Homework9 ECE438 Spring2021

HOMEWORK #9 (Submit solutions through blackboard in PDF format)
Providing just a picture of the bode-frequency plot without explanations/derivation will bring 0 points. A
problem like this WILL be in the exam. For practice - try to solve without using MATLAB (use it to check
results).
For problems 1-3, given a transfer function G(s) sketch the magnitude and phase characteristics in the
logarithmic scale (i.e. Bode-plots) of the system using the following rules-of-thumb:
i. “Normalize” the G(s) by extracting poles/zeros, substituting s=jω and writing the TF using
DC-gain K0 and time-constants
ii. Arrange break-points (poles , zeros or ω for complex-conjugate poles) in ascending order
iii. Based on the term ∓ , determine:
a. initial slope of the magnitude-response asymptote for low frequencies as ∓ k 20 dB/dec
(e.g. flat for k=0, -20 dB/Dec for one pole at s=0 etc.)
b. “anchor” point through which the magnitude-response asymptote passes for ω=1
. . 20 log
c. initial value of the phase-response asymptote for low frequencies as ∓ k 90
iv. Start going from ω=0 towards ∞
v. For each break-point that corresponds to a real pole/zero you encounter, adjust:
a. magnitude-response asymptote slope by – m 20 dB/Dec for a pole and + m20 dB/Dec
for a zero (m= multiplicity/order of pole/zero at the breakpoint)
b. phase-response asymptote by - m90 for a single pole and + m 90 for a single zero
(m= multiplicity/order of pole/zero at the breakpoint)
vi. For each break-point ω that corresponds to a complex-conjugate set of poles/zeros,

adjust:
a. magnitude-response asymptote slope by -m40 dB/Dec for a set of cc poles and +m40
dB/Dec for a set of cc zeros (m= multiplicity/order of cc poles/zeros at the breakpoint)
b. phase-response asymptote by – m180 for a set of cc poles and + m180 for a set of cc
zeros (m= multiplicity/order of cc poles/zeros at the breakpoint)
c. For ξ < √2/2 (or 0.7) be aware of a resonant “bump” or a “dip” of approximately -
=
vii. Draw the approximate magnitude and phase responses by fitting a curve along the
asymptotes
For all problems, apply and clearly indicate the bode-plot rules. For each graph, find/indicate the
approximate frequency for which the magnitude response crosses the value 0 dB. Find/indicate the
approximate frequency for which the phase response crosses the value –180 (for some graphs, this
will be for ω->∞ )
Problem 1
=
! ! !
Problem 2
" #! !
= #
! !
Problem 3
G = #! $ !
Problem 4
The Bode-plot of an open-loop transfer function obtained by experiments/measurements is given

below. The slopes of asymptotes are also provided. Assuming we use a unity-feedback to close
the loop, analyze (with justification/explanation) the system and answer questions a)-g)
a) What is the type of the system (with respect to steady-state error) ?
b) What is the steady-state error when a unit-step input is applied to the closed-loop system
– provide value
c) What is the crossover frequency % of the system?
d) What is the Phase Margin of the system? Is this adequate for stability?
e) What is the Gain Margin of the system ?
f) Based on GM and PM – will the closed loop system be stable ?
g) If we added +40dB of gain to the system to improve the , what would the new % and
the Phase Margin be (approximately)? What type of compensator could we use to
improve the PM? Briefly explain.
Problem 5
(Same system as in Problem 2 of Homework 8)
W(s)
+
R(s) + U(s) Y(s)
D cl (s) Gpl (s)
E(s) +
-
H(s)
Given a system as in the diagram above, use MATLAB to solve the problems:
Assume we want the closed-loop system rise time to be & ≤ 0.18 sec
1 +.
() = , -%) = , 0 =1
+3 +/
Determine K and the lead-compensator -%) parameters using Bode plots/Frequency analysis to
achieve the rise-time and so that the damping factor is at least ξ≥ 0.5. Plot the time-domain response of
the closed-loop system to the unit step-input reference signal. What is the settling-time equal to? What
is the Phase margin, crossover frequency and the Gain margin of the compensated system? Plot the
frequency response of the compensated system and indicate parameters on the plot.

Homework9 ECE438 Spring2021

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Homework9 ECE438 Spring2021

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HOMEWORK #9 (Submit solutions through blackboard in PDF format)

vi. For each break-point ω that corresponds to a complex-conjugate set of poles/zeros,

The Bode-plot of an open-loop transfer function obtained by experiments/measurements is given

(Same system as in Problem 2 of Homework 8)

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