Problems 153 Problems for Section 3.2: System Modeling Diagrams 3.18. Consider the block diagram shown in Fig. 3.43. Note that a, and b, are constants. igure 3.43, jock diagram for Nem 3.18 U6) igure 3.44 jock diagrams for roblem 3.19 Compute the transfer function for this system. TI special structure is called the “control canonical form” and will be discussed further in Chapter 7. = ob by ns)156 Chapter3 Dynamic Response 3.24, For the unity feedback system shown in Fig, 3.49, specify the gain and pole location, of the compensator so that the overall closed-loop response to a unit-step input has an overshoot of no more than 25%, and a 1% settling time of no more than 011 see. Verify your design using MATLAB. Figure 3.49 Compensator Plant Unity feedback system for +; 100 a e Problem 3.24 a ad ina [Testor Problems for Section 3.4: Time-Domain Specifications 325. Suppose you desire the peak time of a given second-order system to be less than x, Draw the region in the s-plane that corresponds to values of the poles that meet the specification tp <1, 3.26. Suppose you are to design a unity feedback controller for a first-order plant de: picted in Fig. 3.50. (As you will learn in Chapter 4, the configuration shown is referred to as a proportional-integral controller.) You are to design the controller so that the closed-loop poles lie within the shaded regions shown in Fig. 3.51 Figure 3.50 eo Unity feedback system for Problem 3.26 (a) What values of @, and ¢ correspond to the shaded regions in Fig. 3.512 (A simple estimate from the figure is sufficient.) (b) Let K, =a = 2. Find values or K and K, so thatthe poles of the closed-loop system lie within the shaded regions. (©) Prove that no matter what the values of Ky and a are, the controller provides: enough flexibility to place the poles anywhere in the complex (left-half) plane. igure 3.51 Im(s) Desired closed-loop pole 4 locations for Problem 3.26327. A 3.28. Problems 157 ‘The open-loop transfer function of a unity feedback system is 6 = ay ‘The desired system response to a step input is specified as peak time fy = 1 sec and overshoot My = 5%. (a) Determine whether both specifications can be met simultaneously by select- ing the right value of K (b) Sketch the associated region in the s-plane where both specifications are met, and indicate what root locations are possible for some likely values of K. (o) Relax the specifications in part (a) by the same factor and pick a suitable value for K, and use MATLAB to verify that the new specifications are satisfied. ‘The equations of motion for the DC motor shown in Fig, 2.22 were given in Eqs. (2.45-2.46) as a) bn 01 kg-m?, hiv (o4 Assume that Jn b = 0.001 N-msec, Kee .02 Vise, K, = 0.02 Nm/A, Ry = 102 (a) Find the transfer function between the applied voltage v, and the motor speed Om. (b) What is the steady-state speed of the motor after a voltage ve = 10 V has been applied? (6) Find the transfer function between the applied voltage v, and the shaft angle bm (@ Suppose feedback is added to the system in part (c) so that it becomes a position servo device such that the applied voltage is given by Ug = K(B, — Ons where K is the feedback gain. Find the transfer function between 6 and On (e) What is the maximum value of K that can be used if an overshoot My < 20% is desired? (© What values of K will provide a rise time of less than 4 sec? (Ignore the Mp constraint.) (g) Use MATLAB to plot the step response of the position servo system for values of the gain K = 0.5, 1,and 2. Find the overshoot and rise time for each of the three step responses by examining your plots. Are the plots consistent with your calculations in parts (e) and (f)?42. Chapter2_ Dynamic Models Back emt Torque EXAMPLE 2.11 Figure 2.22 DC motor: (a) electric circuit of the armature; (0) free-body diagram of the rotor ‘The motor equations give the torque T on the rotor in terms of the armature current i, and express the back emf voltage in terms of the shaft’s rotational velocity 6,.° Thus T= Ki ia, (2.43) e=K. bm (2.44) In consistent units, the torque constant X, equals the electric constant K,, but in some cases the torque constant will be given in other units, such as ounce- inches per ampere, and the electric constant may be expressed in units of volts per 1000 rpm. In such cases the engineer must make the necessary transla to be certain the equations are correct. Modeling a DC Motor Find the equations for a DC motor with the equivalent electric circuit shown in Fig. 2.22(a). Assume that the rotor has inertia Jy, and viscous friction coefficient b Solution. ‘The free-body diagram for the rotor, shown in Fig, 2.22(b), defines the pos- itive direction and shows the two applied torques, T and 68. Application of Newton's laws yields Ink + Bly = Kei (2.45) Analysis of the electric circuit, including the back emf voltage, shows the electrical equation to be ig 5 La Ge + Rata = Ya — Keb 6 Fe Rel (2.46) ©) © © Because the gencrated electromotive force (emf) works against the applied armature voltage it is called the back emf,3.38, 3.39. 3.40. 3.41. 3.42, Problems 163 ‘Suppose that unity feedback is to be applied around the listed open-loop systems Use Routh’s stability criterion to determine whether the resulting closed-loop systems will be stable. @) KGW) = Tea ©) KGW) = ES; 1) 242d. (©) KG) = SRS Use Routh’s stability criterion to determine how many roots with positive real parts the following equations have: (a) s+ 8s? 432s? + 80s + 100 =0. (b) 5 + 10s +305? + 805? + 3445 + 480-= 0. (©) 84425? +7? 25 +8=0. (d) 3 +s? + 20s +78 = 0. (©) 846s? +25=0. Find the range of K for which all the roots of the following polynomial are in the LHP: 3 +554 + 105° + 10s? 4+ 554+ K Use MATLAB to verify your answer by plotting the roots of the polynomial in the s-plane for various values of K The transfer function of a typical tape-drive system is given by Ko+4) OO = TET OG + DE +04 FAT where time is measured in milliseconds. Using Routh’s stability criterion, deter- ‘mine the range of K for which this system s stable when the characteristic equation ist + GG) =0. Consider the system shown in Fig, 3.58. (a) Compute the closed-loop characteristic equation. (b) For what values of (7, A) is the system stable? Hint: An approximate answer may be found using eT =1-Ts or ats wa $s ene t 144. for the pure delay. As an alternative, you could use the computer MATLAB (Simulink) to simulate the system or to find the roots of the system's charac- teristic equation for various values of T and A.164 Chapter3 Dynamic Response 3.43. Modify the Routh criterion so that it applies to the case in which all the poles to be to the left of a when a > 0. Apply the modified test to the polynomial P+ G+ Ks + S+6K)s +5K = finding those values of K for which all poles have a real part less than —1 3.44, Suppose the characteristic polynomial of a given closed-loop system is comput tobe sf (11+ Kops? + (121 + Kids? + (Ki + Ki Kz + 110K2 +210)s + 11K, + 100 =O) Find constraints on the two gains Ky and Xz that guarantee a stable closed-I system, and plot the allowable region(s) in the (Kj, Ka) plane. You may wish use the computer to help solve this problem. 3.45. Overhead electric power lines sometimes experience a low-frequency, high-a litude vertical oscillation, or gallop, during winter storms when the line conduct become covered with ice. In the presence of wind, this ice can assume aerodynel lift and drag forces that result in a gallop up to several meters in amplitude. Lar amplitude gallop can cause clashing conductors and structural damage to the I support structures caused by the large dynamic loads. These effects in tum ¢ lead to power outages. Assume that the line conductor isa rigid rod, constraine vertical motion only, and suspended by springs and dampers as shown in Fig. 3. A simple model of this conductor galloping is Day m+ + where mm = mass of conductor, conductor's vertical displacement, D = aerodynamic drag force, L = aerodynamic lift force, » = wind velocity, = aerodynamic angle of attack = — tan“'(¥/v). T = conductor tension, number of harmonic frequencies length of conductor,ZLZ UIapler 4 pase a rupesues oe eee Figure 4.31 Three-amplifier topologies for Problem 4.2 AL. 42. Problems Problems for Section 4.1: The Basic Equations of Control Consider a system with the configuration of Fig. 45, where D is the constant of the controller and G is that of the process. The nominal values of these g are D = 5 and G =7. Suppose a constant disturbance w is added to the con} input « before the signal goes to the process. (2) Compute the gain from w to y in terms of D and G (b) Suppose the system designer knows that an increase by a factor of six in loop gain DG can be tolerated before the system goes out of specifica Where should the designer place the extra gain if the objective is to mininy the system error r — y due to the disturbance? For example, either Do} could be increased by a factor of six, or D could be doubled and G trip] and so on. Which choice is the best? Bode defined the sensitivity function relating a transfer function G to one o parameters k as the ratio of percent change in & to percent change in G. We de the reciprocal of Bode’s function as so -4GIG _ ding _ kaG = ake ~ dink ~ G dk ‘Thus, when the parameter & changes by a certain percentage, tells us vi percent change to expect in G. In control systems design, we are almost alvi interested in the sensitivity at zero frequency, or when s = 0. The purpose of exercise is to examine the effect of feedback on sensitivity. In particular, we wal like to compare the topologies shown in Fig. 4.31 for connecting three ampli stages with a gain of —K into a single amplifier with a gain of —10.170 Chapter 4 Basic Properties of Feedback Figure 4.5 Unity feedback system when H, = Hy and letting D = H, De, Controller D ‘This equation is simplified by the definition of the sensitivity function $+ a the complementary sensitivity function Tas aa and Gal In terms of these definitions, the equation for the closed-loop error is Eg = 8R-SGW+TV. (41 For future reference, itis standard to define the transfer function around a lo as the loop gain, L(s). In the case of Fig. 4.4, we have L = DGH, for examp| 414. Watt's Problem of Disturbance Rejection One of the early uses of the steam engine in Britain was in mining, to pu water out of mines and to haul wagons loaded with coal. In carrying out th tasks, the steady-state speed of carly engines would change substantially wh presented with added torque caused by a new load. To correct the proble ‘Watt's company introduced the flying ball governor shown in Fig, 1.11, where the speed of the engine was fed back to the steam chest to change the tord of the engine. We will illustrate the principles of operation of this feedba innovation through study of the simple equations of motion of an engine Wl speed we and external load torque te. Equation (4.13) describes the dynamics of an engine with inertia J, vise friction b, control x, and load torque te(t): iby + bia = Ayu + Arte @ T The reason for the name, coined by H. W. Bode, will be given shortly.Problems 213 (a) For each topology in Fig. 4.31, compute f so that, if K = 10, ¥ = ~108. (b) Foreach topology, compute $f when G = ¥/R. [Use the respective 6; values found in part (a).] Which case is the least sensitive? (©) Compute the sensitivities of the systems in Fig. 4.31(b, ¢) to A and i. Us- ing your results, comment on the relative need for precision in sensors and actuators. 43, Compare the twostructures shown in Fig. 4,32 with respect to sensitivity to changes in the overall gain due to changes in the amplifier gain. Use the relation dink Kar dink ~ Fak as the measure, Select A, and Hy so that the nominal system outputs satisfy Fi = F,and assume K Hi > 0. 4 K F, ro) K aan @ o ii, Block diagrams for Problem 4.3, 4.4, A unity feedback control system has the open-loop transfer function A aw 7 = era (a) Compute the sensitivity of the closed-loop transfer funtion to changes in the parameter A. (b) Compute the sensitivity of the closed-loop transfer function to changes in the parameter a (©) If the unity gain in the feedback changes to a value of # # 1, compute the sensitivity of the closed-loop transfer function with respect to p. (@) Assuming that A = 1 and a = 1, plot the magnitude of each of the preceding sensitivity functions for s = jw using the semilogy command in MATLAB. Comment on the relative effect of parameter variations in A, a, and f at different frequencies «, paying particular attention to DC (when @ = 0). Problems for Section 4.2: Control of Steady-State Error 48. Consider the second-order plant214 Chapter4 Basic Properties of Feedback 47. (a) Determine the system type and error constant with respect to tracking poly- nomial reference inputs of the system for P, PD, and PID controllers (as configured in Fig. 45). Let kp = 19, ky = 0.5, and ko = 7 (b) Determine the system type and error constant of the system with respect to disturbance inputs for each of the three regulators in part (a) with respect to ejecting polynomial disturbances w(t) at the input to the plant. (©) Isthis system better at tracking references or rejecting disturbances? Explain your response briefly. (a) Verify your results for parts (a) and (b) using MATLAB by plotting unit step and ramp responses for both tracking and disturbance rejection. Consider a system with the plant transfer function G(s) = 1/s( + 1). You wish to add a dynamic controller so that @ = 2 radisec. and ¢ = 0.5. Several dynamic controllers have been proposed: 1. DOs) = (6 +2)/2 2. De) = 2843 5 +26 +0.) 4. DS) =SQ FTO FOOD (a) Using MATLAB, compare the resulting transient and steady-state responses to reference step inputs for each controller choice. Which controller is best for the smallest rise time and smallest overshoot? (b) Which system would have the smallest steady-state error to a ramp reference input? (e) Compare cach system for peak control effort; that is, measure the peak ma: nitude of the plant input u(¢) for a unit reference step input. (a) Based on your results from parts (a) to (c), recommend a dynamic eontroDer for the system from the four candidate designs. A certain control system has the following specifications: tise time 1, = 0.010 se overshoot Mp < 16% and steady-state error to unit ramp ess < 0.005 (a) Sketch the allowable region in the s-plane for the dominant second-order poles of an acceptable system. (by If ¥/R = G/C + G), what conéition must G(s) satisfy near s = 0 for th closed-loop system to meet specifications; that is, what is the required asym?" totic low-frequency behavior of G(s)?53 attitude control a Problems 227 om & ZH (a) Use proportional control, P, with D(s) = ky, and give the range of values for ky for which the system will be stable. (b) Use PD control, let D(s) = (ky + kos), and determine the system type and error constant with respect to reference inputs. (©) Use PD control, let D(s) = (ky + kos), and determine the system type and error constant with respect to disturbance inputs. (@) Use PI control, let D(s) = (ky + ti/s), and determine the system type and error constant with respect to reference inputs. (@) Use PI control, let D(s) = (ky + kr/s), and determine the system type and error constant with respect to disturbance inputs. (© Use PID control, let D(s) = (ky + kr/s + kps), and determine the system type and error constant with respect to reference inputs. {g) Use PID control, let D(s) = (ky + £i/s + kos), and determine the system type and error constant with respect to disturbance inputs. Problems for Section 4.4: Extensions to the Basic Feedback Concepts A 438. Compute the discrete equivalents for the controllers of Problem 4.6 by using the a 439 Gi trapezoid rule of Eq, (4.93). Let T, = 0.05 in cach case. @) Dis) = 6 +2)/ +2 (b) Da(s) = 255 c) (s +2) (©) Dats) SSF 10 +2)(9 40.1) @ PWS) = SEF +OOD e the difference equations corresponding to each of the discrete controllers respectively found in Problem 4.38 (a) For Di(s) (b) For Dx(s). (©) For Ds(s) (@ For Dats), A440, “The unit-step response of a paper machine is shown in Fig. 4.54(a), where the input into the system is stock flow onto the wire and the output is basis weight (thickness). The time delay and slope of the transient response may be determined from the figure. (a) Find the proportional, PI, and PLD-controller parameters by using the Zeigler Nichols transient-response method228 Chapter 4 Basic Properties of Feedback Figure 4.54 10 04 r Paper-mactine response os f AI data for Problem 4.40 2 oon NK : Boot é 2 oo £ Fou f z-1a | -o3}-Y | “ol | vies 4s 678 9 1 or23 45678 Tine (6) Tine (50) ®) © (b) Using proportional feedback control, control designers have obtaine: closed-loop system with the unit impulse response shown in Fig. 4.54 ‘When the gain K, = 8.556, the system is on the verge of instability. De mine the proportional-, PI-, and PID-controller parameters according to Zeigler-Nichols ultimate sensitivity method. ‘A. 441. A paper machine has the transfer funetion ‘where the input is stock flow onto the wire and the output is basis weight thickness, (a) Find the PID-controller parameters using the Zeigler-Nichols tuning ral 34 (b) ‘The system becomes marginally stable for a proportional gain of Ky = as shown by the unit-impulse response in Fig. 4.55. Find the optimal Pl controller parameters according to the Zeigler-Nichols tuning rules Figure 4.55 Unit impulse response for paper machine in Problem 4.41 5010 «150 200 250 ‘Time (see)296 Chapter ‘The Root-Locus Design Method Figure 5.48 Pole-zero maps Problems for Section 5.2: Guidelines for Sketching a Root Locus 5.2. Roughly sketch the root loci for the pole-zero maps as shown in Fig. 5.48, your estimates of the center and angles of the asymptotes, a rough evaluatio arrival and departure angles for complex poles and zeros, and the loci for posi values of the parameter K’. Each pole-zero map is from a characteristic equal of the form bis) 14K—0 R as) where the roots of the numerator b(s) are shown as small circles o and the 1 ofthe denominator a(s) are shown as x’s on the s-plane. Note that in Fig. 5.4 there are two poles at the origin. x x (a) (b) ©) x x x x 1 @) © oO 53. For the characteristic equation 14% =0. +36FDGFD (a) Draw the real-axis segments of the corresponding root locus. (b) Sketch the asymptotes of the locus for K — ov. (e) For what value of K are the roots on the imaginary axis? (a) Verify your sketch with a MATLAB plot 5.4. Real poles and zeros. Sketch the root locus with respect to K for the edt 1+ KL(s) = 0 and the listed choices for L(s). Be sure to give the asymp! arrival and departure angles at any complex zero or pole, and the frequency imaginary-axis crossing, After completing cach hand sketch, verify your " using MATLAB. Turn in your hand sketches and the MATLAB results © same scales.55. 5.6. Problems 297 . 1 ©) LO) = GENET HET (+2 ©) 10) = ESHE+HTF =— S+26+6 © LO)= Gy DG+5)6 +10) (+2044) @ Lo) = 504 DG +56 $10 Complex potes and zeros. Sketch the root locus with respect to K for the equation 14+ KL() = 0 and the listed choices for L(s). Be sure to give the asymptotes, arrival and departure angles at any complex zero or pole, and the frequency of any imaginary-axis crossing, After completing each hand sketch, verify your results using MATLAB. Turn in your hand sketches and the MATLAB results on the same scales. 1 ©) MO = T3510 -—_1 O MO = Try) «) = +2548) (©) LO) = Fry As 10) @ 16) = 2284 +2s+10) (+p fe) Lis Om v +4) 2 © W)=- 4 Multiple poles at the origin. Sketch the root locus with respect to K for the equa- tion 1+ K L(s) = 0 and the listed choices for L(s). Be sure to give the asymptotes, arrival and departure angles at any complex zero or pole, and the frequency of any imaginary-axis crossing. After completing cach hand sketch, verify your results LAB. Turn in your hand sketches and the MATLAB results on the = +3) s(s +8) (@) Li) = © 1s) = $43. v4 +1" 1) = G+0" © 16) = SEN, (s+ 0 Lo) = et @ 10> ae 10F304 Chapter 5 The Root-Locus Lesigit mews (a) Design « lead compensation that will eause the system 'o meet the dynamic! response specifications, () If DG) isproportional control, D(s) = kp, what isthe velocity constant K,?) (0) Design alagcompensation to be used inseries with the Jead you have designed! Rsnuse the aystem to meet the steady-state error specification. (@) Give the MATLAB plot of the root locus of your final design. (¢) Give the MATLAB zesponse of your final design to a reference step. 5.30, Assume that the closed-loop system of Fig, 5.57 has @ feed-forward transfer function 1 Gs) a Design a lag compensation so that the dominant poles of He closed-loop systent ese ed-at » = 1 & j and the steady-state error to a unit-ramp input S than 0.2 531. An elementary magnetic suspension scheme is depicted in Fig, 5.58. For sm: ae eave near the reference position the voltage ¢ on the phota detect is relate, aooe pall displacement x (in meters) by ¢ = 100x. The upward force (innewtons ‘exthe ball caused by the current 7 (in amperes) may De approximated by f cone box. The mass of the bal is 20 g, and the gravitational fore® 98 Niki ‘The power amplifier isa voltage-to-current device with an output (jn amperes) jsutVo. (a) Write the equations of motion for this setup. (b) Give the value of the bias Yo that results in the bal being ip equilibrium x=0. (© What is the transfer function from u to ¢? Ke. Sketch the root loc! (a) Suppose that the control input x is given by fof the closed-loop system as a function of K (©) Assume that a lead compensation is available in the form § = Dis) KH Give values of K, z, and p that yield improved performance over the oF proposed in part (4). Figure 5.58 Elementary magnetic suspensionProblems 413 Problems Problems for Section 6.1: Frequency Response 6.1. (a) Show that ag in Eq. (6.2), with A = Up and @ = 0 is 9 = [ 66) [e925] — a WG(- jos; aja and Wyo stjo 1 a3 =| G0) || = UGiod=. ° [ jie (b) By assuming the output can be written as y) = age tage, derive Eqs. (6.4)-(6.6). 6.2. (a) Calculate the magnitude and phase of 1 6O= 10 by hand for w = 1,2,5, 10, 20, 50, and 100 rad/sec. a (b) Sketch the asymptotes for G(s) according to the Bode plot rules, and compare these with your computed results from part (a).. 6.3. Sketch the asymptotes of the Bode plot magnitude and phase for each of the following open-loop transfer functions. After completing the hand sketches, verify your result using MATLAB. Turn in your hand sketches and the MATLAB results on the same scales. = 2000 @) EO) = Se 200) - 100 @) LG) = s@Ts +1) 03s +1) 1 © LO)= ee H0OEFD 1 @ 16) = a @ 26) (s+ D°(" +25 +4) = — 10 +4) ©) LO = Se yiye?+ 245) © 16) = 10006 +0.) S@+D6" + Bs +64) = $5043) @ 1O= Senet es+h 4s(s 410) CH 10s + 58+ H) (i) Lis) = ‘ O LO = Tae TOE Bs +2500) (h) Ls) =414 Chapter 6 ‘The Frequency-Response Design Method 64, 65. 6.6. Real poles and zeros. Sketch the asymptotes of the Bode plot magnitudl phase for each of the listed open-loop transfer functions. After completi hand sketches, verify your result using MATLAB. Turn in your hand sketch: the MATLAB results on the same scales. = 1 ©) LO) = ENE HEF _ (+2) ©) LO) = EEHE+ETIO 6) = eet Oe © 16) = G5 HGF 5G +1 (+28 +4) 5+ DG +5)6-+ 10) Complex poles and zeros. Sketch the asymptotes of the Bode plot m ‘and phase for each of the listed open-loop transfer functions, and appro: the transition at the second-order break point, based on the value of the dai ratio, After completing the hand sketches, verify your result using MATLAB, in your hand sketches, and the MATLAB results on the same scales. @ L6)= @) L6)= 3545 ©) LO)= aya © L6)= ores. ©) Lo) a © 19) = 5% Multiple poles at the origin. Sketch the asymptotes of the Bode plot mag ‘and phase for each of the listed open-loop transfer functions. After com the hand sketches, verify your result with MATLAB. Turn in your hand sk and the MATLAB results on the same scales. 1 10) = OO” SEH) b) Ls) = + ®) 20-3548) 1 © 10-1 ° s(s+8) (s +3) s(s+8) 543 @) Lis)= @ Le)= Sod) = +1" OO S04 H _ (+1? @ LO = SOF61. Problems 415 Mixed real and complex poles. Sketch the asymptotes of the Bode plot magni- tude and phase for each of the listed open-loop transfer functions. Embellish the asymptote plots with a rough estimate of the transitions for each break point. Af- ter completing the hand sketches, verify your result with MATLAB. Turn in your hand sketches and the MATLAB results on the same scales. (+2) © LO) = Sy ioyet+ 4D) (b) Lis) = =—— 82) ©) LO) = SET INGE + 6s FO) (s +2" Faring seaan SING + 6s +25) = +2)(s? +45 + 68) (5 + 10)(s" + 4s +85) +? +]] (@) Ls) = {e+ © HO = Bee rN +3) Right half-plane poles and zeros. Sketch the asymptotes of the Bode plot magni- tude and phase for each of the listed open-loop transfer functions. Make sure that the phase asymptotes properly take the RHP singularity into account by sketch- ing the complex plane to see how the £Z(s) changes as s gocs from 0 to + co. After completing the hand sketches, verify your result with MATLAB. Turn in your hand sketches and the MATLAB results on the same scales. (©) Lis) = @) Los @ 16) = 34% wt The model for a case of magnetic levitation with lead compensation. (b) Ls) = ating SF 5 The magnetic levitation system with integral eon- trol and lead compensation. © Lo)= st @ LG) = ——# $2541 LO pays 28 FD) (+2) 0 LO) = ne Or () L(s) = ——_1 O10 = Cae A certain systemis represented by the asymptotic Bode diagram shown in Fig. 6.88. Find and sketch the response of this system to a unit-step input (assuming zero initial conditions). Wei | | -—— ot —_L_L 110109 1000Problems 419 6.20, Draw a Nyquist plot for _ oth =e (681) KG) choosing the contour to be to the right of the singularity on the jw-axis, Next, using the Nyquist criterion, determine the range of K for which the system is stable. Then redo the Nyquist plot, this time choosing the contour to be to the left of the singularity on the imaginary axis. Again, using the Nyquist criterion, check the range of K for which the system is stable. Are the answers the same? Should they be? |. Draw the Nyquist plot for the system in Fig. 6.90. Using the Nyquist stability criterion, determine the range of K for which the system is stable. Consider both positive and negative values of K oY 6.22. (a) For « =0.1 to 100 radisee, sketch the phase of the minimum-phase system stl CO = je and the nonminimum-phase system s-1] 5410 |i” Gs) = — noting that /(je — 1) decreases with o rather than increasing. (b) Does a RHP zero affect the relationship between the ~1 encirclements on a polar plot and the number of unstable closed-loop roots in Eq. (6.28)? (©) Sketch the phase of the following unstable system for w = 0.1 to 100 radisec: s+1 C0) = 5 (d) Check the stability of the systems in (a) and (c) using the Nyquist criterion on KG(s). Determine the range of K for which the closed-loop system is stable, and check your results qualitatively by using a rough root-locus sketcheu Caper v Figure 6.91 Nyquist plot for Problem 6.23 fhe PreyueULy-Aespuuse VesigH MeL Problems for Section 6.4: Stability Margins 6.23. The Nyquist plot for some actual control systems resembles the one sho Fig. 6.91. What are the gain and phase margin(s) for the system of Fig. 6.91, that @ = 0.4, 6 = 13, and ¢ = 40°. Describe what happens to the stl of the system as the gain goes from zero to a very large value. Sketch wha corresponding root locus must look like for such a system. Also, sketch wha corresponding Bode plots would look like for the system. ImfG(s)] 1 Rela] 6.24, The Bode plot for 10Ofts/10) +] OO = Tp = TLs/100) +1] is shown in Fig, 6.92. (a) Why does the phase start at 270° at the low frequencies? (b) Sketch the Nyquist plot for G(s). (©) Is the closed-loop system shown in Fig, 6.92 stable? (@) Will the system be stable if the gain is lowered by a factor of 100? Mi rough sketch of a root locus for the system, and qualitatively confirm answer.Problems 421 re 6.92 plot for Problem 6,24 001 01 1 10 1001000 =" f—— 001 01 1 10 100 1000 co (radfsec) 625. Suppose that in Fig. 6.93, s+ aes 25(8 +1) (6 + 2)(s? + 2s + 16) Use MATLAB's margin to calculate the PM and GM for G(s) and, on the basis of the Bode plots, conclude which margin would provide more useful information to the control designer for this system. xs) rT y | 6.26, Consider the system given in Fig. 6.94 (@) Use MATLAB to obtain Bode plots for K = 1, and use the plots to estimate the range of K for which the system will be stable. (b) Verify the stable range of K by using margin to determine PM for selected values of K..