ELEN90055 Control Systems

Worksheet 5 - Solutions to Starred Problems

Semester 2, 2021

2. (a) We first write G(s) in the form of G(s) = 2(s/2 + 1) and then plot the bode diagram
of 2 and s/2 + 1 separately and finally add these two plots together. The asymptotes
are shown in red and the exact bode plot is shown in blue.

Bode Diagram

40

30
Magnitude (dB)

20

10
20 db/dec
0 X: 2
Y: 6.021

90 NB: you need to know how to

sketch Bode plots by hand,
Phase (deg)

indicating main features such as: -

45
response values for low/high
frequencies; breakpoint
0
0.1 1 10 100
frequencies; asymptotic mag.
Frequency (rad/s) response gradients at low/high
frequencies; approximate mag.
1 response gradients in between
(b) G(s) =
s+5 breakpoints;

Bode Diagram

X: 5
Y: −13.98
−12
Magnitude (dB)

−16 −20 db/dec

−20
−24
−28
−32
−36
0
Phase (deg)

−45

−90
0.1 1 10 100
Frequency (rad/s)

Note that the idealised piecewise linear

s+2 graphs in red give pretty good
(c) G(s) = approximations for mag response,
s+5
but are awful for phase response...
1
 Note that the magnitude plot is the sum of the magnitude plots of parts (a) and (b)
and the phase plot is the sum of the phase plots in (a) and (b).

Bode Diagram

X: 5
Y: 0
0

Magnitude (dB)
20 db/dec
−2
−4
−6
−8
X: 2
Y: −7.959

90
Phase (deg)

45

0
0.1 1 10 100
Frequency (rad/s)

(d) s+2
G(s) =
(s + 5)2

Bode Diagram

X: 5
20 db/dec Y: −13.98 −20 db/dec
−12
Magnitude (dB)

−16
−20
−24 X: 2
−28 Y: −21.94
−32
−36
−40
−44
90

45
Phase (deg)

−45

−90
0.1 1 10 100
Frequency (rad/s)

2
(e) s+2
G(s) =
s(s + 5)2

Bode Diagram

0
−10 X: 5
−20 Y: −27.96

Magnitude (dB)
−30
X: 2
−40 Y: −27.96
−20 db/dec
−50
−60
−70
−80 −40 db/dec
−90
0
−30
Phase (deg)

−60
−90
−120
−150
−180
0.1 1 10 100
Frequency (rad/s)

(f)
(s + 2)(s + 10)
G(s) =
s(s + 5)2

Bode Diagram

20
10
Magnitude (dB)

X: 5
0 Y: −7.959 −40 db/dec
−10 −20 db/dec −20 db/dec
X: 2
−20 Y: −7.959
X: 10
−30 Y: −20

−40
0
−30
Phase (deg)

−60
−90
−120
−150
−180
0.1 1 10 100
Frequency (rad/s)

3
3. (a)

Figure 1: Question 2 (Bode).

To find the transfer function from the bode plot, we should identify: (1) the break-
point frequencies (the points at which the transfer function has either a pole or a zero
depending on the change in slope), (2) the gain, and (3) the slope of the bode plot
between the breakpoint frequencies.
According to the asymptotic bode plot, G(s) has just one breakpoint frequency at
ω = 10 and the slope of the bode plot is −20dB/dec until the break frequency of
ω = 10. This means that G(s) should have a single pole at the origin. Then the bode
plot is flat after ω = 10 which means there is a simple zero at s = 10. So G(s) is in
the form of G(s) = k s/10+1
s .
To find the value of k note that limω→∞ |G( jω)| = 1. So limω→∞ |G( jω)| = k/10 = 1
and thus k = 10 and G(s) is
s + 10
G(s) =
s
−s+10
Note that G(s) can also be s−10
s , s or −s−10
s (these transfer functions have similar
magnitude plots but different phase plots).

(b)
1 s + 10 1 10
Y (s) = G(s) = = + 2 ⇒ y(t) = (1 + 10t)u(t)
s s2 s s

4
 Step Response

50

45

40

35

30

Amplitude
25

20

15

10

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)

Figure 2: Step response for Problem 3.