Controls Systems Notes (l5EC43) httlss : //pe ce sv it. bl o g sp ot.

i ni

E
l"tod.rte- rt :- |-ves 4er>crl
-^-rrk--l rr\
ocraoir': A-,"1 SLabi U"bl
iA. - v^^/\.r^#
^i-

Qe4ioo-Licrr2 .*

r+ dc,F;oea
1,, a+ hae /bbeod?
"FJH5ryU#b t by*t<:rr'
"r"4
&.l.e to o- Sftgo:'-*\
/t tote
Ye.'sfr>ae *
i.r p,,ft,
J\.1i4*

OY

ra5 of fud?-tr
* The- Str}fut farrtrbior:- t-rl'Y'b

' o uslttb ib ,r>ir:u'ao''1{ }n* i*

--.-.--*:-
[(tPut
bon.lc.itd ie<ttrts
/5tbor.t&rtd r - \A/V\.#

t4oocoo aA -ftreaue3
re-,gPonae *#
Ya..4Por.)ae- Orrcl-LH*fa'
v

fl++e- rnqgoitude
I'l,
i,saor
plto,sc-
oqgte-
r[t) = sirr(col+ o) -L'lftoene Ytt) = hS;.t lcot+ {)
tf Congide-r q- (f.te-o-r &,6AUerc>, creiHD o- &fou.goi&l fr>ff
yct) = sfrr Ctot + o)
* tba &[email protected])/ c'Ditt be- cr
-The ,btea4g -4rcrYe- elu-Tr't of
o9', bt-ct Po,^6ibb
s,r--*.soicr c-^sittt tttc- ior--o
f-o1'*Lq3
tr:;th dibk"*ent ornPUft^'le. t fi) a'.,cl phoae- '!: tr'at il
-#4/*

$ct) = R s?n (c^rt + $)

Note
time. ae-afoz'*e
gn| ituAe' h o*.Vev"fable lerrn
I-1l" '*f
bl In *rnwer,g Ye.s7ase bo*b nro7rifude o-nd Tloaee-'
aae Y ari able t et m,g-
Prush*nth N,Asst ProJ, Dept of EEE, Stii l/itlyn Institute o/'Tecfuitologl:, Rajunukunte, Bungdorc
 e
Controls Systems Notes (l5EC43) https : //pe c e sv it. blo gsp ot. in/

* I+ tbe- Sutpuf yt-,a.u- Wle tr> poai Hve it I k

I
leo,.af3 c^9 iLl" YeTe-ef tx1 t.2 eut oh,r'ch
o
rla CotLaJ aA'
I
a¤le.
teodfqg
ia
* T+ thc- srrTtrt 3haae, G-n5 Le- i * rreSc!-kfve il
t.alf:l crl;th Yaafc-t {P i'ap'rt urS lr-r'cFr rla C-o-ttc'ol aa
tqaSr3 ogte.
o-tulaSfl
tst i g
onat6 ;tib
)k -Lrt*-A,*ry Ye,sFG '>b1
uttt."-'.oo- '
i'rr, a Vqtrbbtq
vaptor-ec\ t, t,"' f-'t1'ot 2
t g6 c t'o '
tetrn, htbere-
t Ci) i* Vorie.s +?rct-.D O)

Eac".ropb:-
ir'\r\--J- ^

e, G t=on.t[ez func-h'otl -},

ConeicLe-rr
usbeza ti4- i':ptrt
ia gtve'r b3 I eo.e Er* tsJ 4i.rg trra ,-bbcsdd
^vs-le-
*rPf.

lo 4
\tveCI "
TF = '
s+a
feyb-ee- S U3 Jtrt
Nofe : e+lb =f,ffi2'
Wn
lo LftaXn; tude
lo
.i t^r+a tf+a- a+ jb -- ton-'+
J
( Phatz Lerrn)
lo t- ton-tt+)
--¤
Jffi o
* $ fver: ir:yut- 2 Co,r Ea o ,dJ l'a
tr'e- $vrn tlr
* cs.s Ccr:c t + )
:F B13 Csrrr pcrzfg il-'o- Qlven ircput r.oitl' ,a t-andard
te.rrt: (rle- [4rrotrl t]-ot 6(r)=e"
Prasltunlh N, Asst Prof, Dept of EEE, Soi Vidya Institute of Technotogy, Rujanukunte, Bongalore

t
(
3
Controls Systems Notes (ISEC43)
Itttp s : //p e c e s v it. b I o g sp ot. i n/

Bg eub,gtihrh'r5 t(-te vo,Uro- i.r t le

to l- uo"-'t+)
=-
Jt+*
to o
l-l+
I
5
Je
-
? tobczt+ 15) 1\f¤ coa 1""-sfl
t-

* fro.-t *te- fnpr-tF anal

Obou.a Pfru". . rJe- F" rf ot,.,1o t*reb

ot-tbgub of brnc_ .Ar6atern a-re- ,2-arne- (t coo') , t-.:he.re- ^6

rnogni ttrAc. ( z{'-- i/P ancl +{a- +*'7f) *nd ghaa e-

(r s""9',- 3; +,'{ "lp) aYe &}l,erent

i/f o.-l -

2, h ,,6Xar"r'> dibb tranafev f- unc-tr'crr1 y(t) = +s +P ha* &ru

Kcs)
Subput gcr) = Ce,: fzt - 9, ) +*- Lhe- f ny-t ,tt'dr'*l
)cct) = Pco.&(2t-ir), tbeD A)e-- A 6*Ve.o lararn e tev
P TA.

*,@
fnp.h:cct)= pcoa(zt - oubpuj !Jcr) coa Qt - g)

tF B.fl... s bg jr,S fo {be- 5fve.,,2r t}"*n.tfier- f-trneFi.rn.

/Cit^r) JtJ u)
XCjr^r) JdtP JbFi-tL' Lt"{:lF)
-uJ
=)-
J,ffi,"
t-_.,_=J L-#
--+6
naqni tt de-tetr," Phoae- F.rro
Proshanth N, Asst Prof, Dept of EEE, Sui Vitlya Inslitute of Technology, Rojonuhunte, Bangalore

r-
 tr
Controls Systems Notes (15EC43) h ttp s : //p e c e sv it. b I o g sp ot. i n/

* H.teu'ne- +>e- .Bbeo.413 -;u.Jie- g,rfub Jcrz o- gfverc iop,rt

o-E
F P cDA et -+ + S) --+@

n-*o*"- l'
C"HT-ffi+ I)aoae--'
rt o
a)
* Bq Csropc.v!3 u-, e- 5 iv e rr g*byub u9 i+b &1.^oF,
-, I

sl. 16 .t -ri-
FP=r _ Tf
4 V+ + =i
fr=+ q +--bo+1o
.o_-+
61O

9= 3D

mo3nibrde'- ' Pho.r,e--

* BJ -,-f r13 r-nagoih,d'e Lezrr:L *'h'^*u'"crrr 0 "d

l, tr]=P'
P -=L??+p-
f Ti*o":3 Altro.a Bo both sider'
I
= '\tr+P"
r-
= \P-
')-
t{+F-
3P =\
, z
oL = t-l

P= .?' -"@
J"
fF Bq O o'nd @
Jl G.rrpo.r iag qla*e fet..n'g + Qt^oFic-z

9o- tnn-'t+) = 3i ur=P'

.
to,n-lf'tF)
2\ o
io-3o
o
=
b^'-' t?) = 6o'

Prasltanth N, Asst Prof, Dept of EEE, Sai Vidyo Irtstitute of Technotogy, Rujanukunte, Bnngolore

i
 5
Controls Systems Notes (l5EC43) Itttps ://p ece svit. bl o g sp ot. i n/

_e
P
at
-Lla
\i 5
o
-7I

,? Fzo.o Squot-i.rrr- G o., @ c..ga BnoLo tt-c.*

f= \G
4

Prushantlr N, Asst Prof, Dept of EEE, Sai Virtya Institute of Technotogy, Rujunukunte, Bangulore
 6
Controls Systems Notes (l5EC43) http s ://p e c e sv it. b I o g sp o t. i n/

]t:ys=I%:f
ttT+
l::ggtTrffit:1m
*rr-nxprft"ncli.rn_ r'a &|fiicutL to be EUt:-P,aad b2
O-"tJficaf rte*r'>d+, fl-e- {-ut*o-tg fe-!foo6e- + th-bte-.
9f- ["op Agzter.> Ca',2 b¤- &UUa,Poeol Secfezirr"en \p'I15.
a, Fra*ry -r-e,Lfoiee- Ve*E* o?re- t=f,-ft: 4'' Tetls7ra'
gUtofotc,\ {---t {o"1u"n.11
O/ Tranalez ftr.rcle'ao Cso be-
o; Lac.- XgsU<r-t.
rr>et+zod'g CgD be u5*rl t- +"r*t S:e-
)) F:rn*.-'3 rt-eafDbe- bDe- LZEtcrn '
,l!sb tL' 'b
Ob'aol,trte AS glelt ct4 rels-Live' +
5)The. Off-.*uzeltri-erL 'f--t Bbteini'r3 {rt1uu,l5 rtr
is &inopte Ono[ &^5 to u*'e'

W co!$ ls -fafrtY ti"-'o

r! Olatof,rll3 t-e+* nry ::re'lTol-'le'-
|ro-ctr
C-onaurot .J
A' aT-,ebe ra-:e-tl:oJg O're o1tf t"d
ho [f'.uo.r 'b63Uetl>r ontg '
r-e,r5>onee- rneLhod
sy hr L-bt- bitoe- C"oo,sLaot *.o1o"r-g
r'rq" noL Convenferab.

Praslranth N, Asst Prof, Dept of EEE, Sui Virtyo Institute of Technology, Rajunukunte, Bangulore
 -

+
Controls Systems Notes (I5EC43) h ttps : //p e c e sv it. b I o g sp o t. i n/

9csl*cs)
Hr

r.o (a_b)

O.?oT Bandroidur[eat)
(3dt2) l
I
I

I
I

u)t u)c
1?r::* st:s= * *:-t=*=: k='tre*
+ Coraar'ete7 a c-to.te-ct [o />6Ye:r> .Bbotoo ?o tF,e {r6ure bJot.o'

9ct)

CtoBeA
+ - --tooP Ag.sbern-
r-^F#

b)e- 6noq9 thoL , ttse cto,scd, - toop tlon'tfe't functs''ctn- t; 5 iv etr-

bs,
ccs) 9c")
= Ptt9
R cs) l+ qcs)HCs)

Loe- 3e+
* Pt t *s = i to io &1.,o.h'er> 6

9 C.it^l)
H titt) =
I+ q Cit^,) n[ju)

Prushonth N, Asst Prof, Dept of EEE, Sai Vidyo ltrstitute of Technology, Rt$unukunte, Bangulore

I
 g
Controls Systems No.tes (I5EC43) https : //p ec e svit. b I o gsp ot. in/

"t::1 ffi:j Cu')

The- rnQarr'rot^rD woLua- o.1l
t
lt4 1j t^r)' q-'s t t^)? Verrr'ecl t'a K.,otott-

o.b f{ eaonc.nl P"a-lb tt") .

tri"ly of bu LLoad*leo7'LyLern Coo

W
be, fndiaa n6 t'4'' Tt f iaLonu' :':::t,,:," ::-!;
t"4-
;r;:;; su.'L,* in o 'tLET
rs*foo&e' 1**'5 ' "k
tc,reer) l. I o-od l'5'

b) Bse:g3g t:Ytysg33'-' tur')

a.t bhich ?uo*f )G-Ao.ar'.t l"lt' 91cuY&
t* Koot.sr1
T7ne t-a*rfr
al' y4ro.oJ. &"t**3 ttnlr).
C) Bo.r*t us,blkh LB\^t)
.^,h,.cf, t*re- rrrryloittrde +n'lLit^r)d-v"p*
b?
ffi ob
le-ve-I, lleoe-rartL5 Ocl'B
3a &e fo-,o'J o- Co.*t.o?o e;oeo,lre'1
I gvel t'r., tl no t-oo q'A IDo't'EL uo tcLt6'
ctt'
:
le an4f6ce o"! t!'o- b"t-f * -f.rtq-u-a-t-tAt'e-g
-I1a- bcrrreloorct1.h
tgi.'g be-ttae-e,1 -3db gof'a{-B.
&, Cut - of p xafe ;
l.s'-t-t*t--1-""- daa: *t>e a'tt-+?'
*"- ffitba
r, ^^..1 o.r c^rt- tf* ro-Le-'
r L a?D -r-ol--e-

+D Ja,bing'r.,-r-, o- &.6n 1

*tr_':*'T:;be-rD
oofae- qan be- cle.Lerrrrrlr-u-"1 b5
Crrt-ofg rcLe'

e, ft3%05{:g:?',
a-b 6hich
o
f,s uni! tl,+ l4nour>
'IGze-
fvo1.'^"-,qg' ag.' E*-
a,b 9Jo
o Cz'o&S Sv"z !:a"nt^crY '
lqcs>Hcslf
ccaJo)

d
Proshonth N, Asst Prof, Dept of EEE, Soi Vidya Institute of Technology, Roiunukunte, Bangalore
 I
Controls Svstems Notes (I5EC43) h ttp s : //p e c e s v it. b I o g sp o t. i n/

t, PV"*=
r-l\. -\^
Cvong Sver-F-"X,rcnqg.
v\/\. \ .i h/\r-\^/\rr.*
^

JEe- &.nuc., g'ufJ q-t t-.:bfch Llze- Tlnaae bC. o I tlee-

trrelna[ev-ftrn.h'orry t'A - l EOo f Fr L4ootoo 6.h T?1aae- Ctro'l* FveW

f-ua,^o-,93 o
tf lgc$)t+cs)
"'.
o
-180

9, 8-.'t
9*
Hara i.-
aazg{-

Th@- ct ts fbo+e- Cz-o**' sve-z

{rcsy-c"1,
t (^t'"' t"g l4ootroe'>
6o.lo
o.>s
tdo n:tr.r-gln crncl iF fa C-o.lcl-trit e-el b5

Q11 =
lg ciur; r(iut) I

QtY= 2o ts I
i.-, ag
lQ Cjwlttcit^91
at trt = tdpc,

A A
i.s eolclUaled o-b pl'ra'se' L{a*
rroo15 Fn
$Vet f-.n*a.,q1
5u'1
bg 91uo+i'3 Phaoe to - | 80'
hlk*ggla t'etg at
tr'a OrnouoL of cu't-cb'h'ot:al prra'rc-
-oI3 fn,
Pt"o..aa ra
t ts.' Gnel- ib f6 Sfve', b13
bre, 6aio cr-oezE Bver {ve-ltrenc3
Prq= lgo * lq(i'')Htih')
of 1r1=' Ugc,
Pt-ra.*e rrr azglo fa @lq.ltr-tobect o-t 3o'flo c6o'A over freluenS
bS F1lc'-ffr,7- $aio +o ,r,t't.

Prasltanth N, Asst Pro.f, Dept of EEE, Sai Vittya Institute of Technologt, Rojonukunte, Bangnlore

I
 rO
Controls Systems Notes (15EC43) https : //p ec esvit. b I o g sp ot. in/

Correrohirry $ot,rea-, r /\
a{,o- r
Ar>ct I t-e.-\e.r1u)
\. i^r-*r\/ r^'l- ^ '

Core*,i&r tl>e gecoool O-Cez S6,abem.

sfs+ B Qtro)

ST&<
The cLope,d Loog *-ona[ev funcHcrz x- - '%e:-'o'>ef
/oEAt ra,E) ro,+ bg.
Bftlr:
LJ,,L
cc5) --+ o
L
E cs) .E+ ? Qu' S *ulpL
)F Pct s =j,.J i., 81t o.tf.rr, O 2--
rth (rJn
\!f)
CCioo)
ft cjt^t; (i^)-+ LQdn tit^r) +ul} -bJ"-+ e quln id i (^lnl
L
C Ci o.t) urn

K Ciu) -(rfr -,,ft +iaQLr.,ur ->@

* B5 rn,rr+ytJr_g ooel dfw,c$-.5 .r:o"-9- ga''^rr'-o o c.rc- gc-t .

c Ciur)
:
Rtju;
[ *";+j?-q*-
* Let J^J- - tr- Noteio-+iu=J"'+F
';;r Letm)
t^Jn Lmqrul-do
' ccir^r) a+ib = ton-t +
+ JZt(tt (-?l-ae tc-m)
#

R tiu)
cGo)
l'{aq--,'tud.¤- *c-v;9
|
l- --+@
v-4--*-*- */\- l-
R trr^o)l @
Phq.e- \/,\.-A
\i^.^J*
Le.:.r-t
jr - tan-t -zQtr d
t- Ft2- = | -*@
Prasltuntlt N, Asst Prof, Dept of EEE, Sai Vidya Institute of Technology, Rujanukunte, Bangulore
 Controls Systems Notes (15EC43) h ttp s : //p e c e s v it. b I o g sp ot. i n/

The.- ,stoetg - abal-e- BSut { the- LfrT fo. a_ -eir:teaoida-1.

iopt ? $ tr.u? rna3oituae Ond !q"ri^f'le- f-e1*o.1116 trJ)r'Fr3fven
bs.
I r- -r r L¤,tLJ
Ctt)=:
- s;o[-t'rt-ton' :::
r-'LL/
Jo-*r* c'qq)- L l-*:J I

e,e'oo fn -t112- {xn + Cu)=1! )fn(wt +3)

ahe a-bouz
+J phi."
to.s

mya'+uAz
Lerr> | etfi

* frq) Q,'ot|n t @ ond' @ uoe !ln',''o *t''ot

i+ r,-,=o N=t o-n& + =oo
tt=t M=J-
- ze, ancl +='1oo
c[=@ l''l=o O'ncl + ='Tf

{r The rn7ni*urle Ond yL"zr.*z Aflb Ltnat*-tett'61-t^cSb +*

Ce-k Po votrrl-- Q t"k *;-,otory 9.z- trr^e.- -ftb*-. betouo '

+
a'+o:t)
o
"[9t o

+
d(la
o
-t c- jo
s d I

e d I

t"
.S I
g
t
I
t
s. I
I
o
s-l 8o
I

Qa
= atl,rs,., d;t Normorr';d {rnn*Z (c,g
?
*' -T[re- *rryrc:y at t.sb.e-lac Mo ["o,t rt)o,x-l'rr:rrrrt vculu{- l,+ F,ootclt>
o*5 ye../sorr.ot ¤-qwen% ' (rJr'.
tr-r= g
uJo
c-)bere- t).1 = nor,nxrltle& teaor:nnt tr:e1n"*rr4"
Prashanth N, Asst Prof, Dept of EEE, Sai Virtya Instilute of Technology, Rujanukunte, Bangalore

i
 ta
controls sjstems Notes (I5EC43) http s : //p e c e svit. b I o g sp o t. i n/

* Bj cL'&5c"enh.a:!55 \,'ah'vn @ ulilrr **yer* lo tL and ptrbtr=

aod |auo+e to $e-t-o
.

{Yrl :o'
s. l..=..-
ie#ffi=o
*- 8.1,^tion @ ia< [r: *rre 4t-tll - I Cqo be usrritterr-
J;4F
ob Ld+ *f/-
-3/"
t?
* Diglere6trbh'orr $ Lo-'+ tr'/- -t_
J_
(ot-r u)

d-t'1 | =-+F,-¤)**o,-tlfk('-*)'ea9+ "d=o

* Theze*'e. 6-1..=*, r

L",v)f;Lu-' +qd + 8'"E1 = "

HI t[1=[l,z
= -*[t,-u")?
-
Cor? Ete
b(L tr:"r-ibtqr a'9
Y ftbove 8.1t^o'h"r4

sl =-+#
cLtr I
ti= (tz.
9+ eu-q
il1-Caeu")'
-_o

i"e., Lt qr - Etrrqt-h *"3: o

tsJ h*f::thtrJ Corrrrnotr-

r+ur('-af -t^* ) =o
t.e t-tr Cr - a Fr-- ura) =o

t-BQ - (l'u-: 6
2- .!

fr tj+to.< (la-=o 66
(r)e c U^,at (Ir- = Ldv
*- Koot 6-

Prusltunth N, Asst Prof, Dept of EEE, Sai Vittyu Institute of Technology, Rujanukunte, Bungulore
 13
-
Controls Systems Notes ( l5EC43) https : //p ec e sv it. b I og sp ot. i n/

&dt (-oo.si&r ttz,e- *etrrt

t-?qLu| =o
,ti^2-= I - Pq
r.Q , Iuv=J
'c:-':-:,--i
r-aq- ,i

u3e 6oot-rl +t-'o-t

g-
t Jrt
-?q-
uJ(?
j,

: _:ffi -::t
f* givert 0+i
:

;i
I
t
t

E-TOIT) pho;'e.- te-r:rrt

I
fu.ro.+-t'rttr @

+.:
P.rf

'I{ A
ffiI-EE-
dIy- - Lon-l ?'q
*"¤
6=
lY
ts,r-l
E

huve rn 49r, i tude te-rrn

Fvorn 81uolfo., @ l(ne-
I
I

Mr= HCi,,r) | =
II tJ =U-f,

Pqf (lz-

Pruslranth N, Asst Prof, Dept of EEE, Sai Vidya Institute of Technology,, Rajonukunte, Bungalore
 Irl
Controls Systems Notes (I5EC43) http s : //p e c e sv il. b I o g spo t. i n/

Mrr :
r{ (rfrq-=)'q-

-1

J h q--.t q\

l- q*

lnr =
I

eE l-tr" -2@
-ffre furu**icrvz- +tu Ye*omc.nt ?eLF- t'k Trev
en
v
aa It-

eEJJ-E-

oj q' o77$-"*
{( F'oro tl"alio n> @ ^at'd @. iL 6i.s Aeet> thot
s3erro, a? oyy@
t torr' o..'d
o l'1tt o-ppro-..;es ioff.t"Lg '
o-Lt'rsaX's hag
.:r For o < ?f a tl{¤, *tre- re'sona'nt ¤-"X*?
Flog o-
a- Va!^o- lea tho'n'Lgrt' Ond E>e feronanL P".a*
Va-tu-o- t#aD l.
E-"tj.t

Prusltunth N, Asst Prof, Dept of EEE, Sai Vidya Institute of Technology, Rajanukunte, Bangalore
 -l

t5
Controls Systems Notes (I5EC43) http s : //p e c e sv it. b I o g sp o t. i n/

* -TIre b*rlwtdfl'L t'& alao d:r1efrled dA L?'e- :r-aq3e- "1r

o ..$ gver cDh,'.hslY o f* &L,. ul 9r ffrattet ti¤.rL
Jrquer)cle
'ftT -
* F<orn Sa.rafi.rn @ u9a- hnanthof l'o
,t''l -- -i )
Bqndc^tf&h^d
li lr
* Let ub = r.l-rrqqecr bondtrei{th = then u)6' (o
T*

t+trf, -"&t + q q*ufr - a

6T
*bh - ?-Lf+,rqouf -t =o
66 ubq -a,fQ-aE*)-t =o

P,rf (abt=r oJe- $tt

t zL Cr-aq")-l =o ->@

, -- I t-' La-c
LJL-e6e T =

f) 6 ^.\- - fri\ cli nltt c''9e- F,rtot^c tt-at

Bs ornporrrri3
c &1,ro'tr'crz- @ ^'r.fr- @
Q= t, b---ecl-eqt) , C=-l',
Prashnnth N, Asst Prof, Dept of EEE, Sui Vidyu Institute of Technology, Rajanukunte, Bangulore
 t6
Controls Systems Notes (I5EC43) https ://pec e sv it. b I o gspot.i n/

1.2, I. -ea0 -2e,")) 1

=
P, CI)

+? Cr-RE")!

ecr - eq') 3
B
at-ae,') t

R,Cr- aE-) f {f

x= C-eq,") t
u9. 16. b e-= ub2-
Bg C-roo,side-?-q- P"<t"Fv5 P":
.'. = I -eq- -F J ? -qEt+q qtt
";:
t.e b= Ne"rtn l/'A.A
e- h Q?q qr loa.rd.*lidth.

But Lb = tCt
uJq

.'. ub = % Uh = Jencru-rno-ftreel bc.nd c.grdth.

Qb= Uln r-eq'+ffi

Prashontlt N, Asst Prof, Depl of EEE, Sui Vitlyu Itrstitute of Technology, Rajanukunte, Bangalore
 t+
Controls Systems Notes (l5EC43) h tt ps : //p e c e sv i t. b I o g sp ot. i n/

t'/r Ztt o'bJ

tY Ea.yvz"'*i.-r- +t" Te,l*rro-rrL -f-""1,*e%
(r)5 = tr)n 1r - aQa)
(,rz-o:?v .-fert
at, aT>e- phc.aa on5)e- ++ tjtr) cut L+'e- M
@ f'k
&nreril-V (I7 I bt-aPrte-'\ {--.,t %.*h'.-
Viv e.r>-
la

i:* Sivenlt7
3, Er-V-o-++ior:-- -f-"t Lhe- r,-e.a,rton! Y*u
i r--
l1o =
e E J | -E'

\, Ex-Pq-eraitt'r- D orroo.t-rq eel Fao",cf

uorclLh llr 3iv
en b3
t_

b-5
5, Ez-yooo+iorl- -fcrr Ae-nsrn.-f.!er-l [ac.-..'dtorel Fn fA.;fven

db = Ldpl I - e q"iF,. q'+q q'{

P.I.O

Prashuntlr N, lssr Prof, Dept of EEE, Sai Vidya Institute of Technology, Rajunukunte, Bangalore
,rF-
la
Controls Systems Notes (15EC4 ) h ttp s : i/p e c e sv it. b I o g sp ot. i n/

6, Mo-fto G.IcuJ.aa'^aug
9dn
t-pq4D*.-#" t'c'rl r''s g r'v e-r.,r' by
I

Bc !ogF-
u
9H=
lQc.iH) *Cjnr)l
cr_t UJ =
df"
p...oce,&-oe l-
\,A...\.A../\AAa\
al gl.aae- Ct-o*t ¤V@-*f
s_!gl' tr*", roo-6fn r"* Ca.lcr -Lq.t-e.J
o

*'u1**d b5 q'-'ff\ Yhaae-

4E lao

Co-lcrrlale- 3c'f't o-t oO = trlp c-

1l"ggi
f3ffi't' fl.r- Lo'o,'e- {*-*L+ 6ive*' ?c."!4 '4o-ffu'
.*;e- fn ar-3in Co'-t ct'tcl-t-" st) L '

Eaynv>+icr-z- f * 3t'von- b5 '

rtCjr"t)
Pr"t= l80 + lQcjr'r)
I*= dr.
DI ?oLeJtj,LTe
I '
;-

i* CaLcrlla*e-tl o-t gafoc-"'1a tlvef,

%t '- tho"se-- rnor-6P^
gJ,,r -t-- ti*\.

at U9 : NJ'
.9bcpe'- Cp,lu'^tcte yhnae-
#

Styz'" Tt- yl'.aae nna"r6?n'

r.l*
aber,^o +"6-rrlA Uivex

Prasltunllr N, Asst Prof, Dept of EEE, Sui Vidya trnstitute of Technology, Rajunukurfte, Bangulore
 lq
Co ntrol s S.ls/erzas N otes ( I 5 EC4 3) Irttp s : //p e c e sv it. b I o g sp o t. i n/

?--ob le,rn * Ort 1-*wer'1'9

( t\Ar^v\.^lL
J' otn''{'o l-p*.b?o^tr'c'r *' ."''
\- ,.^../\.^* - rr, - ''^'a''A"^ #

f y tha- +"*.^ror;d f6.'*n, -t-er., %u- &*h'""- c+o- t'toil3 +"edl"orrl

Co,atrol &g*ve:n r'lL ?iv
on b5
loo
qc$--4+6.6
ond
F.rd *t^ra Ye/Ec,r,a rue- ?*'ot xe-hctno-n{- 4-"1*0"*J
X6a\an '
bo,"dc,grdtFr o+ +l-r-- LLI'*A too|

s; i
U
gfvrn Gcs)
' = t9o a t Hcs)=t
ststb.sq)

LJe hrtoto th.at ++12- C LT F f x fl-fvcH b.-t

cls)
.-4=
qc")
Rts) t+ht$ L+ts)
loo
loo
= S2+ l"-}q9 St-+;I--gIl¤-
L g'5t{s -Ftoo
oo
t+. I ¤+
{-6.5q s s}Ls#
""
ccs) loo
Bct .*+ 6.Fhs+too
-+O
By G.rrpo-?ng &r.,ah'croQ
(r9ibt^ ' Ataod.A-fd {t'nc "

rlL
tNn

sot 2-qdas+ il*

h9e hqvo
hg.o

t.la = rl loo
tJ6 : to 'racl/ Eec-
Proshutrtitl\]ls.rf ProJ, Dept oJ'ElEE, Sui Vidyu lnstitute of Technoiog3,, Rc.,iutzukunle, Bangolore
 ?o
Controls Systems Notes (I5EC43) h ttps : //p e c e s v it. b I o g sp ot. i n/

z Qhn = 6.5\
L q ro

q .F

LO

q = 0-3L+

+ u*on-ot't
R:-'\,'^"-A' w
\".1t n' rj I -?,q -

= lo rF o' 8g'6t
rl
b*
t^lr = g- ebb -o.Jl

Yn z'+on o-re I
J^-/'v'\'^-

l"lt
l-q- e f-o 3 a+) I - tD.3Lf

Mr = l.tt8
Eondt,gidtb'--
ar=hJ,
= lO* t- B[o
g""f+fa-q to'3:-t)L1 q Lo'3?t

= to* l- a Lo- sz+)-+ l' 2+2o l

Wb = lq.3ll Yod/ 3e-e

Prushsttllt N, Asst Prof, Dept of EEE, Sai Vidyu lttstilute of Technology, Rr$anukunte, Bongalore
 ar
Controls Systems Notes (15EC4j) https ://p ec e sv it. b I o gs p ot. ird

?, #-z- t-rnn*-r-1 dornafn ,Lyu-t'fiulh'crrr.s .f---"-

De*ctr.t?n<-
@econd - Brdev f,V*ua uei+h U-ni! *e-abat*t o-n-d
Q csl = ,rt/ECs+6X

L>5
-r-\r^,-.r^.,\ Giu.n
Sotrrt-rcrrri
\^-zv\-^,,\ G csl
I
1--
) FtC9= I

0
4"-" SCg+g)
SCE+.

* t'$e ,,no(D tl.'tu+ thz' C LTF r"rr Vf re'w L"'t

ccrD q c)
Bts) l+qcs)*cs) >L5
229 c
i+6{
= - '*+as
I+ >Ls
::--.1 f+ 6s + >25
s1+ as

. C c^s) L>S
hts) s2+ e9* LLg

+ 8t f'xy fu'*b't'r'- O c.^si|t^ Ut , ,

r^lehav

",-f- sa+>q^tos *H.'L

ar"i = z2-5
No =.,1 z>s
t,Jn

? 1,"t., = E
16t
t
Ct --
2-t^lr^: 2-d \ 5
--

q -- o'a

Prasltttnth N, Assl Prof, Depl of EEE, Sui Vidyu Institute of Technologlt, Rctjunukuttte, Bungalore

f.
 EL
Controls Systems Notes (I5EC43) h ttp s : //p e c e sv it. b i o g sp ot. i n/

I
M.,=
tqJ1-qL

2*0.L* I -@'2)-
Mo = ?.6o

(,r,[,
=t n I - P,q-
- lsJr
q'31 -Al
(,r,lz
= |
^e2-

+ Ba.d" t^lriltlr-
db -- H,''

tr - a to'f) + J t-t-r Lo':-)-+'t

= ts .l t, - e co'L)') + l'358s
db = LL'656racl-It*-'

Prashantlt N, Asst ProJ, Dept od EEE, Sai Vidya Instittite o/'Technology, Rojanukunte, Bungalore

r
 e3
Controls S-ystems n'otes (i 5EC43) hftp s : t/p e c e sv it. b I o g sp ot. i tt/

3!, l= fn"l *h e *-n,.u-'3 J-o.naf.: A?"c,}ica.H..rors frr o- L,6*tat*

hovfn6_
c cs) 8q
R Cs) sz+?s + B I
Sotcr*,'oo&]-
\.49a\r1 .A-
c cs) 8q
G
d
i,r"o
RCs) 6r-++.s+ gt
-+o
Corn
PctTe. fuuab'-o O criitl" ,Btonda-rc{ f
.roch'c/'rn.

cc-s) hJ.,L
t-9e- hs"ve
R ts) sL+ zq tJns + tdn-

- uei = gl
t^.rn
=fsf
uJn = l r,od-l le'c--

2QHn
3-
q
2 hJo e* I

Q = o.3sq
Qaaonoot- Pe.o-t5 '

I
IYr =
L\ LX o.318*..1 I - to .281)L

Mr = l' 315
fi "ao.tot, t +r.adeDt
dr= unJ l-Rq'
=lx
cDv
Prsshuntlr N, Asst Prof, Dept of EEE, Sai Yidyn Institute of Technology, Roj*nukunte, Bongulore

F
 2_rr

Controls Systems Notes (158C43) Ir ttp s : //p e c e s v it. b I o g sp ot. i rr'

crJO = hJrt .l r-eQ-+ffi

q)k I - e (o.3eel+ e - q Lo.geq)-+'r [o. 3 se)

= q* J I - e Co.gsqf + t. arq I

tJg

h' Fin"t 6 K'o-,"16 d +*t *ho ]-.a*"x, Bhot-on l. +:-t?1",*

sotho-fNr=l'?5o'nd(r)'-=la'bszad'l'LQLc^gfrtbe''Lotifta
ti-e- O-nct bandort{[$-

R cs) cLs)

Sotr.fit"cr i
t .-\t\.4#
CIs'aeA Lo of l--cto"fte- 'f"'nehcrtr r'lt
* crge- 14 nots fi1e{- flre.-
1.4 K
3tv en bg
-
?+".9 .sb¤3.
gss =
G cs)
t
I + qrs)tlcs)
R Cs)
r+g-+ag
L
g,-aaStlq
.&+.'t

cc.s) L

R cs) gz.1c-s* li ->o

-
83 cp.l?ro- lnz 8-1*bi"?2Q ugi+h ,4 Fcndo'-d" -f ,-ocli""n-
cc9 hJn-
RCS) .*+ 2q uJns t tJn-

Pruslttnth N, Asst Prof, Dept of EEE, Sui Vitlya Institute of Technologl,. Rujurtukun{e, Bongulore
 e5
Controls Systems ilotes (l5EC43) http,s : //p e c e sv it. b I o gsp ot. i n/

uje h@ve-
-, t^l.,L = K

h)n - JE l.".d.l a'er,-

+ t Q ,"1" =fi

a_ o-
q --
2 t^Jo --aJ h -4

=-*-
zJ rt

-+ Q.r.oton+ &"f*?
I
l'1, =
2qJF
$?'.er
|'fa = 1.75
I
l. ?5
JG-
z-{
t.
./Jn (-h)
-
I
L.?t l.Z5 = a-
..lt'i

I
l-75 =
a gtt - o.z o_
:
{n qh Jtt
-4

I
l-75
& J q1a-[:-
,ih .zJ-K-

Prashutttlr N, Asst Prof, Dept af EEE, Sai Vituu Institute ol'Technolog_y, Rnjunukunte, Bangalore
 L6
Controls Systems Notes (l5EC43) http s : //p e c e sv it. b I o g sp ot. i n/

f.2-5 =
a-,.1 q B -ae-

l. 2-5 o- \ 15 -aa
86 {enflog &Tuateg 0" BofFr Aidea
2-
Q.zs)- c.t(,.r--">) = q h

i.., l.56esaa tqr+ -'.") = Q vr>

6-:-:5J n- l'56z5aLl
?o
81to+,'-n Cgn be- fc- t^triH'en ct'g
L{t4t- c.-75q.2F1 t t'56?5aq = o -+@
o*t*bx-+c:o
*bo,ro- \rn-tf,a- {* ?n a*-te- Jt-'t> %
L= -5+
cEe have-
ry cornprfr:7 c^sitt-' fu,ra-b'".n @
L
L=6., &=\, b- -6'?5q ) (_- l-56aEa\.

#-z7a =
a.
E+-s^"f- q cq)Q:29@
l{= a ch)

6.as-- J =o' oezal

1,.
3 zs a-b
A= a

6.?5,a- ! 3'*t{ o-L

K=
o
B11 Goaide-?,r5 Poaibive te-'ur V= l.?$a-
gT
Bg Corrr,idevini Ne6a-l'iue te'rrn h = o.Stzgf

Prashunth N, Assl Prof, Dept of EEE, Sui Vidya Instilute af'Technology, Rajunukunte, Bongilore
 r-=
Controls Systems Notes (l5EC43) h t!p s : //p e c e s v it. b I o g sp ot. i rl
t6,,arntl-ra-t (t)v = *.,J | -ilef
Bt4 h.;:bc-bi l..Fio3 +1't- Vo-Luog c^ee- 5e*

t?.65 = J h -e[¤-

-aF;
= ..f[

= Jh .

= Jr - ?frrt -^)
-t
F.F ZV,-*

aJh-
a
rz.6u=*Jffi
*;dg
B6+an?rt6 \va-c+ g' Both
-E
C,z.bs)L= t- -(\ ffi-^-)
16)-
Qtn- o.')
t
I bo. o2-
q2_

2K-o't = 32fr @

Bg t:cut. ?!3 Y4 = l '? soL ot

in Q"a;crrr @
acl'25a4) -, = 3?-o

a.sc.t- - aL -- 3LO
t'sf = 32*O

Prnsltanth N, Asst Praf Dept of EEE, Sui Vidy-a Inslilute oJ'Technology. Rujunukunte, Bangalore
 2B
Controls Systems Notes (I5EC43) h ttp s : //p e c e svit. b I o g sp ot. i n/

*- 9+o
t.9
* = ?13'3t{
a_ =Jat33q
G= lq.605 and t.?-5 x z 13.31
Y -- zst" L+5
81t^obtn-l @
Sf.-i\o- t3 BJ Lu-r"fog h = o'3 t a 5 aL ?n
3Lo
B (o'31e5 ot) -oo =

O.b2-9 02- - aL = 3?o

(-not-o t!-tc't ib i'+
f,roro +t-a-- Db+e-tvaFi.rnn .qse- '
rtob,l-- a*
rrob Toa,eible- b 3* a x-e-a'l +

= L66-6+ and Q =- I t'r '6 o

H

Not .l,
Sebt*fS tf":e- .({
t r.,
c/.rb et e- t = -+
Lwo
q 8
Se,ffffirq {fr,t e- =
---
=e
L
:--*6
75t>6
g
LQ-6 o

get+{"Pftq t¤rre- = o- 5q11t Le.r.-'

Prashanth N, Asst Prof, Dept of EEE, Sui Viclya Institute of Technology, Rajunukunte, Btngalore
 21
Controls Systems Notes (15EC43) http s : //p e c e svit. b I o g sp ot. i n/

Notto ) @e-- lgooco V&t

Lr96=J ta-
26L.6+
tdo = lb.33 TacL I Auu-

E=
2Jl4
ltt- bo
=
z*- I6.33

E = o.qq?o

Bood rcfAlb t'k X fvex by

-
ueb

=16 -33 t-7 [o.qq+o)=+] e - q [o .ctrr+"f] t [0.'rl+")

t^eb = Ll -+o -*d,| 6eJ-

5, F[ux- belot^r thstllg o- f bazn Csp to'ol &,trate-.o
eecl .

Th e- P ea.n Ov era boo F tB a SbeF fo ptrl t'* l" ]u

Oelerro Foe- tl-4-'ptt".oing

;, qeao..^nt peorr l{o.ancl rcatla $'}6
iil Nor ooL'1 ed reaono-h b fr"aue-l Ut
f ii, 3o.,a totdth . c Cs)

Prushanth N, Asst Prof, Dept of EEE, Sai Vitlyo Institute of Technotogy, Rujttnukunte, Bungalore
 30
Controls Systems Notes (158C43) h ttp s :.//p e c e sv it. b I o g sp ot. i n/

\^.^-^.-\^" -:
Sol,r-h'ctn r lvg/'4. --SfS+q) , *Cs)=t
o V
L[ Grs:
'
t<
t<
c cs) ffi -_--
R Cs)
t+ A ,l -Sz-+L{s t l<
s fs+u)
*9>4e
C cs) l<

-o
--7
R c.s) .s2+ q s+ 16

83 ClcrpooPnq 8t*tr"ono CD coi++a ataoAorc\ {untbitttr-

(,rCoz to e- h-aV a '
9 csD -_
R" cs) st+ aqhlns+ tdo-

(ronz = vi
r'. e UJrr = 'l 15 +@
q

q= .q ---> @
2JK

Overahmb- flk
(-t9q- \4oo.s 'Lt:'ojr , tbe.- rno.zu'rt2uro ?e--a ,

Strreo b6 -nq
HF= la% = e tl'-qL xloo
_Iq
O.lL= e JEL *l0O'
e6 {o-nir-6 no"h,tra'l L"B 6tL both "fttlqg

Ln to. te)
_nq
J r-q-

Proshcnth N, ,4ssl Prof, Depl of EEE, Sai Vidyu Institute of Technology, Rnjunukunte, Bangalore
 3l
Controls S-yslems Notes ( I 5EC4-l) http s : /ip e c e sv it. b I o g sp ot. in/

t' z.rzo = I
r-q-
2. 120 q

JT-r
q
o. 6+q 8 =-

Or: Botr" &id e-'9

% tsl<f,j K..1''qv'-r'
>
o.q 553
UE"/
qt
o-q 533
@Y )-
o-q 533 0- q) = q
o-\ ssg - o-\;s3tr -q^>-
O.ti 533
.L
o.q 533 1 l,q533q
6
L C)-\ 5 33
= O.312-
?
Ir
"1
1.q533

q
lo {f.,a '11' Con*ider- 4n

zI t3
BV +a-n?nX &-1v.av+ gft B.th /- i.lq.
72--
>
q
rq \-
lrJ-a)
Prushan!lt N, '4sst Prof, Depl oJ'EEE, Sni Vidyu Institute of '{echnology-, Rr$anukunte, Bangalore
 3L
Controls Systems Notes (15EC43) It ttps : /ip e c e sv it. b I o g sp ot. i n/

.2-
Lr
E
Lt ( Ft+)-
L rb
E,
Lr lq

tt It
h
T6
\-
[!'
f' = -lb
l1
qq' tf * o. 551L

h= le.8o

l=rr"no 8-1r^ert^r:.rn O Use- have-

u)6=fl+-
rJo = J rz*o

+ \**no't Teat+'m'-l
1r1r zqJ6z
Fvl
2* o.5}'.1X I - o.559-

ly.rr = l.o?8

ft eerzrrl +--a**'Zt hJt'

td-r - u,,'., J r- PF = 3.5+8x J r -L* o'5592-

6
+ Bo.rd to fctttr ulb:
(r)b : trgn

= 3.5+8 I -a * (o.ss1)L+ S; C"'ssTFtq[o'ss

tt)a = q.zqe 16*a/5e-e | :,

Pr*shanth I/, ,4ssl Prof, Dept of EEE, S*i l/idyu Institute of Technology, Rajunukunte, Bongulore
 33
Controls Sltstems Notes (158{J43) https ://pe c e st it. b I o gsp ot. i n/

6f -F,..,a -.hhe- g-fo rna.rgfn Rnc\ pt-a.se-rna.r-3Po i"t bh e -S'ptem

lo
G
I--'' z
csl HLs) = S+RD
.9 otr.r-tt'unl-
. ,-

I cs)lfc9 :
F -I5

fi
tve,^a G
-
3 +7'o
{-on'e{"-
s bg jt'c io lloe- h*"*
.,)

fi"4^'-
qrj,r)rlon) =fu
tr 83 ur.irf-8 ,{%-hksff!
v rfuqru{irE¤-
rY6;::"
r-;-
tu,ctulo/-

to -q f-*".-r[d
\

QCjro; Ftjt"l) = d N+R,o

- d
4 '----
.Jilt;t-
Note .t
! a*ib: *t__=*-
- and o-*Jb =*:- \ = - Lon '[*
.j a2+b_ Lot'-'Fo- J

Stepg..r
\ -'\fQ
o-L fhar'e'- C-o"" Over fttt*3 tdFc)
{o'r;fo f't calc-dobecl
ftd*
bX &t.^*H3 f l-raae-- t- - I 8oo
/vo'[*) =r tBo
o
(tJ = o., to-n-tt*) = o L
do.+ c,ot ?-lth
.
(rl =F r tso-' [ *) = 90 J
I ^f "

A+ ,f oof Fp't^at+, %{nrlzo=glo also d'n+oot'

* "Lo"g
Lzx,fsat+,

Prnslttutth N, Asst Prof, Dcpl of EEE, Sai ltiditu Institule af Technology, Rajanukutile, Bung*lore
 3rf
Controls Systems Notes (I5EC43) It ttp s : i/p e c e sv i t. b I o g sp ot. i n/

kTffiyi ob Croat Ovav f"t-ta*

+ Th* wLo?t^ r'a Co.-lcrdp.-te.ol 3-e"l'rl

b5 \ffire -f.'" uru{U'

3J"
lo
=l
JF;6'-
to
S-e ul -- o
F#
= O.5
., NJ. d o.*- not
fzu'clc .

t^) =F .r
=O
J "r-*ttl-
tPFutaa rnc'15to c"\'g o
t ha wA. cLoc*, not ?ai++tt.,
cLo er- nctb Lai*u-s

" .l?M= boco'-'''+e-- {.o-t1*t*'9 doe*not

^l
,Q* rtur1('u +--t +tL- L'6tLo*'*-
1, Frind iltze'* 8
ho-u ,fr gfo-- to'f trreto;cbev {-uncb'qrD '
lo
Q csrttts) =
sL&+ s+ r)
#' Lt-*r"crn
So l-
q ts) Lt<s) = lo
fiiuu- s lsl+s + l)
p
*ran rr6e-r -F-r-rnch'cr..'''
\# 's'u*,in' lf:) tr,"te- Vtvert
o
Note:- 4""n i'olo
lo F,fqrut de t.ttn"$
9 tiqD HtiD = o
Jr^r (d'"f+ir^rtt) Ph-aae ferrn =l=
qd
- o

Prushutttlr N, Asst Prof, Depl of EEE, Sai Vidya Inslitute of Technology, Rajcnuku;rte, Eangalore
 33
Controls Systems Nutes (l5EC43) ! tttp s : //p e c e sv it. b I o g sp o t. i n/
lo lo
Q C;,^t) H l
iur) =
i" (-t^.rt+ lr,^r +r) ,* tr,-uF)*id

lo
to Lg I
a
-l r ju^r)
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iu,r
fci-'un*iq
,^l [-T [<^;t1t+ t^l- lnn t- hJ)-

lo l-,Jt,.l
l-qo - ttn TilE
ur ..\ (r -t^t)at^r-
.--.-.-__-f
t

rn%nr'hrol-¤_ Pl---a-*e- fc-fifL-

t-e--rn

G"ftt Morqio ''

0..^r^ \J'\></\t C-:t-o*& sVev {'r"1*
rrrct'u-6Frz t,t co.tuJ,b,\-etl of ?koa
$do tp -t8o
o
, *fJ b.tr e","*H.,7.. fhaAe 6
-l .(rJ t3o
10 - fo'n I -t,.r'-
=
1 JI ,D r8o
r uo t r-
tp.o -lt^.ll-
-t^ltj f

o
t^J 7 \. 80
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)-wL
r-lt,rJ : lgoo-Qoo
ta-lt
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o
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t^r=l; bcr..t -r
l ,
qDo
l-t
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Prushanlh & lssl Prof, Dept of EEE, Sui Vidya Institute oJ'Technologlt, Rrlanukunte, Bangalore
 3b
Controls Systems Notes (l5EC43) http s : //p e c e svit. b I o g sp ot. i n/

B? '%ub6},ftrF;13 fo tta.Xru'Fucra le-.'

^f -
.

lqtit^r) *tjurll =
Qr^rrcr)L+ t^:r
tz.lpc=l

1r-r)L+rL

ute trzr>ot^o +hcr.t

rno-r21f- = 20 t"tj*;. lu*.
tcrio =,o.
=2o I'A#
',^ .rr4o--gPr,t = - ?od b
e- ho'rnnX
r--'-Ef* 4.-- tb 'b'6atetn
g, Firrd +n4-- Yl-'a'se-
OL t-c. n\er ft^-'"-t-'.,o' '
q L$Hts) =iqg
SoLtll.rot $fv e--,
q L9 +ts2 = !9- -+O
ra.raz^af

t^f e- have .

I C;r> l'{-t
jr"r) : "10 .
it u:'

lq tir"r) trtix) = .LL

t/.9'
o
t i r^r) tt-tJ,^r. )-
qo^
= -qo

q (i\^r) t+LiO =
to [o [- qoo'
ir^r ,*,W' r_:1--J
pt-,aa g_
fno5"u'tt'*e
t e'rrt te-*rrn- '

Prashuttlh ll, Asst Praf, Dept of EEE, Sui VidT-tr trttstitute of Technology, Rajnnukurte, Bungolore
 3+
Controls S.vstems Notcs (I 5EC43) h ttp s : //p e c e sv it. b I o g sp ot. i n/

Phacn- .ttaSPtt lnrr" Cslcr.to^f,."1 o.L ?*r"n Gr-o^'E OVeY fna"utg

t-rnit5
lD? h,r-h 19 ?d. ta .

g= (^l
I

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tx) : 6. ?c*f- 5
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uJ =lO, Sd- =I
->
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?ho,*e rfictl5fn
r¤o + +
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= t8O - ao
pl-nae- rrrarSfo = loo

travei Of *
roarn.tn. * o kfL
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F,P-
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* b0 l-Tt'"f? s bg itc t.A e- [ro,-v ¤'

lo
q Ciur) H fjto) =
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lo
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I
fr
hJ

Prasltonlh M ,4ssl Pro-f, Dept af EEE, Sai Vidya Institute of Technology, Rnjanukunte, Bungalore
 38
Controls Systems Notes (l5EC43) https : //p e c e svit. b I o gsp ot. i n/

* e W" "{q'ftu f,<< 6latu*"-l bt q,^*A gLo*a +D'

I 8oo o-t T l-24e- Lro..a ovex 4.r-e4 er.'a''-J '

o
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o
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to
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+.t N--to, to -t*

-- Lo Tetd IOr;_-

lt |.)= Y l= ,l
F6y"L,"- "oo
Go'fn .r:o-rqPo = Lo Lol
Y'. o _r
200.

= iD loq0 t-oo

q"f" "rr6fn = \bdb

Prnsltcrttth N, Assl Prof, Dept of EEE, Sui Vidv-s Institute of Technology, Rujanukunle, Bungulore
F
31
Controis,9ystems Notes ( 1 58C43) h ftps ://pe c e s v i t. b I o gsp o l. i n/

to, FpnJ tt e- ,X,"P" futfu +*- tt e- &Tztero l-"'Avfn?

qf- troF lt^t'4"-' 'furr-eh'cn2- qcSH.') = +rT
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O
$fv.r !cs:l*cs3
*F ->

t\.t'^=s=it,,cioQ''ar'ttn-Oc^ee-ha're
I
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[jr^rtrf

I
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j

Q tiw) H-Lj nr)

_l = -3 lan-rCw)
Q** Dt G?r')3
f r" C-o'\u^tc.l tol ^t
tuoca Sve-
tho.'se_
to - tef
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bJ{t hr

Lo= ta,^ (oo)

bJ =..G

3#^
I q Or^r; **t:*> ll
r^r:G_
J.e

Prsshantlp N, Asst Prof, Dept of EEE, Sui Vidyu Ittstitute of Techno{og-v, Rtiunukunte, Bungalore
 ____r

qo
Controls Systenr iYotes (158C43) https : //pe c esv it. bl o gs p ot. i n/

?*"
^ol =G
= zol'oX
I

9J. mo1-Pn I

P
= 2--olrtr?
lornot6in:l8db.

Proslranlh N, Asst Prof, Deltt of EEE, Sui Vidyu Institute of Technology, Rujuttukuntt:, Bongulore
F'

t{l
Controls Systems Notes (158C43) h tip s : //p e c e sv it. b I o g sp ot. i nt

ft .*iqornen I I\hi'^v!'\r-\.^
uo,gh'crr,,g
\/-\/</../--J--
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-
Ye-Fa,,,ar>t l-.nu VTU aot+
ptodtrlT > @

fn*.: M1r= l.16>9) Ldo= g.!r{bz trod l**'

?, Fr.d F-ceRuehg otorna.lo rye-oi6ica-tr'ro,s +* aoalern-

".
hou\ q c.D 3b t-oith un ilg {ee-dbc,.l't< .

scs+ 8)
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futi
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49,^-u- t e,to* Ao&n) l4o= l-otl a-nd t 'r = ll-ssY?.d Ix*
a)itt be- *o;li+fteA. Fl,go Ae-Larro ?oe- ++-c- bo ncl uo rd llr-

o,'rd ++1c- A e'tblfry *frne- '

ccs)

Ar* K:qq l, 0:2b ft*, Btr: = 39.62Yod,l^*, G = e .3ol6,Eee

h,}, For roil3 f..a bl.b *f+* toith I "q = otet-er.ri.re.
fu
iy \e.aonence- fuo,q , iiY \u'wf,ance.fr-earrerrl3'

Fna't [.1.' = e.o6lb, h)z = 1.SgU1 rnd]/rt'

Prashantlt N, Asst Prof, Dept of EEE, Soi Yidya Institute of Technology, Rajunukunle, Bangalore
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 C H A P T E R 9

Stability in the Frequency Domain

Exercises

E9.1 The Bode plot for the transfer function Gc (s)G(s) is shown in Figure E9.1,
where
2.5(1 + s/5)
Gc (s)G(s) = .
s(1 + 2s)(1 + s/7 + s2 /49)
The gain and phase margins are

G.M. = 20.6 dB and P.M. = 28o .

Bode Diagram
Gm = 20.6 dB (at 4.57 rad/sec) , Pm = 28 deg (at 1.08 rad/sec)

50
Magnitude (dB)

−50

−100
−90

−135
Phase (deg)

−180

−225

−270
−2 −1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

FIGURE E9.1
2.5(1+s/5)
Bode Diagram for Gc (s)G(s) = s(2s+1)(s2 /49+s/7+1)
.

E9.2 The loop transfer function is

8.1(1 + s/6)
Gc (s)G(s) = .
s(1 + s/3)(1 + s/12)
The Bode plot is shown in Figure E9.2. The phase margin is

P.M. = 48.1o

at ωc = 5 rad/sec.
 Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 48.1 deg (at 5 rad/sec)

40

20

Magnitude (dB)
−20

−40

−60

−80

−100
−90

Phase (deg)
−135

−180
−1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)

FIGURE E9.2
8.1(1+s/6)
Bode Diagram for Gc (s)G(s) = s(s/3+1)(s/12+1)
.

E9.3 The phase margin P.M. ≈ 75o at 200 kHz. We estimate the −180o phase
angle at 2 MHz, so the gain margin is G.M. ≈ 25 dB.

E9.5 (a) The G.M. ≈ 5 dB and the P.M. ≈ 10o . (b) Lower the gain by 10 dB
to obtain P.M. ≈ 60o .
E9.6 The Bode plot of the closed-loop transfer function is shown in Figure E9.6.
The value of Mpω = 3 dB. The phase margin is P.M. = 40o when K = 50.

-5

-10

-15
Gain dB

-20

-25

-30

-35

-40

-45
10-1 100 101 102

Frequency (rad/sec)

FIGURE E9.6
50(s+100)
Closed-loop Bode Diagram for T (s) = s3 +50s2 +450s+5000 .
E9.7 The Nyquist plot is shown in Figure E9.7 for K = 2; the plot is a circle
with diameter= K/2. For K > 2, we have P = 1 and N = −1 (ccw as
Nyquist Diagram

0.5

0.4

0.3

0.2
Imaginary Axis

0.1

−0.1

−0.2

−0.3

−0.4

−0.5
−1 −0.8 −0.6 −0.4 −0.2 0 0.2 0.4
Real Axis

FIGURE E9.7
K
Nyquist Diagram for Gc (s)G(s) = s−2 , where K = 2.

shown). So Z = N + P = −1 + 1 = 0 and the system is stable for K > 2.

E9.8 (a) When K = 4, the G.M. = 3.5 dB. This is illustrated in Figure E9.8.

Bode Diagram
Gm = 3.52 dB (at 1.41 rad/sec) , Pm = 11.4 deg (at 1.14 rad/sec)

50

0
Magnitude (dB)

−50

−100

−150
−90

−135
Phase (deg)

−180

−225

−270
−1 0 1 2
10 10 10 10
Frequency (rad/sec)

FIGURE E9.8
K
Bode Diagram for Gc (s)G(s) = s(s+1)(s+2)
, where K = 4.
 (b) The new gain should be K = 1 for a gain margin G.M. = 16 dB.
E9.9 For K = 5, the phase margin P.M. = 5o as shown in Figure E9.9.

Bode Diagram
Gm = 1.58 dB (at 1.41 rad/sec) , Pm = 5.02 deg (at 1.29 rad/sec)
100

50

Magnitude (dB)
0

-50

-100
-150
-90

-135
Phase (deg)
-180

-225

-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

FIGURE E9.9
K
Bode Diagram for Gc (s)G(s) = s(s+1)(s+2)
, where K = 5.

E9.10 The Bode plot is shown in Figure E9.10a. The closed-loop frequency
100

50
Gain dB

0
GM=12.35 dB
-50

-100
10-2 10-1 100 101 102
Frequency (rad/sec)

-100
Phase deg

PM=23.14 deg
-200

-300

10-2 10-1 100 101 102

Frequency (rad/sec)

FIGURE E9.10
326s+1304
(a) Bode Diagram for Gc (s)G(s) = s4 +14.76s3 +151.3s2 +23.84s .

10

-10

-20
Gain dB

-30

-40

-50

-60

-70
10-1 100 101 102

Frequency (rad/sec)
 FIGURE E9.10
CONTINUED: (b) Closed-loop frequency response: ωB = 6 rad/sec.

response is shown in Figure E9.10b. The bandwidth is ωB = 6 rad/sec.

E9.11 The Bode plot is shown in Figure E9.11. The system is stable.

Bode Diagram
Gm = 3.91 dB (at 3.74 rad/sec) , Pm = 14.4 deg (at 2.76 rad/sec)

100

50

Magnitude (dB)
0

−50

−100
−90

−135
Phase (deg)

−180

−225

−270
−2 −1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

FIGURE E9.11
10(1+0.4s)
Bode Diagram for Gc (s)G(s) = s(1+2s)(1+0.24s+0.04s2 )
.

E9.12 We select the gain K = 10 to meet the 10% steady-state tracking error
specification for a ramp input. The Bode plot and Nichols chart are shown
in Figures E9.12a and E9.12b, respectively.

50

0
Gain dB

GM=14.82 dB
-50

-100

-150
10-1 100 101 102 103
Frequency (rad/sec)

-100
Phase deg

-200
PM=31.79 deg

-300

10-1 100 101 102 103

Frequency (rad/sec)

FIGURE E9.12
10
(a) Bode Diagram for Gc (s)G(s) = s(0.02s+1)(0.2s+1)
E9.15 The loop transfer function is
100
Gc (s)G(s) = ,
s + 10
and the closed-loop transfer function is
100
T (s) = .
s + 110
The magnitude plot for the closed-loop system is shown in Figure E9.15.
With bandwidth defined as frequency at which the magnitude is reduced

Bode Diagram

−5

−10
Magnitude (dB)

−15

−20

−25
1 2 3
10 10 10
Frequency (rad/sec)

FIGURE E9.15
100
Magnitude plot for the closed-loop T (s) = s+110 .

by 0.707 from the dc value, we determine that ωB = 109.7 rad/sec.

E9.16 The transfer function of the approximation is
1 − jω
G(jω) = ,
1 + jω
and the magnitude is
! !
! (1 − jω)2 !
|G(jω)| = ! !=1,
! !
! 1 + ω2 !
 which is equivalent to the actual time delay magnitude. The phase ap-
proximation is

φ = − tan−1 ω + tan−1 (−ω) = −2 tan−1 ω

and the actual phase is

φ = −2ω .

The phase plots are shown in Figure E9.16. The approximation is accurate
for ω < 0.5 rad/sec.

Actual _______ & Approximation -------

0

-20

-40
Phase deg

-60

-80

-100

-120
10-2 10-1 100

Frequency (rad/sec)

FIGURE E9.16
Phase plots for time delay actual vs approximation.

E9.17 (a,b) The phase angle for P.M. = 30 is

ω 2ω
φ = −90o + tan−1 − tan−1 = −150o .
2 15 − ω 2
Solving for ω yields ω = 4.7. Then, at ω = 4.7, we have K = 10.82
when
1
K(ω 2 + 4) 2
|Gc G(jω)| = 1 =1.
ω((2ω 2 )2 + (15 − ω 2 )2 ) 2

The Bode plot is shown in Figure E9.17.

 Bode Diagrams

Gm=3.5545 dB (at 4.3301 rad/sec), Pm=40 deg. (at 3.5147 rad/sec)

50

- 50
Phase (deg); Magnitude (dB)

- 100

- 50

- 100

- 150

- 200

- 250
-1 0 1 2
10 10 10 10

Frequency (rad/sec)

FIGURE E9.17
K(s+2)
Bode Diagram for Gc (s)G(s) = s3 +2s2 +15s
, where K = 10.82.

(c) The steady-state error for a ramp is

A A
ess = = 10K = 0.60A ,
Kv 15

where R(s) = A/s2 .

E9.18 (a) The gain crossover is at ωc = 486 Hz, and the phase margin P.O. =
36.2o . So, ζ ≈ 0.36. Then, the expected percent overshoot to a step
input is
√ 2
P.O. = 100e−ζπ/ 1−ζ = 30% , where ζ = 0.36 .

(b) The estimated bandwidth is ωB ≈ 2π(600).

(c) Approximate

ωn ≈ ωr = 2π(480) .

Then,
4 4
Ts = = ≈ 4 ms .
ζωn (0.36)2π(480)
E9.19 The Bode plot is shown in Figure E9.19 for K = 16.75. The phase and
gain margins are P M = 50.0o and GM = 2.72 dB.

Gm=2.7233 dB (at 20.618

ad/sec),
r Pm=50 deg
. (at 13.434ad/sec)
r
10

- 10

- 20
nitude (dB)

- 30
Phase (deg); Mag

- 40

- 100

- 200

- 300

- 400

- 500
0 1 2 3
10 10 10 10

Frequency (rad/sec)

FIGURE E9.19
Bode Diagram for Gc (s)G(s) = K es+10 , where K = 16.75.
−0.1s

E9.20 The system response for both drivers is shown in Figure E9.20.

T=1 sec (solid line) & T=1.5 sec (dashed line)

1

-1
Automobile velocity change

-2

-3

-4

-5

-6

-7

-8
0 1 2 3 4 5 6 7 8 9 10

Time (sec)

FIGURE E9.20
Change in automobile velocity due to braking for two drivers.
E9.21 The Bode plot is shown in Figure E9.21.
50

Gain dB
-50 GM=12.04 dB

-100

-150
10-1 100 101 102 103
Frequency (rad/sec)

-100

Phase deg
-200
PM=16.85 deg

-300

10-1 100 101 102 103

Frequency (rad/sec)

FIGURE E9.21
1300
Bode Diagram for Gc (s)G(s) = s(s+2)(s+50)
.

E9.22 When K = 8, the P.M. = 20o ; the system is stable. Increasing the gain
to K = 11.1 results in a P.M. = 45o .

E9.24 Using the Nyquist criterion, we have

P =1 and N = 0

which implies

Z =N +P =1 .

Therefore, the system has one root in the right half-plane.

E9.25 The Bode plot is shown in Figure E9.25.

PM=27.73 deg at wc=8.29 rad/sec

50

0
Gain dB

-50

-100
10-1 100 101 102
Frequency (rad/sec)

-100
Phase deg

-200

-300

10-1 100 101 102

Frequency (rad/sec)

FIGURE E9.25
11.7
Bode plot for Gc (s)G(s) = s(0.05s+1)(0.1s+1)
.
E9.27 The Bode plot for G(s) with K = 122.62 is shown in Figure E9.27.
K=122.63 Gm=10.938 dB (at 6 rad/sec), Pm=40 deg. (at 2.7978 rad/sec)
50

- 50

Phase (deg); Magnitude (dB)

- 100

- 50

- 100

- 150

- 200

- 250

- 300
-1 0 1 2
10 10 10 10

Frequency (rad/sec)

FIGURE E9.27
K
Bode plot for Gc (s)G(s) = s(s+6)2
, with K = 122.62.
The phase margin is P.M. = 40.0o
and the gain margin is G.M. = 10.94 dB .

E9.28 The phase margin is P.M. = 28o . The estimated damping is

P.M.
ζ= = 0.28 .
100
The estimated percent overshoot is
√
2
P.O. = 100e−πζ/ 1−ζ = 40% .

The actual overshoot is P.O. = 44.43%.

E9.29 The F (s)-plane contour is shown in Figure E9.29, where

s+3
F (s) = 1 + Gc (s)G(s) = .
s+2

F(s)-plane
0.6

0.4

0.2 *

*
Im

0 * *

-0.2 *

-0.4

-0.6
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2

Re

FIGURE E9.29
s+3
F (s)-plane contour, where F (s) = 1 + Gc (s)G(s) = s+2 .

E9.30 The Bode plot is shown in Figure E9.30.

 Bode Diagram
50

Magnitude (dB)
0

-50

-100
0

-45
Phase (deg)

-90

-135

-180
-2 0 2 4
10 10 10 10
Frequency (rad/sec)

FIGURE E9.30
1000
Bode plot for G(s) = C [sI − A]−1 B + D = s2 +100s+10
.

E9.31 The Bode plot is shown in Figure E9.31. The phase margin is P.M. = 50.6
deg.

Bode Diagram
Gm = Inf , Pm = 50.6 deg (at 0.341 rad/sec)
80
60
Magnitude (dB)

40
20
0
-20
-40
-90
Phase (deg)

-120

-150
-3 -2 -1 0 1
10 10 10 10 10
Frequency (rad/sec)

FIGURE E9.31
2s+1
Bode plot for L(s) = G(s)H(s) = 10s2 +s .
E9.32 The Bode plot is shown in Figure E9.32. The phase margin is P.M. = 45◦ .

Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 45 deg (at 2.56 rad/sec)

20

Magnitude (dB)
−20

−40

−60

−80
0

−45
Phase (deg)

−90

−135

−180
−1 0 1 2
10 10 10 10
Frequency (rad/sec)

FIGURE E9.32
3.62
Bode plot for G(s) = C [sI − A]−1 B + D = s2 +s+4
.

E9.33 The Bode plot is shown in Figure E9.33. The phase margin is P.M. =
17.7◦ and the gain margin is G.M. = 5.45 dB.
Bode Diagram
Gm = 5.45 dB (at 5.68 rad/sec) , Pm = 17.7 deg (at 4.24 rad/sec)

50

0
Magnitude (dB)

−50

−100

−150
0

−45
Phase (deg)

−90

−135

−180

−225

−270
−1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)

FIGURE E9.33
200
Bode plot for L(s) = (s2 +2.83s+4)(s+10)
.
 C H A P T E R 8

Frequency Response Methods

Exercises
E8.1 Given the loop transfer function
4
L(s) = ,
(s + 1)2
we determine that
4
|L(jω)| = and φ(ω) = −2 tan−1 ω .
(1 + ω 2 )
The polar plot is shown in Figure E8.1.

1
Imag Axis

0 * *
*

-1

-2 *

-3
-0.5 0 0.5 1 1.5 2 2.5 3 3.5 4

Real Axis

FIGURE E8.1
4
Polar plot for L(s) = (s+1)2
.
 The magnitude and phase angle for ω = 0, 0.5, 1, 2, 4, ∞ are summarized
in Table E8.1.

ω 0 0.5 1 2 4 ∞

|Gc G(jω)| 4 3.2 2 0.8 0.23 0

φ (deg) 0 -53 -90 -127 -152 -180

4
TABLE E8.1 Magnitude and phase for Gc (s)G(s) = (s+1)2
.

E8.2 The transfer function is

2572
G(s) = .
s2 + 386s + 15, 434
The frequency response plot is shown in Figure E8.2. The phase angle is
computed from
ω ω
φ = − tan−1 − tan−1 .
45.3 341
The phase angles for ω = 10, 45, 100, 341 and 1000 are summarized in
Table E8.2.

ω 10 45 100 341 1000

φ (deg) 14.1 52.3 -82.0 -127.5 -158.6

2572
TABLE E8.2 Phase angle for G(s) = s2 +386s+15,434 .
 0
*
-20
Gain dB *
-40

-60

-80

-100
100 101 102 103 104
Frequency (rad/sec)

-50
Phase deg

-100

-150 *

-200
100 101 102 103 104
Frequency (rad/sec)

FIGURE E8.2
2572
Frequency response for G(s) = s2 +386s+15434 .

E8.3 The loop transfer function is

300(s + 100)
Gc (s)G(s) = .
s(s + 10)(s + 40)
The phase angle is computed via
ω ω ω
φ(ω) = −90o − tan−1 − tan−1 + tan−1 .
10 40 100
At ω = 28.3, we determine that

φ = −90o − 70.5o − 35.3o + 15.8o = 180o .

Computing the magnitude yields

1
ω 2 2
300(100)(1 + ( 100 ) )
|Gc G(jω)| = 1 1 = 0.75 ,
ω 2 2 ω 2 2
ω10(1 + ( 10 ) ) 40(1 + ( 40 ) )

when ω = 28.3. We can also rewrite Gc (s)G(s) as

s
75( 100 + 1)
Gc (s)G(s) = s s .
s( 10+ 1)( 40 + 1)
 Then, the magnitude in dB is
ω 2 ω
20 log10 |Gc G| = 20 log 10 (75) + 10 log 10 (1 + ( ) ) − 10 log 10 (1 + ( )2 )
100 10
ω 2
− 10 log 10 (1 + ( ) ) − 20 log10 ω = −2.5 dB ,
40
at ω = 28.3.
E8.4 The transfer function is
Ks
G(s) = .
(s + a)(s + 10)2

Note that φ = 0o at ω = 3, and that

ω ω
φ = +90o − tan−1 − 2 tan−1 .
a 10
Substituting ω = 3 and solving for a yields

a=2.

Similarly, from the magnitude relationship we determine that

K = 400 .

E8.5 The lower portion for ω < 2 is

K
20 log = 0 dB ,
ω
at ω = 8. Therefore,
K
20 log = 0 dB
8
which occurs when

K=8.

We have a zero at ω = 2 and another zero at ω = 4. The zero at ω = 4

yields

a = 0.25 .

We also have a pole at ω = 8, and a second pole at ω = 24. The pole at

ω = 24 yields

b = 1/24 .
 Therefore,
8(1 + s/2)(1 + s/4)
G(s) = .
s(1 + s/8)(1 + s/24)(1 + s/36)
E8.6 The loop transfer function is
10
L(s) = .
s(s/6 + 1)(s/100 + 1)
The Bode diagram is shown in Figure E8.6. When 20 log 10 |L| = 0 dB, we
have

ω = 6.7 rad/sec .

Bode Diagram

50

0
Magnitude (dB)

−50

−100

−150

−200
−90

−135
Phase (deg)

−180

−225

−270
−1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/sec)

FIGURE E8.6
10
Bode Diagram for L(s) = s(s/6+1)(s/100+1) .

E8.7 The transfer function is

4
T (s) = .
(s2 + s + 1)(s2 + 0.4s + 4)
(a) The frequency response magnitude is shown in Figure E8.7.
The frequency response has two resonant peaks at

ωr1 = 0.8 rad/sec and ωr2 = 1.9 rad/sec .

 10

5
Gain dB

-5

-10
10-1 100 101
Frequency (rad/sec)

1.5
Amplitude

0.5

0
0 2 4 6 8 10 12 14 16 18 20
Time (secs)

FIGURE E8.7
4
(a) Bode Diagram for T (s) = (s2 +s+1)(s2 +0.4s+4) . (b) Unit step response.

(b) The percent overshoot is

P.O. = 35% ,

and the settling time is

Ts ≈ 16 sec .

(c) The step response is shown in Figure E8.7.

E8.8 (a) The break frequencies are

ω1 = 1 rad/sec, ω2 = 5 rad/sec, and ω3 = 20 rad/sec .

(b) The slope of the asymptotic plot at low frequencies is 0 dB/decade.

And at high frequencies the slope of the asymptotic plot is -20 dB/decade.
(c) The Bode plot is shown in Figure E8.8.
 Bode Diagram

20

10

Magnitude (dB)
0

−10

−20

−30
180

135
Phase (deg)

90

45

−45

−90
−2 −1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

FIGURE E8.8
100(s−1)
Bode Diagram for Gc (s)G(s) = s2 +25s+100
.

E8.9 The Bode diagram for G(s) is shown in Figure E8.9.

40

20
Gain dB

-20

-40
10-1 100 101 102 103
Frequency (rad/sec)

50
Phase deg

-50

10-1 100 101 102 103

Frequency (rad/sec])

FIGURE E8.9
(s/5+1)(s/20+1)
Bode Diagram for G(s) = (s+1)(s/80+1)
.
E8.10 The frequency response has two peaks; the first peak at f ≈ 1.8 and the
second peak at f ≈ 3.1. One possible G(jω) is
1
G(jω) = ! " # " #2 $ ! " # " #2 $ ,
2ζ1 jω 2ζ2 jω
(jωτ + 1) 1 + ωn1 jω + ωn1 1+ ωn2 jω + ωn2

where
1
τ= ,
2π(0.2)

ζ1 = 0.15; ωn1 = 2π(1.8 × 103 ) ζ2 = 0.15; ωn2 = 2π(3.1 × 103 ) .

The damping ratios are estimated using Figure 8.10 in Dorf & Bishop.
E8.11 The Bode plot is shown in Figure E8.11. The frequency when 20 log10 |GC G(ȷω)| =
0 is ω = 9.9 rad/sec.
Bode Diagram

20

−20
Magnitude (dB)

−40

−60

−80

−100

−120
0

−45
Phase (deg)

−90

−135

−180

−225

−270
−1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)

FIGURE E8.11
1000
Bode Diagram for Gc (s)G(s) = (s2 +10s+100)(s+2)
.

E8.12 (a) The transfer function is

−5(s − 1)
G(s) = C(sI − A)−1 B + D = .
s2 + 3s + 2
(b) The Bode plot is shown in Figure E8.12.
 Bode Diagram
10

Magnitude (dB)
0

-10

-20
Phase (deg)

270

180

90
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

FIGURE E8.12
−5(s−‘1)
Bode Diagram for G(s) = s2 +3s+2
.

E8.13 The closed-loop transfer function is

100
T (s) = .
s3 + 11s2 + 20s + 110
The Bode plot of T (s) is shown in Figure E8.13, where ωB = 4.9 rad/sec.

Bode Diagram
50
Magnitude (dB)

0
-3 dB
-50

-100 ωb=4.9

-45
Phase (deg)

-90
-135
-180
-225
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)

FIGURE E8.13
100
Bode Diagram for T (s) = s3 +11s2 +20s+110 .
E8.14 The loop transfer function is
20
L(s) = .
(s2 + 1.4s + 1)(s + 10)
The Bode plot of L(s) is shown in Figure E8.14. The frequency when
20 log10 |L(ȷω)| = 0 is ω = 1.32 rad/sec.

Bode Diagram

50

0
Magnitude (dB)

−50

−100

−150
0

−45
Phase (deg)

−90

−135

−180

−225

−270
−2 −1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

FIGURE E8.14
20
Bode Diagram for L(s) = (s2 +1.4s+1)(s+10)
.

E8.15 The closed-loop transfer function is

3s
T (s) = .
s2 + 2s + K + 5
The bandwidth as a function of K is shown in Figure E8.15. The band-
width as a function of K is:
(a) K = 1 and ωb = 2.77 rad/sec.
(b) K = 2 and ωb = 3.63 rad/sec.
(c) K = 10 and ωb = 9.66 rad/sec.
The bandwidth increases as K increases.
 18

16

14

12

10
ω (rad/s)
b

0
0 2 4 6 8 10 12 14 16 18 20
K

FIGURE E8.15
3s
Bandwith of T (s) = s2 +2s+K+5 .