MADE ERS __Defostloasteminne | 279 9:6 Complementary Root Locus (CRL) or Inverse Root Locus (IRL) Coreide a Postve feedback closeleop contol aystem having characteris equation, 1G His) =0 = GSH) = 1+) ‘0, angle condition 2O{8) Hs) = = [2g] 180°: = 0,1, 2, Magnitude conction [Gisint (©) Atthis point of instability the gain K= 192.18 3075s + 192.18 =0 7 s-jo e “207607 ++ 192.18 = 0 9218 | © of = 218 55 o= E25 =25 leer * ‘The frequency of oscillation at the point of instability = 2.5 rad/sec. nto ahaa rcamPlemertay cc oeus ame tthe condtonsol raving te octlocu are tered vile others remain same, fon coeus Ne Gal Ks varied tomtom btincase ol complement rootlacusthe gain K's vaiod from-= 100, 9.5 Effects of Adding Poles and Zeros to G(s) H(s) Rfracts of Adetion of PSE alan Construction Rules for Complementary Root Locus (CRL) ‘The action of poles tothe open lop raster uncon has the afctof siting io Comolementay Rot Losi syrmeticalabouteaax's > Gs) Ms) <1] ules Same as Root Locus. Rules Tart se eatlan es ne RL to ruber of pen-oop poles pi eck on therealais tothe Fight side of this points even, sew soalect syns oe BL is Sehiese's) icy Cons eareas Reto.) sien B.A pons (same as Rot Locus) wher, ° Note: General his topics not requenty a In any of the compsttve examinations ee MACE ERS pepeMADE EASY MADE EASY ——— postcotona recs ——___ theta reiniee | 384 BA. point ‘Characteristic equation, 280 | Hleticl Engineering + Control Systems TREES Ssh coco ors Sana er “sise Qe (+7) PEEIEIEE 000 t:0ocus pict forth ste Paving vanaporation ig) Ke aer3) Gis} His) =O11 Rays has Gl) A and 282 | este Engnecing Control Systems = EHD tor k> Hm ay (OK Find the certo ofthe syste. @.2 The open-loop transfer function of a system is ivan by Gi) Me) arr a Aeon find the K s+) (6+4) crosses the imaginary ans (2.4 The charactorstc equation oa close loop system is {s+2)(s+3) + K=0, The asymptotes wil cut sans at 5 Find breakaway point or unity feedback contol system having open loop transter function K er IEF) ae) = s)= {Q.6 The open-loop transfer function of a system is K(s+2) P2802 aisitts)= Draw the correct root, iagram, 2.8 Open loop pole-zer0 plot is shown below, the ‘OLLITE having kat break point is Kis+2) +9" if oot locus ls circle then the radius ofthat rele is 2.9 Open loop vansfer functions Gis) = K 10 Gis)Hto)= isneOLTe i a ofS + 4s" +48 +12) ‘of agystem hen find th otal number ofcompiex break points, .11 The charactrsic equations ‘8+ K=O, centroid is located at value of xis 2.12 Forthe open loop transfer function given below, {determine he pointof intersection of asympictas oneal axs. an Kes HOM Fr o4e+Od Students Assignments | 1 expla 2 GOH = —Nert Brier easr® Poles = -1,-2+ 1-2) MADE EASY = 195%4 135° 490° = fot +) = 100" 2060" =a" 3. 48) ‘The characteristic equation 1 + Gls) His) = 0 ns K ‘Bera eeH -° 8+ 6P +85+K=0 Fouts artay's —_ ertccueciieve | 283 4, (1.6) 1 = ser2\e+) ~° contd « 8=2=8-0 sg a 6545434845) as+3)-0 S=-193088=-04501221 ‘AS 9 = -0.45 le within the region of rot locus i 7 HYopen bop aneter uncon of uri eecback wro=—1 1 EFee pat — EZ pat — systems Gis) =. the intersections: Contoid = Spe sa 2 7 aera eee ae 7 joas__ end =e. (wom adessypbieatonsor9 MABE EASY ~ ‘MADE EASY Wen cy ee eee : ‘wrmadeeasypubleston org284 | Electical Engineering © Control Systems MADE EASY _ K+2) HOH Fe 2542 Pees e1 +11] For breakpoints Breckanay ot, Boos im2e Kiss) * =o ate beak point =-243.(becaues 6 = 1.29 Fe0ee oes nate on FL) 425424 K+ 2)20 peer eee Kea 2A9F -21-248}42 ae (2.4) +5(-2.48)+6 Kao Pee a fence ye 0 adus of cele = YB(O=a} 282 45-25-48 + 2642-0 is+b) -#-45-2=0 as Gs)= Sera} Pease $0 radus = \AE=F=vE=1 s=-34isa 10.(2) < K Y BO" Saray ras) 1461949) = 0 2 | K a ~ | Foes +268 aes! OK, eet n+ 286 +485) _9 7. (24s) o & 1 4994 DAs? + 88 + 48 = 0 09 = IER Breakeway poise 2,-2+ 1414-2 $02 complex B.A point Soe itis in stander tom of eae a} 4 Intrsacton = +) a5 Sr 1482 4 (45 + K) SH K=O = 3/vB=2/245 ws) ao asa) Mee) og + H+) contos = BO=B-SIEEY gg = (65,0) 1+ “0 8. (62.08) MADE EASY e241 Poes = sx 248y(04F 4x04 2 eal part of poles = -0.2, -0.2 Real part) [Real part jofopen | -|of open Joop poles | [loop zeros Paz 4 $02-02)--9 Bt 04st 7 FED students 14 ESS Assignments Contoid = 08 2.1 The root ‘ocus of a unity feedback system is drawnin {gure given below, 3 Kie+2) © 3609 Q.2 With reterence to root locus plat, the complex conjugate r0'8 of the characteristic equation of the the OL TF given be Q Determine the centroid of the root locus for the Q.4 Aunty feedback system is shown in Fig, (1) {Q The loop transfer function of an LT! system 's Q6 Theanglesof the asymptctes of hercotlocofthe TmADE EASY | 285 system having is) Hs) = ——_ Cre +4545) (@)-24 (178 6 (1.08 “The rootiocus ofits characteristic equation is ‘shown in Fig. (2) cy a Fea ¥AL-5,0)is apointon te rootocus, the variable parameter Kot the system at Pis wa oes 9) He) = KIS+ 01845) poe gy . io) hs) = ISS HIEA Fork 0,the pont (on the real axis that DOES NOT belong tothe root locus ofthe system is equations! + 5 + (K+ 2)5+K= 0 fordsK =— rnmadeeasypubiications.o«gMADE ER: Esa les Reteotcrrere | 291 6. (0) o P4884 (Ke 254 K00 > crn» Efbas-ZAiees Kis+2) yt 7 Hence, Gs)Hs) = Sy 85 Worisdens 7° ie ig : wo p=8 - 2. (0) p-z=2 : a + m00" lumberotples = § * ste & 464520 seat snyrotis = 222 Loan i800 pu ENP =20 429 Asymptotes = PZ 4 hen, tan « Ee He nae)? f Cano» Bfeslnne = Rel cos - 7 * OMS GaEsesTeFED = rieseoe3 Number ol openion poles, Pa'8 z pecs Number tres, 228 ( By 14.G948) «0 ‘ZReal part of open loop poles Gis\Hs) a Ku 242502 (s+2) Breakaway pont, w= 104xs1, « 8-288 =-0414,-050 Gi Sneereotlecuspahiston—eo-2,s0eny “a ies ont Kise) our. Mees axis intercept = centroid 22. (0) Zer0= 4 and Pole =-7,-1,- 1,0 aw EEsue Frequency Domain Analysis of Control Systems CHAPTER 10.1 Introduction 7 te response ofa system oa sinusoidal in By th trm frequency response, we mean the steady state response. In frequency response metnods we vary te frequency ofthe input signal over a certain range and study the oft) = Ceinfot+¢) “The magnitude and phase relationship betwoen the sinusoidal input and the system is termed as the frequency response. In LT system, the frequency reepon: ‘amplitude and phase ofthe input signal. FForaysteme wih vey larga ime Conslaris the requsricy response tests cum {perform as thetime required forthe ouipts to reach steady state for each frequency ‘he test signat is excessively ong. Therefore, the tequency response test in recommended for systems with verylarge te constarts. Cental system does not imply thatthe systom WADE ens SC (wmmumadeeasypubliatonsor9 MADE EASY 10.3 ‘Frequency Domoin AnayisofContel systems | 2.93 Consider a inoar system wih a sinusoidal input, At) = Re late output of the system, itforent ampitude and Ajo) = Mj) Fo) By writing the function CUfw) as Yio) = |OGia)| 2eGa) with similar defintions for Mija) and Aja), the magnitude relation between the input and the outout joy! = lao) Gon) hase relation: Co) = ZMjo) + 2AYo) ‘Thus, the amplitude ofthe output sinusoid is ‘Thus, by knowing the transfer function Ms) o linear system, the magnitude ci ‘andthe phase characteristic Ma), completly describe the steady-state pert c= AlMia)l land the phase ofthe ouputis $= Mia) ‘sa sinusow, O9= Ser 20) ‘The close-op transfer function is ice. the standara form of the second or ‘The sinusoldalransfer function ofthe 0 be a sinusoidal wih the same frequency a, but |main|, Frequency Response Analysis of Second Order Control System c gy = F¢jay=——_ 9% _ Fillo) = Fo) CaF +2 0,0) +0 MADE EASGMADE EASY een bomah inietcnttsitens | 295 2 Sope () = -40.d8ldecade and Fe) Conclusions at a0: [FGa)| = Oand Fw) =0° co ot 2 afar, IF) = ae and cr) = 3 ardat Sse; | a)| 08nd 2) 9-2 ‘Based on tha much escussion the folowing pet canbe ada = a a wh fe) ‘cases: Avery iow fequencis, Beet = {FGio)) 1 aod ao ea 10.4 Frequency-Domain Specifications ae lo 2 Cases: AtsomoparteuarFequoncy.0=0, Resonant Frequency (a) |r) “ isthe valet fequency at nich he magna character of tequency response ()FUs)|eune) led ertor at corer frequency) pee ee ++ als called error at corer wa 209) FUe)| Fromequaton(), [F(a] = Ab = Case-lIi: Atvery high frequencies, = at (Fie) = wo On cifretaing hrs. wandthan equating tat to 200 we gt re expression ©, = 0, (1-287) rls #@=a) [sro ext Pat 3 =uand then cfrentate [Fev uo getthe value, u = ina] a 2009) = 009.2 (to ale oreratcoer enon Sica tequaeyiea al qmnty tov oxetsn manning ene = 820 MADE EARS! 5 TAGE EASE epeeMADE EASY uae Frequency Domain Analysisof Control Systems 3 lorward ath Wansior uncon aa uly feedback atom W Gow WEEDING ps varcir nao aul inabackoion is gvenby G(s) = 100 Te requency response ofthis syst wi radisee (0) 7.07 rede ‘Solution: (e) 296 | Electrical Engineering + Control Systems 297 ResonancePeak (M,) itis the maximurn value of Fja) curve i.e. the value of | F(a) at resonant frequency (0) Putting + @ = 0-259 incu We get, iF Hence, (ke M,in ime domi is afuncton of ory. NOTE” je”) Foralithe values of& whichis greater an 0.707, the resonantirequency = Oar) et L fon Met = Bo ag- 8 Los i See Bane, ©, = cy 26? » 101-2105) Cut-off frequency (@,) Itis the frequency at which |F(/w)| drops to 70.7 percent ot (or 3.48 down from) Its zero-frequency, 10.5 Correta . tion Between Step Response and Fre erate uency R Mathematoaly, Standard Order System _ ueinthe : _ = 4.0707 nequaion( comparing he asymptote (approximated) standard equeney ating, pro 0 stander time response cane SPPtoNmated) standard tequoney response (magniude) cuveto the consoling, 4 Mr * BME 2) aaa] 2185) : not ul Ley range from 0t0, 8 canto sysems being lowpass ters the banduwicth i equal to cutot frequency 0, Linear approximation: Cen ADE ERSE _ wr madeeasypubiations. oryMADE EASY 298 | Eecical Engineering Control Systems ____ Frequency Domain nayssofContelSystems | 299 Solution: Forsecond order system, Sim fe 205 Because occuence of maximum overshoot at peak time os om ea aoe as 5B 8 Beale ‘The parameters K and p are both greater than zero, | Determine the values of K and’ to satity the following frequency domain specifications: %, Resonant peak M, = 1.04 For sinusoidalinau, the frequency response isthe steady state response (output) Fears receney eyes eaet & ou “4 eS : sec eer lee fey ee 5 oo es Als) Oe ps cod = 10V1-2x0.5" =7.07 radisec ” Fateoste ‘And ts resonant peak, ee ane onconpare ti bake ot Se : | oe ‘Assertion (A): Al the systems which exhibit overshoot in vansient response ; vilascenttnomtcs peice Resonant peak, M, = == 104 ar == a reeset eee Crea | a seaman ge aR OS om Aan ae wo ard thc tation ot mono anthro wu bun uNOT noe A Wee true but Ris false | tavcmurhaes i pcre ete 3 emcees os fons carneneie [BERIDIIE arsiocnrone ofa second order aston wie boi wurtep input is found to have peak overshoot of 16.2 percent, ccuring at time (= seconds. ‘system eak overshoot are wel correlated. For §> Mp ps hoot lated, For §> J te resonant peak M, doos not exist anc the {is subjected to sinusoidal input of 1 vol, determine the frequency of input at which amplitude of steady, corelaton breaks down, problem asfrthisrange of, thestep response osilations state response will hava maximum value and the maximum value of steady state output. (eerie (eumodecapubatons org MADE ERS! econ9 © Control Systems 30 7 SRE Loo 10.6 Frequency Domain Analysis of Dead Time or Transportation Lag Elements Tete dla or anspor ag element haste rans tincton ghen by Ge) = 6” cial of above rarer tntonis Gia) = ar Gia) = 08 wT - jsinaT | Gtio)| = \oos? oT +a eT = 1 ]--se-taer-- orang radians = 160dogrees Po ‘nada = 12 ogee 57900 oTraciars = (573 aT) degrees Thus, Gio) « 6971-07 =12573x aT degrees) ence, the ime delay or wansporation lg elements provides only aphaselagof(-57.9 x07) dogress witout affecting the magnitude of te orignal system Condon fr minimum phase function P+ Naber pole FO), = {P2007 feomnee eal : _ Kiex2) © os ‘{s+5) Puts= jo, Glia) = Ales, Tet ofan are] a £8) = Satan Teray ON StS 260, = 80 + 80-90-20 o ie. minimum phase function and P=2,2=1, -{2~1]80=-90 i) MADE ERSU mapE (ERsY Freueny Doman AoassotConrlsntems | 304, "Non-Minimum Phase Function Ltimosir uncon shoud ben minimum phase hncton here ales! one polesorzeosinthe AHS of eplane, Concition fr non-minimum phase function ZFC), # AP 290° Example: = beh On ah LL Nona phase OLTE wi ny eedback eo (9) = KU-s) OO) Fe58) Ki ja) Puts=o, 2m) = Ale, £24) = -80-ter'a—tar 2Q\io), ,_. = -90- 90-90 =-270 o and P=2, 221 “12-1190 = -20 7 From equation () and 20 + -270 ie. non minimum phase function lepenlbo som isro-nnira assem en's G.Mand PM, should be negative. Kaprrrommeticn xt isossing, | tang = 2180" | (c) -50.73" Solution: (o) Phase ang 7 = traglece {eat -05erte= | 2 2) « tag 2 PY = 6073"MADE EASY Ezecinical Engineering # Control Systems 302 i sisi 10.7 Relative Stability: Gain Margin and Phase Margin Gain Margin “The gsin margins factor by which he gain ofa stable systomis allowed to increase belorethe system reaches tothe vergs of insta Gainmargin may alsobe: OM (48) = 209{ 2) Phase Margin The phase margins that amount of additonal phase lag (at the gain crossover frequency) which is required to bring the system tothe verge of instil ‘The Gain Crossover Frequency |, the magnitude ofthe open oop transfer function i unity. The Jeo! te open oop iranste function atthe gain crossover Mathematically at gain crossover frequency ag. [G4io) Hoy] = 1 (jo) Hja)| = 0(e68) it £600) Mi0l a, =# thenphasemargin, PM. = 180+ Stability Test 4+ Forstable systems |g.) MUia,)| <1 and ZG4in,.) Ht,.) >-180" eo tha, the gain margin decibet and phase margin both are postive, AsO 0, < Gye + Formarginaly stable syste | tage) Hinge) =1 7d ZOU) H(j,,) = 180° strat, the ga .docibe) and phase marginboth are equa 210.Als0 05. = ye + Forunstabesystems |G.) Ml@p)|> and 26tja,) Hla.) <-180" so tht, he gain mag (indocive) and phase marginboth are negative. 80 @5 > ye [ADE EAsy MADE EASY Frequency Domain Analysis of Control Sytems 2 ——__Freaueney Domain anatysisofContatsystems | 303, [tis imocrtantto note that hese margin of stality are vai or open loop stale systems ony A large gain margin or large phase margin indicates a very stabefeedoack system but usualy avery suggish ane. A .G.M. close to uty (or On decine) or a PM. close to ero corespandsto a highly oscilerysystom: Gain margin (G.M.) and phase margin (PM) ar requenty used frequency response specications ‘by designers. Usually a G.M. of about 6 dB or a PM. of 0-35" resus ina feasonaby good degree of relative stability. In most practical systems a good gain margin autersaticaly guarantees a good phase margin and vce- versa. However the cases where te spocticaons on one doesnot necessary stisly te che, so exsts t.should be noted that either the gan margin alone or the phase margin does not give a sufficient and Indication of the relative stably, Both should be given in he determination of relative stability For sable eystoms having two or more gain crossover frequencies, the phase margins measured atthe highest ain crossover frequency, Gain Margin and Phase Margin for Second Order Control System Consider the closeloop transfer unction, ow, 89 Saas jo) = oh ioljo+%o,) oF + j2E a, - a (90 - ot Foruniy feedback, ws £00) = 0-901" stphase crossover eaUery 26h) 0-100 (2 = ese ar) tanr*( See) = w(@5)- om. = 1 ovo? a wf a 7” [Ge .) rs ae atgancrossoverfemuancy og |otiaga) = 1 MADE EnSy‘galn of 20, The gain margin of the system is MADE EASY = one aa On sotving. 09e = Oy) -28 + YET PM. = 180+ 26) = 20-120" {ee PMatar 7 Pi = 160+ =t00" $= 100" $< a0" PM. = 180" +48 poeive PM. = 100°+ ize PM. = 180"+ $e negatve Traore ssa sta, | Tere, ysis ccaly | There ton uae EERIE 1p ici or poste reaver re apn op anal Tncion of aunty feedback contol sytem shown nthe gen tare jeatve ofthe gain crossover equena) pl touches the negative rea ax fr requency and hence the gain margin, MADE ERSY °MADE EASY] MADE EASY Feuer Domain aot Conresatems | 321 WEBER] We sais pit ta inoar onset le shawn ro bow Tgue] (@) GM > 0d and PMs Odegree (b) GM> 008 and PM <0 degree (©) GM < 048 and PM> 0 degree (8) GM<08 and PM <0 degree Sottion) co ‘Seco Gy < Wy,» Sytem unstable 208. loser the G\ja) locus come to encircling the | Atay, a<0 Gain 8), system response Nop Fake 80 con, a 10.13 Gain Phase Plot 2B ags < 180° Pu0 =» Close lop system is unstable Z=0. =>Close loop system is stab, 1 7 a Pil = Gis) a) = (2 1)(0-2), \ 622© Control Systems MADE ERSY ‘Stable opetation, il feedback is selected property 5. Nyquist Path In order to investigate the presence of any zr0 of Fis) = 1 i ++ G(s) H.shnine righthal of span, letus select eich entirely encloses the right half of sp ‘contours calle the Nyquist contour, shown in ‘comprises of four sections SS, Sand S,. Were, rz Si = jowith varying m0 to =i. 5 epresents ‘the polar plot otha transfortunction si Se 8 Jin, Roh wn 0 varying tom + to —F bromndte.itheinint conor oveng morta ara 5s fawn avarg fom = 008.5 regresets he mers pol plo he rant ‘into. Inotertomap S, dew he mariage of lar ot wrt he elas wth te evrl of decton ‘neler ac, shoe Figret0.15 8% jm, Re win ovaryingtom—# 0 trougho Le. 6, camps the cota Estercbsing ecg. ‘Thus by mapping SS 8, and Sone Dy one, compet Nya ath can be waced. Focexampl, ‘0 OUF = 9M) = Eee ra Tomap s.: .?—w mi) MADE EASY FrequencyDomainAnalsisofContal stems | 327 Tomas uting 8 = m_ Re ie. magntude ot sis vr high as compares to ana 4 $0, Fa eae ih Ovaning tom +3 to E oa = Glo) His) ~ zer0 Re Tomep 5 Inverse polar plot. miro: imaze ofpolar plot withthe reversal of rection. “+” ln)pOlar pol (whale mapping S;) erecion ol aron heads was fom Gali towards inverse polar pot (while mapping S,) drecton of arrowheads has been Putting 6 = jim, Ra” is. magnitude of ss vey small as compared to 2 and 4 re $0, Glo) ~ = 1.25 Ba tise MAGE ERSU328 | & inering _# Control Systems MADE EASY (On mapping S,, S$, and 8, al aatime, the required Nyquist pat can be aced. on Now. forgiven, OFF = BAH Peo ‘nd from Nyaust path having ~1 + 0 eric point, Neo 80, NePz Ono-z = Z=0 Hence, system i stable, ‘+ In Nyquist pot the variable is both positive as well as negative frequency along with that incase CofNyqus plot entre splaneis variable while in case of Bode plotthe variable is postive requency linet spane + Incase of Nyquist plots defined both absolute stably as wel as relative stably While Bode lot define only relatve stabity. Limitation of Gain Margin (G..) ‘+ _Forfinte gain margin, Nyquist plot shou interact negative eal exis. ‘+ tfany plots not intersecting negative rel ax in hat case phase cross over frequency will at ‘ist and GM. inthis case wil be either += (1) eit will depend on absolute stability ofthe system, Limitation of Phase Margin (Pi) ‘+ Forfinte PM. Nyquist plot should imersect unit eet. ‘+ ttany plots notintersecting and PM. willbe + or = + ttgain eross over frequency (9, is ether (agin cross-over frequency and Nya) Will dopond on abeolute stability ofthe system. Conditionally Stable Systems In conditionally stable system more than one phase cross over frequency (a), hus f Nyquist plot intersect ‘negative real axis mare than one times that system wil be conaltionaly st stable system G.M, is indefine and stability wil be detin only stabilty and fr close loop system to be stable z, = 0, In most othe case, numberof open loop zeros wil be equal to numberof phase cross-over requency. MADE EASY eoyrahe MADE ERSy ro adeaspubletns swine oamantoaynseconvalsyins | 329 Sa Explain Gain margin and Phase margin from Nyquist diagram: Gain margin rom Nyquist diagram: ae + Gain margins tn actor by wricn ne sytem gain ‘can be Increased to dive it tothe verge of insta + From the Nyauitaiagram, the gain margin may be define a the recirocal ofthe frequency at which ne phase engi Tha requency at whic he phase angi 18 calle phase crossover requencyo,. Inne dagram, we have, GM = tk Whore * Phase margin from Nyquist diagram: Phase margin is defined as the amount of adel 1uency requredto bring the system tthe verge ofinstt iagram. @,, is the gain crossover frequency. at which |G(/a) Hj Phase-1a9 9 cing ho sysam tothe verge of insta ical the phase margin, Thus, PM = 1 = 20g Kis postve, ‘and fk < 1 = 200g Kis negative 2. Zeros or poles at otigin jn)" [Le. derivative or Integral factors] Fle) = (ia) of spe te Where, = Naber of zeros pols hng torn [Fos te Magnitude, |F(j)| = a SS MADE EASY Frequency DomaindnaiyssofContelsystems | 343 [FO jap = 420og 0 = Magytvde = %) Figure 10.17: Bodeplter eter es ‘=| _Allthe curves shown above indicae thal the magniuds Gontibuion oldervalliour Integra factor terms (ja)*¥'6 0 dB ato = 1 ‘The term (0 governs the nial slope fo the bode (magnitude) clotof @vanster function, On loganthmic scale 8 decade means 8 rato of 10, Sometimes the tom octave is ‘used to representatreio ot Zon logarimic scale. The relation betwoon octave and decade can be obtained as Octave m2 Decade ~ tog), 10 ee = (Octave = 09070 Decae) ‘Thus a slope of +20N a8/decade is equivalent to 26N oBloctave 3. First Order Zeros or Poles (1 + jo" FU) = (1 = jor Magne, ia = [For |Flie) |.@ = £2009 y%+ (or? As this Is not nthe form of ogi, we have to take the asymptotic approximation, eax344 | Eesreal Engineering Control systems MADE EASY Case 1: At very low frequencies, Ocarect £20109 /1+(@T? = 22009 V1 = 008 magnitude curve at low frequencies is @ constant 0 di line. oreo s200qfiv(er = 22009 faTF =2200g07 = 420090120697 compan voweee Sone, sa 220 Bde or 6 dBlecteve) “Thus, the logarithmic representation othe frequency response curve of the factor (1 = jo7)** can be anproximated by two (straight nes) asyrnptotes, One is at 0 dB fr the frequency range O 0, 8 0, phase margins 70.71, nd ihe relation between aand kK ier ® 20sec .10 The open loop transfer function of a unily 10 feedback systemie G(s) = ‘The phase feadoack system's Gle)= 32°55, The ‘margin (PM) ofthe systems inthe range! Oto degree. = a MADE EASY fits donan tayaotcontaisatims | 359 fon of Bode magnitude Find the stoady stat oor forthe given systrnit ‘unt step input is applied (0.17 The ransier incon ca compensatris ven by Gi) 4 goed 2 Find the maximum phase eit provided by such ‘compensator. 0.18 The open loop transfer function of a unity H6(=)¢ SE*ZONE9 ten ro vane of food at 518+25) 88) SENET is = Find the value o for which the gain margin ie 40.08 irclements of -1,0)in system having s)Ma) = 88+3)(s? +849 0.20 Findthe ranster function of the given Bode pot Find the steady sate er6r valve fora step input oft, ) = 0.25 2160, deterine the gan margin Fin tho corect shape (0.21 Findite ransertuncton of te Bode-pot shown in te figure