Linear Control Systems

25411
Instructor: Behzad Ahi Assignment 6
Fall 1403 Due Date: 1403/9/28

Note: Bonus problems are indicated in purple.

Note: You are expected to upload a PDF file that includes a detailed derivation procedure for each
question. For the simulation part, along with the essential plots, it is necessary to append your code at
the end of the PDF file. Additionally, provide the source codes in a separate folder, where the name of
each source code corresponds to the number of the related question.

1 Peak Frequency-Peak Time Product

Consider the transfer function for a second order system
ω0 s
G(s) = .
s2 + 2ζω0 s + ω02

(a) Show that it has the unit step response

1 p
y(t) = p e−ζω0 t sin (ω0 t 1 − ζ 2 )
1 − ζ2

(b) Let Mp = maxω |G(jω)| be the largest gain of G(s), which is assumed to occur at ωp , and let
yp = maxt y(t) be the largest value of y(t), which is assumed to occur at tp . Show that
arccos (ζ) yp
tp ωp = φ = p , = 2ζ e−ζφ
1 − ζ2 Mp

and evaluate the right-hand sides of the above equations for ζ = 0.5, 0.707, and 1.0.

2 Optimizing Phase Margin and Robustness in Lead Compen-

sated Systems
For a unity feedback system with the following open-loop transfer function:
K(1 − αs)
L(s) =
s(1 + τ s)

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(a) Show that there exists a value of α that maximizes the phase margin.
(b) Find this optimal value of α in terms of τ .
(c) Determine the relationship between bandwidth and robustness metrics (gain margin, phase margin)
for this system.

3 Gain Crossover Frequency Properties

In control systems, crossover frequencies are critical in determining the stability and robustness of feed-
back systems. Here, we define several important crossover frequencies in the context of a system’s loop
transfer function and analyze their relationships with respect to phase margin.

• Gain Crossover Frequency, ωgc : The gain crossover frequency is the frequency at which the
magnitude of the loop transfer function L(jω) = G(jω)H(jω) equals 1 (or 0 dB). Formally, this is:

|L(jωgc )| = 1.

• Sensitivity Crossover Frequency, ωsc : The sensitivity function S(jω) is defined as S(jω) =
1
, where L(jω) is the loop transfer function. The sensitivity crossover frequency is the
1 + L(jω)
frequency where the magnitude of the sensitivity function equals 1 (or 0 dB):

|S(jωsc )| = 1.

• Complementary Sensitivity Crossover Frequency, ωtc : The complementary sensitivity func-

L(jω)
tion T (s) is defined as T (jω) = . The crossover frequency for the complementary sensi-
1 + L(jω)
tivity function is the frequency where the magnitude of T (jω) equals 1:

|T (jωtc )| = 1.

Consider a system where the loop transfer function L(jω) has a monotone (or consistently increasing or
decreasing) behavior in both gain and phase over the range of frequencies being analyzed. Assume that
the loop transfer function is stable.

(a) Equal Crossover Frequencies for 60◦ Phase Margin: Show that if the system has a phase
margin φm = 60◦ , the gain crossover frequency ωgc , sensitivity crossover frequency ωsc , and comple-
mentary sensitivity crossover frequency ωtc are equal.
Hint: Use the relationships between the magnitude of the sensitivity and complementary sensitivity
functions at these frequencies and recall that phase margin is defined at ωgc .

(b) Comparative Crossover Frequencies for Different Phase Margins: Show that if the phase
margin φm < 60◦ , then ωsc < ωgc < ωtc .
Show that if the phase margin φm > 60◦ , then ωsc > ωgc .
Hint: Consider how the phase margin affects the slopes and behaviors of S(jω) and T (jω) near these
crossover frequencies.
(c) Sensitivity Crossover for Integral Action: Show that for a process with integral action (i.e.,
a pole at the origin in G(s)), the sensitivity crossover frequency ωsc is approximately given by
ωsc ≈ P (0)ki , where P (0) is the gain of the process at zero frequency and ki is the integral gain.
Hint: Analyze the low-frequency behavior of the sensitivity function when integral action is present.

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(d) Bandwidth and Complementary Sensitivity Crossover Frequency: Derive an approximate
relationship between the bandwidth ωbw of the closed-loop system and the complementary sensitivity
crossover frequency ωtc .
Hint: Use the fact that the bandwidth frequency often lies close to the frequency where the closed-
loop gain starts to roll off, which is influenced by T (jω).

4 Frequency Response Analysis of a Complex Network

Consider a multi-stage system composed of three transfer functions connected in series:
ωn
• G1 (s) =
s + ωn
1
• G2 (s) =
s2 + 2ζωn s + ωn2
s
• G3 (s) =
s+a
Define the overall transfer function G(s) = G1 (s) · G2 (s) · G3 (s).

(a) Derive the expression for the gain crossover frequency ωc and phase crossover frequency for G(s)
and interpret their significance.
(b) Find the values of a and ωn that would maximize the bandwidth of G(s).
(c) Use MATLAB to plot the Bode plot and determine the gain margin, phase margin, and the closed-
loop stability of the system.

5 Frequency Response and Bandwidth Enhancement Analysis

Consider the transfer function:
K
G(s) =
(1 + τ1 s)(1 + τ2 s)
where τ1 = 0.1 and τ2 = 0.01.

(a) Find the −3 dB frequency (bandwidth) analytically.

(b) Determine the frequency at which the phase lag equals 45◦ .
1
(c) Show that adding a zero at s = − increases the bandwidth.
τ1
(d) For what range of K will the system maintain a phase margin of at least 45◦ ?

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MATLAB Assignments
6 Maximum Gain and Frequency Response Analysis
Objective: Analyze the frequency response and maximum gain of a parametric system, a common
exercise in frequency-domain analysis.

Instructions:

I. System Definition:
II. Define two transfer functions based on the parameters ωn (natural frequency) and ζ (damping
ratio):
ωn2
G1 (s) = 2
s + 2ζωn s + ωn2
ωn (s + ωn )
G2 (s) =
s2 + 2ζωn s + ωn2

III. Calculate Maximum Gain:

• Write a function in MATLAB to calculate and plot the gain |G(jω)| for G1 (s) and G2 (s) as a
function of frequency ω ranging from 0 to 5ωn .
• For small values of ζ, verify the relation

max |G2 (jω)|

max |G1 (jω)| ≈ √
2
and provide an intuitive explanation in comments.

IV. Bode Plot:

• Plot the frequency responses of G1 (s) and G2 (s) using MATLAB’s bode function and also
semilogx for customized frequency plots, and insure both method gives a same result.
• Annotate the plots with the maximum gain Mp and frequency ωr where the maximum occurs.

V. Nyquist and Nichols Plot:

• Plot the frequency responses of G2 (s) using MATLAB’s nyquist and nichols functions.
VI. Performance Indices:
• Use MATLAB’s margin, bandwidth, getPeakGain, stepinfo and other appropriate functions
to calculate important frequency response and step response characteristics of G2 (s).
VII. Code Requirements:
• Provide detailed comments to explain each step of your calculations and plots.
• Include a short summary of your findings as comments, explaining the behavior of each transfer
function with respect to the damping ratio ζ.

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7 Notch Filter Design for Disturbance Rejection
Objective: Design a notch filter to remove a specific disturbance frequency while preserving other
frequencies, commonly needed in noise-sensitive control systems.

Instructions:
I. System Design:

• Design a notch filter that attenuates signals around 50 Hz (such as ±1 Hz from 50 Hz) but
does not significantly affect signals at other frequencies.
• The transfer function for a notch filter can be given by:

s2 + ωn2
G(s) =
s2 + 2ζωn s + ωn2

• Use ωn = 2π × 50 and adjust ζ to achieve the desired bandwidth around 50 Hz.

II. Frequency Response Verification:

• Plot the Bode diagram for the filter and verify that it attenuates the frequency band of 49 − 51
Hz by at least 50 dB.
• Annotate the frequency response plot with markers indicating the 50 Hz attenuation level and
bandwidth.

III. Implementation and Testing:

• Apply the designed notch filter to a signal that combines a 50 Hz sinusoidal disturbance and
a lower-frequency sinusoid.
• Plot both the original and filtered signals in the time domain, showing the effect of the notch
filter on the 50 Hz disturbance.

IV. Summary and Code Requirements:

• Provide MATLAB code with detailed comments and explanations for each step, including the
design choices for ζ and ωn .
• Include a brief written summary within the comments discussing how notch filters can be
applied in real-world control systems for noise rejection.