0% found this document useful (0 votes)
4 views110 pagesCSE Endsem
The document discusses stability analysis in control systems, defining stable, unstable, critically stable, and conditionally stable systems. It explains the relationship between the locations of roots in the s-plane and system response, as well as the Routh-Hurwitz criterion for determining stability. Additionally, it covers concepts such as relative stability, marginal stability, and the significance of the gain K in system stability.
Uploaded by
Pawan JadhavCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
0% found this document useful (0 votes)
4 views110 pagesCSE Endsem
The document discusses stability analysis in control systems, defining stable, unstable, critically stable, and conditionally stable systems. It explains the relationship between the locations of roots in the s-plane and system response, as well as the Routh-Hurwitz criterion for determining stability. Additionally, it covers concepts such as relative stability, marginal stability, and the significance of the gain K in system stability.
Uploaded by
Pawan JadhavCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
/ 110
UNIT - 3
Stability Analysis
and Root Locus
3.1 : Concept of Stability
Tmpor
ant Points to Remember
# The analysis of a system whether it can reach steady state,
passing through the transients successfully and whether it
returns to zero position when input is removed, is called
stability analysis of a system.
Q4 Define : i) Stable system ii) Unstable system iil) Critically
‘or Marginally stable system iv) Conditionally stable system
USISPPU : Dec-89, 01, 02, 05, May-01, 03, 04,07, Marks 7)
‘Ans, :i) A linear time invariant system is said to be stable if
following conditions are satisfied
a) When the system is excited by a bounded input, output is
also bounded and controllable.
b) In the absence of the input, output must tend to zero
irrespective of the initial conditions,
‘* This is called bounded input bounded output (BIBO) stability
ii) A linear time invariant system is said to be unstable if,
a) For a bounded input, it produces an unbounded output
b)_ In absence of the input, output may not return to zero. It
shows certain output without input.
iii) A linear time invariant system is said to be critically or
marginally stable if for a bounded input, its output oscillates
with constant frequency and amplitude. Such oscillations of
output are called undamped oscillations or sustained
Ge» Control System =I 3-2 Stability Analysis and Root Locus
iv) A linear time invariant system is said to be conditionally stable
if for a certain condition of a particular parameter of the system,
its output is bounded one, Otherwise if that condition is
violated output becomes unbounded and system becomes
unstable, Thus the stability of the system depends on condition
of a particular parameter of the system. Such a system is called
conditionally stable system.
3.2 : Nature of Response for Various
Locations of Roots in s-plane
Q.2 How the nature of response and stability of a system depends
‘on the locations of roots of characteristic equation in s-plane ?
Ans. : The roots of characteristic equation of a system are its
closed loop poles.
Sr. | Nature of | Locations of | Step response
No. | closed loop | elosed loop
poles __|poles in s-plane
1. | Real, negative
ie. in LHS. of .
s-plane Absolutely
Pure exporerial || St#ble
2 | Complex
conjugate with
negative real Absolutely
part ie. in stable
LHS. of ape oa
s-plane
Real, positive
ie. in RHS. of
splane (Any Unstable
tone closed loop]
pole in right
half irrespective
‘of number of
poles in left
half of s-plane)
(PECODE) @ Less than PHOTOCOPY Price Contrt System = 33 Stability Analysis and Root L
4] Complex
conjugate with | gs fat
postive real Unstable
patic.in [7 [7 :
RHS. of 3
splane
5. | Non repeated
pole in RS : *| Marginally
of splane ot citcally
P stable
7 Frequency of
csellations =
4 4
4, : Marginaly
| i or entcaly
stable
two non Sustained
repeated pairs | oscillations
con imaginary. | with two
axis, feequency
components 6
6 | Repeated pair
on imaginary
axis without
any pole in
rae Unstable
plane 4
(DECODE) @ Less than PHOTOCOPY Price Control System =I a4 Stability Analysis and Root Locus
3.3 : Concept of Relative Stability
Tmportant Points to Remember
# System is said to be relatively more stable if settling time of
that system is less than that of other system. It indicates how
fast the system reaches to a steady state and how fast the
transient part of the system dies out completely.
* It is inversely proportional to the real parts of the roots of the
characteristic equation of the system, The roots located near
the imaginary axis in s-plane produce larger settling time. As
the roots move away from the imaginary axis in left half of
s-plane, the settling time reduces making the system relatively
more stable.
‘* Hence the roots of the characteristic equation ie. closed loop
poles located near the imaginary axis in s-plane are called
dominant roots or poles, which decide the stability of the
3.4 : Routh-Hurwitz Criterion
Q.3 What Is stability ? Gi
sesary conditions for stability
> [SPPU + May-t7, Marks 4)
Ans, : For stability, refer answer of Q.1
‘* In order that the characteristic equation of a system has no root
in right of s-plane, it is necessary but not sufficient that,
1) All the coefficients of the polynomial have the same sign.
2) None of the coefficient vanishes ic. all powers of ’s’ must be
present in descending order from “n’ to zero.
Q4 State and explain Routh’s stability criterion.
1 [SPPU : Dee-01, 07, 15, 16, 17, May-2000, 03, 05, 09, 15, 16, Marks 6)
Ans. : Consider the general characteristic equation as,
F(s) = ag s® +ay 8" =0
(PECODE) @ Less than PHOTOCOPY Price Control System =I
Stability Analysis and Root Locus
The Routh-Hurwitz array is then obtained as,
© Coefficients for first two rows are written directly from
characteristic equation
From these two rows, next rows can be obtained as follows,
88MM 18a ROS yA BHO
row, 4"* row can be obtained as
b
ayby b
© This process is to be continued till the coefficient for s" is
‘obtained which will be a. From this array stability of a system
can be predicted
‘* The necessary and sufficient condition for system to be stable is,
"All the terms in the first column of Routh's array must have
same sign. There should not be any sign change in the first
column of Routh’s array.
‘© If there are any sign changes existing
a) System is unstable,
b) The number of sign changes equals the number of roots lying in
the right half of the plane.
5 Using Routh's Hurwitz criterion for stability analysis determine
Stability of following system P(6) = s°~ 3s! ~5s5 + 4s? ~ 6+ 3,
From that determine how many roots are there in left half s plane,
right half s plane, and on imaginary axis. 5 [SPPU : Dec-17, Marks 8)
DECODE) @ Less than PHOTOCOPY Price Control System =I 3-6 Stability Analysis and Root Locus
‘Ans, : For given equation, Routh’s array is,
T 51 There are two sign changes in first column,
7 343 Without special case.
Roots in right half of splane
S| 367 0 0 7 p
: Roots on imaginary axis ~ 0.
: 43
Roots in left half of s-plane = 5 -2=3
° (As n= 5 = total roots)
Hence the system is unstable.
3.5 : Special Cases of Routh's Array
Q.6 Which are the two special cases of Routh’s array ? How these
cases can be handled ? U3" [SPPU : Dec-15, April-18 (In sem), Marks 4)
‘Ans. : There are two special cases of Routh’s array
Special case 1: The appearance of first element of any row as
zero while same remaining row consisting of at least one nonzero
element.
In such a case, that zero is replaced by a small positive number
+e and array is completed interms of &
‘© The signs of the first column elements are examined by taking
Lim ¢> 0 and the stability is predicted
Special case 2: There occurs a complete row as row of zeros
while generating an array. So array terminates abruptly as shown,
wt teh bby
’ oo 0 & Row of zeros
‘In such case an equation is formed using the coefficients of a row
Which is just above the row of zeros. Such an equation is called
an Auxiliary Equation, denoted as A(s). The auxiliary equation is,
always odd or even polynomial in s.
DECODE) @ Less than PHOTOCOPY Price Control System =I 3-10 Stability Analysis and Root Locus
.10 Determine the range of K for stability of a system having
characteristic equation ¢* + 3Ks*=(K+2)s+4 = 0.
Find the value of K so that the system is marginally stable and
find the frequency of sustained oscillations.
1 [SPPU + April-t8 (In sem), Marks 6)
Ans. : From given characteris
ic equation, Routh’s array is,
1 K+2 From # row
: a a 3K>0 isK>0
From s! now
f 6K-4 oo
6K -4>0
For marginal stability, 3K? + 6K - 4 = 0.
«
(K - 05275) = 0
Kar = + 0.5275 only +ve value
AG) =3Ks244=0 ie, 3x05275s?+4=0
i159
s. Frequency of sustained oscillations = 1.59 rad/see
Q.11 Using Routh Hurwitz criterion for the unity feedback control
Kis +13)
Sis + 36 +7)
1) Find range of values of K for the system to be stable
i) Find the value of K for marginally stable system and
corresponding close loop poles and frequency of sustained
oscillations. SF [SPPU : May 17, Marks 8)
system with open loop transfer function G(s) =
Ans, : The characteristic equation is,
inte) = 0 te HRT
83 410s? +(214K)s+13K = 0
DECODE) @ Less than PHOTOCOPY Price Control System =I 3-9 Stability Analysis and Root Locus
Routh’s array is,
ree Geert
2 56
é o
2 BOO
ela 56
s'} os33 0
& | 56
No sign change in the first column hence no root is right half of
s-plane. But stability is to be determined by solving A(s)
7s! +428? +56 = 0 ie. s?+6s7+8=0
+4) 20 ie, st2-2,5ha-4
8 = +)v2,4)2
As four out of 5 roots are located on imaginary axis and are
nonrepeated and no root in right half of plane, system is
marginally stable in nature.
3.6 : Marginal K and Frequency
of Sustained Oscillations
Tmportant Points to Remember
+ Practically gain K of the forward path is unknown. The range
of K for stability can be obtained by constructing Routh's array
interms of K and then finding the range of K which will not
create any sign change in the first column.
# The value of K which makes the system marginally stable is
called marginal value of K denoted as Knur. This is the value
of K which makes any row other than x0 as row of zeros in
the Routh’s array
# To oblain the frequency of oscillations, solve the
equation A@) = 0 for K = Ky
# The magnitude of imaginary roots of A(S) = 0 obtained for
‘marginal value of K(K mur) indicates the frequency of sustained
oscillations, which system will produce under marginally
stable condition,
(PECODE) @ Less than PHOTOCOPY Price Control System =I 3-8 Stability Analysis and Root Locus
Q8 Construct Routh array and determine the stability of the
system whose characteristic ‘equation is
SPs 265 5 Bet 4 126? + 2082 + 16s + 16 = 0, (SPPU : May-18, Marks 7),
‘Ans, : The Routh’s array is,
se) 1 8 2 16
SJ 2 2 16
2 2 6 Oo
8) 0 0 0 0 => Special case 2
rar) Ais) =28* 4 12674 16
er) Als) _ 43
HE) ass 248
2667 0
16
There is no sign change in the first column
of completed array. But due to special case
2, system may be stable,
To obtain stability, solve A(s}
2st
Fig. 08.4
= 42, #2
As the roots of A(S) = 0 are complex conjugates, purely imaginary
and non-repeated, the system is marginally stable in nature.
Q9 Using Routh Hurwitz criterion determine whether the given
close loop system is unstable. If unstable how many poles are on
Hight half s plane oF imaginary axis.
GS) = 45
S55 Tes 608 4257s 8556 ear [somu: Mayt6, Marts 8]
‘Ans. : Given_system is, closed loop system hence characteristic
+69 +4257 4 854
equation is
DECODE) @ Less than PHOTOCOPY Price Control System =I 3-7 Stability Analysis and Root Locus
AG) = 6 s* atta es yb
«Differentiate this with respect to s.
JAG) 3 0-5 =
FO) oy (1=2) 599 #09 (=A) SF 405 (0-6) 8
‘© Complete the array, replacing row of zeros by the coefficients of
the equation dA(s)/ ds
If at all, there is any sign change in the first column of the
completed array then the given system is unstable,
‘© But if there is no sign change in the first column then it is
confirmed that there is no closed loop pole in right half of
s-plane, But system may be stable and its stability is determined
by solving the equation A(s)=0 ic. auxiliary equation for its
roots. From the locations of these roots it must be decided
whether system is stable or not
) are the dominant roots
Remember that the roots of A(s
lof Fis)
lof roots of A(s)=0in such special case.
0 and stability is totally dependent on the locations
Q7 Comment on stability using Routh criteria if characteristic
equation is : Qs) = s+ 2s! 4 36+ 452+ 56+ 6= 0 How many poles
Tie in right half of plane ? [SPU : Dec-14, Marks 4]
‘Ans, : The Routh’s array is,
sé saeees
st 2 6 6
’ Se
et o 6 € Special case 1
o | 28 a ae
s ° Thus there are two
sign changes in the
first column hence
‘awo poles lie in
right half of
splane
DECODE) @ Less than PHOTOCOPY Price Control System =I 3-4 Stability Analysis and Root Locus
Rule 5: Centroid
© All the as
mptotes intersect the real axis at a common poi
known as centroid denoted by 6. The co-ordinates of centroid can
be calculated as,
4) - 5 Res ts of poles of Gt)
(centroid) ’
‘© Centroid is always real, it may be located on negative or positive
real axis, It may or may not be the part of the root locus,
Rule 6: Breakaway Point
© Breakaway point is a point on the root locus where multiple
roots of the chara
of K.
feristic equation occurs, for a particular value
‘= Steps to determine the co-ordinates of breakaway points are
of the system,
Step 2: From this equation, separate the terms involving °K’
and terms involving ‘s’, Write the value of K in terms
of s ie. K=F@).
Step 3 : Differentiate above equation wnt. °s, equate it to zero
aK
ic. Kg
a
aK
Step 4 Roots of the equation 4K = 0 gives us the breakaway
+ Out of athe roots of =o, those for which the value oF Kis
«The root leas branches slays leave breakaway points at an
breakaway pint
Rule 7 : Intersection of root locus with imaginary axis
(PECODE) @ Less than PHOTOCOPY Price Control System =I 3-8 Stability Analysis and Root Locus
3.8 : Rules to Construct Root Locus
Q.14 Explain the rules for the construction of root locus of a
system. EX (SPPU : May-15, 16, 17, Dec-15, 17, Marks 8]
OR Explain centroid and angles of asymptotes of a root locus.
[SPU : April-18 (In sem), Marks 8]
‘Ans, : © The various rules to construct the root locus are,
Rule 1: The root locus is always symmetrical about the real axis.
Rule 2: If G(s)H(s)
P = Number of open loop poles,
Open loop T.F. of the system and.
Z = Number of open loop zeros then
Number of branches equal to number of open loop poles (N = P).
‘* Branches will start from each of the location of open loop pole
Out of "P) number of branches, °Z’ number of branches will
terminate at the locations of open loop zeros, The remaining,
P-Z' branches will approach to infinity. The branch direction
always remains from open loop poles towards open loop zeros,
Rule 3: A point on the real axis lies on the root locus if the sum
‘of the number of open loop poles and the open loop
zeros, on the real axis, to the right hand side of this point
is odd.
Rule 4: Angles of aysmptotes
The ‘P-Z’ branches approach to infinity along, the straight lines
called Asymptotes of the root locus. Asymptotes are the
guidelines for the branches approaching to infinity.
‘© Angles of such asymptotes are given by
2g 1) 180
9 - Gay G7 01, 2 au (P-Z-1)
DECODE) @ Less than PHOTOCOPY Price Control System =I 3-2 Stability Analysis and Root Locus
For stability, the range of values of K is - 200 < K < 666.25
Kye = 966.25
(making row of s! as row of zero)
for which system is marginally stable
The auxiliary equation is, A(s) = 52.58" + 200 + K,,,,, = 0
(200-666,
35
‘The frequency of oscillations is 4.062 radisee.
3.7 : Root Locus
Q.43 Define root locus. State the angle and magnitude condition of
root locus. Mention the use of these conditions.
SF [SPPU + May-A5, Marks 3)
‘Ans, :© The locus of the closed loop poles of a system, obtained
when system gain °K’ is varied from 0 to + is called Root Locus.
1s Angle condition can be stated as, 2 G(s)H(s)Ifor any value|
of 8 which is the root of equation [1 + G(s)H{s) = 0] is
= + (2q+1) 18° where q = 0, 1,
ite. Odd multiple of 180°
‘* Any point in s-plane which satisfies the angle condition has to be
‘on the root locus of the corresponding system,
}* Magnitude condition is stated as,
G(H(S)fa spot ins ~ plane = 1
‘© Magnitude condition is used to find K for any point on the root
locus. But the magnitude condition can be used only when it is
sure that a point is on the root locus.
‘* Hence angle condition is used first to confirm whether a point is
‘on the root locus or not and then once confirmed it is followed
bby the magnitude condition to find the corresponding calue of K.
(PECODE) @ Less than PHOTOCOPY Price Control System = ae Stability Analysis and Root Locus
From s? row, K>0
From s! row,
0-3K>0
K<7
i) [0 bie K>=20
Ko
@ECODE @ Less than PHOTOCOPY Price Control System =I 307 Stability Analysis and Root Locus
a s-13
st44s+13+K6+D=0 ie K=—* AOI
aK
a
0 ie. (4X
4) (28? 45-1301
Solving, 5? +2s-9=0
$= 2162, - 4.162
Thus § = ~ 4.162 is valid breakaway point
For 04, consider pole at ~ 2 + j3
1
6, = 180°-tan
op = 90°
6 = Dor -Dez =~ 1843
180° ~ = 180° ~ (-18.43°) = 198.43" at -2 + j3,
Oy = — 198.43" at 2-73
3.9 Steps to Construct Root Locus
(Important Points to Remember
Step 1: Get the general information about number of open loop
poles, zeros, number of branches etc. from G(s)
step 2 : Draw the pole-zero plot. Identify sections of real axis for
the existence of the root locus, And predict minimum
number of breakaway points by using general predictions
stap 2: Calculate angles of asymptotes,
(2041) 180
where @=0, 1,2 -Z-1)
me phere @= 0, 1, 2 sux (PZ
Stop 4: Determine the centroid.
Real pars of pokes of GHG)
= $ Real pars of zeros of Gis)H)
PoZ
essa cece neocons Scene
lo(centroid)
DECODE) @ Less than PHOTOCOPY Price Control System =I 3-16 Stability Analysis and Root Locus
6
Breakaway point Branches moving 2 poles
away form breakaway point
() Fig. 34 )
2) If there are two adjacently placed zeros on real axis and
section of real axis in between them is a part of the root
locus then there exists minimum o
between adjacently place:
Fig. 3.1 (0)
we breakaway point in
zeros, This is shown in the
3) If there is a zero on the real axis and to the left of that zero
there is no pole of zero existing on the real axis and
complete real axis to the left of this zero is a part of the root
locus then there exists minimum one breakaway point to the
loft of that zero. This is shown in the Fig. 3.1 (0)
Breakaway
point
\ Fig. 3:1 (€) )
15 Determine Breakaway point and angle of departure for root
locus of a system with open loop transfer function,
Geos) = KO?
sty as413 > [SPPU + Aprilt8 (In sem), Marks 6)
‘Ans, : For breakaway point,
KG+)_
oP 4as+13
+G@HO)=0 ie.
DECODE) @ Less than PHOTOCOPY Price Control System =I a Stability Analysis and Root Locus
‘© This can be determined by constructing Routh's array interms of
K. Find the marginal value of K. Solve A(s) = 0 for marginal
value of K. The roots of A(s) = 0 for K
points of root locus with the imaginary axis.
‘mar afe the intersection
Rule 8: Angle of departure at complex conjugate poles and
angle of arrival at complex conjugate zeros.
The angle of departure is the angle at which a branch departs
from a complex pole denotes as (yy. It is obtained as,
a7 180 where = 3 p-Dz
where J p = Contributions by the angles made by
remaining open loop poles at the pole at which 4 is to be|
lated,
ale
Y, 2 = Contributions by the angles made by the open loop
zer0s at the pole at which 4g is to be calculated,
‘© The angle of arrival is the angle at which a branch arrives at a
complex zero, denotes as 0,
‘© Angle of arrival at a complex zero is given by
© To calculate Ep, join all the remaining poles to the complex
pole under consideration, Add all the angles subtended by these
phasors with respect to positive x-axis, Similarly join all the zeros
to pole under consideration and adding all angles subtended by
these phasors with respect to positive x-axis, determine 2,
srr eee ECE gore Pera
/ Important Points to Remember )
General predictions for existence of breakaway point in root
locus :
1) If there are adjacently placed poles on the real axis and the
{© real axis between them is a part of the root locus then there,
(PECODE) @ Less than PHOTOCOPY Price ontrol System = 3-21 Stability Analysis and Root Locus
Q.48 Sketch, the root locus of the unity feedback system having
Gis)~ sierra) Where K Is varied from 0 to ~. Hence obtain
the value of K for which the system is unstable.
ES [SPPU : Dec-08, May-03, 06, 18, Marks 7]
Ans. : Refer Q.17 for the procedure and verify the answer as
Real
o
2
Breakaway”,
point
8-0.845
300°
Fig. 0.18.4
‘* For K > 48, the system is unstable
Q.19 A unity feedback control system has a open loop transfer
function,
Ge) =
oy s(s? + 45 +13)
Sketch the root focus plot of the system by determining the
following
4) Centroid, number and angle of asymptotes.
(rcone
Less than PHOTOCOPY Pri Control System - 3-20 Stability Analysis and Root Locus
Step - 8 : The root locus is shown in the Fig. Q.17.1 (b).
To find K for & = 05, draw a line from origin making angle
cos & =60" with negative real axis,
Find its intersection with root locus which is point P on root locus,
From Fig. Q.17.1 (b), P is s~ 0.4 + j0.75
Using angle condition at P,
K
GOH =1 ie DET, ogyane 7!
IKI :
[04+ [0:75] |= 0.44 j0.75+1]|-0.44 10.7543]
7 ar
Tasmuserxa7e 1 it K= 2209 for g-05
Fig. 0.17.4 (b)
(DECODE) @ Less than PHOTOCOPY Price Control System - 3-19 Stability Analysis and Root Locus
‘Ans: Step -1:P =3,Z=0,
N=P=3,P-Z=3t0
Starting : s = 0,
Terminating : ©, ,
Step - 2 : Real axis root locus
is shown in the Fig. Q17.1 (a) 1 Breakaway
Point
Step - 3: Angles of asymptotes
_Qy+IN8P ig ao (a)
0 = Cas 01,2 Fig. 47.4
ERP. of O.L. poles — SRP. of O.L. zer
Step 4: Centroid =
P-Z
0-1-3
Step - 5 : Breakaway point
1+G@)H@ = 0 gives 14K =o
acute Bt SFDETD
Sh4dst 434K =0 ie, K=-s3—4s?—35 @)
dk a
{Ko gives 36? +88+3=0
wo gi 8543-0
Solving, s = 045, - 2.215
Hence s =~ 045 is_valid breakaway point.
Step - 6 : Intersection with jo axis.
ie, s3 44s? 4354K=0
1 From s! row, 12-K=0
: . mae” 12
si] Bok o
7 row, 4s? +k = 0
so K
2.2
sa-Baig
1
$5 1732 Intersection with jw axis,
Step - 7: Angles of departure not required as no complex open
loop poles.
(DECODE) @ Less than PHOTOCOPY Price Control System =I 3-18 Stability Analysis and Root Locus
Calculate the breakaway and breakin points If breakawa)\
points are complex conjugates, then use angle condition
to check them for their validity as bres
Step 6 : Calculate the intersection points of root locus with the
away points,
imaginary axis. These are the roots of the equation
A(s) = 0 for marginal value of K, obtained from Routh's
Stop 7: Calculate the angles of departures or arrivals for the
complex conjugate poles and zeros, if present.
Step 8: Combine steps 1 to 7 and draw the final sketch of the
root locus.
‘Step 9 : Predict the stability and performance of the given system
by using the root locus.
Q.16 How to determine the value of K for specific damping ratio
for a system from its root locus ?
Ans.
Step 1: Draw the root locus to the scale on graph paper.
Preferably choose same scale for X and Y avis,
Step 2 : Get the value of 6 = cos! &
Step 3: Draw a line at angle "0° from origin such that 0° is
measured from negative real axis in clockwise direction.
Step 4 : Determine the intersection point of this line with the root
locus sketched to the scale.
Step 5: For this point, apply the magnitude condition to decide
the corresponding system gain "
Q.17 Sketch the root locus for the open-loop transfer function of a
unity feedback control system given below and determine
1) The value of K for £ = 0.5
1) The value gf K for marginal stability
Gis)
sie +1)(6+3)
1 [SPPU + 086-06, 09, 10, 16, May-07, 08, Marks 9]
(PECODE) @ Less than PHOTOCOPY Price 3- Stability Analysis and Root Locus
Control System -
Angle of departure at
Step -
complex poles.
Consider (- 2 + j2) as shown in the
Fig. Q20.1 (b)
6p) = 180° — tant 3 = 123.67"
Opp = 180° ~ tan 3 = 1084
or = 90, Yon = 0
Dov = op tO +p = 92212"
9 = Yop Doz = 32212" Fig, @.20.1 (b)
4 = 180-6 =~ 142.12" at ~ 2+ j3 and + 142.12° al
Step-8 : The root locus is shown in the Fig. 0.20.1 (©),
eee
Fig. Q.20.1 (c)
(DECODE) @ Less than PHOTOCOPY Price Control System =I 3-24 Stability Analysis and Root Locus
2.20 Explain for unity feedback system with open loop transfer
function given as G(s) = Draw root locus
. sie + (6 + 4s +13)
when K is varied from 0 to =. Also find range of values of K for
which system is stable. 3 [SPPU +: Dec-17, May-11,47, Marks 12]
Ans. : Step -1:P=4, Z=0,
N=P=4, P-Z=450
Start: s=0,
£8 NAL NBL.
Terminating: 8 = ==, «=, = zi D
Step - 2 : Section of real axis as 7
shown in the Fig, 0.20.1 (a). One tiaoay
es of asymptotes )
Gi Fig. 020.1
4-91.23
Step - 5 : Breakaway point
1+ G(S)H(s) = O gives s4+5s3 +178? +138+K=0... (1)
K = ~s4~5s3 1757-138 @
7 3415s? 4345-+13=
Ge 7 0 gives 453 415s? +¥Ms+13=0
Solving, 8 = 0466, — 1.64 + 2.067
Thus 5 = ~ 0.466 is valid breakaway point with
K = +2825 from equation 2) at this point
Step - 6 : Intersection with jo axis.
Routh's array from equation (1) is,
1 veK From s! row, 187.2 - 5K = 0
: 5 BO, Kigyee 374
M4 Koo ieee
eres From s? ro
Me Als) = 14s? +K =
e| xk
DECODE) @ Less than PHOTOCOPY Price Control System - 3-0 Stability Analysis and Root Locus
Step - 7: Angle of departure
Consider -2+j3 as shown in the
Fig. Q.19.1 (b)
pr =180°- tan“! 3 = 123.69°, op) = 901
Boop = 12869° + 90°= 213.69" Doz = 0
0= Eoe-¥ez
04 = 1807-9 = 33.68 at
13.69°
04 = 433.67 at - 2 - [3
Step - 8 : Complete root locus is shown,
in the Fig. QU9.1 (6).
(©) Fig. 019.4
(DECODE) @ Less than PHOTOCOPY Price Control System - 3-2 Stability Analysis and Root Locus
fi) Angle of departure of root loci from the poles.
lil) Breakaway point if any
iv) The value of K and the frequency at which the root loci cross
the Jo aa 2 fpr bee, 3118, Mas 0)
Ans. : Step -1:P =3, Z=0, ,
23, poze
2 branches approach 1 pecsuue
RL °
Starting: s = 0,
243
Terminating : § = ©, =, =
i (a)
Step - 2 : Real axis root locus. Fig: S194
Step - 3: Angles of asymptotes
q+ D180 :
ee 4-912
°
6, = 6, 0) = 180, 6; = 300
Step «4: Contig = RP. of 0-L-ples-S>R.P of O.L. zeros
ep «4: Centroid =
PoZ
= O22 0 1333
Step - 5 : Breakaway point.
No breakaway point as per step 2
Step - 6 : Intersection with jo axis.
1+GQ)H) = 0 ie, 4K _-0
sis? 443413)
sP4ds? 4135+K=0
s 1 13 From s! row.
2 : Kk 32-K=0 K mar = 52
wf 2K 0 ie
(DECODE) @ Less than PHOTOCOPY Price UNIT - 4
Frequency Domain
Analysis - I
4.1 : Introduction
Q.1 What do you mean by frequency response of a system ? How
to obtain frequency domain transfer function ?
Ans.:¢ The steady state respor
sinusoidal input when input frequency is varied from 0 to = is
defined as frequency response of a system,
se of a system to a purely
‘© In such method, the effect of change in input frequency of the
input signal is studied on the magnitude and phase of the
system,
© Consider a linear time invariant system with its transfer function
es
Gio) = £2, wie te inputs purely sinusoidal given by
Ao
x(8) = A sin wt hence its Laplace tran
form is R(s)
No
Bie Fs) OTy)
Output C(s) = Ris) - G(s)
# All the poles of G(s) are assumed to be located in left half of
«plane
»
COG +g be partial fractions
Lim
4 Steady state of the output Cx is ,'"" e(). Then all the terms
from c(t) except first two tems will vanish after taking inverse
Laplak
transform.
cag = ac +zetion ) Control System -
3-28 Stability Analysis and Root Locus
‘Memory Map
DECODE) @ Less than PHOTOCOPY Control Systems -1
ty Analysis and Root Locus
1+ G)H(s) = 0
ie, tess + 195? +
= 193? — 125
= 385 = 12
462495543
8 = 0.4188, — 3.5811 ... Breakaway points
Step 6 : Intersection with jo axis.
1 ~ K
210-8K = 0
ee)
ws K
1] 210-8K 9
175 >
| x
Step 7 : The nature of root locus is shown in the Fig. Q.22.1
[Scae i
on both axes
‘nil
“Breakaway Breakaway
9-205 47 point point aos
S801 ~S.ai88
Fig. 0.22.1
(@ECODE! @ Less than PHOTOCOPY Price Control System =I 3-26 Stability Analysis and Root Locus
21 Draw root locus for following system. Also fipd range of
values of K for which system is stable. G(S) K
‘ls +2\6?+ 5 +1)
[SPPU : May-16, Marks 10)
e and verify the answer as
Ans. : Refer Q.20 for the procedy
Fig, 0.21.4
Q.22 A unity feedback system has the loop transfer function.
Gs x.
2670 @+3) Grd)
Plot root loci by determining breakaway points and intersection
with imaginary axis. ES" [SPPU = Dec.-12, Marks 12],
Ans. : Step 1: P= 4, Z= 0,
N= 4, P~Z=4 branches to =
0-1
Starting points
Terminating points : eco Two baka
Step 2 : Sections of real axis. Two Coa
breakaway points possible
Step 3 : Angles of asymptotes, 0; ~ 45°,
8.
315
Step 4: Centroi
Step 5 : Breakaway points
DECODE) @ Less than PHOTOCOPY Price Control System = 4 Frequency Domain Analysis -I
4.3 : Correlation Between Time Domain
and Frequency Domain
Q.4 Explain the co-relation between time and frequency domain.
[ES{SPPU :Dec-960203, y-02.0607 08,1, Marks 7.0815, 18, May-5,1, Paks 4
Ans.: The two important parameters associated with a standard
second order system in frequency domain are,
i) Resonant frequency (w,) : This is the fequency at which the
system shows a peak in its frequency response. It is given by,
o, = a, yI-28
ii) Resonant peak (M,) : It is the peak value of the frequency
response of a second order system ocurrin
at resonant
frequency «, and given by, M,
‘© While in time domain it is known that for_a standard second
order system, damped frequency is @g =
and My
¢ From these expressions co-relation between frequency domain
and time domain can be obtained as,
1) Both Mp and M, are the functions of the damping ratio
alone. So both indicates the relative stability of the system,
2) As °€ increases , My decreases and gets vanished when & = 1
After that, system does not produce any overshoot.
While in frequency domain M, will vanish if,
ie. w= 0.707
And in such case system will not exhibit resonant peak.
This can be shown in Fig, Q4.1
3) When & is very small ie. less than 04, both M, and M,
will be very large and are not desirable. So °& ' is generally
designed to be between 04 < < 0.707 where My and M,
are comparable to each other.
(@ECODEY @ Less than PHOTOCOPY Pri Control System =I a4 Frequency Domain Analysis -I
‘Find the value of x which maximises the magnitude ie. 4M
aM od
a &
1 4 >
3 ll-x a la-%?
E2--0 ie x =0 or
as x = 0 has no pratical significance
o which maximises M.
o, = 0 Resonant frequency
‘© The resonant peak is obtained by subtituting «, in expression of
M,,
M,
ae Resonant peak
Q.3 If Gl)H() = J", determine the value of : 1) Resonance
ween
peak and 2) Resonance frequency. US{SPPU : May-16, May-15, Marks 4)
‘Ans, : The characteristics equation is 1 + G(s)H{s) = 0
y= 1 and 280, = 1, ie. 5.
» 1547 Resonance peak
2) & = Oy = 0.7071 radsec. ... Resonance frequency
DECODE) @ Less than PHOTOCOPY Price Control System =I 43 Frequency Domain Analysis -I
Important Points (o Remember
© Gj =M 20
where M = Magnitude —> f(c), 6 = Phase Angle — f(a,
= Input frequency
Frequency response means to sketch variation in M and
against ©. The stability of system can be decided from such
frequency responses.
4.2 : Derivations of Resonant Peak
and Resonant Frequency
Q.2 Derive the expressions for resonant peak M, and resonant
frequency 1, for @ standard second order system interms of © and «,.
1 [SPPU + Dec-02, 03, 08, 18, May-05, Ma
4
‘Ans. :+ Consider a standard second order system with the closed
loop transfer function in time domain as,
ce o
TR" Ieee
‘© To get frequency domain TF. replace 's' by ‘jes
cia _ oe . a
RGO (jw)? +2Ea, joroz 0 +2E a, jor ar
2 cde 1
+ Dividing by of, US
1 22e
cao _ 1
+ Replacing TG
“ [1-8 ]+28] x
‘# In frequency response, the second order syst
This is called resonant peak M, and corresponding frequency is
called resonant frequency
cia
vo
Magnitude |
\a-x
DECODE) @ Less than PHOTOCOPY Price Control System =I 42 Frequency Domain Analysis -I
Ao AGC jo)
a> Gs) +50) ja -
AGH jo
#6) AS. 6-10 beso = “SS
‘© GG) is a complex quantity and can be expressed as
G (jo) = 1GGa9 e®*
where 1GGuj! = (Real part)? + (mj: pan
J lmaginary part of Gtjo)]
ani ) = £6G0)* tan!
: Perera: Real part of Giiw) |
Similarly GC jo) = IGE jo) |e = 1G Gap le J and use in
equation (1),
AIG(—jo) AIGLo)
cul) = AIG gi HOH i
= Alcga 1S sing = 8
3
s(t) =A 1GGu) Isin (t+ 9)
© Thus when linear time invariant system is subjected to a
sinusoidal input it will produce sinusoidal output at steady state
having same frequency as that of input. But the amplitude ie
magnitude and phase angle of the output is different from that of
input.
‘* Hence the effect of varying frequency on the magnitude and
phase of the system is called frequency response of the system,
The frequency domain transfer function of a system can be
‘obtained by subs
of the system,
ituting jo’ for ‘s’ in the transfer function
© To get frequency response means to. sketch the variation in
magnitude and phase angle of Gi), when w is varied from 0 to
DECODE) @ Less than PHOTOCOPY Price Control System =I
Frequency Domain Analysis - IL
%@ The logarithmic scale available on X-axis takes care of
logarithmic value of « There is no need to find the logarithmic
values of frequency «.
5.2 : Standard Form and Factors of GGo)HGw)
Q.2 What is the standard form of Gjw)H(Go) ? State the general
factors of Gljo)HGo) which contribute to the Bode plot.
‘Ans. : The standarad form of G(jeH(e) is called time constant
form and given by,
Kar Tp 0+ To
G(s) =
SPF, 0+ Ts)
where K = Resultant system gain _p = Type of the system
Ts Ty. Tas Tyo = Time constants of different poles and zeros.
‘© Frequency domain transfer function can be obtained by
substituting $= jo in the above expression,
KU+Tj 0+)
Giakia =
19 GPa TD
« List of basic factors contributing Bode plot is ,
1) Resultant system gain K, constant factor. (When G(jaiH(ja) is
expressed in time constant form).
2) Poles or zeros at the origin. (Integral and Derivative factors)
ie. (jo)*® . Either poles or zeros at origin will be present
3) Simple poles and zeros also called first order factors of the form
(+st)*! ie. (1+ jot)
4) Quadratic factors ie. quadratic pole or zero, which cannot be
factorised into real factors ie. having complex conjugate roots,
(PECODE) @ Less than PHOTOCOPY Price UNIT - 4
Frequency Domain
Analysis - II
5.1: Introduction to Bode Plot
1 What is Bode plot ?
Ans, : « Bode plot consists of two plots which are,
1) Magnitude expressed in logarithmic values against logarithmic
values of frequency called Magnitude plot
2) Phase angle in degrees against logarithmic values of frequency
called Phase angle plot
The magnitude M = IG(jejHGe)! = 20Log yg !GGu)! 4B
The phase angle ¢ ~ ZG(ja)H(ja) in degrees
ne two plots are shown in the Fig. QL
iGo ou
nde in degrees
ia Log
Fig. 0.1.1 Magnitude plot and Phase plot
‘© Both these plots are sktched on the same semi-log paper and
t
ether called Bode plot of the system.
Important P
its to Remember
* A semi-log paper is used to sketch the Bode plot. In. such
paper the X-axis is divided into a logarithmic scale which is
non linear one, While Y-axis is divided into linear scale and
pap. Control System -
Frequency Domain Analysis -I
Q5 Define bandwidth. State its expression for second order
system,
Ans, : Bandwidth (B.W,) is the range of frequency upto , which
is called cutoff frequency at which the magnitude of the closed
loop T.F. is 3 dB down from its zero frequency level
For standard second order system,
B.W. = 0, yI~
Q6 Define cutoff frequency. 3 [SPPU : Dee18, Marks 2]
Ans.: The frequency at which the magnitude of the closed loop
TE. 3 dB down from its zero frequency level is caused cutoff
frequency of that system.
‘Memory Map
Frequency Domain Analysis.
Basles of
frequency domain
Coxelaton
‘betwoen
time and
frequency domain
Derivations 0
Mand
END...
(DECODE) @ Less than PHOTOCOPY Price Control System - 46 Frequency Domain Analysis -I
jle M, tries
4) As
to approach to © and hence both are undesirable from system
>0, My achieves 1 i.e, 100 % overshoot w i
point of view.
5) Also when & is between 0.4 to 0.707 both w, and wy are
comparable to each other while when & —> @ both w, and oy
approaches the value @,. When ‘is small, oy is large and
hence rise time is small. Similarly the “Eis small a, is large
and hence system is more fast in the response. Hence ©,
ss speed of the response,
indie.
Fig. 0.43 Fig. 0.244
‘All these co-relations are shown in the Fig. Q.4.1, Q42, Q43 and
O44.
«The two responses are comparable between 0.4 < & < 0.707,
(DECODE) @ Less than PHOTOCOPY Price Control System =I 5-6 Frequency Domain Analysis - IL
*S0 such a quadratic factor changes the slope of the resultant
magnitude plot by + 40 dB/dec. Use + sign for the quadratic zero
and ~ sign for the quadratic pole.
2th
phase angle of the quadratic pole is given by,
Important Points to Remember
# Note that at o
e = ©), the phase angle is ~ 90° and due
to second order its contribution must tend to ~ 180° as « 2,
For > py, the angle comes out to be positive by above
formula, In such a case the angle contribution obtained must
be considered, by subtracting 180° from the positive
obtained by above formula,
‘© When the magnitude plot of two factors representing straight
lines are to be added together in the Bode plot, then
resultant line always has a slope which is algebraic addition
of the individual slopes of the two lines which are to be
added.
‘* The starting slope of the Bode plot for the function G(s)H(s)
gets decided by number of poles or zeros at origin present in
GIS)H()
5.3 : Frequency Domain Specifications
Q4 Discuss the various frequency domain specifications.
1 [BNTU : Dec-01, 06, 10, 1, May-01, 04, 09, 12, Marks 6)
OR Define the following : i) Resonant peak ti) Resonant frequency
iii) Gain cross-over frequency iv) Phase cross-over frequency
¥) Gain Margin (G.M.) vi) Phase margin (P.M.)
1 [DNTU # May-01, 05, 16, 17, 18, Dec12, 16, Marks 6)
(PECODE) @ Less than PHOTOCOPY Price Control System =I Frequency Domain Analysis - IL
Siooe 20 a8 dos
eee to
mT et
Fig. 03.2
The effect of such factors in overall magnitude plot is to
change the slope of the resultant magnitude plot at every
corner frequency by ~ 20 or +20 dB/dec depending on|
whether it is simple pole or zero.
© The phase angle of such factors is given by ttan~ @T and its
contribution is required to be calculated at various frequencies
The + sign for simple zero and — sign for simple pole
Factor 4 : Quadratic Poles or Zeros
‘* These are represented as
1428,
‘© For quadratic factor make sure that its roots are complex
conjugates.
‘© The comer frequency of such factors is given by, we = ©
©The magnitude plot of a quadratic pole is divided into two
straight lines. One line of slope 0 dB/dec upto the corner
frequency , and second having slope - 40 dB/dec after the
comer frequency y
DECODE) @ Less than PHOTOCOPY Price Control System =I 5-4 Frequency Domain Analysis - IL
Therefore magnitude plot for ‘P’ poles at the origin gives a family
of lines passing through intersection of @= I and 0) dB line having
slope [- 20 x P] dB/decade.
‘= For zeros at origin the sign of the slope changes to positive.
‘* In phase angle plot, each pole at the origin contributes fixed
angle of ~ 90° at all the frequencies.
In general P number of poles at the origin contribute ~ 9F xP
angle to overall phase angle plot. This contribution is constant
irrespective of ‘a’
« For zeros at origin the si
n of the angle changes to positive.
Factor 3 : Simple Poles or Zeros (1+ Ts)*! ie. (1+ joT)*!
‘© The magnitude plot of simple pole is divided into two straight
lines. One line of slope 0 dB/dec upto the critical frequency of the
factor called commer frequency and second having slope
20 dBidec a
ter the comer frequency.
©The frequency at which change of slope from 0 dB to
= 20 dBjdecade occurs is called Corer frequency, denoted
by
(¢ = 1/T for the simple pole or zero |... Corner freque
+ For a simple zero, the sign of the slope changes to positive, the
nature remains same.
As the contribution of such factor is dominant after the comer
frequeeny, its effect is considered from its comer frequency
‘onwards. Upto comer frequency such factor is as good as absent
‘* For one simple pole the nature of the magnitude plot is shown in
the Fig. Q3.2.
‘© The magnitude plot obtained by this method is called aymptotic
Bode plot.
(PECODE) @ Less than PHOTOCOPY Price Control System =I 5-3 Frequency Domain Analysis - IL
Q3 Discuss the nature of Bode plot of i) Constant K i) Pole
at origin iii) Simple pole or zero iv) Quadratic pole or zero,
1 [SPPU : Dee-17, May-18, Marks 10)
Ans.
Factor 1; System gain K
‘© As gain °K’ is constant, 20 Log jy K is always constant though “os
varied from 010, So its magnitude plot will be straight line
parallel to X-axis, While the angle of positive value of K is zero
so K does not contribute to the phase angle plot
The effect of °K’ is to shift the magnitude plot of
IGQaHGal| by a distance of 20 Log K dB upwards if K > 1
and downwards if K < 1,
‘» This fact is useful to design °K’ for the required specifications,
Factor 2 : Pole at the origin (1/s)
‘© The magnitude plot of one pole at the origin is the straight line
of slope = 20 dB/decade passing through intersection point of
‘= Land 0 dB lines as shown in the Fig. Q3.1
Mag in d8
+20 Slope ~ 20 dB / decade
1 POLE AT ORIGIN
0.08
-20
-40
=04 =t = 10
Fig. @.3.1 Contribution by 1 pole at origin
If there are 2 poles at the origin, the slope of the straight line
changes to -
) dB/decade but passing through intersection point
of @= 1 and 0 dB.
DECODE) @ Less than PHOTOCOPY Price Control System =I
0 Frequency Domain Analysis - I
[SnauenaN
Fig. 05.3 0,
i GM. and P.M, zero, marginally stable system
5.5 : Steps to Sketch Bode Plot
Important Points to Remember
1) Express given G(s)H(s) into time constant form.
2) Draw a line of 20 Log K dB which is parallel to Log w axis ice.
X-axis,
3) Draw a line of appropriate slope representing poles or zeros at
the origin, passing through intersection point of w= 1 and
0-dB. For 1 pole at the origin ~ 20 dB/dec, for 2 poles at the
origin ~ 40 dB/dec and so on.
4) Shift the intersection point of @= 1 and 0 dB on 20 Log K line
and draw parallel line to the line drawn in step 3. This is
addition of constant K and number of poles or zeros at the
origin.
Change the slope of this line at various comer frequencies by
appropriate value ie. depending upon which factor is
occurring at comer frequency, For a simple pole, slope must
be changed by ~20 dB/decade, for a simple zero by
20 dB/decade etc. Do not draw these individual lines,
Change the slope of line obtained in step 5 by respective
value and draw line with resultant slope. Continue this line
till it intersects next comer frequency line. Change the slope
and continue, Apply necessary correction for quadratic factor
if required,
(PECODE) @ Less than PHOTOCOPY Price Control System -
Frequency Domain Analysis - IL
~180° line, P.M. is positive and if it is below ~180° line, P.M. is
negative.
‘System is said to be stable when P.M. and GM. are positive
while system is said to be unstable when both P.M, and G.M. are
negative. Now when system is on the verge of instability ie
marginally stable in nature then GM. and PM. both are zero.
This is possible when @,. = Op. b
‘© All these conditions are shown in the Fig. Q5.1, Q52 and Q53
Stability Conditions :
soe
Fig, 0.5.4 04 <
Fig. 0.5.2 irg.> ye GM. and P.M. negative, unstable system
(DECODE) @ Less than PHOTOCOPY Price Control System =I 5-8 Frequency Domain Analysis =
‘+ More positive the GM, more stable is the system.
vi) Phase margin P.M. : Similar to the gain, it is possible to
introduce phase lag in the system ie, negative angles without
affecting magnitude plot of GaGa.
‘© The amount of additional phase lag which can be introduced in
the system till system reaches on the verge of instability is called
phase margin P.M
‘* Mathematically it can be defined as,
PM. =
Z GGG lye = age] = (180°)
PM. ° + ZGGMHGO)| 4 - w,
‘© Positive P.M. indicates stable system while negative P.M.
indicates unstable system. More positive the P.M,, more stable is
the system,
5.4: GM. and P.M, from Bode
Plot and Stability Conditions
Q5 Explain the procedure to obtain G.M. and P.M. from the Bode
plot. Draw the Bode plot for stable and unstable conditions.
ae [DNTU : Dec-10, 11, 12, May-16, 17, 18, Marks 6)
Ans, :# In a Bode plot, identify « = a. and Extend @ = op. line
upwards till it intersects resultant magnitude plot at point A. The
magnitude corresponding to point A is |GG@HU®) ly - op.
© The difference between 0 dB and magnitude corresponding, to
point A i¢|Gja)HUe) yo). 18 Gain Margin. If point A is below
0 dB, GM. is positive and if point A is above 0 dB, GM. is
negative.
For phase margin, identify © = og and extend © = og. line
downwards fill it intersects phase angle plot at point C, ‘The
angle corresponding to the point C is £1GG®) HG) |a =.
The distance between this point C i
Z|G{j0) HG) la se ge ADA
180° line is nothing but the phase margin. If point C is above
(PECODE) @ Less than PHOTOCOPY Price Control System =I 7 Frequency Domain Analysis - IL
Ans.
) Resonant peak (M,) : It is the maximum value of
magnitude of the closed loop frequency response. Larger the valu
of resonant peak more is the value of peak overshoot of system for
step input.
ii) Resonant frequency (w,) : The frequency at which resonant
peak M, occurs in closed loop frequency response is called
resonant frequency
ain crossover frequency (,.):The frequency at which
magnitude of GGo)HGo) is unity ie, 1 is called gain crossover
frequency
© Generally magnitude of GjejHGu) is expressed in dB. And dB
value of 1 is 20Log yy 1 = 0 dB.
© Thus gain crossover frequency is the frequency at which
magnitude plot crosses the 0 dB line, Hence at wc, magnitude of
GAju)H (je) is 0 aB.
iv) Phase crossover frequency (s.
angle of — GGw/lijo) is ~ 180° is called phase crossover
frequency, Op.
he frequency at which phase
v) Gain margin GM. : As gain
stability reduces and for a certain value of °K’ it becomes
is increased, the system
marginally stable.
*Gain margin is defined as the margin in gain K allowable by
Which gain can be increased till system reaches on the verge of
instability
‘© Mathematically it can be defined as reciprocal of the magnitude
of the G(jedH(ja) measured at phase crossover frequency.
1
GM. =
GioHGe)!
1
GM. = 20 Log
ie 28 TEGOTGOT w= ope
decibels
GM. =~ 20 Loe yp |GGOHGO! ge op
(PECODE) @ Less than PHOTOCOPY Price Control System -1 51 Frequency Domain Analysis - IL
Fig. 6.4
(DECODE) @ Less than PHOTOCOPY Price Control System =I 5-12 Frequency Domain Analysis - IL
® 1 tant050 | tan 70.080] op
iw
2 =90 6 909 14a
8 90° 7a 1985+
15 90° sas" 5 2159
90° 20 20 2707
Step - 4: Bode plot is shown in the Fig. Q.6.1, From it
(Gee Fig. Q6.1 on next page).
GM, = -8 dB and P.M. = -15°
The system is unstable
Q7 Find the stat
Bode plot, Gis)
gf the following system by sketching the
Woh 9 8y ” 8
Sie+ 10V6 +2) 15 [SPPU + Dec-17, Marks 12],
Ans. : Step - 1 : G(s) in time constant form
10
SO) = Gros) GOH
Step - 2 : Factors
i) K=10, 20 log K = 20 dB, straight line parallel to log w axis,
ii) 4, one pole at origin, straight line of slope -20 dB/dec
iti) 2, straight line of slope
L
sy Simple pole, ac)
B/dec for &
10, straight line of slope
l
TrOTe simple pole, «ey
20 dB/dec for « > 10
Range of o straight line of
FD FEO + simple pole, T, = 05, Oey = 7, = 2 straight line of
slope -20 dB/dec for © 2 2
iv) simple pole, Ty = 0.08, wy =
1
T5008 straight line
of slope -20 dB/dec for w > 125
Tange of © Geae[eeeeas seat
Step - 3 : Phase angle table,
30
GUO) BGO) = ToT OSj0) (0.08 ju)
DECODE) @ Less than PHOTOCOPY Price Control System =I 5-11 Frequency Domain Analysis - IL
6) Prepare the phase angle table and obtain the table of w and
resultant phase angle Oy by actual calculation. Plot these
points and draw the smooth curve obtaining,
phase angle plot :
‘+ Remember that at every corner frequency slope of resultant
line must change.
7) Determine @j., pe, GM. and PM. from the Bode plot and
predict the stability of the system,
Q6 Sketch the Bode plot of the transfer function and determine
PM and GM from the plot,
30
GUMS) = 1 0.55)(1 + 0.088) 1 [SPPU + D926, Marks 10)
Ans. : Step - 1 : G(s) H(s) in time constant form
Step - 2 : Factors
i) K = 30, 20 log K = 29.54 dB, straight line parallel to log w axis.
i) 4 one poe at origin, straight line of slope -20 dB/de
1 5 | > straight line of
FD FEO + simple pole, T, = 05, Oey = 7, = 2 straight line of
slope -20 dB/dec for © 2 2
iv) simple pole, Ty = 0.08, wy =
1
T5008 straight line
of slope -20 dB/dec for w > 125
Tange of © Geae[eeeeas seat
Step - 3 : Phase angle table,
30
GUO) BGO) = ToT OSj0) (0.08 ju)
DECODE) @ Less than PHOTOCOPY Price Control System =I Frequency Domain Analysis - IL
o a trto1o] og
jo
02 | 90 -1e
2 | -90 445° ase | -363°
10 90" 7869" 45° 563°
100 | 90: 88.8 8428 6
7 0" 0° 90° 0
Step - 4: The Bode plot is shown in the Fig. Q.11.1
(Gee Fig, Q.11.1 on next page). from the plot,
GM. = 4c0dR, PM. = + 116°
Q.42 The open loop unity feedback system Is
GO) = eres 10)
Draw Bode plot and determine
4) The value of K for gain margin of 7 4B.
i) The value of K for phase margin of 40°
ES [SPPU : May-18, Marks 12)
Ans. : Step - 1 : G(s)H(s) in time constant form.
ok A
SOHO) = Te gaeo1y ~ TUK
Step - 2 : Factors
i) A is unknown, its effect is to st
downwards by 20 log A 4B.
hift magnitude plot upwards or
20 dBidee.
ii) A, simple pole, me, = 1, straight line of slope -20 dBjdec for
w=
simple pole, 4c) = zt; = 10, straight line of slope
iv)
al
1
ols
10 dB/dec for w= 10.
DECODE) @ Less than PHOTOCOPY Price Control System =I 5-16 Frequency Domain Analysis - IL
Q.10 Draw Bode plot for following system,
ie 1000
GIS) = Jaron) o.00rey FM sain margin and phase margin
comment on stability [SPU : May-16, Marks 12)
‘Ans, : Refer Q7 for the procedure and verify the answer as,
K = 1000, «4g; = 10, we; = 1000, From the Bode plot,
100 radjsec, hence GM. = 0 dB, PM. = 0°, and the
system is marginally stable in nature
= 206 +2)
2.11 Draw Bode plot for following system Gis) = F2° 50) Find
gain margin and phase margin comment on stability
13> (SPPU : May-17, Marks 12]
‘Ans, : Step - 1: G(s) in time constant form.
4(1+059)
Gy = 14058)
© = 019)
Step - 2 : Factors
2.04 B, straight line parallel to log « axis.
4) 4, one pote at origin, straight line of slope -20 dB/dec.
iii)(1+0.5s) simple zero, ec, = Gz ~ 2, straight line of slope
a5
420 dB/dec for @>
1 IL
i) pare simple pole, Op = gy = 10, straight line of slope
-20 dB/dec for w 2 10.
Range of o o
