Lecture : 20

Control Systems Engineering

Dr. G. Balamurugan
Assistant Professor
Department of Electronics Engineering
MIT Campus, Anna University.

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
UNIT III FREQUENCY RESPONSE AND SYSTEM
ANALYSIS 9
Closed loop frequency response-Performance specification in
frequency domain-Frequency response of standard second
order system- Bode Plot - Polar Plot- Nyquist plots-Design of
compensators using Bode plots-Cascade lead compensation-
Cascade lag compensation-Cascade lag-lead compensation

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Department of Electronics Engineering, MIT Campus
Procedure for determining TF from
Bodeplot

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Department of Electronics Engineering, MIT Campus
 Gain Margin & Phase Margin
GH (dB ) Gain Margin: Additional gain to
make the system marginally stable
at a frequency for which the phase

0
 of the open loop transfer function
passes through -180degree.
G.M.>0

GH
Stable system

1800
900
 Phase Margin: Additional phase
angle to make the system
0
 900 marginally stable at a frequency
P.M.>0 for which the magnitude of the
 180 0
open loop transfer function is 0
dB.

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Gain Margin & Phase Margin
GH (dB )

Unstable system

0
G.M.<0 

GH

Stable system
1800
900

0
 900
 1800 P.M.<0 Unstable system

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Department of Electronics Engineering, MIT Campus
 Problem 1
A unity feedback control system has . Draw Bode plot
and determine gain margin, phase margin, gain cross over frequency and phase
cross over frequency. Comment on stability.
Solution:
Terms Corner Slope Change in
frequency dB/dec slope dB/dec
2/j - -20 dB/dec
1 / (1+j 0.5) c1 = 2 -20 dB/dec -40 dB/dec
1 / (1+j 0.05) c2 = 20 -20 dB/dec -60 dB/dec

Choose a low frequency

Corner frequencies: Choose a high frequency

Let assume :
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Department of Electronics Engineering, MIT Campus
 Problem 1: Magnitude plot
Corner frequencies:

Let us calculate magnitude | G(j) | at

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Department of Electronics Engineering, MIT Campus
20

-20

-40

-60

-80

0.1 1 10 100 1000

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Department of Electronics Engineering, MIT Campus
 Problem 1: Phase plot

Phase angles for different :

 G(j)
0.2 -96.2
2 -140.7
5 -172.2
10 -195.2
20 -219.2
50 -245.0

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 gc:2rad/sec pc:7rad/sec
0.1 1 10 100 1000

20
 G(j)
0.2 -96.2
0
GM 2 -140.7
5 -172.2
-20
10 -195.2
Magnitude (dB)

20 -219.2
-40 -60
50 -245.0

Phase angle (degree)

-60 -100

-80 -140
PM
-180

-220

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Department of Electronics Engineering, MIT Campus
 Problem 1 : Summary
gc:2rad/sec

pc:7rad/sec

Gain Margin : 20dB

Phase Margin : 40 degree

Since both gain and phase margin are positive it concludes that the system is stable

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Department of Electronics Engineering, MIT Campus
 Problem 2
Given . Find K so that system to be stable (a) GM = 2dB (b)
PM = 45
Solution:

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Problem 2: Magnitude plot

Corner frequencies:

Terms Corner Slope Change in

frequency dB/dec slope dB/dec
0.0625/j - -20 dB/dec
1 / (1+j 0.5) c1 = 2 -20 dB/dec -40 dB/dec
1 / (1+j 0.125) c2 = 8 -20 dB/dec -60 dB/dec

Choose a low frequency

Choose a high frequency
Dr. G. Balamurugan
Let assume :
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Department of Electronics Engineering, MIT Campus
 Problem 2: Magnitude plot
Corner frequencies:

Let us calculate magnitude | G(j) | at

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
Problem 2: Phase plot

Phase angles for different :

 G(j)
0.5 -113.3
1 -135.1
1.5
2 -154.6
-171.9
23 -171.9
-201.2
2.5 -187.3
3 -201.2

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Department of Electronics Engineering, MIT Campus
 gc: 0.08rad/sec pc: 2.5rad/sec
0.01 0.1 1 10 100

 G(j)
0.5 -113.3
0 K= (a) GM=2dB (K=?)
-2 ? 1 -135.1
-10
K= 1.5 -154.6
-20 1 GM=35dB (K=1)
-24 2 -171.9
-30
-35 2.5 -187.3
Magnitude (dB)

-40 -80
3 -201.2

Phase angle (degree)

-50
-60 -100
-70
-80 -140
-90
-100 -180
-110
When K=1, GM is –(-35)=35dB. But the required GM is 2dB. Hence every point of magnitude -220
plot a dB gain of 33dB should be added. This addition of 30dB shifts the plot upwards.
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Department of Electronics Engineering, MIT Campus
 Problem 3
Determine the transfer function of the system for the magnitude plot shown below.

Corner frequencies : 3

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Department of Electronics Engineering, MIT Campus
 Problem 3

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Department of Electronics Engineering, MIT Campus
 Problem 3

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Yo u
a nk
T h
Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus