NPTEL

Control Engineering
Sept.-Dec 2020
Solution: Assignment 9
Common data for Q1-Q5

A group of control engineering student is attempting to control a plant (G(s)) shown in the figure below.
The system has a controller Gc (s), but the group is unable to select Gc (s) appropriately. It is agreed
that a system with a phase margin of 50◦ is acceptable.

+
10
R(s) Gc (s) G(s) = s(s+10)
Y (s)
-

1. What is the phase margin of plant? [Ans= 84.3, Range=83.3 to 85.3 ]

2. The group decided to choose Gc (s) = K. Find the value of K that yields a phase margin of 50◦ .
[Ans= 10.95, Range=10.85 to 11.05 ]
3. What is the settling time (2% tolerance) in seconds in the step response of system for the value of
K obtained in Q2? [Ans= 0.8, Range=0.77 to 0.83 ]

4. The group further decided to use a compensator of the form Gc (s) = T(s+20)
(s+10)
to reduce the the
settling time (chosen due to pole-zero cancellation). Determine the gain T that results in a phase
margin of 50◦ . [Ans= 43.18, Range=41 to 45 ]
5. The reduction in settling time in (%) is . [Ans= 50 , Range= 45 to 55 ]

Solution:

1.
10
G(s)H(s) =
s(s + 10)
At gain-crossover frequency |G(s)H(s)|ω=ωgc = 1.
10 2
q = 1 =⇒ t(t + 100) = 100 where t = ωgc .
ωgc 2
ωgc + 100

Solving, we get
t = 0.9902 =⇒ ωgc = 0.995

1
 ωgc
P.M = 180◦ − 90◦ − tan−1 ( ) = 84.32◦
10
2.
10K
G(s)Gc (s)H(s) =
s(s + 10)
ω ω
P.M = 180◦ − 90◦ − tan−1 ( ) = 50◦ =⇒ tan−1 ( ) = 40◦ =⇒ ω = 8.391 rad/sec
10 10
10K 8.391 × 13.054
| √ |ω=8.391 = 1 =⇒ K = = 10.954
ω 100 + ω 2 10
3.
Y (s) 10K
= 2
R(s) s + 10s + 10K
4
2ζωn = 10; ωn2 = 10K = 109.54; ts = = 0.8 secs
ζωn
4.
10T
G(s)Gc (s)H(s) =
s(s + 20)
ω ω
P.M = 180◦ − 90◦ − tan−1 ( ) = 50◦ =⇒ tan−1 ( ) = 40◦ =⇒ ω = 16.78 rad/sec
20 20
10T 16.78 × 26.11
| √ |ω=16.78 = 1 =⇒ T = = 43.81
ω 400 + ω 2 10
5.
Y (s) 10T
= 2
R(s) s + 20s + 10T
4
2ζωn = 20; ωn2 = 10T = 438.1; ts = = 0.4 secs
ζωn
told − tnew
tnew = 0.4 secs; told = 0.8 secs; Reduction(%) = × 100% = 50%
told
Common data for Q6-Q11

Consider the following system with an open-loop transfer function

K
G(s) =
s(2s + 1)(5s + 1)

It is desired that the lag-compensated system meets the following specifications: Kv = 0.5, and a
phase margin of 40 degrees.
6. The gain K required to meet the steady state specifications on Kv is [Answer = 0.5,
Range = 0.45-0.55]
Solution:
K
Kv = lim sG(s) = lim s = 0.5 =⇒ K = 0.5
s−→0 s−→0 s(2s + 1)(5s + 1)

7. The gain cross over frequency of the gain adjusted system is

(a) 0.133 rad/sec
(b) 0.266 rad/sec [Correct answer]
(c) 1.0 rad/sec

2
 (d) 4.32 rad/sec
Solution: At gain-crossover frequency |G(s)|ω=ωgc = 1.
0.5 2
q q = 1 =⇒ t(4t + 1)(25t + 1) = 0.25 where t = ωgc .
ωgc 2 + 1 25ω 2 + 1
4ωgc gc

Solving, we get
t = 0.070549 =⇒ ωgc = 0.266 rad/sec
NOTE: In exam, instead of solving the equation look for the option which satisfies
the equation.
8. Is the gain adjusted system stable?
(a) Yes [Correct]
(b) No
Solution:

∠G(s) = −90◦ − tan−1 (2 × 0.266) − tan−1 (5 × 0.266) = −90◦ − 28.01◦ − 53.06◦ = −171.07◦

P.M. = 180◦ − 171.07◦ = 8.93◦

Also, the gain margin is calculated and is found to be 2.92 dB. Since, both the phase margin and
the gain margin are positive, the gain compensated system is stable.
9. To meet the requirements on the phase margin, the new gain crossover frequency is (approximately).
(Do not consider the extra angle to compensate for the shift in the crossover frequency, due to the
lag compensator)
(a) 0.138 rad/sec [Correct answer]
(b) 2.24 rad/sec
(c) 2.57 rad/sec
(d) 3.75 rad/sec
Solution:
Required P.M. = 40◦ =⇒ ∠G(s) = −140◦
=⇒ −90◦ − tan−1 (2 × ω) − tan−1 (5 × ω) = −140◦ =⇒ tan−1 (2 × ω) + tan−1 (5 × ω) = 50◦
! !
−1 7ω ◦ 7ω
=⇒ tan = 50 =⇒ = tan(50◦ ) = 1.192
1 − 10ω 2 1 − 10ω 2

=⇒ 10ω 2 + 5.8725ω − 1 = 0 =⇒ ω = 0.138

Note: An announcement regarding Q9 options was made much before the deadline.
The correct solution is 0.138 rad/sec.
10. Based on the magnitude at the new gain crossover frequency, the value of β = [Answer
2.8746, Range 2.7746-2.9746]
Solution:
1  1  0.5
20 log( ) = 20 log |s=jω =⇒ β = |G(s)|s=jω = √ √ |ω=0.138 = 2.8746
β |G(s)| ω 4ω + 1 25ω 2 + 1
2

Note: Q10 correct solution has been shared with the NPTEL team. Please be patient,
it may take some time to reflect the updated score in the portal.

3
11. Assuming the corner frequency corresponding to the zero of the lag compensator is 0.1 rad/sec.
the corner frequency of the pole corresponding to the lag compensator is
(a) 0.0912 rad/sec
(b) 0.0348 rad/sec [Correct]
(c) 0.0696 rad/sec
(d) 0.00348 rad/sec
1
Solution: The corner frequency of the pole corresponding to the lag compensator is βT .

1 1/T 0.1
= = = 0.0348
βT β 1.4373
Note: Q11 correct solution has been shared with the NPTEL team. Please be patient,
it may take some time to reflect the updated score in the portal.