Hiwin D1 - Page 35

D1 Servo Drive User Manual Operation Principles
HIWIN MIKROSYSTEM CORP. 3-11
MD20UE01-2109
(2) Phase margin
As figure 3.6.1.2, phase margin is the angle between the straight line passing through gain crossover
and the negative real axis of
)(

jG
-Plane.
Phase margin = PM =
− 180)(
g
jG

Figure3.6.1.2 Phase margin
0
g

=
G
Re
G
j
Im
(
)
Plane
j
G
−

Gain
crossover

0
1
-1
Phase margin

