EE C128 / ME C134 Spring 2014 HW7 - Solutions UC Berkeley

Homework 7 - Solutions
Note: This homework is worth a total of 48 points.

1. Compensators (9 points)
K
For a unity feedback system given below, with G(s) =
s(s + 5)(s + 11)

do the following:
(a) Find the gain, K, for the uncompensated system to operate with a 30% overshoot.
(b) Find the peak time and Kv for the uncompensated system.
(c) Design a lag-lead compenator to decrease the peak time by a factor of 2, decrease the percent
overshoot by a factor of 2, and improve the steady-state error by a factor of 30. Specify all
poles, zeros and gains.
Solution:
(a) Searching the 30% overshoot line (ζ = 0.358, arcsin (0.358) = 110.97◦ ) for angle sum of 180◦
yields pole at, −1.464 + j3.818 and gain, K = 218.6.
π π
(b) Tp = = = 0.823 seconds.
ωd 3.818
218.6
Kv = lims→0 sG(s) = = 3.975.
5 × 11
(c) Required specifications:
%OS = 15%
Tp = 0.4115 seconds
Kv = 30 × 3.975 = 119.25.

Lead Design: Using the required specifications for %OS and Tp , we can calculate the damping
ratio and the natural frequency:

ln(%OS/100)
ζ = −p = 0.517
π + ln2 (%OS/100)
2

π p
ωd = = ωn 1 − ζ 2 = 7.634. Hence ωn = 8.919.
Tp p
Thus, the desired pole is located at −ζωn + jωn 1 − ζ 2 = −4.61 + j7.634

Assume a lead compensator zero at −5. Summing the angles of the uncompensated system’s
poles as well as the compensator zero at −5 yields −171.2◦ . Therefore, the compensator pole

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must contribute (171.2◦ − 181◦ ) = −8.8◦ . Using the geometry below,

7.634
tan(8.8◦ ) = . Hence, pc = 53.92. The compensated open-loop transfer function is
pc − 4.61
now:
K
s(s + 11)(s + 53.92)
Evaluating the gain for this function at the desired pole, we get K = 4430.

4430
Lag Design: The lead compensated Kv is given by, Kv = lims→0 sG(s) = = 7.469.
11 × 53.92
Thus, we need an improvement over the lead compensated system of 119.25/7.469 = 15.97.
Choosing pc = 0.001, we get zc = 0.001597. Thus, the compensator is given by Glag (s) =
s + 0.01597
.
s + 0.001
4430(s + 0.01597)
The final open-loop transfer function is
s(s + 11)(s + 53.92)(s + 0.001)

2. Compensators (9 points)
K
The unity feedback system shown in Problem 1, with G(s) = is to be designed
(s2 + 4s + 8)(s + 10)
to meet the following specifications:

Overshoot: Less than 25%

Settling Time: Less than 1 second
Kp = 10

Do the following:
(a) Evaluate the performance of the uncompensated system operating at 10% overshoot.
(b) Design a passive compensator to meet the desired specifications.
(c) Use MATLAB to simulate the compensated system. Compare the response with the desired
specifications.
Solution:
(a) Searching along the 10% overshoot line (ζ = 0.591) the operating point is found to be −1.85 +
j2.53 with K = 21.27. A third pole is at −10.29. Thus, the estimated performance before

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compensation is: 10% overshoot, Ts = 4/1.85 = 2.16 seconds, and Kp = 21.27/(8 × 10) = 0.266.
(b) Lead Design: Since the overshoot of the uncompensated system is already lower than the
desired specification, we can keep the same damping ratio (ζ = 0.591).
Place compensator zero arbitrarily at −3. Now, with the required specifications, we can find
the natural frequency:
4 4
ωn = = = 6.768.
ζTs 0.591 p
Thus the desired pole is located at −ζωn + jωn 1 − ζ 2 = −4 + j5.46. The angular contri-
bution of the system poles and compensator zero at the design point is −166.96◦ . Thus, the
compensator pole must contribute −180◦ + 166.96◦ = −13.04◦ . Using the geometry below,

5.46
tan(13.04◦ ) = . Hence, pc = 27.57.
pc − 4
K(s + 3)
Thus, the compensated open-loop transfer function is
(s2
+ 4s + 8)(s + 10)(s + 27.57)
Evaluating this function at −4+j5.46 yields K = 1092 with higher order poles at −4.055 and −
29.52.
Lag Design: For the lead compensated system, Kp = 1.485. Thus, we need an improvement
of a factor of 10/1, 485 = 6.734. Choosing the compensator pole at 0.01, we get Glag (s) =
s + 0.06734
. Finally, the equivalent forward path transfer function is:
s + 0.01

1092(s + 3)(s + 0.06734)

Gc (s) =
(s2 + 4s + 8)(s + 10)(s + 27.57)(s + 0.01)

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(c) System Response: Uncompensated system

Compensated system

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3. Bode Form (3 points)

Express the following transfer functions in their Bode forms.
1
(a) G(s) =
s(s + 2)(s + 4)
(s + 5)
(b) G(s) =
(s + 2)(s + 4)
(s + 3)(s + 5)
(c) G(s) =
s(s + 2)(s + 4)
Solution:
(a)
1
G(s) =
s(s + 2)(s + 4)
1
G(jω) =
−6ω 2 + j(8ω − ω 3 )
Thus,
1
M (ω) = p
(8ω − ω )2 + (6ω 2 )2
3

8 − ω2
φ(ω) = −π − arctan
−6ω
(b)
(s + 5)
G(s) =
(s + 2)(s + 4)
jω + 5
G(jω) =
−ω 2 + 6jω + 8
Thus, √
25 + ω 2
M (ω) = p
(8 − ω 2 )2 + 36ω 2
ω
φ(ω) = arctan
5
(c)
(s + 3)(s + 5)
G(s) =
s(s + 2)(s + 4)
(15 − ω 2 ) + 8jω
G(jω) =
−6ω62 + j(8ω − ω 3
Thus, p
(15 − ω 2 )2 + 64ω 2
M (ω) = p
36ω 4 + (8ω − ω 3 )2
8ω 8 − ω2
φ(ω) = arctan − arctan
15 − ω 2 −6ω

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4. Sketching Bode Plots (9 points)

For each of the functions given in Problem 3, sketch the Bode asymptotic magnitude and asymptotic
phase plots.
Solution:

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5. Nyquist Plots (6 points)

Sketch the Nyquist diagram for each of the systems given below, and using the Nyquist Criterion,
determine whether or not each system is stable.

Solution:
(a)

P = 0, N = 0

Using Nyquist Criterion, Z = P − N = 0. Thus, the system is stable.

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(b)

P = 0, N = −2

Using Nyquist Criterion, Z = P − N = 2. Thus, the system is unstable.

6. Bode Plot Analysis (6 points)

For the Bode plots shown below, determine the transfer functions by hand, and confirm your answers
via MATLAB.
(a)

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EE C128 / ME C134 Spring 2014 HW7 - Solutions UC Berkeley

(b)

Solution:
(a) Step 1: Initial slope (ω → 0) is −20 dB/decade. Thus, we can say that there exists a pure
K
integration, 1/s. G(s) =
s
Step 2: Final slope (ω → ∞) is −40 dB/decade. Looking for the intersection of the asymptotes
K
yields that the pole is at 5.3 rad/s. G(s) =
s(s + 5.3)
Step 3: 1/s at ω = 0.01 rad/s should contribute +40 dB/decade. From the magnitude
plot, we see that |G(j0.01)| = 66.5 dB/decade. Thus, writing the function in bode form:
K 1
G(s) = s , we see that K/5.3 contributes 26.5 dB/decade.
5.3 s( 5.3 + 1)

K
20 log = 26.5
5.3
K = 116.24

Therefore, the transfer function is given by:

116.24
G(s) =
s(s + 5.3)

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Step 4: MATLAB Simulation

(b) Step 1: By inspection, ωn = 10 rad/s and there exists a second order term of the form
Kωn2
. And there is a zero at 1 rad/s. Therefore, there is a (s + 1) term in the
s2 + 2ζωn + ωn2
numerator.

100K(s + 1)
Step 2: Let ζ = 0.3, ωn = 10rad/s, we get: . To compensate for the slope
s2 + 6s + 100
near the natural frequency, add a pole at 8.5 dB. Therefore, a (s + 8.5) term exists in the
denominator.

Step 3: To compensate for the steep slope after the natural frequency, we add a zero at 23.
Thus, a (s + 23) term exists in the numerator. Since these terms do not affect the gain of the
bode plot, we need to make the DC gain of these terms equal to 1. Thus, we need a 8.5/23
850(s + 1)(s + 23)
term. Therefore, G(s) = K
23(s2 + 6s + 100)(s + 8.5)

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Step 4: Check the Bode Plot to add appropriate gain:

At ω → 0, |G(jω)| = −10. Therefore, 20 log K = −10 or K = 0.3162. Therefore,

850(s + 1)(s + 23) (s + 1)(s + 23)

G(s) = 0.32 = 11.68 2
23(s2 + 6s + 100)(s + 8.5) (s + 6s + 100)(s + 8.5)

Step 5: MATLAB Simulation

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EE C128 / ME C134 Spring 2014 HW7 - Solutions UC Berkeley

7. Bode Plot Analysis (6 points)

The Bode plots for a plant, G(s), used in a unity feedback system are shown below.

Do the following:
(a) Find the gain margin, phase margin, zero dB frequency, 180◦ frequency, and the closed-loop
bandwidth.
(b) Use your results in Part (a) to estimate the damping ratio, percent overshoot, settling time,
and peak time.
Solutions:
(a) From the Bode Plots: Gain Margin = 14.96 dB; phase margin = 49.57◦ ; zero dB frequency =
2.152 rad/s; 180◦ frequency = 6.325 rad/s; bandwidth (@ −7 dB point) = 3.8 rad/s.
(b) Using the following relation (10.73 in Nise):

2ζ
φM = tan−1 q p
−2ζ 2 + 1 + 4ζ 4

we get, ζ = 0.48. Using the damping ratio, we find the %OS = 17.93%. Using the following
relation (10.55 in Nise):
q
4 p
ωBW = (1 − 2ζ 2 ) + 4ζ 4 − 4ζ 2 + 2
Ts ζ

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we get, Ts = 2.84 s. Using the following relation (10.56 in Nise):

q
π p
ωBW = p (1 − 2ζ 2 ) + 4ζ 4 − 4ζ 2 + 2
Tp 1 − ζ2

we get Tp = 1.22s.

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