Republic of the Philippines

JOSE RIZAL MEMORIAL STATE UNIVERSITY

The Premier University in the Province of Zamboanga del Norte
Gov. GuadingAdasa St., Sta. Cruz, Dapitan City
Province of Zamboanga del Norte

EE 324 FEEDBACK AND CONTROL SYSTEM

LABORATORY 9

CRISHA KEN A. AYSON

BACHELOR OF SCIENCE IN ELECTRICAL ENGINEERING

ENGR. GILLERT M. BONGCAC

Lab 9 Frequency Response Techniques

1. Objective
To examine the relationships between open-loop frequency response and stability,
openloop frequency response and closed-loop transient response, and the effect of additional
closedloop poles and zeros upon the ability to predict closed-loop transient response.
2. Minimum required software packages
MATLAB, and the Control System Toolbox
3. Prelab
a. Sketch the Nyquist diagram for a unity negative feedback system with a forward
K
transfer function of G(s) = . From your Nyquist plot determine the range of gain,
s (s+2)(s +10)
K, for stability.

The provided code generated the Nyquist Diagram based on the transfer function G(s). Despite
facing initial challenges, further research assisted in creating the diagram. Ultimately, the code
successfully produced the Nyquist diagram.
 Nyquist diagram of Prelab A

Range of Gain, K, K=240 using [gm,pm,wgc,wpc]=margin(g)

b. Find the phase margins required for second-order closed-loop step responses with the
following percent overshoot: 5%, 10%, 20%, 30%.
The phase margin required for 5% overshoot in a second-order closed-loop step
responses is equal to 64.6253.

The phase margin required for 10% overshoot in a second-order closed-loop step
responses is equal to 58.5931.
The phase margin required for 20% overshoot in a second-order closed-loop step
responses is equal to 48.1477.

The phase margin required for 30% overshoot in a second-order closed-loop step
responses is equal to 39.0901.
4. Lab
a. Using the Sisotool produce the following plots simultaneously for the system of Prelab
1: root locus, Nyquist diagram, and step response. Make plots of the root locus, Nyquist
diagram, and step response for the following values of K: 50, 100, the value for marginal
stability found in Prelab 1, and a value above that found for marginal stability. Use the
zoom tools when required to produce an illustrative plot. Finally, change the gain by
grabbing and moving the closed-loop poles along the root locus and note the changes in
the Nyquist diagram and step response.

The codes shown above are the used in order to simultaneously plot the root locus,
Nyquist diagram, and step response of the system of Prelab 1 when K=50.
The simultaneous plot of Nyquist Diagram, root locus, and step response of the system
when K=50 using the Siso Tool.

The codes shown above are the used in order to simultaneously plot the root locus,
Nyquist diagram, and step response of the system of Prelab 1 when K=100.
 The simultaneous plot of Nyquist Diagram, root locus, and step response of the system
when K=100 using the Siso Tool.

The above codes were utilized to plot the root locus, Nyquist diagram, and step response of the
Prelab 1 system simultaneously. These plots were generated specifically for the system with a
value of K=240, which corresponds to the system's marginal stability point.
 The simultaneous plot of Nyquist Diagram, root locus, and step response of the system
when K=240 using the Siso Tool.

The codes shown above are the used in order to simultaneously plot the root locus,
Nyquist diagram, and step response of the system of Prelab 1 when K=260, the value
above the marginal stability of the system.
The simultaneous plot of Nyquist Diagram, root locus, and step response of the system
when K=260 using the Siso Tool.
Adjusting the gain to match the pole location by manipulating the closed-loop poles along the
root locus results in the Nyquist Diagram forming a circular shape and the step response
becoming a straight line.

b. Using the Sisotool, produce Bode plots and closed-loop step responses for a unity negative
K
Feedback system with a forward transfer function of G(s) = . Produce these plots for
s¿¿
each value of phase margin found in Prelab 2. Adjust the gain to arrive at the desired phase
margin by grabbing the Bode magnitude curve and moving it up or down. Observe the
effects, if any, upon the Bode phase plot. For each case, record the value of gain and the
location of the closed-loop poles.
 This were the code used in order to generate the transfer function G(s) and to call the Siso
tool for the transfer function.

The Bode plot of transfer function G(s) exhibits a Phase Margin of 64.4 degrees. However, due
to challenges in maneuvering caused by slow-spec laptops, the phase margin could only be
achieved as 64.4 degrees instead of the intended value of 64.6 degrees.
The Bode plot of the transfer function G(s) reveals a Phase Margin of 58.7 degrees. However,
due to challenges in maneuvering caused by slow-spec laptops, the phase margin could only be
achieved as 58.7 degrees instead of the intended value of 58.6 degrees.

The Bode plot of the transfer function G(s) exhibits a Phase Margin of 48.3 degrees. However,
due to challenges in maneuvering caused by slow-spec laptops, the phase margin could only be
achieved as 48.3 degrees instead of the intended value of 48.1 degrees.
Due to performance limitations of slow-spec laptops causing difficulties in maneuvering, the
Bode plot of transfer function G(s) had a Phase Margin of 39.6 degrees, which slightly deviated
from the intended value of 39.1 degrees.e of 39.1 degrees.
Record of the Value of Gain
Phase Margin Gain Margin
64.4 18.4
57.8 16.4
48.3 13.2
39.6 10.8

K
c. Repeat Lab 2 for G(s) = .
s (s+10)
Based on the Siso Tool's laboratory results, for every phase margin value obtained in Prelab 2,
the corresponding gain margin was found to be infinity.
5. Postlab
a. Make a table showing calculated and actual values for the range of gain for stability as
found in Prelab 1 and Lab 1.
3
s 1 12 0
2
s 12 0 0
1
s 240 0 0
0
s 0 0 0

Calculated and Actual Values for the Range of Gain for Stability
Calculated Range of Gain Actual Range of Gain
240 240

b. Make a table from the data obtained in Lab 2 itemizing phase margin, percent
overshoot, and the location of the closed-loop poles.
Phase Margin Percent Overshoot Closed-loop pools location
64.4 20.2% (0,0) and (-10,0)
58.7 9.08% (0,0) and (-10,0)
48.3 20.2% (0,0) and (-10,0)
39.6 3.82% (0,0) and (-10,0)

c. Make a table from the data obtained in Lab 3 itemizing phase margin, percent
overshoot, and the location of the closed-loop poles.
Phase Margin Percent Overshoot Closed-loop pools location
64.4 8.19% (0,0) and (-10,0)
58.7 6.65% (0,0) and (-10,0)
48.3 3.86% (0,0) and (-10,0)
39.6 1.64% (0,0) and (-10,0)

d. For each Postlab task 1 to 3 above, explain any discrepancies between the actual values
obtained and those expected.