Problem Set #6

Out: 10/27/14
Due: 11/5/14

Note: For all Bode plots, use semi-log graph paper, carefully labeling your axes.
For all Nichols charts, use Nichols chart paper (distributed in class & on course
website).

Work neatly and clearly.
Read the problem carefully to understand question and what is asked!!

Problem 1.

K
1
s + 3s + 2
2
2
s + 3
Controller
Plant
Sensor
+
-
r(s)
y(s)
e(s)
u(s)


Use the Nyquist stability criterion to find the values of K that make the closed loop
system (shown above) stable. Show (i) the Nyquist contour in the s-plane, (ii) calculations for
determining the mapping into the GH plane (i.e. polar form of GH(j), etc.), (iii) mapping into
the GH plane, and (iv) calculations for determining K for closed loop stability. For credit you
must use the Nyquist stability criterion to solve this problem.

Problem 2.

A
B
C
D
E
D
C
E
B
A
K
S + 2
2
S - 1
4
4
+
-
Actuator
Dynamics
Roll
Dynamics
Controller
Roll Sensor
(rate gyro.)
Aileron
Angle
Roll
Velocity
Actuator
Command
Yoke
Sensor



Shown above is an illustration of an aircraft with the control system components
highlighted, and the block diagram of these components. The roll dynamics of this aircraft are
unstable (for quick maneuvering) and the closed loop system is stabilized with the closed loop
control system (so the pilot can fly the plane). The actuator dynamics (from command signal to
aileron angle) is represented by a second order system with an undamped natural frequency of 6
rad/sec, a damping ratio of
5 . 0
2

, and a steady-state gain of

1
36

.
Your task is to use the Nyquist stability criterion to determine the values of K that would
make the closed loop system stable. Clearly show your mapping into the GH plane, and how
you reached your conclusions with respect to stability. You need to clearly show how your
derived your answer from the Nyquist stability criterion for credit.
After you have completed the Nyquist analysis, draw the root locus for this system and
determine the values of K that would make the closed loop system stable. Does this agree with
the Nyquist stability results? Clearly explain the similarities and the differences.

Problem 3.

X
X
X X
-2 -1
-1
1
Re(s)
Im(s)


The open loop (GH(s)) pole and zero locations for a dynamic system with a closed loop,
negative unity feedback control is shown above. If
6
) (
1
K
s GH
s
=
=
, use the Nyquist stability
criterion to determine what values of K will make the closed loop system stable. Show all
mappings, calculations, how you evaluated the mapping, etc.. After you have completed the
Nyquist stability criterion, you can check your results using the root locus technique.

Problem 4.

For the system in Problem 1, draw the Nichols plot and the open loop Bode diagram (for
K = 10). Can you determine, from these plots, what values of K would give closed loop stability?
Discuss in detail your conclusions and show how you reached these conclusions on the plots.
Relate these results to Problem 1 answers.

Problem 5.

A negative feedback closed loop system has an open loop transfer function of
( ) 1 + s s
K
.
Use the Nyquist stability criterion technique to find the values of K that would make the damping
ratio of the closed loop system less than 0.7071 (Hint: Using
Nyquist
and the mapping now tells
you when the C.L. poles are at the imaginary axis or damping = 0. Therefore, change the shape
of
s
to something other than
Nyquist
so that this technique tells you when the C.L roots are at
this damping location, or =0.7071.) This is a thinking problem where you need to know the
Nyquist stability criterion basics in order to know how to change it in order to use it to answer this
problem. Show the s plane contour, mapping equations, mapping, and results. Draw the root locus
and compare your root locus and the Nyquist results.