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Figure 13


Fig. 13. Gain crossover frequency ({omega}gc), phase crossover frequency ({omega}pc), gain margin (GM), and phase margin (PM) of the measured bumblebee system. {omega}gc is defined as the frequency that produces a gain of 0 dB, and {omega}pc as the frequency that produces a phase of -180°. GM is the difference between the gain curve and 0 dB at {omega}pc, and PM is the difference in phase between the phase curve and -180° at {omega}gc. The dynamic stability of a control system can be quantified on the basis of GM and PM. When both GM and PM are positive, the control system is dynamically stable. Our results (GM~20 and PM~45) indicate that the measured bumblebee system has substantial dynamic stability.





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