Circuit Response
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Series

Margin overshoot — the series

3 essays on one idea, from the one that introduces it to the one that assumes the rest.
  1. 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.

    part 2 · feedback
  2. Three loops with exactly 45° of phase margin, and their step responses. computed by solving, not by drawing; three lags spaced by a ratio r, the amplifier's gain bisected in each for a 45.000° margin, the step from the closed loop's residues. Lags a hundredfold apart need a loop gain of 141 and overshoot 23.6%. Spaced by three they need 4.7 and overshoot 34.5%; coincident, 2.83 and 41.0%. The same margin, and overshoots 1.73 times apart.

    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.

    part 3 · feedback
  3. Two loops with exactly 45° of margin and the same crossover: with 100% of the extra lag a delay, the step overshoots 28.7%, against 23.3% for two poles. computed by solving, not by drawing: the closed-loop step of a loop K·exp(−sD)/(s(1 + s/p)) with its crossover at one, its phase margin exactly 45°, and 100% of the 45° beyond the integrator supplied by the delay (solid), against the same margin from a lag alone (dashed). Delay 0.785, lag's pole absent. Overshoot 28.7% against 23.3%; settled within 2% at 7.03 against 7.06; gain margin 6.0 dB against no limit. Marched with a history buffer, and at δ = 1 checked against the exact series of the method of steps.

    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.

    part 4 · feedback

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