10-6 Chapter 10: Frequency Response Methods

23. For Type zero: Kp = low frequency gain; For Type 1: Kv = frequency value at the intersection of the

initial slope with the frequency axis; For Type 2: Ka = square root of the frequency value at the intersection

of the initial slope with the frequency axis.

24. No change at all
25. A straight line of negative slope, ωT, where T is the time delay

26. When the magnitude response is flat and the phase response is flat at 0o.

SOLUTIONS TO PROBLEMS
1.
a.

b.

c.

;
2.
a.

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 10-7

b.

c.

3.
a.
90°
120° 60°

150° 30°

180° X 0°
X
X0
X 0.5 1 1.5
X
X
210° 330°

X
240° 300°
270°

Copyright © 2011 by John Wiley & Sons, Inc.

10-8 Chapter 10: Frequency Response Methods

b.
90°
120° 60°

150° 30°

180° X
X X 0°
X
0 0.2 0.4
X X
0.6
X X
XX
XX XXX
X
X
X
X
210° 330°

240° 300°
270°
c.
90°
120° 60°

150° 30°

180° X
X
0°
X
X0 5 10 15 20
X
X
X
X
210° 330°

X
240° 300°
270°

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 10-9

4.
a.

b.

c.
30
-90
20 -20 dB/dec -100
10 -45 deg/dec +45 deg/dec
-110
Phase
dB

0 -40 dB/dec -120

-20 dB/dec
-10 -130
-40 dB/dec
-20
-140
-20 dB/dec
-30 -150
.1 1 10 100 100
v .1 1 10
v

Copyright © 2011 by John Wiley & Sons, Inc.

10-10 Chapter 10: Frequency Response Methods

5.
a. System 1

b. System 2

c. System 3

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 10-11

d.

6.
0.5

0.4

0.3

0.2

0.1
Imag Axis

-0.1

-0.2

-0.3

-0.4

-0.5
-0.1 0 0.1 0.2 0.3 0.4 0.5 0.6

Real Axis

Copyright © 2011 by John Wiley & Sons, Inc.

10-12 Chapter 10: Frequency Response Methods

7.
0

-50

Gain dB
-100

-150 -1
10 10 0 101 102
Frequency (rad/sec)

-90
Phase deg

-180

-270

10-1 10 0 101 102

Frequency (rad/sec)
8.
Program:
numg=[1 5];
deng=conv([1 6 100],[1 4 25]);
G=tf(numg,deng);
'G(s)'
Gzpk=zpk(G)
nyquist(G)
axis([-3e-3,4e-3,-5e-3,5e-3])
w=0:0.1:100;
[re,im]=nyquist(G,w);
for i=1:1:length(w)
M(i)=abs(re(i)+j*im(i));
A(i)=atan2(im(i),re(i))*(180/pi);
if 180-abs(A(i))<=1;
re(i);
im(i);
K=1/abs(re(i));
fprintf('\nw = %g',w(i))
fprintf(', Re = %g',re(i))
fprintf(', Im = %g',im(i))
fprintf(', M = %g',M(i))
fprintf(', Angle = %g',A(i))
fprintf(', K = %g',K)
Gm=20*log10(1/M(i));
fprintf(', Gm = %g',Gm)
break
end
end

Computer response:
ans =

G(s)

Zero/pole/gain:
(s+5)

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 10-13

----------------------------------
(s^2 + 4s + 25) (s^2 + 6s + 100)

w = 10.1, Re = -0.00213722, Im = 2.07242e-005, M = 0.00213732, Angle =

179.444, K = 467.898, Gm = 53.4026

ans =

G(s)

Zero/pole/gain:
(s+5)
----------------------------------
(s^2 + 4s + 25) (s^2 + 6s + 100)

w = 10.1, Re = -0.00213722, Im = 2.07242e-005, M = 0.00213732, Angle =

179.444, K = 467.898, Gm = 53.4026

9.
a. Since the real-axis crossing is at -0.3086, P = 0, N = 0. Therefore Z = P - N = 0. System is stable.
Derivation of real-axis crossing:

G ( jω ) =
50
=
(
50 ⎡⎣ −9ω 2 − jω 18 − ω 2 ⎤⎦)
( )
.
s ( s + 3)( s + 6) s = jω 81ω 4 + 18ω − ω 3

Copyright © 2011 by John Wiley & Sons, Inc.

10-14 Chapter 10: Frequency Response Methods

Thus, the imaginary part = 0 at ω = 18 . Substituting this frequency into G ( jω ) , the real part is
evaluated to be -0.3086.
b. P = 0, N = -2. Therefore Z = P - N = 2. System is unstable.
c. P = 0, N = 0. Therefore Z = P - N = 0. System is stable
d. P = 0, N = -2. Therefore Z = P - N = 2. System is unstable.
10.
System 1: For K = 1,

The Nyquist diagram intersects the real axis at -0.0021. Thus K can be increased to 478.63 before
there are encirclements of -1. There are no poles encircles by the contour. Thus P = 0. Hence, Z = P -
N, Z = 0 + 0 if K <478.63; Z = 0 –(-2) if K > 478.63. Therefore stability if 0 < K < 478.63.
System 2: For K = 1,

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 10-15

The Nyquist diagram intersects the real axis at -0.720. Thus K can be increased to 1.39 before there
are encirclements of -1. There are no poles encircles by the contour. Thus P = 0. Hence, Z = P - N, Z
= 0 + 0 if K <1.39; Z = 0 – (-2) if K > 1.39. Therefore stability if 0 < K < 1.39.
System 3: For K = 1,

Stable if 0<K<1.
11.
Note: All results for this problem are based upon a non-asymptotic frequency response.
System 1: Plotting Bode plots for K = 1 yields the following Bode plot,

Copyright © 2011 by John Wiley & Sons, Inc.

10-16 Chapter 10: Frequency Response Methods

K = 1000:
For K = 1, phase response is 180o at ω = 6.63 rad/s. Magnitude response is -53.6 dB at this frequency.
For K = 1000, magnitude curve is raised by 60 dB yielding + 6.4 dB at 6.63 rad/s. Thus, the gain
margin is
- 6.4 dB.
Phase margin: Raising the magnitude curve by 60 dB yields 0 dB at 9.07 rad/s, where the phase curve
is 200.3o. Hence, the phase margin is 180o-200.3o = - 20.3o.
K = 100:
For K = 1, phase response is 180o at ω = 6.63 rad/s. Magnitude response is -53.6 dB at this frequency.
For K = 100, magnitude curve is raised by 40 dB yielding – 13.6 dB at 6.63 rad/s. Thus, the gain
margin is 13.6 dB.
Phase margin: Raising the magnitude curve by 40 dB yields 0 dB at 2.54 rad/s, where the phase curve
is 107.3o. Hence, the phase margin is 180o-107.3o = 72.7o.
K = 0.1:
For K = 1, phase response is 180o at ω = 6.63 rad/s. Magnitude response is -53.6 dB at this frequency.
For K = 0.1, magnitude curve is lowered by 20 dB yielding – 73.6 dB at 6.63 rad/s. Thus, the gain
margin is 73.6 dB..
System 2: Plotting Bode plots for K = 1 yields

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 10-17

K = 1000:
For K = 1, phase response is 180o at ω = 1.56 rad/s. Magnitude response is -2.85 dB at this frequency.
For K = 1000, magnitude curve is raised by 60 dB yielding + 57.15 dB at 1.56 rad/s. Thus, the gain
margin is
– 57.15 dB.
Phase margin: Raising the magnitude curve by 54 dB yields 0 dB at 500 rad/s, where the phase curve
is -91.03o. Hence, the phase margin is 180o-91.03o = 88.97o.
K = 100:
For K = 1, phase response is 180o at ω = 1.56 rad/s. Magnitude response is -2.85 dB at this frequency.
For K = 100, magnitude curve is raised by 40 dB yielding + 37.15 dB at 1.56 rad/s. Thus, the gain
margin is
– 37.15 dB.
Phase margin: Raising the magnitude curve by 40 dB yields 0 dB at 99.8 rad/s, where the phase curve
is -84.3o. Hence, the phase margin is 180o-84.3o = 95.7o.
K = 0.1:
For K = 1, phase response is 180o at ω = 1.56 rad/s. Magnitude response is -2.85 dB at this frequency.
For K = 0.1, magnitude curve is lowered by 20 dB yielding – 22.85 dB at 1.56 rad/s. Thus, the gain

Copyright © 2011 by John Wiley & Sons, Inc.

10-18 Chapter 10: Frequency Response Methods

margin is
– 22.85 dB.
Phase margin: Lowering the magnitude curve by 20 dB yields 0 dB at 0.162 rad/s, where the phase
curve is -99.8o. Hence, the phase margin is 180o-99.86o = 80.2o.
System 3: Plotting Bode plots for K = 1 yields

K = 1000:
For K = 1, phase response is 180o at ω = 1.41 rad/s. Magnitude response is 0 dB at this frequency.
For K = 1000, magnitude curve is raised by 60 dB yielding 60 dB at 1.41 rad/s. Thus, the gain margin
is - 60 dB.
Phase margin: Raising the magnitude curve by 60 dB yields no frequency where the magnitude curve
is 0 dB. Hence, the phase margin is infinite.
K = 100:
For K = 1, phase response is 180o at ω = 1.41 rad/s. Magnitude response is 0 dB at this frequency.
For K = 100, magnitude curve is raised by 40 dB yielding 40 dB at 1.41 rad/s. Thus, the gain margin
is - 40 dB.
Phase margin: Raising the magnitude curve by 40 dB yields no frequency where the magnitude curve
is 0 dB. Hence, the phase margin is infinite.

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 10-19

K = 0.1:
For K = 1, phase response is 180o at ω = 1.41 rad/s. Magnitude response is 0 dB at this frequency.
For K = 0.1, magnitude curve is lowered by 20 dB yielding -20 dB at 1.41 rad/s. Thus, the gain
margin is 20 dB.
Phase margin: Lowering the magnitude curve by 20 dB yields no frequency where the magnitude
curve is 0 dB. Hence, the phase margin is infinite.
12.
Program:
%Enter G(s)************************
numg=1;
deng=poly([0 -3 -12]);
'G(s)'
G=tf(numg,deng)
w=0.01:0.1:100;
%Enter K **************************
K=input('Type gain, K ');
bode(K*G,w)
pause
[M,P]=bode(K*G,w);
%Calculate Gain Margin**************
for i=1:1:length(P);
if P(i)<=-180;
fprintf('\nGain K = %g',K)
fprintf(', Frequency(180 deg) = %g',w(i))
fprintf(', Magnitude = %g',M(i))
fprintf(', Magnitude (dB) = %g',20*log10(M(i)))
fprintf(', Phase = %g',P(i))
Gm=20*log10(1/M(i));
fprintf(', Gain Margin (dB) = %g',Gm)
break
end
end
%Calculate Phase Margin**************
for i=1:1:length(M);
if M(i)<=1;
fprintf('\nGain K = %g',K)
fprintf(', Frequency (0 dB) = %g',w(i))
fprintf(', Magnitude = %g',M(i))
fprintf(', Magnitude (dB) = %g',20*log10(M(i)))
fprintf(', Phase = %g',P(i))
Pm=180+P(i);;
fprintf(', Phase Margin = %g',Pm)
break
end
end

'Alternate program using MATLAB margin function:'

clear
clf
%Bode Plot and Find Points
%Enter G(s)************************
numg=1;
deng=poly([0 -3 -12]);
'G(s)'
G=tf(numg,deng)
w=0.01:0.1:100;

Copyright © 2011 by John Wiley & Sons, Inc.