Assignment #1---5pm Oct.

05, 2020
1. Plot the asymptotic bode plots of the following transfer functions. From the asymptotic
Bode diagram determine the crossover frequencies, the gain margin, and the phase
margin. Indicate these values on the diagram clearly.

0.0065(𝑠 2 +9𝑠+49)
a. 𝐺(𝑠) =
𝑠 2 (𝑠+1)
300
b. 𝐺(𝑠) =
𝑠(𝑠+4)(𝑠+8)

2. Consider the Bode plots shown below. What is the transfer function?

32

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3. Consider the submarine depth control system
0.015
𝐺(𝑠) =
𝑠 2 + 0.11𝑠 + 0.3
a. Design a phase lead compensator to meet (1) position error≤15%, (2) Phase
margin ≥60 degrees, (3) gain margin ≥10dB, and (4) gain-crossover frequency ≥
10rad/s.
b. In Matlab/Simulink, simulate the uncompensated system and compensated system
with unity feedback. For both systems, find the performance measures such as
P.O., Settling time, time to peak, rising time and steady state error due to step and
ramp input signals.

4. Consider the stabilized precision rate table uses a precision tachometer and DC
direct drive torque motor yielding an open-loop transfer function given by:

𝐾
𝐺(𝑠) =
(0.1𝑠 + 1)(0.1 + 𝑠)

a. Design a phase lag compensator to achieve the required specifications (1) the
position error of the rate ≤0.1% and the phase margin ≥45 degree.
b. In Matlab/Simulink, simulate the uncompensated system and compensated system
with unity feedback. For both systems, find the performance measures such as
P.O., Settling time, time to peak, rising time and steady state error due to step and
ramp input signals.