Solutions to Assignment 7

𝑘(𝑠+6)(𝑠+2)
1. 𝐺 (𝑠) = (𝑠+3)(𝑠+5)(𝑠+7)
. The magnitude of transfer function at 𝜔 = 0 and 𝜔 = ∞ is
given by
𝑘(𝑗𝜔 + 6)(𝑗𝜔 + 2)
𝐺 (𝑗𝜔) =
(𝑗𝜔 + 3)(𝑗𝜔 + 5)(𝑗𝜔 + 7)
𝑘 2 (𝜔 2 + 62 )(𝜔 2 + 22 )
|𝐺 (𝑗𝜔)| = √
(𝜔 2 + 32 )(𝜔 2 + 52 )(𝜔 2 + 72 )
4𝑘
|𝐺 (𝑗𝜔)|𝑎𝑡 𝜔=0 =
35
|𝐺 (𝑗𝜔)|𝑎𝑡 𝜔=∞ =0
𝑘(𝑠+6)(𝑠+2)
2. An open loop transfer function is given by 𝐺 (𝑠) = (𝑠+3)(𝑠+5)(𝑠+7)
. The phase of
transfer function at 𝜔 = 0 and 𝜔 = ∞ is given by
𝜔 𝜔 𝜔 𝜔 𝜔
∠𝐺(𝑗𝜔) = tan−1 + tan−1 − tan−1 − tan−1 − tan−1
6 2 3 5 7
∠𝐺(𝑗𝜔)𝑎𝑡 𝜔=0 = 0
∠𝐺(𝑗𝜔)𝑎𝑡 𝜔=∞ = −90
𝑠
3. The gain margin and phase margin of the system given by 𝐺 (𝑠) = (𝑠+1000)3 is given
by
𝜔 𝜔
|𝐺 (𝑗𝜔)| = 3 = 3
(√(𝜔 2 + 10002 )) (𝜔 2 + 10002 )2
𝜔
∠𝐺 (𝑗𝜔) = 90 − 3tan−1
1000
When 𝜔 = 𝜔𝑃𝐶
𝜔𝑃𝐶
∠𝐺(𝑗𝜔)𝑎𝑡 𝜔=𝜔𝑃𝐶 = 90 − 3tan−1
1000
𝜔𝑃𝐶
180 = 90 − 3tan−1
1000
90 𝜔𝑃𝐶
= tan−1
−
3 1000
𝜔𝑃𝐶 = −𝑣𝑒
𝜔𝑃𝐶 = −𝑣𝑒. Can’t be negative. Hence, 𝑮𝑴 = ∞ [because it cannot be identified]

When 𝜔 = 𝜔𝑔𝑐
𝜔𝑔𝑐
|𝐺 (𝑗𝜔)|𝑎𝑡 𝜔=𝜔𝑔𝑐 = 3
2 + 10002 )2
(𝜔𝑔𝑐
𝜔𝑔𝑐
1= 3
2 + 10002 )2
(𝜔𝑔𝑐

3
2
(𝜔𝑔𝑐 + 10002 )2 = 𝜔𝑔𝑐
2 3
(𝜔𝑔𝑐 + 10002 ) = 𝜔𝑔𝑐
2
 The above equations can’t be satisfied for any positive value of 𝜔𝑔𝑐 . Hence, 𝑷𝑴 = ∞
[because it cannot be identified]

4. The Nyquist plot shown here is some version of all pass filter
𝑘(1−𝑎𝑠)
Let us assume this as 𝐺 (𝑠) = 𝑏+𝑠

(1 + 𝑎2 𝜔 2 )
|𝐺 (𝑗𝜔)| = 𝑘√ 2
(𝑏 + 𝜔 2 )
𝜔
∠𝐺 (𝑗𝜔) = −tan−1 𝑎𝜔 + tan−1
𝑏
Let start by assuming the value of 𝑎 = 0.6 and 𝑏 = 0.8 and 𝑘 = 1

At 𝜔 = 0 |𝐺(𝑗𝜔)| = 1.25 ∠𝐺 (𝑗𝜔) = 0

So you will get a circle as a Nyquist plot as below

1 1
At 0.6𝑘 > 1 or 𝑘 > 0.6. The system is marginally stable for 𝑘 = 0.6. However, the
system become unstable for large values of 𝑘.
a. The closed loop system is unstable for sufficiently large value of K
5. The number of encirclements around the point (-1+j0) by the Nyquist plot of 𝐺 (𝑠) =
1−𝑠
4+3𝑠
1−𝑠
Let us assume this as 𝐺 (𝑠) = 4+3𝑠

(1 + 𝜔 2 )
|𝐺 (𝑗𝜔)| = 𝑘√ 2
(4 + 𝜔 2 )

𝜔
∠𝐺 (𝑗𝜔) = −tan−1 𝑎𝜔 + tan−1
𝑏
At 𝜔 = 0 |𝐺(𝑗𝜔)| = 0.25 ∠𝐺 (𝑗𝜔) = 0
At 𝜔 = ∞ |𝐺(𝑗𝜔)| = 0.33 ∠𝐺 (𝑗𝜔) = −180

You will get a circle like above figure. Hence, 𝑁 = 0.

(a) (b)

(c) (d)
The complete Nyquist plot is given below for all four figures (a), (b), (c) and (d).
From the figures, it is clear that
 (b) and (c)
7. For a Nyquist contour, the size of the radius is
a. 0
b. 1
c. Infinity
d. None of the above
𝑘(𝑠+6)
8. An open loop transfer function is given by 𝐺 (𝑠) = . The Nyquist plot
(𝑠 2+6𝑠+10)(𝑠+7)
of the 𝐺(𝑆) does not encircle the point (-1+j0) at K=10, but does when K=100. The
closed loop system with unity feedback system is
a. Stable at K=10 and unstable at K=100

9. A closed loop system is stable if the Nyquist plot corresponding open loop transfer
function
a. Encircle the (-1+j0) in counter clockwise direction as many times as the
number of right half s-plane poles

𝐾
10. Consider a unity feedback system with process transfer function 𝐺 (𝑠) = (𝑠+2)(𝑠+4)(𝑠+6).
Find the range of gain 𝐾 for stability from the Nyquist plot given

a. 0<K<480 (b)