%% Feedback Amplifier Demo
% This demo demonstrates the design of a non-inverting feedback
% amplifier circuit using the Control System Toolbox.  This design
% is built around the operational amplifier (op amp), a standard
% building block of electrical feedback circuits.
%
% This tutorial demonstrates how a real electrical system can be
% designed, modeled, and analyzed using the tools provided by the
% Control System Toolbox.
%
% Authors: A. DiVergilio
% Copyright 1986-2002 The MathWorks, Inc.
% $Revision: 1.9 $  $Date: 2002/04/10 06:41:04 $

%%
% The standard building block of electrical feedback circuits is
% the operational amplifier (op amp), a differential voltage
% amplifier designed to have extremely high dc gain, often in
% the range of 1e5 to 1e7.
% 
% The electrical symbol for the op amp is shown above.

opampdemo_aux(1)

%%
% This demo assumes the use of an uncompensated op amp with 2
% poles (at frequencies w1,w2) and high dc gain (a0).  Assuming
% this op amp is operated in its linear mode (not saturated), 
% then its open-loop transfer function can be represented as a
% linear time-invariant (LTI) system, as shown above.
% 
% Though higher-order poles will exist in a physical op amp, it
% has been assumed in this case that these poles lie in a frequency
% range where the magnitude has dropped well below unity.

opampdemo_aux(2)


%%
% The following system parameters are assumed:
% 
%  >> a0 = 1e5;
%  >> w1 = 1e4;
%  >> w2 = 1e6;
%  
% Next, you want to create a transfer function model of this system
% using the Control System Toolbox.  This model will be stored in
% the MATLAB workspace as an LTI object.

opampdemo_aux(3)


%%
% First, define the Laplace variable, s, using the TF command.  Then
% use 's' to construct the open-loop transfer function, a(s):
% 
%  >> s = tf('s');          
%  >> a = a0/(1+s/w1)/(1+s/w2)
%                             
%  Transfer function:         
%            100000           
%  -------------------------- 
%  1e-10 s^2 + 0.000101 s + 1 

opampdemo_aux(4)

%%
% You can view the frequency response of a(s) using the BODE command:
% 
%  >> bode(a,'r')
%  
% Right-click on the plot to access a menu of properties for this
% Bode Diagram.  Left-click on the curves to create moveable data
% markers which can be used to obtain response details.

opampdemo_aux(5)

%%
% You can view the normalized step response of a(s) using the STEP
% and DCGAIN commands:
% 
%  >> a_norm = a / dcgain(a);
%  >> step(a_norm,'r')
%  
% Right-click on the plot and select "Characteristics -> Settling Time"
% to display the settling time. Hold the mouse over the settling time
% marker to reveal the exact value of the settling time.

opampdemo_aux(6)

%%
% Now add a resistive feedback network and wire the system as a
% non-inverting amplifier.
% 
% This feedback network, b(s), is simply a voltage divider with
% input Vo and output Vn.  Solving for the ratio Vn/Vo yields the
% transfer function for b(s):
% 
%       b  =  Vn / Vo  =  R1 / (R1 + R2) 

opampdemo_aux(7)

%%
% The block diagram representation of the system is shown above.
% 
% Solving for the ratio Vo/Vp yields the closed-loop gain, A(s):
% 
%       A  =  Vo / Vp  =  a / (1 + ab)
%  
% If the product 'ab' is sufficiently large (>>1), then A(s) may
% be approximated as
% 
%       A  =  1 / b

opampdemo_aux(8)

%%
% Now assume that you need to design an amplifier of dc gain 10 and
% that R1 is fixed at 10 kOhm.  Solving for R2 yields:
% 
%  >> A0 = 10;
%  >> b = 1 / A0;    % approximation for ab>>1
%  >> R1 = 10000;
%  >> R2 = R1 * (1/b - 1)
%  
%  R2 = 
%             90000

opampdemo_aux(9)

%%
% Construct the closed-loop system using the FEEDBACK command:
% 
%  >> A = feedback(a,b);
%  
% Next, plot the frequency responses of a(s) and A(s) together
% using the BODE command:
% 
%  >> bode(a,'r',A,'b')

opampdemo_aux(10)

%%
% The use of negative feedback to reduce the low-frequency (LF) gain
% has led to a corresponding increase in the system bandwidth (defined
% as the frequency where the gain drops 3dB below its maximum value).
% 
% This gain / bandwidth tradeoff is a powerful tool in the design of
% feedback amplifier circuits.
% 
% Since the gain is now dominated by the feedback network, a useful
% relationship to consider is the sensitivity of this gain to
% variation in the op amp's natural (open-loop) gain.

opampdemo_aux(11)

%%
% Before deriving the system sensitivity, however, it is useful to
% define the loop gain, L(s), which is the total gain a signal
% experiences traveling around the loop:
% 
%  >> L = a * b;
% 
% You will use this quantity to evaluate the system sensitivity
% and stability margins.

opampdemo_aux(12)

%%
% The system sensitivity, S(s), represents the sensitivity of A(s) to
% variation in a(s).  The inverse relationship between S(s) and L(s)
% reveals another benefit of negative feedback: "gain desensitivity".
% 
%  >> S = 1 / (1 + L);
% 
% S(s) has the same form as the feedback equation and, therefore, may
% be constructed using the more-robust FEEDBACK command:
% 
%  >> S = feedback(1,L);

opampdemo_aux(13)

%%
% The magnitudes of S(s) and A(s) may be plotted together using the
% BODEMAG command:
% 
%  >> bodemag(A,'b',S,'g')
%  
% The very small low-frequency sensitivity (about -80 dB) indicates
% a design whose closed-loop gain suffers minimally from open-loop
% gain variation.  Such variation in a(s) is common due to 
% manufacturing variability, temperature change, etc.

opampdemo_aux(14)

%%
% You can check the step response of A(s) using the STEP command:
% 
%  >> step(A)
% 
% Note that the use of feedback has greatly reduced the settling
% time (by about 98%).  However, the step response now displays
% a large amount of ringing, indicating poor stability margin.

opampdemo_aux(15)

%%
% You can analyze the stability margin by plotting the loop gain,
% L(s), with the MARGIN command:
% 
%  >> margin(L)
% 
% The resulting plot indicates a phase margin of less than 6 degrees.
% You will need to compensate this amplifier in order to raise the
% phase margin to an acceptable level (generally 45 deg or more),
% thus reducing excessive overshoot and ringing.

opampdemo_aux(16)

%%
% A commonly used method of compensation in this type of circuit is
% "feedback lead compensation".  This technique modifies b(s) by
% adding a capacitor, C, in parallel with the feedback resistor, R2.
% 
% The capacitor value is chosen so as to introduce a phase lead to
% b(s) near the crossover frequency, thus increasing the amplifier's
% phase margin.

opampdemo_aux(17)

%%
% The new feedback transfer function is shown above.
% 
% You can approximate a value for C by placing the zero of b(s) at
% the 0dB crossover frequency of L(s):
% 
%  >> [Gm,Pm,Wcg,Wcp] = margin(L);
%  >> C = 1/(R2*Wcp)
%  
%  C = 
%             1.1139e-12

opampdemo_aux(18)

%%
% To study the effect of C on the amplifier response, create an LTI
% model array of b(s) for several values of C around your initial
% guess:
% 
%  >> K = R1/(R1+R2);
%  >> C = [1:.2:3]*1e-12;
%  >> for n = 1:length(C)
%          b_array(:,:,n) = tf([K*R2*C(n) K],[K*R2*C(n) 1]);
%       end

opampdemo_aux(19)

%%
% Now you can create LTI arrays for A(s) and L(s):
% 
%  >> A_array = feedback(a,b_array);
%  >> L_array = a*b_array;
%  
% You can plot the step response of all models in the LTI array,
% A_array(s), together with A(s) using the STEP command:
% 
%  >> step(A,'b:',A_array,'b');

opampdemo_aux(20)

%%
% The phase margins for our loop gain array, L_array(s), are found
% using the MARGIN command:
%  
%  >> [Gm,Pm,Wcg,Wcp] = margin(L_array);
%  
% The phase margins may now be plotted as a function of C:
% 
%  >> plot(C*1e12,Pm,'g');
% 
% A maximum phase margin of 58 deg is obtained when C=2pF (2e-12).

opampdemo_aux(21)

%%
% The model corresponding to C=2pF is the sixth model in the LTI
% array, b_array(s).  You can plot the step response of the closed-
% loop system for this model by selecting index 6 of the LTI array
% A_array(s):
% 
%  >> A_comp = A_array(:,:,6);
%  >> step(A,'b:',A_comp,'b')
%  
% Note that the settling time has been further reduced (by an
% additional 85%).

opampdemo_aux(22)

%%
% We can overlay the frequency-response of all three models
% (open-loop, closed-loop,compensated closed-loop) using the
% BODE command:
% 
%  >> bode(a,'r',A,'b:',A_comp,'b')
%  
% Note how the addition of the compensation capacitor has
% eliminated peaking in the closed-loop gain and also greatly
% extended the phase margin.

opampdemo_aux(23)

%%
% A brief summary of the choice of component values in the design
% of this non-inverting feedback amplifier circuit:
% 
% * A resistive feedback network (R1,R2) was selected to yield a
%    broadband amplifier gain of 10 (20 dB).
% 
% * Feedback lead compensation was used to tune the loop gain near
%    near the crossover frequency.  The value for the compensation
%    capacitor, C, was optimized to provide a maximum phase margin
%    of about 58 degrees.

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