MECE 3350U

Control Systems

Lecture 22
Stability Analysis
in the Frequency Domain Exercises

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MECE 3350 - C. Rossa 1 / 20 Lecture 22
Videos in this lecture

Exercise 128: https://youtu.be/tRHesQXGTmk

Exercise 129: https://youtu.be/CTJin3TEkb4

Exercise 130: https://youtu.be/XWRIgzgiMhE

Exercise 131: https://youtu.be/xf-aHkhsYis

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MECE 3350 - C. Rossa 2 / 20 Lecture 22
Outline of Lecture 22

By the end of today’s lecture you should be able to

• Understand the connection between Bode and Nyquist plots

• Understand the connection between frequency and temporal domain

• Analyse the stability of a system in the frequency domain

This lecture has no theory, only practice exercises.

Please watch all the videos provided this lecture attentively.

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MECE 3350 - C. Rossa 3 / 20 Lecture 22
Exercise 128

Given the open-loop transfer function

s + 0.1
G(s) = (1)
(s + 1)(s + 10)(s + 100)

(a) Calculate the phase and magnitude of G(s) at ω = 10−3 and 103 rad/sec

(b) Draw the Bode plot

(c) Study the relation between the Bode and Nyquist plots, and the root-locus
and Routh-Hurwitz array when G(s) is used in an unit negative feedback loop
with proportional gain k.

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MECE 3350 - C. Rossa 4 / 20 Lecture 22
Exercise 128 - continued

s + 0.1
G(s) =
(s + 1)(s + 10)(s + 100)

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MECE 3350 - C. Rossa 5 / 20 Lecture 22
Exercise 128 - continued

s + 0.1
G(s) =
(s + 1)(s + 10)(s + 100)
-60

-80
Magnitude (dB)

-100

-120

-140

-160
90
Phase (deg)

-90

-180
10-2 100 102 104
Frequency (rad/s)

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MECE 3350 - C. Rossa 6 / 20 Lecture 22
Exercise 129

Given the open-loop transfer function

10
G(s) = (2)
s(s 2 + 0.1s + 25)

(a) Draw the Bode plot

(b) Study the relation between the Bode and Nyquist plots, and the root-locus
and Routh-Hurwitz array when G(s) is used in an unit negative feedback loop
with proportional gain k.

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MECE 3350 - C. Rossa 7 / 20 Lecture 22
Exercise 129 - continued
10
G(s) =
s(s 2 + 0.1s + 25)

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MECE 3350 - C. Rossa 8 / 20 Lecture 22
Exercise 129 - continued
10
G(s) =
s(s 2 + 0.1s + 25)

0
Magnitude (dB)

-20

-40

-60

-80

-100
-90

-135
Phase (deg)

-180

-225

-270
10-1 100 101 102
Frequency (rad/s)

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MECE 3350 - C. Rossa 9 / 20 Lecture 22
Exercise 130

Given the open-loop transfer function

20
G(s) = (3)
(s + 1)2 (s + 10)

(a) Draw the Bode plot

(b) Calculate the phase and gain margins

(c) Estimate the Nyquist plot and assess stability

(d) Confirm the results with the root-locus

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MECE 3350 - C. Rossa 10 / 20 Lecture 22
Exercise 130 - continued
20
G(s) =
(s + 1)2 (s + 10)
Magnitude (dB) 0

-50

-100

-150
0
Phase (deg)

-90

-180

-270
10-2 10-1 100 101 102 103
Frequency (rad/s)

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MECE 3350 - C. Rossa 11 / 20 Lecture 22
Exercise 130 - continued
20
G(s) =
(s + 1)2 (s + 10)

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MECE 3350 - C. Rossa 12 / 20 Lecture 22
Exercise 130 - continued
20
G(s) =
(s + 1)2 (s + 10)

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MECE 3350 - C. Rossa 13 / 20 Lecture 22
Exercise 130 - continued
20
G(s) =
(s + 1)2 (s + 10)

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MECE 3350 - C. Rossa 14 / 20 Lecture 22
Exercise 130 - continued
20
G(s) =
(s + 1)2 (s + 10)
Magnitude (dB) 0

-50

-100

-150
0
Phase (deg)

-90

-180

-270
10-2 10-1 100 101 102 103
Frequency (rad/s)

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MECE 3350 - C. Rossa 15 / 20 Lecture 22
Exercise 130 - continued
0 0

Magnitude (dB)

Phase (deg)
-50 -90

-100 -180

-270
-150
10-2 10-1 100 101 102 103 10-2 10-1 100 101 102 103

1.5

0.5
Imaginary Axis

-0.5

-1

-1.5
-1 -0.5 0 0.5 1 1.5 2
Real Axis

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MECE 3350 - C. Rossa 16 / 20 Lecture 22
Exercise 130 - continued

30

20

Imaginary Axis (seconds-1 ) 10

-10

-20

-30
-40 -30 -20 -10 0 10 20
Real Axis (seconds -1 )

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MECE 3350 - C. Rossa 17 / 20 Lecture 22
Exercise 131
Given the open-loop transfer function and the corresponding Nyquist plot for
k = 1, determine the maximum gain k before instability. Then, study the
relation between the Bode and Nyquist plots, and the root-locus and Routh
Hurwitz array when G(s) is used in an unit negative feedback loop with
proportional gain k.
100
G(s) = k (4)
(s + 1)2 (s + 10)2
0.8

0.6

0.4
Imaginary Axis

0.2

-0.2

-0.4

-0.6

-0.8
-1 -0.5 0 0.5 1 1.5
Real Axis

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MECE 3350 - C. Rossa 18 / 20 Lecture 22
Exercise 131 - continued
100
G(s) = k
(s + 1)2 (s + 10)2

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MECE 3350 - C. Rossa 19 / 20 Lecture 22
Exercise 131 - continued
100
G(s) = k
(s + 1)2 (s + 10)2

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MECE 3350 - C. Rossa 20 / 20 Lecture 22