Exp. No.

3
FREQUENCY RESPONSE AND COMPUTATION OF FREQUENCY -
DOMAIN SPECIFICATIONS OF A SECOND ORDER SYSTEM USING
MATLAB.
AIM
To simulate the frequency response characteristics of a second order linear system given
by
100 20
100
) (
2
+ +
=
s s
s G and compute the following frequency domain specification using
MATLAB.

1) Resonant peak
2) Resonant frequency
3) Bandwidth
4) Phase margin
5) Gain magin
6) Phase crossover frequency
7) Gain crossover frequency

SIMULATION TOOLS:
PC with mat lab
Exp:4.
DESIGN OF PHASE LAG COMPENSATOR IN FREQUENCY DOMAIN
AIM
To design a lag compensator to have a velocity error constant Kv=30 and
PM
=40
0
for a unity
feedback system with

using MATLAB



DESIGN
Step 1: (Uncompensated System)
Given
) 2 . 0 1 )( 1 . 0 1 (
) (
s s s
K
s G
+ +
=
We know that Kv=30
i.e., velocity error constant=30
since, Kv= K
s s s
k
s s H s sG
s s
=
+ +
=

) 2 . 0 1 )( 1 . 0 1 (
. lim ) ( ) ( lim
0 0

= ) (s G
) 2 . 0 1 )( 1 . 0 1 (
30
) 2 . 0 1 )( 1 . 0 1 ( s s s s s s
Kv
+ +
=
+ +

Step 2: (Compensated System)
Draw Bode plot for the above uncompensated transfer function (use MATLAB)
Measure gain crossover frequency and phase margin.
Step 3:
From the bode plot of the uncompensated System
GM= ?
PM= ?
Gain cross over frequency, w
cg
= ? rad/sec
Phase cross over frequency w
cp=
? rad/sec
Step 4:
Phase margin required (as per question) is 40
0
) 5 ( 180
0 0
max
say
comp
c | | + + = ;
= -180 + 40 +5
=-135
Step 5:
Find the frequency corresponding to this angle.
w
max
= ? rad/sec (From Bode plot)
Calculate gain corresponding to this (from Bode plot)
Gain= ? dB
20log= ? dB
= | ?
Step 6:
= =
max
10
w
t ?
Thus ,the compensator
=
+
+
=
s
s
s Gc
|t
t
1
1
) ( ?
Step 7:
Compensated system transfer function is

? ) ( ) ( = s Gc s Gc
Use MATLAB program to draw the Bode plot


Exp5:
DESIGN OF PHASE LEAD COMPENSATOR IN FREQUENCY DOMAIN
AIM
To obain the Bode plot of the given system, its gain margin and phase margin
(uncompensated) & design a compensator so that PM = 75 and also plot the Bode plot of the
compensated system using MATLAB

DESIGN
Step 1: (Uncompensated System)
Plot the bode plot for uncompensated system.
s s
s s
OLTF
+
=
+
=
2
12
) 1 (
12

Step 2: (Compensated System)
Find the additional amount of angle to be contributed by lead compensator after including
safety margin.
It may be obtained from the bode plot of the uncompensated system that, GM= ?
PM=? =
uncomp

w
cp
= ?
w
cg
= ?
The PM required is75
0
=
comp
The phase lead that is required ie., max at new cross over frequency is given by
c | | | + =
uncomp comp max
;
0
10 ~ c
|
req
=75-?+10=?

Step 3:
Find the value of attenuation factor.
For a phase lead network,
s
s
Kc
s
s
K s Gc
ot
t
ot
t
+
+
=
+
+
=
1
1
1
1
) ( , where K is a constant to be determined based on steady state
requirements. Also K=Kc, gain of the compensator
?
sin 1
sin 1
max
max
=
+

=
|
|
o

Step 4:
Also, Gain= ?
1
log 20
10
=
|
|
.
|

\
|

o

Frequency corresponding to the above gain =w
max
= ? rad/sec (from Bode plot of
uncompensated system)
Step 5:
Also,
?
1
1
) (
?
1
max
=
+
+
=
= =
s
s
s Gc
w
ot
t
o
t

Note: Here , since the steady state requirements are not to be varied,the effect of attenuation
factor is assumed to be eliminated by suitable amplification network or,
Kc=K=l.
Step 6:
So the complete transfer function of the whole system now becomes,
Overall TF= ? ) ( ) ( = s H s Gc