AER372 | Winter 2025 Recommended Problems for Chapter 6

Recommended Problems
Chapter 6: Frequency Response Design Method

6.1
(a) Calculate the magnitude and phase of

1
G(s) = (1)
(s + 10)

by hand for ω= 1, 2, 5, 10, 20, 50, and 100 rad/sec.

(b) sketch the asymptotes for G(s) according to the Bode plot rules, and compare these with
your computed results from part (a).

6.2 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
(a) L(s) = s(s+200)
100
(b) L(s) = s(0.1s+1)(0.5s+1)
1
(c) L(s) = s(s+1)(0.02s+1)
1
(d) L(s) = (s+1)2 (s+10)2
10(s+4)
(e) L(s) = s(s+1)(s+200)
1000(s+0.1)
(f) L(s) = s(s+1)(s+8)2
(s+5)(s+10)
(g) L(s) = s(s+1)(s+100)
4s(s+10)
(h) L(s) = (s+100)(s+500)
s
(i) L(s) = (s+1)(s+10)(s+200)

6.3 Real poles and zeros. 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.
1
(a) L(s) = s(s+1)(s+5)(s+10)
(s+2)
(b) L(s) = s(s+1)(s+5)(s+10)

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(s+2)(s+6)
(c) L(s) = s(s+1)(s+5)(s+10)
(s+2)(s+8)
(d) L(s) = s(s+1)(s+5)(s+10)

6.4 Complex poles and zeros. Sketch the asymptotes of the Bode plot magnitude and phase for
each of the following open-loop transfer functions and approximate the transition at the second
order break point based on the value of the damping ratio. After completing the hand sketches
verify your result using MATLAB. Turn in your hand sketches and the MATLAB results on the
same scales.
1
(a) L(s) = s2 +5s+20
1
(b) L(s) = s(s2 +3s+10)
s2 +2s+8
(c) L(s) = s(s2 +2s+10)
(s2 +1)
(d) L(s) = s(s2 +4)
(s2 +4)
(e) L(s) = s(s2 +1)

6.5 Multiple poles at the origin. Multiple poles at the origin 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.
1
(a) L(s) = s2 (s+2)
1
(b) L(s) = s3 (s+8)
1
(c) L(s) = s4 (s+10)
(s+3)
(d) L(s) = s2 (s+10)
(s+3)
(e) L(s) = s3 (s+5)
(s+1)2
(f) L(s) = s3 (s+10)
(s+1)2
(g) L(s) = s3 (s+10)2

6.6 Mixed real and complex poles. 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.
(s+2)
(a) L(s) = s(s+10)(s2 +2s+2)
(s+2)
(b) L(s) = s2 (s+10)(s2 +6s+25)
(s+2)2
(c) L(s) = s2 (s+10)(s2 +6s+25)

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(s+2)(s2 +4s+68)
(d) L(s) = s2 (s+10)(s2 +4s+85)
[(s+1)2 ]+1
(e) L(s) = s2 (s+2)(s+3)

6.7 Right half plane poles and zeros. Sketch the asymptotes of the Bode plot magnitude and phase
for each of the following open-loop transfer functions.Make sure the phase asymptotes properly take
the RHP singularity into account by sketching the complex plane to see how the ∠L(s) changes
as s goes from 0 to +j∞. After completing the hand sketches verify your result using MATLAB.
Turn in your hand sketches and the MATLAB results on the same scales.
s+2 1
(a) L(s) = s+10 s2 −4 ; The model for a case of magnetic levitation with lead compensation.
s+2 1
(b) L(s) = s(s+10) (s2 −1) ; The magnetic levitation system with integral control and lead compen-
sation.
s−1
(c) L(s) = s2
s2 +2s+1
(d) L(s) = s(s+20)(s2 −2s+2)
(s+2)
(e) L(s) = s(s−1)(s+6)2
1
(f) L(s) = (s−1)[(s+2)2 +3]

6.8 A certain system is represented by the asymptotic Bode diagram shown in Fig. 1. Find and
sketch the response of this system to a unit step input (assuming zero initial conditions).

Figure 1: Magnitude portion of Bode plot for Problem 6.8

6.9 For the closed-loop transfer function

ωn2
T (s) = , (2)
(s2 + 2ζωn s + ωn2 )

derive the following expression for the bandwidth ωBW of T (s) in terms of ωn and ζ :
q p
ωBW = ωn 1 + 2ζ 2 + 2 + 4ζ 4 − 4ζ 2 . (3)

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Assuming ωn = 1, plotωBW for 0 ≤ ζ ≤ 1.

6.10 Consider the system whose transfer function is

A 0 ω0 s
G(s) = . (4)
Qs2 + ω0 s + ω02 Q

This is a model of a tuned circuit with quality factor Q.

(a) Compute the magnitude and phase of the transfer function analytically, and plot them for Q
= 0.5, 1, 2, and 5 as a function of the normalized frequency ω/ω0 .
(b) Define the bandwidth as the distance between the frequencies on either side of ω0 where the
magnitude drops to 3 db below its value atω0 and show that the bandwidth is given by

1 ω0
BW = ( ). (5)
2π Q

(c) What is the relation between Q and ζ?

6.11 A DC voltmeter schematic is shown in Fig. 2. The pointer is damped so that its maximum
overshoot to a step input is 10%.

Figure 2: Voltmeter schematic for Problem 6.11

(a) What is the undamped natural frequency of the system?

(b) What is the damped natural frequency of the system?
(c) Plot the frequency response using MATLAB to determine what input frequency will produce
the largest magnitude output?

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(d) Suppose this meter is now used to measure a 1-V AC input with a frequency of 2 rad/sec.
What amplitude will the meter indicate after initial transients have died out? What is the
phase lag of the output with respect to the input? Use a Bode plot analysis to answer these
questions. Use the lsim command in MATLAB to verify your answer in part (d).

6.12 Determine the range of K for which each of the following systems is stable by making a Bode
plot for K = 1 and imagining the magnitude plot sliding up or down until instability results. Verify
your answers using MATLAB with the marginal stability value of K.
K(s+1)
(a) KG(s) = s(s+10)
K(s+1)
(b) KG(s) = s2 (s+10)
K
(c) KG(s) = (s+2)(s2 +9)
K(s+1)2
(d) KG(s) = s3 (s+10)

6.13 Sketch the Nyquist plot based on the Bode plots for each of the following systems, then
compare your result with that obtained using the MATLAB command nyquist
K(s+2)
(a) KG(s) = s+10
K
(b) KG(s) = (s+10)(s+2)2
K(s+10)(s+1)
(c) KG(s) = (s+100)(s+2)3

(d) Using your plots, estimate the range of K for which each system is stable, and qualitatively
verify your result using a rough sketch of a root-locus plot.

6.14 Draw the Nyquist plot for the system in Fig. 3. Using the Nyquist stability criterion, determine
the range of K for which the system is stable.Consider both positive and negative values of K.

Figure 3: Control system for Problem 6.14

6.15
(a) Forω= 0.1 to 100 rad/sec, sketch the phase of the minimum-phase system

s+1
G(s) = (6)
s + 10 s=jw

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and the nonminimum-phase system

s−1
G(s) = , (7)
s + 10 s=jw

noting that∠(jw − 1) decreases with ω 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 Z = N + P ?
(c) Sketch the phase of the following unstable system forω= 0.1 to 100 rad/sec:

s+1
G(s) = (8)
s − 10 s=jw

(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 using a rough root-locus sketch.

6.16 The Nyquist plot for some actual control systems resembles the one shown in Fig. 4. What
are the gain and phase margin(s) for the system of Fig. 4 given that α= 0.4, β= 1.3, and φ= 40◦ .
Describe what happens to the stability of the system as the gain goes from zero to a very large
value. Sketch what the corresponding root locus must look like for such a system. Also sketch what
the corresponding Bode plots would look like for the system.

Figure 4: Control system for Problem 6.16

6.17 The Bode plot for

100[(s/10) + 1]
G(s) = (9)
s[(s/1) − 1][s/100 + 1]

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is shown in Fig. 5.
(a) Why does the phase start at 270◦ at the low frequencies?
(b) Sketch the Nyquist plot for G(s).
(c) Is the closed-loop system shown in Fig. 5 stable?
(d) Will the system be stable if the gain is lowered by a factor of 100?Make a rough sketch of a
root locus for the system and qualitatively confirm your answer

Figure 5: Bode plot for Problem 6.17

6.18 For a given system, show that the ultimate period Pu and the corresponding ultimate gain
Ku for the Zeigler-Nichols method can be found using the following:
(a) Nyquist diagram
(b) Bode plot
(c) root locus.

6.19 For the system shown in Fig. 6, use Bode and root-locus plots to deter-mine the gain and
frequency at which instability occurs. What gain (or gains) gives a PM of 20◦ ? What is the GM
when PM = 20◦ ?

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Figure 6: Control system for Problem 6.19

6.20 The Nyquist diagrams for two stable, open-loop systems are sketched in Fig. 7. The proposed
operating gain is indicated as K0 , and arrows indicate increasing frequency. In each case give a
rough estimate of the following quantities for the closed-loop (unity feedback) system:
(a) phase margin
(b) damping ratio
(c) range of gain for stability (if any)
(d) system type (0, 1, or 2).

Figure 7: Nyquist plots for Problem 6.38

6.21 The frequency response of a plant in a unity feedback configuration is sketched in Fig. 8.
Assume the plant is open-loop stable and minimum phase.
(a) What is the velocity constant Kv for the system as drawn?
(b) What is the damping ratio of the complex poles at ω = 100?
(c) What is the PM of the system as drawn? (Estimate to within ±10◦ .)

6.22 For the system

100(s/a + 1)
G(s) = , (10)
s(s + 1)(s/b + 1)
where b = 10a, find the approximate value of a that will yield the best PM by sketching only
candidate values of the frequency response magnitude.

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Figure 8: Problem 6.21

6.23 For the open-loop system

K(s + 1)
KG(s) = . (11)
s2 (s + 10)2
Determine the value for K that will yield PM ≥ 30◦ and the maximum possible closed-loop
bandwidth. Use MATLAB to find the bandwidth.

6.24 For the lead compensator

TD s + 1
Dc (s) = , (12)
αTD s + 1
where α<1.
(a) Show that the phase of the lead compensator is given by

φ = tan−1 (TD ω) − tan−1 (αTD ω). (13)

(b) Show that the frequency where the phase is maximum is given by

1
ωmax = √ , (14)
TD α

and that the maximum phase corresponds to

1−α
sin φmax = . (15)
1+α

(c) Rewrite your expression forωmax to show that the maximum-phase frequency occurs at the

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geometric mean of the two corner frequencies on a logarithmic scale:

 
1 1 1
log ωmax = log + log . (16)
2 TD αTD

(d) To derive the same results in terms of the pole-zero locations, rewrite Dc (s) as

s+z
Dc (s) = , (17)
s+p

and then show that the phase is given by

   
−1 ω −1 ω
φ = tan − tan , (18)
|z| |p|

such that
p
ωmax = |z||p|. (19)

Hence the frequency at which the phase is maximum is the square root of the product of the
pole and zero locations.

6.25

Figure 9

For the system shown in Fig. 9, suppose that

5
G(s) = . (20)
s(s + 1)(s/5 + 1)

Design a lead compensation D(s) with unity DC gain so that PM ≤ 40◦ using Bode plot sketches.
What is the approximate bandwidth of the system?

6.26 Derive the transfer function from Td to θ for the system in Fig. 10. Then apply the Final
Value Theorem (assuming Td = constant) to determine whether θ(∞) is nonzero for the following
two cases:
(a) When Dc (s) has no integral term: lims→0 Dc (s) = constant;
(b) When Dc (s) has an integral term:

Dc0 (s)
Dc (s) = , (21)
s

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where lims→0 Dc0 (s) = constant.

Figure 10: Control system for Problem 6.26

6.27 The inverted pendulum has a transfer function given by

Θ0 (s) mp l
= , (22)
U (s) ((I + mp l )(mt + mp ) − m2p l2 )s2 − mp gl(mt + mp )
2

where mp and l are the mass and length of the pendulum, and mt is the mass of the cart. Note
that the transfer function is similar to
1
G(s) = . (23)
s2 − 1

(a) Design a lead compensator to achieve a PM of 30◦ using Bode plot sketches, then verify and
refine your design using MATLAB.
(b) Sketch a root locus and correlate it with the Bode plot of the system.
(c) Could you obtain the frequency response of this system experimentally?

6.28 The open-loop transfer function of a unity feedback system is

K
G(s) = . (24)
s(s/5 + 1)(s/50 + 1)

(a) Design a lag compensator for G(s) using Bode plot sketches so that the closed-loop system
satisfies the following specifications:
(i) The steady-state error to a unit ramp reference input is less than 0.01.
(ii) PM≥= 40◦

6.29 The open-loop transfer function of a unity feedback system is

K
G(s) = . (25)
s(s/5 + 1)(s/200 + 1)

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(a) Design a lead compensator for G(s) using Bode plot sketches so that the closed-loop system
satisfies the following specifications:
(i) The steady-state error to a unit ramp reference input is less than 0.01.
(ii) For the dominant closed-loop poles the damping ratio ζ ≥ 0.4.
(b) Verify your design with a direct computation of the damping of the dominant closed-loop
poles.

6.30 A DC motor with negligible armature inductance is to be used in a position control system.
Its open-loop transfer function is given by

50
G(s) = . (26)
s(s/5 + 1)

(a) Design a compensator for the motor using Bode plot sketches so that the closed-loop system
satisfies the following specifications:
(i) The steady-state error to a unit ramp input is less than 1/200.
(ii) The unit step response has an overshoot of less than 20%.
(iii) The bandwidth of the compensated system is no less than that of the uncompensated
system.
(b) Verify and/or refine your design including a direct computation of the step response overshoot.

6.31 The open-loop transfer function of a unity feedback system is

K
G(s) = . (27)
s(1 + s/5)(1 + s/20)

(a) Sketch the system block diagram including input reference commands and sensor noise.
(b) Design a compensator for G(s) using Bode plot sketches so that the closed-loop system satisfies
the following specifications:
(i) The steady-state error to a unit ramp input is less than 0.01.
(ii) PM ≥ 45◦
(iii) The steady-state error for sinusoidal inputs with ω<0.2 rad/sec is less than 1/250.
(iv) Noise components introduced with the sensor signal at frequencies greater than 200
rad/sec are to be attenuated at the output by at least a factor of 100,.
(c) Verify and/or refine your design including a computation of the closed-loop frequency response
to verify (iv).

6.32 In one mode of operation the autopilot of a jet transport is used to control altitude. For
the purpose of designing the altitude portion of the autopilot loop, only the long-period airplane

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dynamics are important. The linearized relationship between altitude and elevator angle for the
long-period dynamics is

h(s) 20(s + 0.01) ft

G(s) = = 2
. (28)
δ(s) s(s + 0.01s + 0.0025) deg

The autopilot receives from the altimeter an electrical signal proportional to altitude. This signal
is compared with a command signal (proportional to the altitude selected by the pilot), and the
difference provides an error signal. The error signal is processed through compensation, and the
result is used to command the elevator actuators. A block diagram of this system is shown in
Fig. 11. You have been given the task of designing the compensation. Begin by considering a
proportional control law Dc (s) = K.

Figure 11: Control system for Problem 6.32

(a) Use MATLAB to draw a Bode plot of the open-loop system for Dc (s) = K = 1.
(b) What value of K would provide a crossover frequency (i.e., where |G| = 1)of 0.16 rad/sec?
(c) For this value of K, would the system be stable if the loop were closed?
(d) What is the PM for this value of K?
(e) Sketch the Nyquist plot of the system, and locate carefully any points where the phase angle
is 180◦ or the magnitude is unity.
(f) Use MATLAB to plot the root locus with respect to K, and locate the roots for your value
of K from part (b).
(g) What steady-state error would result if the command was a step change in altitude of 1000
ft? For parts (h)and (i), assume a compensator of the form

TD s + 1
Dc (s) = K . (29)
αTD s + 1

(h) Choose the parameters K,T , and α so that the crossover frequency is 0.16 rad/sec and the
PM is greater that 50◦ . Verify your design by superimposing a Bode plot of Dc (s)G(s)/K on
top of the Bode plot you obtained for part (a), and measure the PM directly.
(i) Use MATLAB to plot the root locus with respect to K for the system including the compen-
sator you designed in part (h). Locate the roots for your value of K from part (h).
(j) Altitude autopilots also have a mode where the rate of climb is sensed directly and commanded
by the pilot.

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(i) Sketch the block diagram for this mode,

(ii) define the pertinent G(s),
(iii) design D(s) so that the system has the same crossover frequency as the altitude hold
mode and the PM is greater than 50◦ .

6.33 Considered the ship-steering system, whose transfer function is given by

V (s) K[−(s/0.142) + 1]
= G(s) = , (30)
δr (s) s(s/0.325 + 1)(s/0.0362 + 1)

where v is the ship’s lateral velocity in meters per second, and δr is the rudder angle in radians.
(a) Design a compensator that meets the following specifications:
(i) velocity constant Kv = 2,
(ii) PM ≥ 50◦ ,
(iii) unconditional stability (PM >0 for all ω ≤ ωc , the crossover frequency).
(b) For your final design, draw a root locus with respect to K, and indicate the location of the
closed-loop poles.

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