CONTROL SYSTEMS ENGINEERING D227

S.A.E. SOLUTIONS
TUTORIAL 7 STABILITY ANALYSIS
SELF ASSESSMENT EXERCISE No.1
1

Determine the steady state gain and primary time constant for G(s) =

10
.
s+5

Determine the polar coordinates when = 1/T

10
2
In the steady state = 0 and the gain is hence 2. The primary time
G(j ) =
=
j+ 5 0.5 j+ 1
constant is 0.5.
Note we get the same answers k = K/n = 10/5 = 2 and T = T/n = = 0.5
K
T
1
o
In general if we have
= tan 1
= tan (1) = 45
n + Ts
n

K/n
k
2
Radius =
=
=
= 2
1+1
1 + T 22
T 2 2
1+
n2

2. Determine the steady state gain for G(s) = 0.5/{(s+2)(s+10)}. Determine the polar coordinates
when = 0.5.
0.5
1
and G 2 (s) =
Split it into two parts. G1 (s) =
s+2
s + 10
T
1 0.5 x 1
o
For G1 we have 1 = tan 1
= tan
= 14
n
2

K/n
0.5/2
R1 =
=
= 0.243
T2 2
1 x 0.5 2
1+
1+
n2
22
The steady state gain is 0.25
T
1 0.5 x 1
o
For G2 we have 2 = tan 1
= 2.9
= tan
10
n
K/n
1/10
R2 =
=
= 0 .1
2 2
2

T
1 x 0.5
1+
1+
2
n
10 2
The steady state gain is 0.1

Resultant radius is 0.243 x 0.1 = 0.0243

Resultant angle = -14 2.9 = - 16.9o
Overall gain is 0.25 x 0.1 = 0.025

3. The open loop transfer function of a system is G(s) = 80/{(s+1)(s+2)(s+4)}. Produce a polar
plot for = 3 to = 10. Determine the phase and gain margin.
Split this into three parts
G1 =

80
1+ s

G2 =

1
2+s

G3 =

1
4+ s

Using the same method as before evaluate the radius and angle for each. This gives:

The polar plot of R - is:

The phase margin is about 3.5o and the gain margin is 0.11

SELF ASSESSMENT EXERCISE No.2

1.

A system has a transfer function G(s) =

4
is 0.1 seconds.
s(T s + 1)

What is the steady state gain? (4)

What is the low frequency gain per decade, the high frequency gain per decade and the break point
frequency?

K
K 1
1
1
1
1

=
G(s) =
G ( j) =
G=K
s(Ts + 1)
j j T + 1
j j T + 1 2 T 2 + 1
1

G (db) = 20 logK log log 2 T 2 + 1

2

Put T = 0.1 and

1

G (db) = 20log4 log log 0.01 2 + 1

2

The low frequency gain is -20 db per decade

The high frequency is -40 db per decade.
The breakpoint frequency is
= 1/ = 1/0.12 = 10 rad/s.

2.

A system has a transfer function G(s) =

1
T1s + 1 (T2s + 1)

T1 is 0.25 seconds and T2 is 0.15 seconds.

Find the low frequency gain per decade, the high frequency gain per decade and the break point
frequency.
Find the gain margin and phase margin.
The two break point frequencies are
1/0.25 = 4 rad/s and 1/0.15 = 6.7 rad/s. These
are so close that they appear as one on the
Bode plot.
The low frequency gain is 0 db per decade
and the high frequency gain is -40 db per
decade.
The gain margin appears to be about 80 db
and the phase margin about 0 degrees.

3.

Draw the asymptotes of the Bode plots for the systems having a transfer function
K
G(s) =
T1s + 1 (T2s + 1)

K is 2, T1 is 0.1 seconds and T2 is 10 seconds.

Find the gain margin and the value of K which makes the system stable.
The breakpoint frequencies are
1/0.1 = 10 rad/s and 1/10 = 0.1 rad/s
The plot shows the gain margin is about
130 db
To bring this to zero the gain would have to
be increased by 130 db
130 = 20 log K
K = antilog 63 this is in excess of 3 x 106.
4. The diagram shows the bode gain and phase plot for a system. Determine the gain margin and
whether or not the system is stable.

At zero db the phase angle is about 190o so the phase margin is 10o on the unstable side.
At 180 o the gain is 45 db