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

Phase margin — where it appears

How much phase is left before minus 180 degrees where a loop's gain passes unity, and the usual single number for how near to oscillating it is. It is comfortable across a range of compensation values that differ by twenty-seven times in settling time, so it cannot be used to choose between them.

Named by 21 essays across 4 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 One loop, two measurements of the same margin. The loop gain crosses unity at 5.73 kHz with 34.9° of phase left. The closed-loop step overshoots by 35.2%, which the second-order relation says corresponds to 34.8°. They differ by 0.1°, and the difference is the third pole.

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.

feedback · Margin overshoot A loop whose phase comes back, at a gain of 1.0e+7. computed by solving, not by drawing. Three identical poles take the phase to −270°, two lead sections bring it back to −158°, and their own poles take it down again — so ∠L = −180° at 189 Hz, 3.46 kHz and 23.5 kHz. The gain moves the magnitude curve and not those three frequencies, so it decides only which side of each the unity-gain point falls. At 1.00e+7 the crossover is 10.6 kHz, in the recovered band, and the loop is stable.

Stable, and unstable with less gain

A three-pole loop with two lead sections is stable for gains between 1.81 × 10⁶ and 3.36 × 10⁷ and unstable on both sides of that window. Turning its gain *down* is what breaks it. Neither margin can see this, because a phase margin describes the loop at one frequency and a gain margin at one other, and this loop's phase crosses −180° at three: 189 Hz, 3.46 kHz and 23.5 kHz.

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 An inverting unity gain, and the 100 pF that only the loop can see. computed by solving, not by drawing. Two ten-kilohm resistors around a 10 MHz amplifier make a gain of 1.00, and a loop that closes against 2.01 — one plus the ratio, not the ratio. Adding 100 pF at the summing junction leaves the closed-loop gain at a kilohertz unchanged — 0.99998051 against 0.99997988, three parts in a million at the far end of the slider — and takes the phase margin from 90.0° to 14.4°, because the noise gain now rises a decade per decade and the loop closes at forty decibels per decade instead of twenty. Forty-five degrees is reached at 9.00 pF, bisected on the netlist. The capacitance is not part of the signal path and does not appear in any expression for the gain.

The gain the loop closes against

An inverting amplifier with two equal resistors has a gain of one and a loop that closes against two, so it has half the bandwidth of a follower built from the same part — 4.99 megahertz against ten. Nine picofarads at the summing junction, less than a scope probe, takes the phase margin from ninety degrees to forty-five, and a hundred picofarads puts twelve decibels of peaking on a response whose designed gain is nought decibels and whose measured gain at a kilohertz has not moved by three parts in a million.

feedback · Noise gain The window a 10 µF capacitor leaves. Above 939 mΩ the loop holds 45° of margin; below it the regulator rings and then oscillates. The droop after a 100 mA step is smallest at 817 mΩ — 129 mV — and by 19.9 Ω it is 1.468 V, because at the first instant of a step the capacitor cannot move and the whole step falls across its series resistance. Two requirements, opposite directions, and the useful values are between them.

Two requirements pulling one capacitor

The output capacitor's series resistance is a stability requirement and a transient requirement at once, and they pull it in opposite directions. Below 939 milliohms this loop has less than 45 degrees of margin; above about 850 the droop after a load step starts to grow, because at the first instant of a step the capacitor cannot move and the whole step falls across that resistance. The droop is smallest 10 per cent inside the unstable region, which means the best transient this design can have is one it must not be built with.

applied · Regulator An inverting unity gain driving 2.2 nF, and the pole that is inside the loop. computed by solving, not by drawing. Two ten-kilohm resistors around a 10 MHz amplifier make a gain of 1.00, and a loop that closes against 2.01 — one plus the ratio, not the ratio. Hanging 2.2 nF on the output leaves the closed-loop gain at a kilohertz unchanged — 0.99998002 against 0.99997988 — and takes the phase margin from 90.0° to 30.1°. The mechanism is at the other end of the amplifier from the summing-junction case and the arithmetic is the same: the load works against the amplifier's own fifty ohms of output resistance, which puts a second pole in the forward path — inside the loop, where the feedback has to live with it — while the gain the loop closes against does not move at all. Forty-five degrees is reached at 905 pF, bisected on the netlist. The capacitance is not part of the signal path and does not appear in any expression for the gain.

The load that gets inside the loop

Hanging a capacitor on an amplifier's output changes nothing a reader can find in any expression for its gain, and takes the phase margin of a unity-gain inverter from ninety degrees to thirty. The mechanism is fifty ohms of output resistance that no data sheet page puts next to the stability page: the load works against it, the pole that results is in the forward path, and forty-five degrees arrives at 905 picofarads — which is a metre of coaxial cable.

feedback · Capacitive load 9.9 Ω restores 45°, 23 Ω restores 60°, and the load pays for it in ohms. computed by solving, not by drawing. Phase margin against the resistor placed between a unity-gain inverter's output and 2.2 nF of load capacitance, with the feedback taken from the amplifier's own side of it. With no resistor the margin is 30.11°; 9.90 Ω restores 45° and 23.20 Ω restores 60°. The lower curve is the same resistor with the feedback taken from the load instead, where it makes every value worse — the pole is then inside the loop rather than outside it, and at 220 Ω the margin is 13.4°. The rising curve is what it costs: the loop no longer regulates the load's node, so 1 kΩ of resistive load pulls the output down by 0.990% at 10 Ω, uncorrected, at direct current.

The resistor that buys the margin back

Two point two nanofarads takes a unity-gain inverter's phase margin from ninety degrees to thirty. Ten ohms between the amplifier and the load restores forty-five, twenty-three restores sixty, and it works for a reason that reads as a cheat: the feedback is taken from the wrong side of the resistor, so its pole is outside the loop. Take the feedback from the load instead — which is what anyone controlling the load would do — and the same resistor makes every value worse. What it costs is that the loop no longer regulates the load's node at all: ten ohms is one per cent of error into a kilohm, at direct current, uncorrected.

feedback · Capacitive load The second path costs nothing at 12 pF and an order at 100 pF. computed by solving, not by drawing. Settling time to 0.01% of final value, marched on the closed loop, against the value of the second feedback path's capacitor — with the phase margin of the same circuit divided by ten drawn on the same axis so the two can be compared. The direct-current error the previous rung recorded as the isolation resistor's cost, 0.99% into 1 kΩ, falls to 1.20e-4% with the second path in. What the second path costs instead is a range: at 12 pF the circuit settles in 0.745 µs against the isolation resistor's 1.419 µs — faster than the thing it repairs — and at 100 pF it takes 9.18 µs, 12 times longer, at a phase margin of 47.9° that reports nothing whatever about it. What it is settling by there is one exponential of time constant 0.99 µs, which is the feedback network's own RC and contains no amplifier.

The path that buys the error back

An isolation resistor restores a capacitively loaded amplifier's phase margin and costs it the thing feedback was for: the loop stops regulating the node the load is on, and a kilohm of load pulls the output down by a per cent. The standard repair is a second feedback path, and its cost is not an error or a margin — it is a range. At twelve picofarads it settles to a hundredth of a per cent in 0.745 microseconds, faster than the circuit it repairs; at a hundred it takes 9.18, and the phase margin there is better.

feedback · Capacitive load The quietest capacitor is 18× the fastest one, and the margin prefers neither. computed by solving, not by drawing. The total noise at the load of a capacitively loaded stage against its compensation capacitor, with the settling time on the same axis at ten microseconds to the microvolt. Three independent sources are put in the netlist and solved separately — the amplifier's own 4 nV/√Hz at its input, and √(4kTR) in series with each of the two feedback resistors — and added in power. The noise falls monotonically with the capacitor, from 50.7 µV at 1 pF to 12.1 µV at 220 pF. The peak in the noise gain falls with every larger capacitor and is gone entirely from 12 pF upward, where the uncompensated stage's peaks at 3.85 times its own low-frequency value. What the capacitor costs is settling: the fastest is 12 pF at 0.74 µs — the same capacitor that flattens the noise gain, because one handover decides both — and the quietest takes 20.3 µs, at a margin above 40° everywhere in that range.

What the second path costs at the floor

The arrangement that repaired a capacitively loaded amplifier was suspected of paying for itself in noise, because that is how compensations usually pay. It does not: it has no peak in its noise gain at all, and the total at the load falls from 54.9 microvolts to 28.9 as the capacitor is added. What it costs is settling, and the capacitor that is quietest is eighteen times the capacitor that settles fastest — a trade the phase margin says nothing about, because the margin is comfortable at both.

feedback · Capacitive load A photodiode's own capacitance sets the bandwidth, as its -0.50 power. computed by solving, not by drawing. The bandwidth of a 1.0 MΩ transimpedance stage against the capacitance of the diode driving it, with the feedback capacitor at each point bisected to give exactly forty-five degrees of phase margin on the solved loop. The classical expression √(GBW/2π·rf·cd) is drawn over it: the right shape, and conservative by about a fifth at every capacitance. The bandwidth falls as the -0.497 power of the capacitance — a square-root law, so a diode of four times the area costs half the bandwidth rather than three quarters of it. At 30 pF the compensation is 0.598 pF against the expression's 0.725, and the bandwidth 295 kHz against 220.

Where the trouble is at the input

Every other arrangement in this field has its difficulty at the output — a capacitive load, an isolation resistor, a load that draws current. A photodiode amplifier has it at the input, and the capacitance causing it is not a parasitic: it is the diode's junction, which is the price of its area, and area is what a photodiode is bought for. The feedback resistor's own noise is 127 nV/√Hz against the amplifier's 4, and the amplifier is still ninety-five per cent of the noise at a large diode.

feedback · Transimpedance 40.0 dB of gain change and 180.0 degree-decades of phase, peaking at 109.8°. computed by solving, not by drawing. The gain and the phase of two leads of 10:1, together, each section buffered from the next. The gain changes by 40.000 dB from one end of the sweep to the other. The area under the phase, integrated on the solve over seven decades beyond the outermost corner, is 180.000 degree-decades, against 180.000 for ninety per twenty decibels of gain change. The peak is 109.806° at 3.16 kHz, below the 131.93° no arrangement of real leads sharing that rise can pass.

The phase a decibel buys

The area under a minimum-phase network's phase, counted in degrees across decades of frequency, is fixed by how far its gain moves from one end of the spectrum to the other: ninety degree-decades for every twenty decibels, however the network is arranged. One 100:1 lead peaks at 78.579 degrees and two 10:1 leads stacked together at 109.806, and both enclose 180.000. The peak is a design decision and the area is a bill — and a network that gives its gain back gives its phase back with it.

frequency · Minimum-phase 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 The capacitor across the upper resistor: 90.9° of margin at 836.5 pF, and less ripple past it. The regulator's phase margin against a capacitor across the upper divider resistor, with the output ripple the 1000 µF reservoir leaves beside it. With no capacitor the margin is 46.47° at a crossover of 9.73 kHz, the output impedance at 10 kHz is 1.95 Ω, the worst rail rejection is 5.79 dB and the ripple 60.62 mV. The margin is greatest, 90.929°, at 836.5 pF — a zero at 6.34 kHz and a pole at 25.4 kHz around a crossover moved to 16.9 kHz — where the output impedance at 10 kHz is 828 mΩ, the worst rail rejection -1.50 dB and the ripple 52.33 mV. At 10 nF the margin has fallen back to 66.34° and the ripple is 35.40 mV.

The capacitor across the upper resistor

The rejection essay said a regulator reproduces its reference times its divider's four, and that a capacitor across the lower divider resistor brings that down to one at high frequency. Measured, the loop peaks the reference's gain to 5.68 near its crossover before any capacitor is added; a nanofarad across the lower resistor raises the peak to 11.2; and the capacitor that brings it down belongs across the upper resistor, where a nanofarad keeps the gain from ever exceeding four. The same capacitor is a lead pair in the loop: 836.5 picofarads takes the phase margin from 46.5 to 90.9 degrees, and ten nanofarads, past that optimum, still holds 66 while cutting the output ripple from 60.6 millivolts to 35.4.

applied · Regulator The cure changes shape at 909 Ω, which is a property of the feedback network and of nothing else. computed by solving, not by drawing. What balancing actually does to the circuit, against the source resistance it is done for, at a gain of 11 with a 1.0 kΩ bottom resistor. The inverting input looks back into 909 Ω — the bottom resistor times (G−1)/G — and that number is the whole of the knee. Below it the cure is a resistor in series with the source and the feedback network is untouched. Above it there is no resistor to add, and the network is scaled up to meet the source instead: 1100× at 1.0 MΩ, which puts 11 MΩ in the feedback path. The scaled feedback resistor is the source resistance times the gain exactly, so the network's own size has left the answer — it decided where the knee was and nothing after it.

The cure that becomes a different circuit

The classical cure for an amplifier's input current is to make the two resistances its inputs look back into equal, and it reads as one instruction. Solved, it is two circuits meeting at 909 ohms — the feedback network's bottom resistor times (G−1)/G — and above that knee there is no resistor to add: the network is scaled to the source, which at a megohm means 11 megohms of feedback and at a gain of 1001 means 1001. Above the knee three different networks become one instrument to twelve figures, the noise penalty settles at 1.41420 against a √2 of 1.41421, and the benefit at 10.49 against two currents whose ratio is ten.

instruments · Input bias current One capacitor moves three quantities, and the expression's own answer peaks by 1.18 dB. computed by solving, not by drawing. The bandwidth, the peaking and the total output noise of a 1.0 MΩ transimpedance stage against its feedback capacitor, swept from 0.30 to 4.20 times what the classical expression asks for. Over that factor of fourteen the bandwidth falls from 334 to 55.4 kHz, the total noise from 230 to 65 µV, and the peaking from 10.0 dB to nothing. The expression's own answer sits at 1.18 dB of peaking, 0.82× is where the loop reaches forty-five degrees, and √2× is where the response is flat — so the choice usually quoted as maximally flat is neither of the two conditions it is quoted for. The faint families are the same three quantities at 3 pF and 300 pF of diode: normalised this way they are one curve, so the diode sets the scale and the multiple sets the shape.

The factor the expression leaves out

The classical compensation for a photodiode amplifier is quoted both as the forty-five degree choice and as the maximally flat one, and it is neither: it leaves 1.18 dB of peaking and 52.4° of margin. Flat is at exactly √2 times it — fitted at 1.4186 against 1.4142, at every detector from 3 pF to 1 nF. And the third quantity the capacitor is supposed to trade, the noise, does not move at all inside the signal band: three compensations spanning a factor of fourteen give 8.37 against 8.36 µV in a 4.36 kHz measurement and 230 against 65 µV over the whole plane.

feedback · Transimpedance A capacitor across the upper divider resistor removes the output capacitor's resistance floor. computed by solving, not by drawing. Two series resistances against the capacitance across the upper divider resistor: the smallest the loop tolerates at 45° of margin (lower curve), and the one that gives the smallest droop after a 100 mA load step (upper). With no capacitor they are 939 mΩ and 885 mΩ — the second BELOW the first, which is the conflict this design has: the best transient is one the loop refuses. The floor falls as the capacitor grows and between 500 and 836.5 pF it leaves the sweep altogether, so every series resistance down to a milliohm is stable. Past about 5000 pF the floor climbs back and overtakes the optimum again. The shaded band is where the design a transient wants is one the loop allows.

The floor a second capacitor removes

Two requirements pulling one capacitor found a regulator whose best transient is one it must not be built with: below 939 milliohms of output-capacitor series resistance the loop has under 45 degrees of margin, and the droop is smallest at 885. The capacitor across the upper divider resistor, added for the reference's sake, dissolves that conflict. At 836.5 picofarads the 45-degree floor leaves the sweep entirely — every series resistance down to a milliohm is stable — and the droop falls 40 per cent at the same time. The band of capacitances that do it runs from 100 picofarads to 5 nanofarads, and above it the conflict returns.

applied · Regulator Loop gain of a two-pole amplifier closed for a gain of 100. Unity loop gain at 5.73 kHz, where 35.0° of phase remains before −180°. The phase never reaches −180° at any frequency, so there is no gain margin to quote: 2 poles contribute at most 180° and the last of it arrives only at infinity.

The loop that never crosses

Every loop this field draws carries two margins, and one of them is not always a number. Take the third pole out of the standard loop and its crossover moves by 2.45 parts per million and its phase margin by 0.164 degrees — the third pole's own arctangent there, to five decimal places — while its gain margin goes from 46.06 decibels to no number at all. The phase reaches −180° only where the magnitude has already reached −62 decibels, and the two instruments that are supposed to notice report 3.19 × 10⁻⁶ either way.

feedback · Loop gain The straight lines report 6.02 dB of gain margin on a loop that has none. computed by solving, not by drawing. The gain and phase of a loop made of an integrator and a pair at Q = 2, the corner at 1.00 kHz, the integrator set so that the straight-line asymptotes cross unity at 500 Hz. The loop's phase passes −180° at 1.00 kHz. There the lines put the loop gain at −6.02 dB and the solve at 0.00 dB, so the gain margin they report is 6.02 dB against 0.00 dB. The difference is 6.0206 dB, which is 20 log Q exactly with Q = 2, at any integrator gain. Closed, the loop is on the edge: the largest real part among its poles is -5.87e-17 of the corner's angular frequency.

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.

frequency · Asymptotic approximation What a feedback tee buys, and the single thing it charges. computed by solving, not by drawing. Two 50 kΩ resistors with a 6.250 kΩ tap give 500.0 kΩ of transimpedance, which is R₁(1 + R₂/R₃) + R₂ solved on the netlist. That expression has no term for the noise gain, and the tap sets it to 1 + R₁/R₃ = ×9.00 — against exactly one for a single resistor of any value, because at direct current the source is a capacitor. One quantity then does all three things at once. The signal and R₁'s own noise are multiplied together, so the tee buys no signal-to-noise ratio at all: 1846 against 5582 in a hertz at a nanoamp for one resistor of the same transimpedance, a factor of 3.02 which is the square root of the noise gain. The amplifier's own voltage noise and offset are multiplied where they were not before. And the phase margin RISES, from 1.8° to 15.9°, because starting the noise gain high shortens its climb to the peak — so the tee is a compensation that charges for itself in noise, and a capacitor across the feedback is the same compensation for nothing. With no tap the three effects are absent rather than small.

The tee that charges for its own compensation

A feedback tee makes a large transimpedance out of small resistors, and R₁(1 + R₂/R₃) + R₂ is the whole of what is usually said about it. The expression has no term for the noise gain, and the tap sets that to 1 + R₁/R₃ — nine, where a single feedback resistor of any value gives exactly one, because at direct current the source is a capacitor. One quantity then does everything: the signal and R₁'s own noise are multiplied together so the tee buys no signal-to-noise ratio at all, and the phase margin RISES from 1.8° to 15.9°.

feedback · Transimpedance 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

Named alongside it

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

Loop gainDesign tradeoffModel rangeNoise gainLead compensationBode plotCapacitive loadCrossover frequencyIsolation resistorJohnson noiseStabilityAsymptotic approximation

All concepts