EE250: Control Systems

Solutions : Tutorial 6

24 February 2020

1 + 4s
Q1. Sol. The open loop transfer function is given by G(s)H(s) =
s2 (1 + s)(1 + 2s)

c1 : s = jω where ω : 0+ to +∞
c2 : s = Rejθ where R→ ∞ and θ : +90o to 0o to −90o
c3 : s = −jω where ω : −∞ to 0+
c4 : s = ejφ where  → 0 and φ : −90o to 0o to 90o

Figure 1: Nyquist Contour

Mapping of c1 :
1 + 4jω
G(jω)H(jω) =
(jω)2 (1 + jω)(1 + 2jω)
√
1 + 16ω 2
|GH| = √ √
ω 2 1 + ω 2 1 + 4ω 2
∠GH = −π + tan−1 4ω − tan−1 ω − tan−1 2ω

1. when ω = 0 =⇒ |GH| = ∞ and ∠GH = −π

π π π
2. when ω = ∞ =⇒ |GH| = 0 and ∠GH = −π + 2
− 2
− 2
= − 3π
2
3. when ω = 0.01 =⇒ ∠GH = −179.43o
Need to check real axis crossing point
ω + 2ω
=⇒ −π + tan−1 4ω − tan−1 ω − tan−1 2ω = −π =⇒ tan−1 4ω − tan−1 =0
1 − 2ω 2
3ω
−1
4ω − 1−2ω 2 −1 4ω − 8ω 3 − 3ω
=⇒ tan 3ω = 0 =⇒ tan =0
1+ 4ω 1−2ω 2 1 − 2ω 2 + 12ω 2

1
 1
=⇒ ω − 8ω 3 = 0 =⇒ ω(1 − 8ω 2 ) = 0 =⇒ ω = 0 or ω 2 = 8
=⇒ ω = 0
=⇒ ω = ±0.35rad/sec

For ω = 0.35
√
2.96
|GH| = √ √ = 10.67
0.1225 × 1.1225 × 1.50
∴ Mapping of c1 and c3 (mirror image) is as shown in Figure 2 below.

Figure 2: Nyquist Plot corresponding to c1 and c2

Mapping of c3 is ignored.

Mapping of c4 :

1 + 4ejφ 1
G(ejφ )H(ejφ ) = 2 2jφ jφ jφ
≈ 2 2jφ
 e (1 + e )(1 + 2e ) e
since  → 0
∴ radius → ∞ and angle:−2φ; π to π2 to 0 to - π2 to −π.
Complete Nyquist plot is as shown below

Figure 3: Nyquist Plot

form Nyquist plot =⇒ N=2 and P=0

Z =N +P =2+0=2

∴ Closed loop system is unstable with 2 R.H.S poles.

2
Q2. Sol Now, if a proportional gain K > 0 is added to the forward path, the sinusoidal magnitude of
the system will be modified as
√
K 1 + 16ω 2
|GH| = √ √
ω 2 1 + ω 2 1 + 4ω 2
The Nyquist plot will cross the negative real axis at −10.67K. If the critical point, i.e.,
−1 + j0 point lies in the left of this crossing point, the closed loop system will be stable since
the Nyquist plot in that case does not encircle the critical point. Thus, the stable range of K
is
−10.67K > −1 or, K < 1/10.67 ⇒ K < 0.094
Let’s take K = 0.05. The gain at ω = 0.35 becomes 10.67 × 0.05 = 0.5335. Thus, the gain
margin is 1/0.5335 = 1.87. In dB, it is 5.44 dB. For phase margin equate |GH| to 1. Find
the gain crossover frequency ωg . Calculate the phase angle (in degree) at ωg . Add 180o to get
the PM in degree. Complete this exercise.

Q3. Sol The open-loop transfer function is given by

K(1 + 0.5s)(s + 1)
G(s)H(s) = L(s) =
(1 + 10s)(s − 1)

We have to determine the range of values of K for which the system is stable.

Step 1. Draw the Nyquist contour as

given in Figure 4.
Find the magnitude and phase of L(jω)
at ω = 0 and ω = ∞.

Figure 4: Nyquist contour

K(1 + j0.5ω)(1 + jω)

L(jω) =
(1 + j10ω)(jω − 1)
√
K 1 + 0.25ω 2  −1
∠ tan (0.5ω) + tan−1 (ω) − tan−1 (10ω) − 180◦ + tan−1 (w)

= √
1 + 100ω 2

3
 At ω = +∞ |L| = K
20
∠L = 90 + 90 − 90 − 180 + 90 = 0◦
At ω = 0 |L| = K
20
∠L = −180◦
At ω = −∞ |L| = K
20
∠L = −90 − 90 + 90 − 180 − 90 = 0◦

Step 2. Find the point where L(jω) intersects the real axis. For this, equate the imaginary
part of L(jω) to zero.

(7.5ω − 19.5ω 3 )
Im[L(jω)] = =0
1 + 101ω 2 + 100ω 4
or, ω(7.5 − 19.5ω 2 ) = 0; this gives
ω = 0.62 and |L| = 0.167K

Also, you can equate the phase angle to π (as done in class) to get the same solution. With
these 3 points, it is not possible to draw the nyquist plot. The sense of direction of L(s)-plot
can not be guessed. This is very crucial for applying Nyquist criterion to this problem. Hence
we need at least one more point. Lets compute the magnitude and phase of L(jω) at ω = 0.1
rad/sec. This gives,

L(jω) = 0.708K∠150◦

The contour in s-plane is given in Figure 4.

Since we are moving in clockwise direction along
the contour in the s-plane, the corresponding
L(s) − plot will have a direction from ω = 0+
towards ω = +∞ point i.e c1 .
The contour from ω = −∞ to ω = 0− would be
a mirror image of the plot obtained for positive
frequencies. The complete Nyquist plot is shown
in Figure 5.
Figure 5: Nyquist Plot
Consider the following two cases:
• 0.167K > 1 or K > 5.988. In this case the critical point −1 + j0 would lie in the
right hand side loop. Hence, the number of counter clockwise encirclement N = −1.
Because the point is encircled in clockwise direction only once. Also, the number of
poles of L(s) lying on right-half of s-plane P = 1. This gives

Z = N + P = −1 + 1 = 0
Hence, the system is stable when K > 6.
• 0.167K < 1 or K < 5.988. In this case, the critical point lies inside the left hand loop.
The point −1 + j0 is encircled by the L(s)-plot in CCW direction once. This gives
N = +1. Hence, the number roots lying on right-half s-plane is

Z =N +P =1+1=2
Hence, the system is unstable when K < 6.