Control Systems Engineering Exercises

Frequency Response Analysis Problems

P8.1. For the system shown in Figure, let H(s) = 1 and Gc (s) = 𝐾𝑝

R(s) + C(s)
Gc ( s ) 1000
S ( S + 4) 2
-

H(s)

a) Sketch the Bode diagrams,

b) From the Bode diagrams Find the GM and the PM.
c) Sketch the Nyquist diagrams.
d) From the Nyquist diagram find the GM and the PM.
e) Using Nyquist criterion only, find the number of zeros of 1+GH(s) in the right half-
plane of s-plane.
f) Check the result of (e) via the Routh-Hurwitz criterion.

Solution

Put S = j𝜔 and 𝐾𝑝 =1
1000 62.5
𝐺𝐻(𝑆) = 2
=
𝑆(𝑆 + 4) 𝑆(1 + 𝑆⁄4)2
62.5
𝐺𝐻(𝑗𝜔) =
𝑗𝜔(1 + 𝑗𝜔⁄4)2

𝒂) 𝐓𝐡𝐞 𝐁𝐨𝐝𝐞 𝐝𝐢𝐚𝐠𝐫𝐚𝐦𝐬

➢ 20 log 62.5 = 35.9 dB.

➢ Slope = -20 dB/dec.
➢ 𝑪𝒐𝒓𝒏𝒆𝒓𝒆𝒔: 𝜔1 = 4 X 𝜔2 = 4 X

62.5
|𝐺𝐻(𝑗𝜔)| =
𝜔(1 + (𝜔⁄4)2 )
62.5
𝑙𝑖𝑚 |𝐺𝐻(𝑗𝜔)| = 𝑙𝑖𝑚 =0
𝜔→∞ 𝜔→∞ 𝜔(1 + (𝜔 ⁄4)2 )

|𝜃 = |−90∘ − 2 × 𝑡𝑎𝑛−1 𝜔⁄4

62.5
𝑑𝐵 = 20 𝑙𝑜𝑔|𝐺𝐻(𝑗𝜔)| = 20 𝑙𝑜𝑔
𝜔(1 + (𝜔⁄4)2 )

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𝜔 0 1 4 10 9.47 …. ∞
|𝐺(𝑗𝜔)| ∞ 58.8 7.8 0.86 0.999 ….. 0
𝜃∘ −90 -118.1 -180 -226.4 -224.2 −270∘
dB 35.4 17.86 -1.3 -0.007 ∞

➢ 𝟐𝟎 𝒍𝒐𝒈|𝑮𝑯(𝒋𝝎)| = 𝟎 at 𝝎 = 𝟗. 𝟒𝟕 rad/s
➢ |𝜃 = −180∘ at 𝜔 = 4 rad/s

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Control Systems Engineering Exercises

c) The Nyquist diagram

from part (a) we get the Nyquist diagram as follow:

d) From the Nyquist diagram:

GM = 20 log 1⁄∝ = -20 log 7.8 = −17.84 dB

From the table

PM = 180 − 224.2 = −44.2°

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Control Systems Engineering Exercises

e) The number of zeros of the closed- loop transfer function in the right half-plane of s-
plane Z

𝑃=0
N=2
𝑍 =𝑃+𝑁 =0+2=2

P8.2. Shown in the following Figure the magnitude plot of straight-line Bode diagram for
minimum phase transfer functions. Find the transfer function.

Solution

The Value of 𝐾 is:

20 log K= 20 dB. K=1020⁄20 = 10
➢ K = 10.
➢ Slope = -20 dB/dec.
➢ 𝑪𝒐𝒓𝒏𝒆𝒓𝒆𝒔: 𝜔1 = 1 𝑂 𝜔2 = 5 × 𝜔2 = 30 ×

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𝐾(1 + 𝑗𝜔⁄𝜔1 )
𝐺𝐻(𝑗𝜔) =
𝑗𝜔(1 + 𝑗𝜔⁄𝜔2 )(1 + 𝑗𝜔⁄𝜔3 )

10(1 + 𝑗𝜔⁄1) 1500(1 + 𝑗𝜔)

𝐺𝐻(𝑗𝜔) = =
𝑗𝜔(1 + 𝑗𝜔⁄5)(1 + 𝑗𝜔⁄30) 𝑗𝜔(5 + 𝑗𝜔)(30 + 𝑗𝜔)

1500(𝑆 + 1)
𝐺𝐻(𝑠) =
𝑆(𝑆 + 5)(𝑆 + 30)

P8.3. Shown in the following Figure the magnitude plot of straight-line Bode diagram for
minimum phase transfer functions. Find the transfer function.

Solution

At 𝜔 = 0.3
1
20log K+20 log𝜔 = 0 𝜔𝐾 = 1 𝐾 = = 3.33
0.3
𝐾 = 3.33

➢ Slope = 20 dB/dec.
➢ 𝑪𝒐𝒓𝒏𝒆𝒓𝒆𝒔: 𝜔1 = 2 × 𝜔2 = 10 × ×

𝐾 𝑗𝜔
𝐺𝐻(𝑗𝜔) =
(1 + 𝑗𝜔⁄𝜔1 )(1 + 𝑗𝜔⁄𝜔2 )2

3.33 𝑗𝜔 666 𝑗𝜔
𝐺𝐻(𝑗𝜔) = 2
=
(1 + 𝑗𝜔⁄2)(1 + 𝑗𝜔⁄10) (2 + 𝑗𝜔)(10 + 𝑗𝜔)2
666 𝑆
𝐺𝐻(𝑠) =
(𝑆 + 2)(𝑆 + 10)2

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P8.4. Consider feedback system has the following open-loop function:

10(𝑆 + 1)
𝐺(𝑠) =
𝑆(𝑆 + 1.1)(𝑆 + 10)

The Bode diagram which represent this system is

Solution
10(𝑆 + 1)
𝐺(𝑠) =
𝑆(𝑆 + 1.1)(𝑆 + 10)
Put S = 𝑗𝜔
0.909(𝑆 + 1)
𝐺(𝑠) =
𝑆(𝑆/1.1 +)(𝑆/10 + 1)
0.909(𝑗𝜔 + 1)
𝐺𝐻(𝑗𝜔) =
𝑗𝜔
𝑗𝜔(𝑗𝜔/1.1 + 1)( + 1)
10
➢ 20 log K = 20 log 0.909 = 00.8278 dB
➢ Slope = -20 dB/dec.
➢ Corneres
𝜔1 = 1 O 𝜔2 = 1.1 X 𝜔3 = 10 X
0.909√(1 + 𝜔 2 )
|𝐺𝐻(𝑗𝜔)| =
𝜔√(1 + (𝜔/1.1)2 )(1 + (𝜔/10)2 )
0.909√(1 + 𝜔 2 )
𝑙𝑖𝑚 |𝐺𝐻(𝑗𝜔)| = 𝑙𝑖𝑚
𝜔→∞ 𝜔→∞ 𝜔√(1 + (𝜔/1.1)2 )(1 + (𝜔/10)2 )

𝜃(𝜔) = |−90∘ + 𝑡𝑎𝑛−1 ( 𝜔) − 𝑡𝑎𝑛−1 (𝜔⁄1.1) − 𝑡𝑎𝑛−1 (𝜔⁄20)

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Control Systems Engineering Exercises

𝝎 0 𝟎. 𝟏 1 𝟏𝟎 ∞
𝜽(𝝎) −90∘ −90.06∘ −93∘ −134.4∘ −180∘
|𝑮𝑯(𝒋𝝎)| ∞ 9.0983 0.9466 0.0706 𝟎
dB 19.1792 -0.4768 -23.0193

The Bode diagram which represent this system is Figure (a)

P8.5. Repeat problem (8.4) for the following open-loop functions:

(𝑆 + 1) 5(𝑆 + 1)
𝑖) 𝐺(𝑠) = 𝑖𝑖) 𝐺(𝑠) =
𝑆(𝑆 + 1.1)(𝑆 + 10) (𝑆 + 0.5)(𝑆 + 10)
Answer: (c) Answer: (b)
50
𝑖𝑖𝑖) 𝐺(𝑠) =
𝑆(𝑆 + 20)
Answer: (d)

P8.6. Consider the third-order system with the transfer function:

𝐶(𝑆) 50
𝐺(𝑠) = =
𝑅(𝑠) (𝑆 + 1)(𝑆 + 2)(𝑆 + 10)

The frequency response 𝐺(𝑗𝜔) was calculated by computer, with the results in Table P8.1.
(a) Verify the entries for equal to 2 and 10,
(b) Find the system bandwidth,
(c) Give the time constant of the system.
(d) The system input is the sinusoid 𝑟(𝑡) = 𝐴 𝑐𝑜𝑠(𝜔𝑡)𝑢(𝑡). The system is in steady-state
for 𝑡 > 𝑇𝑠 , Find 𝑇𝑠 .
(e) Use MATLAB to plot a Bode diagram for 𝐺(𝑠). Compare the diagram and Table P8.1
for 𝜔 = 10.

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Control Systems Engineering Exercises

Solution
(a) Verify the entries for equal to 2 and 10,
𝐶(𝑆) 50
𝐺(𝑠) = =
𝑅(𝑠) (𝑆 + 1)(𝑆 + 2)(𝑆 + 10)
50
𝐺(𝑗𝜔) =
(𝑗𝜔 + 1)(𝑗𝜔 + 2)(𝑗𝜔 + 10)
50
𝐺(𝑗2) =
(𝑗2 + 1)(𝑗2 + 2)(𝑗2 + 10)
50
|𝐺(𝑗2)| = = 0.7752
√(4 + 1)(4 + 4)(4 + 100)

𝜃(𝑗2) = − 𝑡𝑎𝑛−1 ( 𝜔) − 𝑡𝑎𝑛−1 (𝜔⁄2) − 𝑡𝑎𝑛−1 (𝜔⁄10)

𝜃(𝑗2) = − 𝑡𝑎𝑛−1 ( 2) − 𝑡𝑎𝑛−1 (2⁄2) − 𝑡𝑎𝑛−1 (2⁄10) = −119.74488∘

𝐺(𝑗2) = 0.7752 ∠ − 119.74488∘

50
𝐺(𝑗10) =
(𝑗10 + 1)(𝑗10 + 2)(𝑗10 + 10)
50
|𝐺(𝑗10)| = = 0.034496
√(100 + 1)(100 + 4)(100 + 100)

𝜃(𝑗10) = − 𝑡𝑎𝑛−1 ( 10) − 𝑡𝑎𝑛−1 (10⁄2) − 𝑡𝑎𝑛−1 (10⁄10) = −207.97947∘

𝐺(𝑗2) = 0.034496 ∠ − 207.97947∘

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Control Systems Engineering Exercises

(b) Find the system bandwidth,

The system bandwidth is the frequency at which the system gain |𝐺(𝑗𝜔)| =
0.707 𝐺(0).
𝐶(𝑗𝜔) 50
𝐺(𝑗𝜔) = =
𝑅(𝑗𝜔) (𝑗𝜔 + 1)(𝑗𝜔 + 2)(𝑗𝜔 + 10)
50
|𝐺(𝑗0)| = | |
(𝑗0 + 1)(𝑗0 + 2)(𝑗0 + 10)
50
0.707 𝐺(0) = 0.707 × = 1.7675
1 × 2 × 10

From Table 8.1 The system bandwidth:

1.80677 + 1.68774
|𝐺(𝑗𝜔)| = = 1.747255
2
0.8 + 0.9
𝐴𝑡: 𝜔𝐵 = = 0.85 𝑟𝑎𝑑 ⁄𝑠
2

(c) Give the time constant of the system.

50
𝐺(𝑠) =
(𝑆 + 1)(𝑆 + 2)(𝑆 + 10)

1 1 1
𝜏1 = = 1 𝑠, 𝜏2 = = 0.5 𝑠, 𝜏3 = = 0.1 𝑠
1 2 10

𝜏 =1𝑠

(d) The system input is the sinusoid 𝑟(𝑡) = 𝐴 𝑐𝑜𝑠(𝜔𝑡)𝑢(𝑡). The system is in steady-state
for 𝑡 > 𝑇𝑠 , Find 𝑇𝑠 .

Ts ≈ 4 times the longest time constant.

𝑇𝑠 = 4 𝜏1 = 4 𝑠

(e) Use MATLAB to plot a Bode diagram for 𝐺(𝑠). Compare the diagram and Table P8.1
for 𝜔 = 10.

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Control Systems Engineering Exercises

P8.7. Consider the system of Problem 8.1 and Table P8.1.

(a) The system input is the sinusoid 𝑟(𝑡) = 10 cos 𝜔𝑡. Write the steady-state response for
each input frequency (no calculation are required)
i. 𝜔 = 0.2
ii. 𝜔 = 2
iii. 𝜔 = 20
Note the differences in amplitude of responses,
(b) The results in (a) apply for 𝑡 > 𝑇𝑠 . Find 𝑇𝑠 .
(c) The amplitude of sinusoid in (a) is changed such that 𝑟(𝑡) = 100 cos 𝜔𝑡. Repeat (a).
(d) Verify the results of (a) and (b) for 𝜔 = 2 using a SIMULINK simulation.

Solution

50
𝐺(𝑠) =
(𝑆 + 1)(𝑆 + 2)(𝑆 + 10)

(a) Steady state response

𝑟(𝑡) = 10 𝑐𝑜𝑠 𝜔𝑡

i. 𝜔 = 0.2
|𝐺(𝑗0.2)| = 2.48437
𝜃(𝑗0.2) = −18.17∘
𝑐𝑠𝑠 (𝑡) = (10)(2.48437) 𝑐𝑜𝑠(0.2 𝑡−18.17∘ )
𝑐𝑠𝑠 (𝑡) = 24.8437 𝑐𝑜𝑠(0.2 𝑡−18.17∘ )

ii. 𝜔=2
|𝐺(𝑗2)| = 0.77522
𝜃(𝑗2) = −119.74488∘
𝑐𝑠𝑠 (𝑡) = (10)(0.77522) 𝑐𝑜𝑠(2 𝑡−119.75∘ )
𝑐𝑠𝑠 (𝑡) = 7.7522 𝑐𝑜𝑠(2 𝑡−119.75∘ )

iii. 𝜔 = 20
|𝐺(𝑗20)| = 0.00556
𝜃(𝑗20) = −234.86195∘

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Control Systems Engineering Exercises

𝑐𝑠𝑠 (𝑡) = (10)(0.00556) 𝑐𝑜𝑠(20 𝑡−234.86∘ )

𝑐𝑠𝑠 (𝑡) = 0.0556 𝑐𝑜𝑠(20 𝑡−234.86∘ )

(b) The results in (a) apply for 𝑡 > 𝑇𝑠 . Find 𝑇𝑠 .

See the solution for Problem 8.1 (b).

(c) The amplitude of sinusoid in (a) is changed such that 𝑟(𝑡) = 100 cos 𝜔𝑡. Repeat (a).

𝑟(𝑡) = 100 𝑐𝑜𝑠 𝜔𝑡

i. 𝜔 = 0.2
|𝐺(𝑗0.2)| = 2.48437
𝜃(𝑗0.2) = −18.17∘
𝑐𝑠𝑠 (𝑡) = (100)(2.48437) 𝑐𝑜𝑠(0.2 𝑡−18.17∘ )
𝑐𝑠𝑠 (𝑡) = 248.437 𝑐𝑜𝑠(0.2 𝑡−18.17∘ )

ii. ω = 2
|𝐺(𝑗2)| = 0.77522
𝜃(𝑗2) = −119.74488∘
𝑐𝑠𝑠 (𝑡) = (100)(0.77522) 𝑐𝑜𝑠(2 𝑡−119.75∘ )
𝑐𝑠𝑠 (𝑡) = 77.522 𝑐𝑜𝑠(2 𝑡−119.75∘ )

iii. 𝜔 = 20
|𝐺(𝑗20)| = 0.00556
𝜃(𝑗20) = −234.86195∘
𝑐𝑠𝑠 (𝑡) = (100)(0.00556) 𝑐𝑜𝑠(20 𝑡−234.86∘ )
𝑐𝑠𝑠 (𝑡) = 0.556 𝑐𝑜𝑠(20 𝑡−234.86∘ )

P8.8. For the system shown in the following Figure, let Gc (s) = 1. Find the system phase
margin and gain margin for.

a) H(s) = 1,
b) H(s) = 2

The frequency response 𝐺(𝑗𝜔) was calculated by computer, with the results in Table P8.1.

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Solution

(a) For H = 1
From Table P8.1, we get:

PM: at
|𝐺(𝑗𝜔)| ≅ 1

1+2 1.57329 + 0.77522

|𝐺𝐻 (𝑗 )| = = 1.174255
2 2
1+2 77.27565 + 119.7449
𝑃𝑀 = 180° + ∠𝐺 (𝑗 ) = 180° −
2 2
𝑃𝑀 = 180° − 98.51° = 81.49°

GM: at
∠𝐺(𝑗𝜔) ≅ −180°

5+6 −173.4537 − 183.0665

∠𝐺 (𝑗 )= = −178.26°
2 2

−15.76342 − 19.05861
𝐺𝑀 = − { } = 17.411 𝑑𝐵
2

𝐺𝑀 = 17.411 𝑑𝐵

(b) For H = 2

From Table P8.1, we get:

PM: at
|𝐺𝐻(𝑗𝜔)| ≅ 1

|GH(j3)| = 0.42003 × 2 =0.84

𝑃𝑀 = 180° + ∠𝐺(𝑗3)

𝑃𝑀 = 180° − 144.57° = 35.43°

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GM: at
∠𝐺(𝑗𝜔) ≅ −180°

From Table P8.1, we get:

5+6 −173.4537 − 183.0665

∠𝐺 (𝑗 )= = −178.26°
2 2

5+6
𝐺𝑀 = − {20 𝑙𝑜𝑔 |𝐺 (𝑗 )| + 20 𝑙𝑜𝑔𝐻}
2

15.76342 + 19.05861
𝐺𝑀 = − 20 𝑙𝑜𝑔𝟐 = 11.39 𝑑𝐵
2

𝐺𝑀 = 11.39 𝑑𝐵

P8.9. For the system shown in the following Figure, let 𝐻(s) = 1. Find the system phase
margin and gain margin for.
a) 𝐺𝑐 (s) = K = 1,
b) 𝐺𝑐 (s) = K = 2.5.

The frequency response 𝐺(𝑗𝜔) was calculated by computer, with the results in Table P8.1.

Solution

(a) For K = 1

PM: at

|𝐺(𝑗𝜔)| ≅ 1

From Table P8.1, we get:

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1+2 1.57329 + 0.77522

|𝐺𝐻 (𝑗 )| = = 1.174255
2 2
1+2 77.27565 + 119.7449
𝑃𝑀 = 180° + ∠𝐺 (𝑗 ) = 180° −
2 2
𝑃𝑀 = 180° − 98.51° = 81.49°

GM: at

∠𝐺(𝑗𝜔) ≅ −180°

From Table P8.1, we get:

5+6 −173.4537 − 183.0665

∠𝐺 (𝑗 )= = −178.26°
2 2

−15.76342 − 19.05861
𝐺𝑀 = − { } = 17.411 𝑑𝐵
2

𝐺𝑀 = 17.411 𝑑𝐵

(b) For K = 2.5

GM: at
|𝐾𝐺(𝑗𝜔)| ≅ 1
1 1
|𝐺𝐻| = = = 0.4
𝐾 2.5

From Table P8.1, we get:

𝑑𝐵 = 20 𝑙𝑜𝑔|𝐾| = 20 𝑙𝑜𝑔2.5 = 7.9588

At 𝜔 = 3 20 𝑙𝑜𝑔|𝐺𝐻 | = −7.5343

𝑑𝐵 = 20 𝑙𝑜𝑔|𝐾𝐺𝐻| = 7.9588 − 7.5343 = 0.4245

𝑃𝑀 = 180° + ∠𝐺(𝑗𝟑)

𝑃𝑀 = ∅𝑚 = 180° − 144.57° = 35.43°

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GM: at
∠𝐾𝐺(𝑗𝜔) ≅ −180°

From Table P8.1, we get:

5+6
𝐺𝑀 = 20 𝑙𝑜𝑔 |𝐺 (𝑗 )| − 20 𝑙𝑜𝑔𝐾
2

15.76342 + 19.05861
𝐺𝑀 = − 20 𝑙𝑜𝑔2.5 = 9.45
2

𝐺𝑀 = 9.45 𝑑𝐵

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