Part 9: Bode plot

(i) τD = 0
(ii) τD = 1
Discussion:

When τD = 0, the results are:

 Gain crossover frequency (wg) = 1.4146 rad/s

 Phase crossover frequency (wphi) = 0.6101 rad/s
 Phase margin (PM) = 83.2968 degrees
 Gain margin (GM) = 5.0029 dB

When τD = 1, the results are:

 Gain crossover frequency (wg) = 0.6706 rad/s

 Phase crossover frequency (wphi) = 0.7434 rad/s
 Phase margin (PM) = −18.6205 degrees
 Gain margin (GM) = 0.7068 dB
 When the values of time delay (τD) change in the open loop transfer function G(s), there
will be differences in the gain crossover frequency, phase crossover frequency, phase margin
and gain margin. Increasing τD from 0 to 1 decreases the gain crossover frequency (wg) from
1.4146 rad/s to 0.6706 rad/s. However, the phase crossover frequency (wphi) increases from
0.6101 rad/s to 0.7434 rad/s. At τD = 0, it is observed that the value of phase margin is
greater than the gain margin and both values are positive. If the gain margin is greater than
unity and the phase margin is positive, this means the system is stable. For τD = 1, the value
of phase margin is negative and gain margin is less than unity. Hence, if the gain margin is
less than unity and the phase margin is negative, then the system is unstable. Thus, increasing
τD from 0 to 1 would decrease the stability of the system.