Geng4402 - Assignment 2: Question 1 - Nyquist Plot/Frequency Response Performance

GENG4402 ASSIGNMENT 2
Question 1 Nyquist Plot/Frequency Response Performance

The block diagram for the unity feedback tracking system is shown below:
a) a)
According to the Nyquist stability criterion,
positive encirclements of the
N + P=0 where
N refers to the number of
(1,0) which is the critical point, and
P is the number of open-
loop poles in the right hand plane.

From the open-loop transfer function:
KG ( s )=
K
2
( s+ 2)( s +2 s+2)
The open-loop poles are located at:
p1=2 , p2=1 , p 3=1i

As none of the poles lie in the right hand side of the plane P=0 , according to the Nyquist stability
criterion, N + P=0
N=0 as well. We can then run a simulation or use trial and error to find
the gain that creates a positive encirclement of the critical point. Hence after trial and error a gain of
K=20 is required before the system becomes marginally stable. Figure 2 below shows the step
response of the system showing that the system is nearly marginally stable.
Figure 1 - Step response of system when K=20
Figure 3 below shows the Nyquist plot for K=20, which we can use to find where the critical point
occurs (point where marginal stability occurs).
=2.47 rad /s
Figure 2 - Nyquist Plot for K=20

Hence the frequency at which the system nearly becomes marginally stable occurs at 2.47 rad /s .
a) b)
Using the Figure Q1 (a), and the data from the 2 points on the Nyquist plot, we can calculate the gain
and phase margins.
Gain Margin=20 log 10

Phase Margin=tan 1
1
=6.125 dB
0.494
0.903
=65.475 o
0.412
We can also plot the bode diagram (shown in figure 3) of the open-loop system to find the phase and
gain margins, where the
Phase Margin=67.7o and the Gain Margin=10.5 dB .
Figure 3 - Bode Diagram for K=6

b)
i.
From the magnitude and phase plots given we can estimate the gain margin and phase margin.
The gain margin occurs when phase is -180 degrees. This point is known as the phase crossover
frequency. The gain margin can then be estimated as:
Gain Margin=10 dB
The phase margin occurs when the magnitude plot is at
0 dB which is located at the gain crossover
frequency. The phase margin is can then be estimated as:
Phase Margin=90 degrees

ii.
The gain can be increased by 10 dB , before the system becomes unstable. This can be represented
using
as:
10
K=10 20 =3.16
From the magnitude plot, this occurs at approximately 20 Hz
which would be the new gain
crossover frequency.
iii.
For a gain margin of 3 dB , the system is stable however it is approaching instability. As long as
both the gain margin and phase margin or positive, the system will usually be stable.
Hence the closed-loop performance characteristics that can be expected from this active ear defender
are:
-
Large percentage overshoot

Large settling time
Low peak time
Short rise time
Low Damping Ratio
The gain margin falls with the phase margin, hence as the gain margin is approaching 0 dB , the
phase margin does as well. The damping ratio also falls as the phase margin falls, which leads to a
lower peak time, larger overshoot and larger settling time, all leading the system to approaching
instability.
Question 2 Phase Compensation

a) The block diagram of the unity negative feedback control system is shown below:
Figure 4 - Block Diagram of Unity Negative Feedback Control System

i.
We can use the open-loop transfer function to find the frequency response and gain crossover
frequency:
G ( s )=
101
( s+ 1 )2
G ( j )=
101
101
=
2
( j+1 ) 2 j2 +1
|G ( j )|=
101
( 1 ) +4
2 2
|G ( j )|=20 log
101
1+2 2 + 4
0.5
101
dB=20 ( log101log ( 1+2 2+ 4 ) ) dB
2
4
1+ 2 +
1
|G ( j )|=20 log 101 log ( 1+ 2 2 + 4 ) dB
The gain crossover frequency
GC occurs when
1
0=20 log 101 log ( 1+2 2gc + 4gc )
2
|G ( j )|=0 dB
log 1012=log ( 1+2 2gc + 4gc )

Solving for GC , we get:
gc =10 rad /s
ii.
The phase margin refers to the phase at the gain crossover frequency GC . Hence we have:
( j )=
101
2
=tan1
2
2
1 + 2 j
1
( j gc ) =tan 1
2 10
20
=tan1
=11.42o
1100
99
Both the calculated gain crossover frequency and phase margin are confirmed in the bode plot in
figure 5 below:
Figure 5 - Bode Diagram for Open-Loop Transfer Function

iii.
In order to increase the phase margin to 60 degrees, we can design a phase-lead compensator. The
Block diagram is shown below:
Figure 6 - Block Diagram of Phase-Lead Compensator

Where the transfer function of the phase-lead compensator, C( s)
C ( s )=
1+Ts
1+Ts
The ideal phase margin =60
is:
We can then find the required maximum phase m

margin
by using the uncompensated system phase
PM that was calculated in part ii. A safety/correction factor of 5o is also taken into
account.
m= PM +
m=6011.42+5
m=53.58
by using the equation shown below:
We can then find
sin ( m ) =
1
1+
m=sin
1
1+
=0.1082
10 log 10 to find the find Gm , the magnitude of the frequency response at
We then evaluate
the maximum phase.
Gm=10 log 10 0.1081dB

Gm=9.66 dB
Once G m has been determined, we can then find the frequency where the uncompensated bode
frequency magnitude curve is equal to G m . This frequency is the estimated new
0 db crossover
frequency ( gc ) and m simultaneously as the compensation provides a gain of

at
m
m 17.5 rad / s
m=
1
T
Substituting in , we can find T .
T=
1
m
T =0.1738 seconds
Hence the transfer function of the phase-lead compensator is:
10 log 10
C ( s )=
1+0.1738 s
1+0.01879 s
Using MATLAB to plot the Bode Diagram of the control system with phase-lead compensation
(shown in figure 7 below) we can see that the phase margin is now 60 degrees as designed for.
Figure 7 - Effect of Phase-Lead Compensation on the Control System

b)
We first have to define
Z 1 and Z 2 .
Z 1=R 1
R1
1
=
C 1 s R1 C 1 s+ 1
Z 2=R 2
R2
1
=
C 2 s R2 C2 s +1
The transfer function for the circuit can then be shown by:
V o Z 2
R 2
R C s+1
=
=
1 1
Vi
Z1
R2 C 2 s+1
R1
V o R2 R1 C1 s +1
=
Vi
R1 R2 C2 s +1
This transfer function can be used to implement the phase-lead compensator designed in part (a)
which is shown again below:
C ( s )=
1+0.1738 s
1+0.01879 s
As we can see the transfer function of the circuit has a similar structure to that of the phase lead
compensator where:
R1 C 1=T
R2 C 2=T
R2
=K =1
R1
A proportional gain can be used to eliminate the gain

for
and T , we can implement the phase-lead compensator using the following transfer
function:
C ( s )=
R2
R1 , and hence using the above equations
1+ R1 C1 s
1+ R2 C2 s

Geng4402 - Assignment 2: Question 1 - Nyquist Plot/Frequency Response Performance

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Geng4402 - Assignment 2: Question 1 - Nyquist Plot/Frequency Response Performance

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GENG4402 ASSIGNMENT 2

Question 1 Nyquist Plot/Frequency Response Performance

N refers to the number of

(1,0) which is the critical point, and

P is the number of open-

loop poles in the right hand plane.

The open-loop poles are located at:

p1=2 , p2=1 , p 3=1i

Figure 1 - Step response of system when K=20

Figure 2 - Nyquist Plot for K=20

Gain Margin=20 log 10

Phase Margin=67.7o and the Gain Margin=10.5 dB .

Figure 3 - Bode Diagram for K=6

0 dB which is located at the gain crossover

frequency. The phase margin is can then be estimated as:

Phase Margin=90 degrees

From the magnitude plot, this occurs at approximately 20 Hz

which would be the new gain

Large percentage overshoot

Question 2 Phase Compensation

Figure 4 - Block Diagram of Unity Negative Feedback Control System

The gain crossover frequency

log 1012=log ( 1+2 2gc + 4gc )

Figure 5 - Bode Diagram for Open-Loop Transfer Function

Figure 6 - Block Diagram of Phase-Lead Compensator

The ideal phase margin =60

We can then find the required maximum phase m

by using the uncompensated system phase

We can then find

the maximum phase.

Gm=10 log 10 0.1081dB

frequency ( gc ) and m simultaneously as the compensation provides a gain of

Substituting in , we can find T .

Figure 7 - Effect of Phase-Lead Compensation on the Control System

A proportional gain can be used to eliminate the gain

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