Consider the following electrical and mechanical systems:

1. Make sure that the transfer function of any of these two systems is (you have to solve one
of these two systems only):
Y(s) s2
G 0 (s)  
U(s) (s  1)(s 2  2s  4)

2. Calculate the time domain step input of the above system. Specify the output value for
the first instance and for t ∞ using two methods.
3. Study the stability of this system using two closed loop methods.
4. Plot the Bode diagrams of G0(s). Calculate the phase and the gain cutoff frequencies and
specify them on the plot.
5. Plot the Nyquist diagram of the system.
6. Consider that a Proportional controller is to be used in this system:
a. What would be the range of K in order to have a stable system?
b. Calculate the value of K in order to have a static error of 12%.

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SOLUTION
1) Mechanical System

k2 y c2 s
k 2 (y  z)  c 2 sz  z  yz y
c2 s  k 2 c2 s  k 2

ms 2 y  u  k1 y  c1sy  k 2 (y  z)
 k c s 
  ms 2  c1s  k1  2 2  y  u
 c2 s  k 2 
y c2 s  k 2
 G 0 (s)  
s mc 2 s  (mk 2  c1 c 2 )s  (k 2 c1  k1 c 2  k 2 c 2 )s  k 1 k 2
3 2

Pour m  1 kg, c1  c 2  1 N / (m / s), k 1  k 2  2 N / m,

s2 s2
G 0 (s)  
s  3s  6s  4 (s  1)(s 2  2s  4)
3 2

Electrical system

 1(2 / s)   2  s(s  1)(s  2)  2s  2(s  2)

u  s  1  2 / si  s   1  2 / s  sy  y
 1 2 / s   s2  s2
y s2
   G 0 (s)
u (s  1)(s 2  2s  4)

2) Time domain response

A B Cs  D A(s  1)(s 2  2s  4)  Bs(s 2  2s  4)  (C s  D) s(s  1)

y(s)    2 
s (s  1) s  2s  4 s(s  1)(s 2  2s  4)
A  B  C  0
3A  2B  C  D  0
 1 1 1 2
 A , B , C , D
6A  4B  D  1 2 3 6 3
 4A  2

13 (s  1)  3 
 y(s)   
2

1 t
 t t
  y(t)  3  2e  e cos 3t  3e sin 3t
6  s s  1 (s  1) 2  3  6


y(0) 
1
6

3  2  cos 3 * 0  3 sin 3 * 0  0 
Same for Y(∞) and Y(0)
1
y( ) 
2
3) Stability

G(s) s2
Closed loop sys : H(s)   3
1  G(s) s  3s 2  7s  6
Routh
1 7
3 6 All positive real parts  stable system
5
6

Poles:
s1 = -1; s2 = -1 +j1.73; s3 = -1-j1.73  all negative real parts  stable system

4) Bode diagram
Cutoff frequencies: 1, sqrt(2) (order 2), 2
w<1 ½ -13.8 dB 0dB/dec 0°
1 < w < sqrt(2) 1 / (2s) w=1  -13.8dB -20dB/dec -90°
sqrt(2) < w < 2 1/2s3 w=sqrt(2) -20.7dB -60dB/dec -270°
w >2 1/s2 w=2  -27.7dB -40dB/dec -180°

Bode Diagram
0
Magnitude (dB)

-10

-20

-30

-40
0

-45
Phase (deg)

-90

-135

-180
-1 0 1
10 10 10
Frequency (rad/s)
Wcg doesn’t exist  No need for calculations
Wcp doesn’t exist  If the student works on the Bode diagram, he may place the value wcp on
the graph but when doing the calculations, he will find wcp = 0 or wcp = ∞ which are unacceptable
values  wcp doesn’t exist

5) Nyquist
s2 s2
G 0 (s)   3
(s  1)(s  2s  4) s  3s 2  6s  4
2

jw  2 jw  2
G 0 ( jw)  
( jw)  3( jw)  6 jw  4  jw  3w 2  6 jw  4
3 2 3

jw  2 ( 3w 2  4)  jw(  w 2  6)
 x
( 3w 2  4)  jw(  w 2  6) ( 3w 2  4)  jw(  w 2  6)
(  w 4  8)  jw(  w 2  8)

( 3w 2  4) 2  (w(  w 2  6)) 2

Nyquist Diagram
0.4

0.3

0.2
Imaginary Axis

0.1

-0.1

-0.2

-0.3

-0.4
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6
Real Axis
6) Addition of a proportional
K(s  2)
G1 (s)  G 0 (s)xK 
(s  1)(s 2  2s  4)
 CLCS  denumG1 (s)  s 3  3s 2  s(6  K)  4  2K  0
1 6+K
3 4+2K K≥-14 && K≥-2  K≥0  System is always stable
(14+K)/3
4+2
 p  12%  0.12  Kp  1 / 0.12  8.33
2K
Kp  1  G 1 (0)  1   8.33  K  14.66
4

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