Q.

Given the transfer function of an open loop system G(s),

Q.2

(a)

Draw the Bode log-magnitude and phase plot

(b)

Find the range of K for stability from the Bode plots

(c)

for K=100, evaluate the Gain margin and Phase margin from your plot.

Using Nyquist criterion, find the range of K for stability for each of the systems
represented by Figure Q.2

R(s) +

G(s)

Y(s)

H(s)
Figure Q.2

(a)
(b)
(c)
Q.3

The open-loop dynamics from dc voltage armature to angular position of a robotic

manipulator joint is given by

Draw by hand a Bode plot using asymptotic approximations for magnitude and phase.
Q.4

For each closed-loop system with the following performance characteristics find the
closed-loop bandwidth:
(a)

=0.2

Ts=3 seconds

(b)

=0.2

Tp=3 seconds

(c)

Ts=4 seconds Tp=2 seconds

Q.5

Consider a unity feedback system G(s), for each G(s) use the M and N circles to make
a plot of the closed loop frequency response:
(a)
(b)
(c)