MECE 3350U

Control Systems

Lecture 23
Final Examination Review
and Practice Exercises

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Gain and phase - review
For a generic transfer function G(s)
Qn
(s + zi )
G(s) = k Qmi=1
k=1
(s + pk )
we can evaluate the phase at a frequency ω by letting s = jω.
The phase is
n m
X X
∠G(jω) = ∠|k| + ∠(jω + zi ) − ∠(jω + pk )
i=1 k=1

where ∠(jω + a) = tan−1 ω/a

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Bode plot building blocks

1 - Constant gain
→ Gain: |k| or 20 log(|k|)
→ Phase: φ = 0 ∀ ω if k > 0, −180◦ otherwise

2 - Pole at the origin

40

frequency [rad/s]
-90
0

-20
-2 -1.5 -1 -0.5 0 0.5 1 -2 -1.5 -1 -0.5 0 0.5 1
frequency [rad/s] frequency [rad/s]

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Bode plot building blocks

3 - Zero at the origin

20

0
90

-40
-2 -1.5 -1 -0.5 0 0.5 1 -2 -1.5 -1 -0.5 0 0.5 1
frequency [rad/s] frequency [rad/s]

4 - Real pole: G(s) = s

1
+1
, ω0 ∈ <∗
ω0

0
0
Magnitude (dB)

-5

-10 Phase (deg)

-15 -45

-20

-25 -90

Frequency (rad/s) Frequency (rad/s)

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Bode plot building blocks
5 - Real zero: G(s) = s
ω0
+ 1, ω0 ∈ <∗
25
90
Magnitude (dB)

20

Phase (deg)
15

10 45

0 0

Frequency (rad/s) Frequency (rad/s)

6 - Imaginary zeros or poles:

40
0
Magnitude (dB)

Magnitude (dB)
0

-10 -40
180 0
Phase (deg)
Phase (deg)

90 -90

0 -180
10-1 100 101 10-1 100 101
Frequency (rad/s) Frequency (rad/s)

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Open loop vs closed loop stability

Open-loop stability
T (s) = C (s)G(s) (1)
→ Evaluate the location of the poles of C (s)G(s)

Closed-loop stability
C (s)G(s)
T (s) =
1 + C (s)G(s)
→ Evaluate the location of the zeros of 1 + C (s)G(s)

s+a
Example: If C (s)G(s) = s+b

→ Open-loop stable if C (s)G(s) has real negative poles: i.e., b > 0

→ Closed-loop stable if 1 + C (s)G(s) has real negative zeros:

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Cauchy’s argument principle

A contour map of a complex function will encircle the origin N = Z − P times,

where Z is the number of zeros and P is the number of poles of the function
inside the contour.

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The Nyquist Stability Criterion
A open-loop transfer function L(s) is closed-loop stable if and only if the
number of counterclockwise encirclements of the −1 + 0j point is equal to the
number of poles of L(s) with positive real parts

Z =N +P

Nyquist plot
→ The contour at infinity maps to a single point
→ ω = 0 (starting point)
→ω→∞
→ Point where the plot crosses the real and imaginary axis
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Gain and phase margins

The characteristic equation of a closed loop system with unit feedback is

1 + C (s)G(s) = 0
If |C (s)G(s)| = 1 and ∠|C (s)G(s)| = ±180◦ , the characteristic equations is
zero
50

1 0
Imaginary Axis

Magnitude (dB)
0 -100
-90

-135

-1
-1 Real Axis 0 Phase (deg)
-180
10-2 10-1 100 101 102
Frequency (rad/s)

Stability margin: How far the system if from −1 + 0j or 1∠180◦

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Gain and phase margins

0 0

Magnitude (dB)

-180 -180

Phase (deg)

Frequency (rad/s) Frequency (rad/s)

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Phase and gain margin

Phase margin

Step 1 - Find the crossover frequency (0 dB). At the crossover frequency

ω = ωc , the magnitude is 1

Step 2 - Find the phase of G(jω) at ωc for ωc found in Step 1, i.e. ∠G(jωc )

Step 3 - The margin phase is 180 − |φ|

Gain margin

Step 1 - Find the frequency ωf where ∠|G(jω)| = −180◦ . At ωf ,

=[G(jωf )] = 0 (imaginary part is zero)

Step 2 - Find the gain of G(jω) at ω = ωc , i.e., |G(jωf )| = G

Step 3 - Then gain margin in Decibels is −20 log(G)

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State space model - back to temporal domain

State of a system: The set of variables that provides the future state and
output of the system for a given input.

State variables: x(t) = [x1 (t), x2 (t), . . . , xn (t)]

Examples: Position, velocity, voltage, current, etc.

The space state representation is:

ẋ(t) = Ax(t) + Bu(t)

y(t) = Cx(t) + Du(t)

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Practice problems

Practice Exercises

Please refer to Lecture 15 for more examples pertaining to Lectures 1 to 14

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Exercise 133

Calculate the magnitude and phase of

1
G(s) =
s + 10

by hand for ω = 1, 2, 5, 10, 20, 50 and 100 rad/s. Then, sketch the Bode
plot of G(s)and compare the results. The Bode plot can be obtained in Matlab
1

1
Gain: 0.095, 0.0981, 0.0894, 0.0707, 0.0447, 0.0196, 0.0099
Phase: -5.71, -11.3, -26.6, -45, -63.4, -78.7, -84.3 14/42
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Exercise 134

Sketch the Bode plot for the following open-loop transfer function and estimate
the stability margins. After completing the and sketches, verify your results
using Matlab.

2000
L(s) =
s(s + 200)

Matlab script
bode(tf([2000],[1 200 0]))

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Exercise 135

Sketch the Bode plot for the following open-loop transfer function and estimate
the stability margins. After completing the and sketches, verify your results
using Matlab.

s +2
L(s) =
s(s + 1)(s + 5)(s + 10)

Matlab script:

s = tf([1 0],[1]);
bode((s+2)/(s*(s+1)*(s+5)*(s+10)))

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Exercise 136

Sketch the Bode plot for the following open-loop transfer function and estimate
the stability margins. After completing the and sketches, verify your results
using Matlab.

1
L(s) =
s 2 (s + 10)

Matlab script:

s = tf([1 0],[1]);
bode(1/(s*s*(s+10)))

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 Bode Diagram
50

0
Magnitude (dB)

-50

-100

-150

-200
-180
Phase (deg)

-210

-240

-270
10-1 100 101 102 103
Frequency (rad/s)

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Exercise 137

Sketch the Bode plot for the following open-loop transfer function and estimate
the stability margins. After completing the and sketches, verify your results
using Matlab.

s +2
L(s) =
s(s + 10)(s 2 + 2s + 2)
Matlab script:

s = tf([1 0],[1]);
bode((s+2)/(s*(s+10)*(s*s+2*s+2)))

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Exercise 138

Draw the Nyquist plot for the system shown. Using the Nyquist stability
criterion, determine the range of k for which the system is stable.

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Exercise 138 - continued
Answer

Imaginary Axis 0.4

-0.4
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6
Real Axis

For positive k, note that the magnitude of the Nyquist plot as it crosses the
negative real axis is 0.1, hence k < 10 for stability.
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Exercise 139
The Nyquist plot for a control system resembles the one shown below. What is
the phase margin(s)?2

2
−20 log(α), +20 log(β) 22/42
MECE 3350 - C. Rossa 22 / 42 Lecture 23
Exercise 140

Determine the range of k for which the following system is stable by making a
Bode plot for k = 1 and imagining the magnitude plot sliding up or down until
instability results.

k(s + 3)
G(s) =
s + 30

Verify your results using a very rough sketch of a root-locus plot.3

3
Stable ∀ k > 0 23/42
MECE 3350 - C. Rossa 23 / 42 Lecture 23
Exercise 141

Determine the range of k for which the following system is stable by making a
Bode plot for k = 1 and imagining the magnitude plot sliding up or down until
instability results.

k
G(s) =
(s + 10)(s + 1)2

Verify your results using a very rough sketch of a root-locus plot.4

4
Stable for k < 242 24/42
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Exercise 142

The Bode plot of an unknown circuit has been obtained experimentally. Sketch
the Nyquist plot of the system based on the Bode plot.

0
Magnitude (dB)

-5

-10

-15
40
Phase (deg)

30

20

10

0
10-1 100 101 102 103
Frequency (rad/s)

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Exercise 142 - continued

Answer
0.4

0.2
Imaginary Axis

-0.2

-0.4
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis

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Exercise 143

A feedback control system is shown. The closed-loop system is specified to

have a phase margin of 40◦ . Determine k. 5

5
k = 7.81 27/42
MECE 3350 - C. Rossa 27 / 42 Lecture 23
Exercise 144

A two thank system is controlled by a motor adjusting the input valve and
ultimately varying the output flow rate. The system has the transfer function

Q(s) 1
= P(s) = 3
I(s) s + 10s 2 + 29s + 20

Obtain a state variable model.

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Exercise 144 - solution

h 0 1 0
i h 0
i
ẋ = 0 0 1 x + 0 p
−20 −29 −10 1

y = [ 1 0 0 ]x

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Exercise 145
An automatic depth control system for a robot submarine is shown in the
figure. The depth is measured by a pressure transducer. The gain of the stern
place actuator is k = 1 when the vertical velocity is 25 m/s. Determine a state
variable representation of the system.

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Exercise 145 - continued

h 0 1 0
i h 0
i
ẋ = 0 0 1 x + 0 r
−1/3 −5/3 −5/3 1/3

y = [ 1 2 1 ]x

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Exercise 146

A two mass system is shown. The rolling friction constant is b. Determine a

state variable representation when the output variable.

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Exercise 146 - solution

" 0 1 0 0
# " #
0
− k − b k 0 1
m1 m1 m1 m1
ẋ = x + u
0 0 0 1 0
k 0 − k − b 1
m2 m2 m2
y = [ 0 0 1 0 ]x

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Exercise 147

A system has block diagram shown. Determine a state variable model.

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Exercise 147 - solution

 0 1
  0

ẋ = x + r
−25 −6 25

y = [ 1 0 ]x

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Exercise 148 - From 2018 final exam

Radio telescopes are used to study the radio frequency portion of the
electromagnetic spectrum emitted by astronomical objects. One critical
problem of driving large telescopes is the form of the system transfer function
that has a structural resonance. A large telescope with a diameter of 20
meters, for example, is subject to large wind gust torques that can affect
positioning accuracy. Consider an antenna, drive motor, and amplifier system
with the following transfer function
200
G(s) =
(s + 1)(s 2 + 5s + 100)

(a) Calculate the phase and magnitude of G(s) at 1 rad/s.

(b) If the cross-over frequency is 1.8 rad/s, what is the phase margin?
(c) Draw the approximate Bode plot of G(s). Based on the Bode plot, specify
the approximate gain at the cut-off frequencies and at 103 rad/s (8 marks).
(d) Calculate the gain margin.

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Exercise 149 - From 2018 deferred final exam

Radio telescopes are used to study the radio frequency portion of the
electromagnetic spectrum emitted by astronomical objects. One critical
problem of driving large telescopes is the form of the system transfer function
that has a structural resonance. A large telescope with a diameter of 20
meters, for example, is subject to large wind gust torques that can affect
positioning accuracy. Consider an antenna, drive motor, and amplifier system
with the following transfer function
s
G(s) = 150
(s + 0.7)2 (s 2 + s + 49)

(a) Calculate the phase and magnitude of G(s) at 1 rad/s.

(b) If the cross-over frequency is 1.8 rad/s, what is the phase margin?
(c) Draw the approximate Bode plot of G(s). Based on the Bode plot, specify
the approximate gain at the cut-off frequencies and at 103 rad/s (8 marks).
(d) Calculate the gain margin.

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Exercise 150 - From 2018 final exam
The Nyquist plot below was obtained for the open-loop transfer function kL(s)
for a given positive value of k.
Nyquist Diagram
0.4

0.2
Imaginary Axis

-0.2

-0.4
-1 0
Real Axis

If L(s) has one unstable pole, which of the following root-locus best
approximates the root-locus of the closed-loop feedback system as k → ∞?6
Imaginary Axis

Imaginary Axis

Imaginary Axis

Imaginary Axis
0 0 0 0

Root Locus

Real Axis Real Axis Real Axis Real Axis

0 0 0 0

6
Answer: (b), why? 38/42
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Research opportunities

Students interested in part/full time research in mechatronics with applications

to biomedical robotics:

bio
MECHA
TRONICS LAB

www.biomechatronics.ca

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 The end

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