TABLE OF CONTENTS

1. INTRODUCTION...............................................................................................................................................
2. OBJECTIVES......................................................................................................................................................
3. THEORY/BACKGROUND............................................................................................................................
3.1 ANTENNA AZIMUTH POSITION CONTROL SYSTEM...................................................................
3.2 MATLAB........................................................................................................................................................
3.3 GAIN CROSSOVER FREQUENCY...........................................................................................................
3.4 PHASE CROSSOVER FREQUENCY........................................................................................................
3.5 PHASE MARGIN..........................................................................................................................................
3.6 GAIN MARGIN.............................................................................................................................................
4. PROBLEM.........................................................................................................................................................
5. RESULT AND DISCUSSION.....................................................................................................................7-13
5.1 PROBLEM 1.............................................................................................................................................7-11
5.2 PROBLEM 2...........................................................................................................................................12
6. CONCLUSION..................................................................................................................................................
7. REFERENCES..................................................................................................................................................
1.0 Introduction
This report including the introduction of antenna azimuth position control system,
introduction of MATLAB, discussion and result of effect of preamplifier, K in system and
conclusion. Before start, lets explain the most basic question. What is control system? A
control system consists of subsystem and processes assembled for obtaining desired output
with desired performance by given a specified input. By give input to system, we can adjust
position of antenna until desired result.
A block diagram is normally applied for control system. There are 3 requirements in
designing a control system: transient response, stability, steady-stare error. And the stability
is the most important system specification. If a system is unstable, transient response and
steady-state error can be arguable. The following method is developed to determine the
stability of a system.
1. S-domain method:
 The Routh Table
 The root locus

2. Frequency domain method:

 Bode’s Plot
 Nyquist’s Criteria
 Nichols Method
The bode’s plot will cover in this report. A system is stable if every bounded input yields a
bounded output (BIBO).

2.0 Objective
The system stability is one of the most important performances specifications when designing
a control system. Which mean the parameter setting play an important role. In this report we
try to analyze and discuss the effect of changing the parameter K values of preamplifier.
Refer to the block diagram at next section. We want to use MATLAB to perform the bode
plot and observe the effect of K. Also, we try to find the range of K for the system to be
stable.
3.0 Background
3.1 Antenna Azimuth Position Control System
For basic understanding, antenna azimuth position control system is a system that is used to
control the position and configuration of an earth station antenna in order to optimize its
performance for a specific application. Azimuth is the angle from the north plane to the
antenna plane clockwise. Down tilt is the angle between the antenna emission direction and
the horizontal direction.

Figure 1: Layout of antenna azimuth position control system

Figure 2: Schematic of antenna azimuth position control system

 Figure 3: Block diagram of antenna azimuth position control system

𝐾𝑝𝑜𝑡 0.318

𝐾1 100
a 100

K𝑚 2.083

𝑎𝑚 1.71

𝐾𝑔 0.1
Table 1: Parameters for block diagram

As shown of block diagram on figure 3, an antenna azimuth position control system consists
of two potentiometers which first one is used as input and the second one is used as feedback,
a preamplifier, a power amplifier, a motor and load, and gears. By giving desired azimuth
angle as input, the system will come out actual azimuth angle as the output.

3.2 MATLAB
MATLAB is a high-performance language for technical computing. It integrates
computation, visualization, and programming in an easy-to-use environment where problems
and solutions are expressed in familiar mathematical notation. In this report, we will use
MATLAB as the software to run the simulating program.
3.3 Gain Crossover Frequency

loop transfer function ∣G(jω)H(jω)∣ equals 1 (or 0 dB). At this frequency, the product of the
The gain crossover frequency is the frequency at which the magnitude (or gain) of the open-

gain of the system and the feedback path has a magnitude of unity. This frequency is
significant because it is used to determine the stability and robustness of the system through
the phase margin.

3.4 Phase Crossover Frequency

transfer function ∠G(jω)H(jω) equals −180°. At this frequency, the phase shift introduced by
The phase crossover frequency is the frequency at which the phase angle of the open-loop

the system and the feedback path combined causes the output to be out of phase with the
input by 180°, which is a critical condition for potential instability.

3.5 Phase Margin

The phase margin is a measure of system stability in terms of how much additional phase
lag at the gain crossover frequency would cause the system to reach the verge of instability
(oscillation). It is calculated as the difference between the actual phase angle of the open-loop
transfer function at the gain crossover frequency and −180° . A positive phase margin
indicates a stable system and the greater the phase margin, the more stable the system is
considered. Phase margin also relates to the damping of the system response, with higher
phase margins generally indicating better damping and slower response.

3.6 Gain Margin

The gain margin is another measure of system stability, quantifying how much the system
gain can increase before it becomes unstable. It is calculated at the phase crossover frequency
and is expressed in dB. Gain margin is the amount by which the gain of the system must be
multiplied to make the open-loop gain equal to 1 (or 0 dB) at the phase crossover frequency.
A positive gain margin means that the gain must be increased to reach instability, indicating a
stable system. Higher gain margins mean the system can tolerate more gain uncertainty and
still maintain stability.
4.0 Problem
By using MATLAB
1. Analyse and discuss the effect of changing parameter K values in the block
diagram to the system performance by observing the gain crossover
frequencies, phase crossover frequencies, phase margins and gain margins
(Bode plot).

2. Determine the range of preamplifier gain, K, required for the system to be stable.

5.0 Result and Discussion

5.1 Result of Problem 1
First fill it the parameter and move the potentiometer for better calculation.

After reducing the block diagram to a single transfer function, start to calculate the close loop
system.
θo(s)= [6.62394K/s(s+100)(s+1.71)]/[1+(6.62394K/s(s+100)(s+1.71)]

The following is the MATLAB program.

Figure 1.1: Bode plot when K = 0.1
Figure 1.2: Bode plot when K= 1

Figure 1.3: Bode plot when K= 10

 Figure 1.4: Bode plot when K= 100

As you can see, by the different value of K, the result of gain crossover frequency, phase
crossover frequency, gain margin and phase margin also difference. We can simply notice the
difference by compare each graph.

Figure1.5: Compare data when frequency at 0.1 rad/s

Figure 1.5 is a group of sample data for phase from bode plot. The frequencies are now focus
on 0.1 rad/s. The value of phase is –91.2 when K= 0.1. And then, raise to –71.9 when K=1; -
14.7 when K=10; -1.5 when K=100. Which mean the value of phase is raising when value of
K is raising.
 Figure 1.6: Compare data when frequency at 0.1 rad/s.

Figure is 1.6 is a group of sample data for magnitude (dB) from bode plot. The frequencies
are focus at 0.1 rad/s. The value of magnitude (dB) is –28.3 when K=0.1; -8.72 when K=1; -
0.158 when K= 10; 0.0107 when K= 100. Which mean when value of K is raising the value
of magnitude also raising as well.
After compare the sample data, we have now understood the effect of changing value of
preamplifier, K. We have now fully aware that the value of K is an important parameter to
the antenna azimuth position control system.
5.2 Result of Problem 2
From equation in problem 1, we have performing block diagram reduction and yields the
loop gain, G(s)H(s), as

To find the open-loop frequency response plots with the value of K =1.
Here is the program of MATLAB.

Figure 2: open-loop frequency response plots for the antenna control system (K=1)
To find the range of K for stability, we notice from Figure 2 that the phase response is -180°
when ω = 13.1 rad/s. At this frequency, the magnitude plot is -68.4 dB. Which mean, the
gain, K, can be raised by 68.4 dB.
The open-loop transfer function 𝐺(𝑠) at the frequency where the phase is -180° has a
magnitude of 68.41 dB. This magnitude is effectively the gain of the system 𝐺(𝑗𝜔) at this
frequency.
The dB scale is logarithmic, meaning that a gain G in dB is given by:
𝐺𝑑𝐵=20log10 (K)

To convert dB back to a linear scale (to find K), the formula is rearranged:
K=10^(GdB/20)
=10^(68.4/20)
=2630
Thus, K = 2630 will cause the system to be marginally stable. Hence, the system is stable if
0 < K < 2630
Since the open loop gain at this frequency is already 68.4 dB:
 If K exceeds 2630, the overall loop gain ∣G(jω)H(jω)∣ at ω = 13.1 rad/s would surpass
0 dB (or a magnitude of 1), leading to an unstable system.

 Therefore, to ensure stability, K must be less than 2630, because at K=2630, the
system is on the verge of instability (marginal stability), where any small increment in
K could push the system into oscillation or unstable behavior.

Thus, from a control system perspective, keeping 0<K<2630 ensures that the gain at the
critical phase crossover frequency does not reach a level that would induce instability.
6.0 Conclusion
The parameter K of preamplifier has been discussed in this report. We had seen how the
effect of K to system by observing the gain crossover frequencies, phase crossover
frequencies, phase margins and gain margins. And it is important to determine the range of K
for the system to be stable.

7.0 References
[1] Control System Engineering Norman S Nise (6th edition)
[2] https://www.mathworks.com/help/ident/ref/dynamicsystem.bode.html