Assignment #9

1. Prove that the actual relationship between damping ratio and phase margin is given by,

(1+∝𝑠𝑇)
2. Consider a lead controller 𝐶(𝑠) = , where α > 1.
(1+𝑠𝑇)

1
(a) Prove that max ∠C (j𝜔) occurs at 𝜔 = 𝜔𝑚 = 𝑇√𝛼

(b) Prove that | C(j𝜔𝑚 ) |= √𝛼

(c) Prove that ∠C(j𝜔𝑚 )= ϕm satisfies

(α − 1)
sin ϕm =
(α + 1)

3. For the system given below, design a lead controller in the frequency domain to give
about 5 % over- shoot and 1 % steady state error with respect to a step input.

1
𝐺(𝑠) =
(4𝑠 + 1)(0.5𝑠 + 1)