough to make the droop small — the droop is 1/RC, the capacitor's and not the transformer's — makes the tail ring, from one zero crossing at a tenth of L/R² to thirty-five at a hundred.
The Q a rule can show
A resonance marched forward in time decays at the circuit's rate plus whatever the marching rule adds, and the rule's share has a ceiling built into it. At twenty steps a cycle backward Euler cannot show a quality factor above 3.27 and BDF2 none above 77.9, whatever resistor the circuit has; the ceilings rise as N/2π and N³/4π³. The trapezoidal rule has no ceiling at all — it shows every Q 1.64 per cent high at twenty steps a cycle, a ratio fixed by the step alone. So the steps a cycle needed to read a resonance's Q to one per cent are about 26 for the trapezoidal rule at any Q, 99 for BDF2 at Q = 100 and 62,202 for backward Euler. Marched at Q = 50, the circuit has 0.533 V of ringing left after ten cycles, the trapezoidal rule 0.536 and BDF2 0.346.
The swing a diode keeps
Charging a capacitor through a resistor loses half the energy whatever the resistance, and putting an inductor in the path changes nothing: twenty-four settled charges from 10 µH to 10 mH and Q from 0.3 to 100 lose ½CV² to 1.4 parts in a hundred million. A diode that stops the current at its first zero changes everything. The capacitor keeps the overshoot, V(1 + d), the loss falls to ½CV²(1 − d²), and a charge of duration T costs π²/8 of what a ramp of the same duration costs.
Five readings of one Q
A resonator's Q can be read from its bandwidth, from the slope of its phase, from the energy it stores against the energy it loses, from how fast its ringing dies and from how high its response peaks. On one series resonator at Q = 1 the first three give 1.0000 and the last two 0.8660 and 1.1547. Bandwidth, phase slope and energy are Q exactly at every Q, because they are one equation read three ways; the ring-down reads Q√(1 − 1/4Q²) because a damped cycle is longer than a natural one, and the peak reads the reciprocal because the peak is not at resonance. Each is within 1% of Q only above 3.5.
One margin, and the gain under it
A phase margin of 45° is quoted as an overshoot of 23 per cent, and on a loop with plenty of gain below its crossover it is: three lags a hundredfold apart, closed at 45°, overshoot 23.6%. Bring the same three lags together and the loop reaches 45° at a loop gain of 2.83 instead of 141, and overshoots 41.0% — the same margin, 1.73 times the ringing. The closed-loop peak follows the overshoot where the margin does not: predicted from the peak the worst error over 27 loops is 3.1 points, from the margin 22.2. The gain margin moves with it, from 37.2 dB to 9.0.
The bandwidth the product still gets right
Gain times bandwidth is a constant for an amplifier with one pole, and real amplifiers have a second. Put it at r times the closed-loop bandwidth the product predicts and the half-power bandwidth becomes √r·g(√r/2) times GBW/G — 41.4 per cent wide at r = 2, within ten per cent only beyond r = 10 — so a follower round a 1 MHz part with its second pole at 2.5 MHz runs 40 per cent wider than the rule says. The noise bandwidth does not move at all. A second-order loop's noise bandwidth is set by one coefficient the second pole cannot touch, and it stays (π/2)·GBW/G at every r and every gain, to half a per cent on the netlist. A third pole is what breaks it.
The delay an inductance does not add
Lead inductance against a stray capacitance is a resonance, and far above a network's bandwidth it raises the relative degree by two: a two-section step starts as t⁴ instead of t² until √12·τr — 34.6 µs for a 10 µs resonance — at any damping, because the coefficient is LC and nothing else. After that the resonance moves a half-way threshold by R·C, its first moment, and the inductance is not in it. It moves every threshold by R·C only at ζ = 1/√2, where its second moment is a pure delay's, and below that its variance is negative: at ζ = 0.1 the 1% point moves by 1.48 R·C while the 10–90 rise time gets shorter. The ring that reaches the output is the network's own gain at the resonance, 2.0 × 10⁻⁴ at ω0τ = 100, and the quality factor decides only how long it lasts. Lightly damped, the start is a staircase that touches the bare step once a period and never overtakes it.
The damping a zero asks for
The fastest-settling damping of 0.78 belongs to a step with no zero in it. Put a zero at the natural frequency and the step becomes the plain one plus its own derivative: the best damping moves to 0.873 and the best settling falls from 3.62/ωₙ to 2.38/ωₙ. A zero five times further out moves nothing, and a zero at three times moves the optimum by only 0.005, yet keeping 0.78 there costs 52 per cent, because the optimum sits on a cliff. A zero in the right half-plane moves the best damping by 0.015 and costs 20 per cent in settling that no damping can buy back.
The peak a load step does not see
A decoupling bank is specified by its impedance against frequency, and the number that fails a target is the anti-resonance peak — 0.966 Ω at 7.12 MHz for the bulk-and-ceramic pair standing on a regulator. A load that steps by one ampere moves that supply by 132 mV, 14% of what the peak suggests: a step rings the resonance once, and its first swing is set by the resonance's characteristic impedance √(L/C) = 0.224 Ω, not by its Q. The peak is the voltage per ampere of a load that sits at the resonance; switched at 7.12 MHz the same load builds over six cycles to ±611 mV, the peak times the current's fundamental. So damping, the cure for the peak, is a cure for that load only: sixteen times the ESR cuts the peak 8.9-fold and leaves a step's swing between 120 and 155 mV. What decides a step is its edge — 132 mV for anything faster than a few nanoseconds, 28 mV for a microsecond.
The ring the ground lead adds
Every earlier measurement of a probe returned it to the circuit's ground directly. A real ten-to-one probe returns through fifteen centimetres of clip lead, about 150 nH, and its 11.5 pF tip and that lead are a series resonance at 121 MHz across the node being watched. The only damping it has is the source's own resistance, ζ = (Rs/2)·√(C/L), so the screen shows 49.4% of overshoot on a clean step from 50 Ω, 87.1% from 10 Ω, and none above 228 Ω — the stiffer the node, the worse the picture. Solved by residues and by a march of the netlist, the overshoot follows the second-order law at every source. A spring tip's 5 nH rings at 664 MHz and not at all from 50 Ω; a 150 Ω resistor in series with the tip brings a clip lead under 2% at the price of a 3.65 ns rise.
The lamp that has to be slow
A small lamp in a Wien oscillator's gain network adjusts the gain to whatever each unit needs, so the margin a limiter spends is no longer spent, and the price is an amplitude loop of its own. The envelope is an integrator and the filament is a lag, which makes a second-order loop that rings at the square root of 2ω₀m/τ and decays at (1 + m)/2τ. The filament's ripple at twice the carrier is the only distortion, 0.201/ω₀τ. So the slowness that lowers the distortion lengthens the settling in exact proportion: distortion times settling is 0.163 cycles at any time constant, and 0.01 per cent takes a second at 1.59 kHz and 82 seconds at 20 Hz.
The gain that stops making a stage faster
The gain–bandwidth product says a stage of gain G settles in time proportional to G, and a stage with a second pole does something else. Below r = 4 the closed loop's poles are a complex pair whose real part is half the sum of the open loop's, π times the second pole's frequency, with neither the gain nor the product in it: a 1 MHz amplifier with a 0.5 MHz second pole takes 4.10 µs to settle within 0.1 per cent at unity gain, 4.04 at two and 4.22 at five, where the product says 1.10 to 5.50. Above the knee at G = 4·GBW/f₂ the product returns. In between lies the fastest stage, r = 3.32 for a 0.1 per cent band, which settles in 3.44 time constants against the one-pole stage's 6.91: half the time, and not at the r that gives the widest band.
The stage that overshoots a little
A stage with a little overshoot settles sooner than a one-pole stage of the same bandwidth, 3.53 time constants against 4.61 within one per cent, and a chain of them should do better still, since a stage at the right damping adds almost no spread. It does not. The saving is 17 per cent at two stages, 11 at four and 2 at eight, and at sixteen the chain is 5 per cent slower than the one-pole chain, because a stage's extra delay adds as the number of stages and the spread it removes adds only as the root. The best damping stays near 0.83 at every length, just short of letting the overshoot out of the band. In frequency the same stages are five times flatter at their best, at a different damping, and so the two edges of a chain ask for two different stages.
The margin a delay spends
A phase margin can be made of a lag or of a delay, and the number is the same either way. Forty-five degrees from a lag overshoots 23.3 per cent, and forty-five degrees from a delay overshoots 28.7; at sixty degrees the sign reverses, 8.77 against 5.57, and the two cross near 54 degrees. The overshoot is the smaller difference. A two-pole loop's gain margin has no limit at all, and five per cent of its extra lag as delay brings that to 25.5 dB; with all of it delay the gain margin is 90°/(90° − margin), which is 6.0 dB at 45°, and nothing else is in the expression. Across twenty-one such loops the margin alone misses the overshoot by 13.1 points. The closed-loop peak, which already reads the whole band, misses by 1.2.
Named alongside it
The objects these essays reach for when they reach for this one.
OvershootModel rangeDesign tradeoffResiduesSettling timePhase marginQuality factorLoop gainGain marginNatural frequencyPolesSecond-order approximation