Solutions To Problems: 10-6 Chapter 10: Frequency Response Methods
Solutions To Problems: 10-6 Chapter 10: Frequency Response Methods
Solutions To Problems: 10-6 Chapter 10: Frequency Response Methods
23. For Type zero: Kp = low frequency gain; For Type 1: Kv = frequency value at the intersection of the
initial slope with the frequency axis; For Type 2: Ka = square root of the frequency value at the intersection
26. When the magnitude response is flat and the phase response is flat at 0o.
SOLUTIONS TO PROBLEMS
1.
a.
b.
c.
;
2.
a.
b.
c.
3.
a.
90°
120° 60°
150° 30°
180° X 0°
X
X0
X 0.5 1 1.5
X
X
210° 330°
X
240° 300°
270°
b.
90°
120° 60°
150° 30°
180° X
X X 0°
X
0 0.2 0.4
X X
0.6
X X
XX
XX XXX
X
X
X
X
210° 330°
240° 300°
270°
c.
90°
120° 60°
150° 30°
180° X
X
0°
X
X0 5 10 15 20
X
X
X
X
210° 330°
X
240° 300°
270°
4.
a.
b.
c.
30
-90
20 -20 dB/dec -100
10 -45 deg/dec +45 deg/dec
-110
Phase
dB
5.
a. System 1
b. System 2
c. System 3
d.
6.
0.5
0.4
0.3
0.2
0.1
Imag Axis
-0.1
-0.2
-0.3
-0.4
-0.5
-0.1 0 0.1 0.2 0.3 0.4 0.5 0.6
Real Axis
7.
0
-50
Gain dB
-100
-150 -1
10 10 0 101 102
Frequency (rad/sec)
-90
Phase deg
-180
-270
Computer response:
ans =
G(s)
Zero/pole/gain:
(s+5)
----------------------------------
(s^2 + 4s + 25) (s^2 + 6s + 100)
ans =
G(s)
Zero/pole/gain:
(s+5)
----------------------------------
(s^2 + 4s + 25) (s^2 + 6s + 100)
9.
a. Since the real-axis crossing is at -0.3086, P = 0, N = 0. Therefore Z = P - N = 0. System is stable.
Derivation of real-axis crossing:
G ( jω ) =
50
=
(
50 ⎡⎣ −9ω 2 − jω 18 − ω 2 ⎤⎦)
( )
.
s ( s + 3)( s + 6) s = jω 81ω 4 + 18ω − ω 3
Thus, the imaginary part = 0 at ω = 18 . Substituting this frequency into G ( jω ) , the real part is
evaluated to be -0.3086.
b. P = 0, N = -2. Therefore Z = P - N = 2. System is unstable.
c. P = 0, N = 0. Therefore Z = P - N = 0. System is stable
d. P = 0, N = -2. Therefore Z = P - N = 2. System is unstable.
10.
System 1: For K = 1,
The Nyquist diagram intersects the real axis at -0.0021. Thus K can be increased to 478.63 before
there are encirclements of -1. There are no poles encircles by the contour. Thus P = 0. Hence, Z = P -
N, Z = 0 + 0 if K <478.63; Z = 0 –(-2) if K > 478.63. Therefore stability if 0 < K < 478.63.
System 2: For K = 1,
The Nyquist diagram intersects the real axis at -0.720. Thus K can be increased to 1.39 before there
are encirclements of -1. There are no poles encircles by the contour. Thus P = 0. Hence, Z = P - N, Z
= 0 + 0 if K <1.39; Z = 0 – (-2) if K > 1.39. Therefore stability if 0 < K < 1.39.
System 3: For K = 1,
Stable if 0<K<1.
11.
Note: All results for this problem are based upon a non-asymptotic frequency response.
System 1: Plotting Bode plots for K = 1 yields the following Bode plot,
K = 1000:
For K = 1, phase response is 180o at ω = 6.63 rad/s. Magnitude response is -53.6 dB at this frequency.
For K = 1000, magnitude curve is raised by 60 dB yielding + 6.4 dB at 6.63 rad/s. Thus, the gain
margin is
- 6.4 dB.
Phase margin: Raising the magnitude curve by 60 dB yields 0 dB at 9.07 rad/s, where the phase curve
is 200.3o. Hence, the phase margin is 180o-200.3o = - 20.3o.
K = 100:
For K = 1, phase response is 180o at ω = 6.63 rad/s. Magnitude response is -53.6 dB at this frequency.
For K = 100, magnitude curve is raised by 40 dB yielding – 13.6 dB at 6.63 rad/s. Thus, the gain
margin is 13.6 dB.
Phase margin: Raising the magnitude curve by 40 dB yields 0 dB at 2.54 rad/s, where the phase curve
is 107.3o. Hence, the phase margin is 180o-107.3o = 72.7o.
K = 0.1:
For K = 1, phase response is 180o at ω = 6.63 rad/s. Magnitude response is -53.6 dB at this frequency.
For K = 0.1, magnitude curve is lowered by 20 dB yielding – 73.6 dB at 6.63 rad/s. Thus, the gain
margin is 73.6 dB..
System 2: Plotting Bode plots for K = 1 yields
K = 1000:
For K = 1, phase response is 180o at ω = 1.56 rad/s. Magnitude response is -2.85 dB at this frequency.
For K = 1000, magnitude curve is raised by 60 dB yielding + 57.15 dB at 1.56 rad/s. Thus, the gain
margin is
– 57.15 dB.
Phase margin: Raising the magnitude curve by 54 dB yields 0 dB at 500 rad/s, where the phase curve
is -91.03o. Hence, the phase margin is 180o-91.03o = 88.97o.
K = 100:
For K = 1, phase response is 180o at ω = 1.56 rad/s. Magnitude response is -2.85 dB at this frequency.
For K = 100, magnitude curve is raised by 40 dB yielding + 37.15 dB at 1.56 rad/s. Thus, the gain
margin is
– 37.15 dB.
Phase margin: Raising the magnitude curve by 40 dB yields 0 dB at 99.8 rad/s, where the phase curve
is -84.3o. Hence, the phase margin is 180o-84.3o = 95.7o.
K = 0.1:
For K = 1, phase response is 180o at ω = 1.56 rad/s. Magnitude response is -2.85 dB at this frequency.
For K = 0.1, magnitude curve is lowered by 20 dB yielding – 22.85 dB at 1.56 rad/s. Thus, the gain
margin is
– 22.85 dB.
Phase margin: Lowering the magnitude curve by 20 dB yields 0 dB at 0.162 rad/s, where the phase
curve is -99.8o. Hence, the phase margin is 180o-99.86o = 80.2o.
System 3: Plotting Bode plots for K = 1 yields
K = 1000:
For K = 1, phase response is 180o at ω = 1.41 rad/s. Magnitude response is 0 dB at this frequency.
For K = 1000, magnitude curve is raised by 60 dB yielding 60 dB at 1.41 rad/s. Thus, the gain margin
is - 60 dB.
Phase margin: Raising the magnitude curve by 60 dB yields no frequency where the magnitude curve
is 0 dB. Hence, the phase margin is infinite.
K = 100:
For K = 1, phase response is 180o at ω = 1.41 rad/s. Magnitude response is 0 dB at this frequency.
For K = 100, magnitude curve is raised by 40 dB yielding 40 dB at 1.41 rad/s. Thus, the gain margin
is - 40 dB.
Phase margin: Raising the magnitude curve by 40 dB yields no frequency where the magnitude curve
is 0 dB. Hence, the phase margin is infinite.
K = 0.1:
For K = 1, phase response is 180o at ω = 1.41 rad/s. Magnitude response is 0 dB at this frequency.
For K = 0.1, magnitude curve is lowered by 20 dB yielding -20 dB at 1.41 rad/s. Thus, the gain
margin is 20 dB.
Phase margin: Lowering the magnitude curve by 20 dB yields no frequency where the magnitude
curve is 0 dB. Hence, the phase margin is infinite.
12.
Program:
%Enter G(s)************************
numg=1;
deng=poly([0 -3 -12]);
'G(s)'
G=tf(numg,deng)
w=0.01:0.1:100;
%Enter K **************************
K=input('Type gain, K ');
bode(K*G,w)
pause
[M,P]=bode(K*G,w);
%Calculate Gain Margin**************
for i=1:1:length(P);
if P(i)<=-180;
fprintf('\nGain K = %g',K)
fprintf(', Frequency(180 deg) = %g',w(i))
fprintf(', Magnitude = %g',M(i))
fprintf(', Magnitude (dB) = %g',20*log10(M(i)))
fprintf(', Phase = %g',P(i))
Gm=20*log10(1/M(i));
fprintf(', Gain Margin (dB) = %g',Gm)
break
end
end
%Calculate Phase Margin**************
for i=1:1:length(M);
if M(i)<=1;
fprintf('\nGain K = %g',K)
fprintf(', Frequency (0 dB) = %g',w(i))
fprintf(', Magnitude = %g',M(i))
fprintf(', Magnitude (dB) = %g',20*log10(M(i)))
fprintf(', Phase = %g',P(i))
Pm=180+P(i);;
fprintf(', Phase Margin = %g',Pm)
break
end
end
clear
clf
%Bode Plot and Find Points
%Enter G(s)************************
numg=1;
deng=poly([0 -3 -12]);
'G(s)'
G=tf(numg,deng)
w=0.01:0.1:100;