1.

hase Margin of steady state error

% Phase Margin for K=25

K =25;
g = 4;
num = 25;
den = [1 25 0];
Gp = tf(num,den);
G = K*g*Gp;
margin(G)

Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = 28 deg (at 47 rad/s)

60

Magnitude (dB)

40
20
0
-20
-40

Phase (deg)

-60
-90

-135

-180

10

10

10
Frequency (rad/s)

10

2. Lag Controller with phase margin of 60 degrees

% Lag Controller
figure
T = .885;
B = 10.6;
Lnum = [T 1];
Lden = [B*T 1];
Glag = tf(Lnum,Lden);
G2 = K*Glag*g*Gp;
margin(G2)

Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = 63.8 deg (at 8.95 rad/s)

150

Magnitude (dB)

100
50
0
-50

Phase (deg)

-100
-90

-135

-180

-3

10

-2

10

-1

10

10

Frequency (rad/s)

10

10

10

3. Lead Controller

% Lead Controller
figure
T2 = 0.033;
a = 0.146;
numlead = [T2 1];
denlead = [a*T2 1];
Glead = tf(numlead,denlead);
G3= K*Glead*g*Gp;
margin(G3)

Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = 65.8 deg (at 78.8 rad/s)

40

Magnitude (dB)

20
0
-20
-40
-60

Phase (deg)

-80
-90

-135

-180

10

10

10

Frequency (rad/s)

10

10

4. Plotted Controllers

Step Response

1.5

Amplitude

0.5

0.5

1.5

2.5

3.5

Time (seconds)

The lead controller proves to be the best response. It can be seen that the proportional
controller has a considerable amount of overshoot and the settling time happens at around .5
seconds. While the lag controller displays a good response, the settling time is at about 2.5
seconds which is not desirable. Finally, the lead controller displays a very fast settling time with
very little overshoot. Therefore, the system with the lead controller performs the best.

5. Response of the system using a proportional controller

90

80

70

60

50

40

30

20

10

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

System with proportional controller included

System without proportional controller