PROBLEMS B-9-1, Draw Bode diagrams of the lead network and lag network shown in Figures 9-61(a) and (b), respectively ‘Assume that R = 50kQand C = 10,F, BLS, Referring to the closed-loop system shown in Figure 9-63, design a lead compensator G(s) such that the phase ‘margin is 45°, gain margin is not less than 8 dB, and the static velocity error constant K, is 4.0 sec" Plot unit-step and unit- ramp response curves of the compensated system with MATLAB. tt o Figure 9-61 (a) Lead network; (b) lag network. : een .+3) sete PO cutter by Gs) = 5(1 + 058) B-9-3, Consider a PID controller given by (s+ 065) GAs) = 303215" Draw a Bode diagram of the controller. B-9-4, Figure 9-62 shows a block diagram of a space vehi- le attitude control system. Determine the proportional gain constant K,, and derivative time 7; such thatthe bandwidth of the closed-loop system is 0 to 0.5 rad/sec, (Note that the closed-loop bandwidth s close to the gain crossover fe 4queney.) The system must have an adequate phase margin, Plot both the open-loop and closed-loop frequency response curves on Bode diagrams axiom Figure 9-62, ‘Block diagram of space vehicle attitude control system. Problems ‘Closed-toop system, B-9-6, Consider the system shown in Figure 9-64. Design a compensator such that the static velocity error constant K, is 50 sec", phase margin is 50°, and gain margin not less than 8 dB. Plot unitstep and unit-ramp response curves of the compensated and uncompensated systems with MATLAB. cad | hy = Figure 9-64 Control system. B-9-7. Consider the system shown in Figure 9-65. Design ‘a compensator such that the static velocity error constaat is 4 sec, phase margin is 50°, and gain margin is 10 dB or ‘more, Plot unitstep and unit-ramp response curves of the ‘compensated system with MATLAB. Also, draw a Nyquist plot of the compensated system with MATLAB. eat G0) am Figure 9-65 Control system. 679B-9-8, Consider the system shown in Figure 9-66. It is sired to design a compensator such that the static velocity error constant is4 sec", phase margin is 0°,and gain margin {8 4B or more. Plot the unitstep and unit-ramp response curves of the compensated system with MATLAB, fo Lf eon Ges) 7 Fe0ised Hydralioseno Atri Rate gyro Figure 9-66 Control system, . T a9) aa DES Figure 9-67 Control system. {B-9-9, Consider the system shown in Figure 9-67. Design ‘ Tag-lead compensator such that the static velocity error constant K, is 20 see“ phase margin is 60°, and gain margin is not less than 8 dB. Plot the unitstep and unit-ramp response curves ofthe compensated system with MATLAB. Chapter 9 / Control Systems Design by Frequency Response