P9.

2
Given that

G c ( s ) G ( s )=

k
s (s +s+6)
2

Putting s=jw in above equation we got

Gc ( j ) G ( j )=

Gc ( j ) G ( j )=

Gc ( j ) G ( j )=

k
2

j ( j + j+6 )
k
j (2 + j+6 )
k
2 + j ( 6 2)

Rationalizing it we got

k
2

Gc ( j ) G ( j )=

j ( j + j+6 )

2 j ( 6 2 )

2 j ( 6 2 )

k ( j ( 6 ) )
Gc ( j ) G ( j )=
(62 )2 2 4
To find real axis crossing

G
( c ( j ) G ( j ) )=0

6 =0=2.44 rad/s

Then at 2.44 rad/s

G
2

( c ( j ) G ( j ))=

k k
=
4
6

For stability k/6 > -1 so K<6 for the system to be stable.

Nyquist plot for K=6 is shown in figure 1

Figure 1: Nyquist plot for P9.2

P9.4

(a)From the figure it is shown that P=0 and N=2 so, we got Z=2. This shows that the system has
two roots in right half plane
(b) In this case the N=0 will result in Z=0 which means none of the roots is in right half plane
and the system is stable.

P9.6

The rotational velocity function is

(s)
=
R (s )

k
(1+

s
s
)(
)
3.27 ( 2 ) 68 ( 2 ) +1

From magnitude graph at

20logK=35dBK=56

the value of magnitude s 35dB so

Since we are interested in position control but we have only rotational velocity transfer function
so if we add integrator in it we can find position characteristic equation. I-e.

56 ( 23 )( 427 )
1
1+G ( s ) =1+
=0
s
s ( s+23 ) ( s +427 )
Solving this equation we got

s 1=429s 2,3=10 j35

Comparing this equation with characteristic equation of 2nd order system
2

s +2 n s+n
We got

n=36

rad
=0.28
s

Time constant of closed loop system is found by using equation

1
1
=
=0.0992 seconds
n (0.28)(36)

P9.8
Finding transfer function of above equation

G ( s )=

s2 2 1
+
+1
21 21
s2 2 2
(s+1)( 2 + 2 +1)
2 2

(a) Given that

1 =20=62.8, 2=14 =43.9, 1= 2=0.05=0.02

We got
2

s
+0.0000253 s+1
3943.84
G ( s )=
2
s
(0.02 s +1)(
+ 0.0000253 s+1)
1927.1
Sketching the bode plot and finding the phase margin as shown below. Form margin command
the PM comes out to be approximately -10 degrees which means the system is unstable.

Figure 2 : Bode plot for P9.8

(b) Putting

2=0.25

while all other parameter are the same. It is shown that approximately

same, as the last time, bode plot is formed. But phase margin is now 86 degrees (using margin
command) and system is stable now.

Figure 3: Plot for P9.8

P9.10
Using equations of motions we got

F ( s )=3 I ( s )
Using ohms law we can find current i.-e

I ( s )=

E0 ( s )
E0 ( s )
=
R+Ls 0.1+0.2 s

Transfer function of actuator without spring is

ka
X (s )
1
= 2
= 2
Y ( s ) M s +Bs a s +s
With the spring included we have

ka
X (s )
= 2
Y ( s ) a s +s+k s

Putting values we get

G ( s )=

1
0.4 s +s+1.5
2

Now solving for loop transfer function we get

L ( s )=

30 k 1
2

(2 s+1)(0.4 s +s+1.5)

(a) For k1=0.2 from following bode plot it is shown that PM is approximately 30 degrees

Figure 4 : plot for P 9.10

(b) For k1 = 0.2, Peak value

M p=7.8 dB at r=1.9

(c) Using Peak value we got =0.21 and

rad
B=2.6 rad /s
s

n=1.9rad/s

settling time is Ts = 10 sec.

And the estimated P.O comes out to be 50 %.

P9.12
Given that

G ( s )=

2
(0.5 s+1)3

This function has three poles that decreases the magnitude slope 60dB/decade as shown in
following bode sketch.

Figure 5: Plot for P9.12

Using Matlab command
[GM,PM,w]=margin(G)
We got PM=67.6 degrees.
(b) With delay the transfer function becomes

0.5s

2e
G ( s )=
3
(0.5 s+1)
Again using Matlab command
[GM,PM,w]=margin(G)
We got PM=23.6 degrees which shows that 0.5 seconds delay has reduced the PM by 44 degrees.
P9.14
Given that
0.2s

ke
G ( s )=
s(0.1 s+1)
For K=0.25 Nichols chart is shown in figure 6.

Figure 6 : Plot for P9.14

From the above plot it can be seen that

M p=2.0dB
And the Gain Margin is 7.77dB and Phase margin is 48.5 degrees.

(b) Using peak magnitude response we had determined = 0.43 whereas using PM=48.5
we get
= 0.48

(c) Using Matlab command bandwidth (G) we got

B=5.4 rad/s

P9.16
Given that

G ( s )=

k
(0.1 s+1)(s 2+s+12)

Taking K= 2.5 and using Matlab code as shown below

s=tf('s');
k=3.2;
G=k/((0.1*s+1)*(s^2+s+2));
bode(G)

fig
ure 7 : Plot for P9.16
It can be seen clearly that PM is exactly 30 degrees.

P9.18
Given that

5.3 (s 2+0.8 s+0.32)eTs

G ( s )=
s3
Using following Matlab code
s=tf('s');
t=[0;0.1;0.2674];

for i=1:length(t)
G=(5.3*exp(-t(i)*s)*(s^2+0.8*s+0.32))/s^3;
bode(G)
hold all
end
we got following graph

Figure 8: plot for P9.18

The following results are verified in the figure.

(a) The phase margin is P.M. = 81 degree at = 5.3 when T = 0.
(b) For T = 0.1, the phase margin is P.M. = 51 degree at = 5.3
(c) And system is at borderline at T=0.2674. At this point PM=0 at = 5.3.
P9.20
Given that

k ( s 2+1.5 s+0.5 )
G ( s )=
s ( 20 s+1 ) ( 10 s+1 )( 0.5 s+1 )
For k=100 the bode plot is shown below

Figure 9 : Plot for P9.20

(b) The PM=-3.5dB and GM=2.71dB

(c) To achieve PM=40 degrees K must be decreased below 100. For k=0.1 the PM=37 degrees

(d) At k=0.1 the step response is shown in figure 10

Figure 10 : plot for P9.20 (d)

AP9.1

Given that

G ( s )=

At

236607.5 ( s+10 )( s+5 )

s ( s+2 ) ( s2 +100 s+ 2n ) ( s+1 )

n=15267

the bode plot is sketched below.

Figure 11: Plot for AP9.1

Gain margin is GM=15.5dB and Phase margin is PM=48.6 degrees.

Now choosing

2n=9500

the bode plot is like shown below

Now the Gain margin is GM=10.9, reduced by 38% and phase margin is PM= 48.5 which is the
same.
It shown that reduction of the natural frequency by 38% has reduced the gain margin
by 30%.
DP9.2
Given that open loop function

L ( s )=

k (s+0.5)
s (s 2+7.5 s+9)
2

Phase margin of this function is plotted against different values of K, in order to find the value of K at
which PM has the highest value
The Graph, shown below, shows that at K=6.25 phase margin has the highest values of 23 degrees.

Using PM=23 degrees the damping ratio was estimated to be

=0.23

Figure 12 : Plot for DP9.2

Then using equation

P .O=100 e

1 2

We got P.O=47.6% But the actual overshoot is 65% as shown by step response shown in figure
13