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© R. K

Control Engineering

Tutorial 8
Semester II

Q1. Sketch the Bode diagram and discuss system stability for the following open loop
systems:
1)

2)

3)

4)

Q2. Sketch the Nyquist diagram for the open-loop systems listed in Q1.

Q3. Using root-locus method to sketch and discuss the stability of the following open-
loop system:

where and

Q4. Do you reach the same conclusion by using the Bode diagram? If yes, show that.

Q2 a)
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Nyquist Diagrams
G(s)=10/(s+1)(s+2)
4

Imaginary Axis
1

To: Y(1)
0

-1

-2

-3

-4
-1 0 1 2 3 4 5

Real Axis

Q2 b)

Nyquist Diagrams
From: U(1)
1500

1000

500
Imaginary Axis
To: Y(1)

-500

-1000

-1500
-10.5 -9.5 -8.5 -7.5 -6.5 -5.5 -4.5 -3.5 -2.5 -1.5 -0.5 0.5

Real Axis
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Q2 c)

Nyquist Diagrams
From: U(1)
0.4

0.3

0.2
Imaginary Axis

0.1
To: Y(1)

-0.1

-0.2

-0.3

-0.4
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8

Real Axis

Q2 d)

Nyquist Diagrams
G(s)=10/(s+2)(s+5)(s+10)
0.08

0.06

0.04
Imaginary Axis

0.02

-0.02

-0.04

-0.06

-0.08
-1 -0.8 -0.6 -0.4 -0.2 0 0.2

Real Axis

Q3
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For K =10

Transfer function:
10 (s + 1)
TF= ------------------------------------
5e-005 s^3 + 0.0065 s^2 + 0.16 s + 1

>> nyquist(sysA)

Nyquist Diagram
50

40

30

20

10
Imaginary Axis

-10

-20

-30

-40

-50
-10 0 10 20 30 40 50 60 70
Real Axis

Q4. Bode Diagram

>> margin(sysA)
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Bode Diagram
Gm= Inf dB (at Inf rad/sec) , Pm= 16.5 deg (at 441 rad/sec)
40

20
Magnitude (dB)

-20

-40

-60
90

45

0
Phase (deg)

-45

-90

-135

-180
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequency (rad/sec)
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Q4. Root Locus

Root Locus
1.5

0.5
Imaginary Axis

-0.5

-1

-1.5
-120 -100 -80 -60 -40 -20 0
Real Axis