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Chapter 6 : Polar & Nyquist Plot
At G( j) 0 G ( j ) 360
0
- 2700 Img
-1800 w = ¥+ - 3600
Re
0
w = 0+
- 900
1
Section 3 : Mirror image of polar plot
At G( j) 0 G ( j ) 3 6 0 0
At 0 G( j) G ( j ) 9 0 0
- 2700 Img
w = 0-
-1800 w = ¥- - 3600
Re
0
- 900
At G( j) 0 G ( j ) 3600
- 2700 Img
-1800 w = ¥- - 3600
+
Re
w=¥
- 900
At 0 G( j) G ( j ) 9 0 0
900 Img
00
Re
- 900
2
The Nyquist plot is shown below.
Img
-
w=0
w = ¥+
Re
0 w = ¥-
w = 0+
The frequency at which phase angle of G( jω) H ( jω) is 1800 is called phase crossover frequency.
1800 900 tan1 (pcT1 ) tan1 (pcT2 ) tan1 (pcT3 )
900 tan 1 (pcT1 ) tan 1 (pcT2 ) tan1 (pcT3 )
pcT1 pcT2
pcT3
1 pcTT
2
tan 900
1 2
pcT1 pcT2
1 pc 3
T
1 2pcTT
1 2
pcT1 pcT2
pcT3
1 1 pcTT
2
or
1 2
0 pcT1 pcT2
1 T3
1 2pcTT
pc
1 2
12pc TT
1 2 T2T3 T3T1 0
1
pc
T1T2 T2T3 T3T1
K
G ( j pc )
pc ( T 1) ( 2pcT22 1) ( 2pcT32 1)
2
pc 1
2
Gain margin can be defined as reciprocal of the magnitude of the G ( j ) measured at phase crossover
frequency. For the system to be stable, gain margin measured in dB should be positive or G ( j ) measured
at phase crossover frequency should be less than 1.
K
1
pc ( 2pcT12 1) ( 2pcT22 1) ( 2pcT32 1)
1
K pc ( 2pc T12 1) ( 2pcT22 1) ( 2pcT32 1) where pc
T1T2 T2T3 T3T1
Question 4 [Practice Book] [GATE EC 1992 IIT-Delhi : 8 Marks]
A unity feedback system has open-loop transfer function
1
G(s)
s(2s 1)(s 1)
Sketch Nyquist plot for the system and from there obtain the gain margin and the phase margin.
3
1
Sol. Given : G(s)
s(2s 1)(s 1)
1
Put s j, G ( j)
j(2 j 1) ( j 1)
Magnitude can be written as,
1
G ( j)
(4 1) (2 1)
2
At G( j) 0 G ( j ) 270
0
- 2700 Img
-1800 w = ¥+ - 3600
Re
0
w = 0+
- 900
At 0 G( j) G ( j ) 9 0 0
4
2700 Img
w = 0-
1800 w = ¥- 00
Re
0
900
Section 2 : Semi-circle with radius tending to infinite.
At G( j) 0 G ( j ) 270
0
At G( j) 0 G ( j ) 2 7 0 0
- 2700 Img
-1800 w = ¥- - 3600
Re
w = ¥+
- 900
Section 4 : Semi-circle with radius tending to zero.
At 0 G( j) G ( j ) 9 0 0
At 0 G( j) G ( j ) 90
0
900 Img
00
Re
- 900
The Nyquist plot is shown below.
Img
w = 0-
w = ¥+
0 w = ¥- Re
w = 0+
5
The frequency at which phase angle of G( jω) H ( jω) is 1800 is called phase crossover frequency.
1800 900 tan1 2pc tan1 pc
900 tan 1 (2pc ) tan 1 (pc )
2pc pc
900 tan 1
1 2pc
2
1 3pc
0 1 22pc
1 22pc 0
1
pc rad/sec
2
1 1
G ( j pc )
1 1 1 1
(3) (1.5)
4 2 1 2 1 2
2
G ( j pc ) 0.667
Gain margin can be defined as reciprocal of the magnitude of the G ( j ) H ( j ) measured at phase
crossover frequency.
1 1
G.M. 1.49
G ( j pc ) 0.667
1
In dB, G.M. = 20log 20 log1.49 3.46 dB
G ( j pc )
The gain crossover is a point on the G ( j ) H ( j ) plot at which the magnitude of G ( j ) H ( j ) is equal
to unity (1) and the corresponding frequency is known as gain crossover frequency gc .
G ( j gc ) H ( j gc ) 1
1 gc (4 2gc 1) ( 2gc 1)
6
Phase margin is defined as,
P.M. 1800 G( jgc )
P.M. 1800 900 tan1 (2gc ) tan1 (gc )
P.M. 900 tan 1 (2 0.57) tan 1 (0.57)
P.M. 11.57 0
Question 6 [Practice Book] [GATE EC 1998 IIT-Delhi : 5 Marks]
The loop transfer function of a single loop control system is given by,
100
G (s) H (s) e sT
s (1 0.01s )
Find the condition for the closed loop system to be stable.
100
Sol. Given : G (s) H (s) e sT
s (1 0.01s )
100
Put s j, G ( j) H ( j) e j T
j(1 0.01 j)
Magnitude can be written as,
100
G ( j ) H ( j )
1 (0.01) 2
Phase angle can be written as,
G ( j) H ( j) in rad (T ) rad tan 1 (0.01) rad
2
At 0 G( j) H ( j) G ( j) H ( j) 900
At G( j)H ( j) 0 G( j) H ( j) 1800
The frequency at which magnitude of G ( j ) H ( j ) is unity i.e. 1 is called gain crossover frequency.
G ( j gc ) H ( j gc ) 1
j T
100 e gc
1
jgc (1 j 0.01gc )
100
1
gc 1 (0.01 gc ) 2
7
T < 0.01 sec system is stable.
Polar plot is shown in below figure.
Img
Re
w=0
w
s-plane
8
(a) Derive an expression for N, terms of the number of poles of H(s) in the right half of the s-plane.
(b) From a plot of the imaginary part of 1 versus the real part of 1 evaluated along the curve in
G (s) G (s)
figure determine the condition on K that will make the closed loop system stable.
KG ( s )
Sol. (a) H (s)
1 KG ( s )
1 1 KG ( s ) 1
1
H (s) KG ( s ) KG ( s )
Poles of (1 KG(s)) Poles of KG(s)
According to mapping theorem,
N = Number of CW encirclements of (1/H) locus around the origin = Number of CW encirclements
of 1/ KG ( s) locus around ( 1, j 0) point.
= Number of zeros 1/ H(s) in the RH-plane – Number of poles 1/ H(s) in the RH-plane
= Number of poles H(s) in the RH-plane – Number of zeros H(s) in the RH-plane
=P–Z
For minimum phase functions, the second term is zero, N = P
(b) For closed-loop stability, P 0, N Z
For the special case of minimum phase systems, N = 0
i.e. (1 / K G ) locus should not enclose (–1, j0) point.
1 1
1, K
KG( jpc ) G( jpc )
Where pc is the phase crossover frequency of 1 .
G ( j )
Question 8 [Practice Book] [GATE EE 2000 IIT-Kharagpur : 5 Marks]
Open-loop transfer function of a unity-feedback system is
e sD
G ( s ) G1 ( s ) e sD
s( s 1)( s 2)
Given : G1 ( j) 1 when 0.466
(a) Determine the phase margin when D 0.
(b) Comment in one sentence on the effect of dead-time on the stability of the system.
(c) Determine the maximum value of dead time D for the closed-loop system to be stable.
e sD
Sol. Given : G ( s ) G1 ( s) e sD
s( s 1)( s 2)
jD e jD
Put s j, G( j) G1 ( j) e
j( j 1)( j 2)
9
Phase angle can be written as,
G1 ( j) 900 tan 1 tan 1
2
Phase margin is given by,
P.M. 1800 G1 ( jgc )
gc gc
P.M. 180 0 90 0 tan 1 tan 1
1 2
P.M. 1800 (900 250 130 ) 520
P.M. 52 0 Ans.
(b) If dead time increases the stability of the system decreases. Ans.
(c) For marginal stability P .M . 0 0
G.M. 0 dB
Put s j, K
G ( j)
j (0.2 j 1)(0.05 j 1)
Magnitude can be written as,
K
G ( j ) H ( j )
(0.2) 1
2 2
(0.05) 2 12
10
K 1 for gain margin 28 dB
1
G.M. 20 log
G ( j pc ) H ( j pc )
1
28 20 log
G ( j pc ) H ( j pc )
G( j)H ( j) 0.0398 …(i)
K
G ( j pc ) H ( j pc )
pc (0.2 pc ) 12 (0.05 pc ) 2 12
2
1
0.0398
pc 0.04 2
pc 1 0.0025 2pc 1
K 2.5
Hence, the correct option is (C).
Alternatively :
K
G.M. mar
K desired
For a system K mar is fixed.
Given : K desired 1
In dB, G.M. 20log G.M.
28 20log G.M.
G.M. 25.11
K mar G.M. K desired 25.11
In dB, G.M. 20log G.M.
20 20log G.M.
G.M. 10
K 25.11
K desired mar 2.511
G.M. 10
11
1
Put s j, G( j) H ( j) ….. (i)
j (1 2 j)
Magnitude can be written as,
1
G ( j ) H ( j)
(1 2 ) 2 2
Phase angle can be written as,
G ( j ) H ( j ) tan 1 2
2 1
The frequency at which phase angle of G ( jω) H ( jω) is 1800 is called phase crossover frequency.
pc
G( jpc ) H ( jpc ) tan 1
2 1 2
pc
pc
1800 900 tan 1
1 2pc
1 pc 0 pc 1 rad/sec
2
Gain margin can be defined as reciprocal of the magnitude of the G( j) H ( j) measured at phase
crossover frequency.
1
G.M.
G ( jω pc ) H ( jω pc )
1
G ( j pc ) H ( j pc ) 1
1 (1 12 ) 2 12
1
G.M. 1
1
In dB, G.M. 20 log(1) 0 dB
Hence, the correct option is (B).
Alternatively 1 : Alternatively 2 :
K To calculate pc , equating imaginary part of G( j) to
G.M. mar
K desired zero.
Given K desired 1 Img j j3 2 0
Characteristic equation is given by, pc 3pc 0
1 G( s) H ( s) 0
pc 1 rad/sec
1
1 0 Img
s ( s s 1)
2
1
s3 s 2 s K 0
For third order system to be marginal stable, IP = OP -1800 w=¥
Re
K mar 1
G.M. 1
w pc = 1
In dB, G.M. 20log1 0 dB w=0
Note : This method is only valid when polar plot
crosses 1800 axis.
12
Question 8 [Work Book - Polar] [GATE IN 2002 IISc-Bangalore : 2 Marks]
10e Ls
The loop transfer function of a system is given by G ( s) H ( s) . The phase cross-over frequency is
s
5 rad/s. The value of the dead time L is
(A) (B) (C) (D) 0
20 10 20
Ans. (B)
10eLs
Sol. Given : G(s) H (s) and ωpc 5 rad/sec
s
10e Lj
Put s j, G( j) H ( j)
j
Phase angle can be written as,
π
G ( jω) H ( jω) Lω
2
The frequency at which phase angle of G( jω) H ( jω) is 1800 is called phase crossover frequency.
Lω pc
π
π L π π
2 2ω pc 10
Hence, the correct option is (B).
Question 10 [Practice Book] [GATE EC 2004 IIT-Delhi : 2 Marks]
A system has poles at 0.01 Hz, 1 Hz and 80 Hz; zeros at 5 Hz, 100 Hz and 200 Hz. The approximate phase
of the system response at 20 Hz is
(A) 900 (B) 00 (C) 900 (D) 1800
Ans. (A)
Sol. The expression for phase will be
f f 1 f 1 f 1 f 1 f
tan 1 tan 1 tan tan tan tan
5 100 200 0.01 1 80
At f = 20 Hz,
20 20 1 20 1 20 1 20 1 20
tan 1 tan 1 tan tan tan tan
5 100 200 0.01 1 80
98.20
So, 900
Hence, the correct option is (A).
Question 14 [Practice Book] [GATE IN 2004 IIT-Delhi : 2 Marks]
Figure shows the polar plot of a system. The transfer function of the system is
Img
w = 10
450 w=0
Re
5
(A) 5(1 + 0.1s) (B) (1 + 0.5s) (C) 5(1 + 10s) (D) 5(1 + s)
13
Ans. (A)
Sol. Figure shows the polar plot of a system.
Img
w = 10
450 w=0
Re
5
From figure we can conclude that
| GH ( jω) | 5 at ω 0
GH ( jω) 450 at ω 10 [ tan 450 1]
Only option (A) is satisfying both conditions.
| GH ( jω) | 5 1 (0.1ω) 2
GH ( jω) tan 1 (0.1ω)
At ω 0 | GH ( jω) | 5
At 10, GH ( j) 450
Hence, the correct option is (A).
Question 11 [Work Book - Polar] [GATE EC 2005 IIT-Bombay : 2 Marks]
The polar diagram of a conditionally stable system for open loop grain K = 1 is shown in the figure. The
open loop transfer function of the system is known to be stable. The closed loop system is stable for
Img
Re
–8 –2 – 0.2
GH-plane
1 1 1 1
(A) K 5 and K (B) K and K 5
2 8 8 2
1 1
(C) K and 5 K (D) K and 5 K
8 8
Ans. (B)
Sol. Given : Open loop transfer function is stable, number of right sided poles, P = 0.
Nyquist stability criterion is given by,
N Z P
Where N = number of encirclements of the (–1, j0) point made by the G ( s ) H ( s ) plot in CW
direction.
Z = number of zeros of 1 G ( s ) H ( s ) that are inside the Nyquist path (i.e. the right-half
s-plane); notice that the zeros of 1 G ( s ) H ( s ) are the same as poles of closed-loop
transfer function.
14
P = number of poles of 1 G ( s ) H ( s ) that are inside the Nyquist path (i.e. the right-half
s-plane); notice that the poles of 1 G ( s ) H ( s ) are the same as those of G ( s ) H ( s ) .
There are four cases :
Case 1 : If critical point – 1 + j0 lies between 0 and – 0.2K
0.2K 1 K 5
Img
CW
– 8K – 2K – 0.2K
IV III II I 0
Re
CW
N=2
(2 CW)
Number of encirclement of – 1+ j0, N = 2
N Z P 2 Z 2 [Unstable system with two right poles]
Case 2 : If critical point – 1 + j0 lies between – 2K and – 0.2K then encirclements of – 1 + j0 are in
opposite direction and net encirclement is zero.
Img
CW
– 8K – 2K – 0.2K
IV III II I 0
Re
CCW
CW
N=0
(1 CW + 1 CCW)
Case 3 : If point lies between – 2K and – 8K
8K 1 2 K
1 1
So K and K
8 2
Img
CW
– 8K – 2K – 0.2K
IV III II I 0
Re
CW
N=2
(2 CW)
15
Number of encirclement of – 1+ j0, N = 2
N Z P2 Z 2 [Unstable system with two right hand poles]
Case 4 : If point – 8K > – 1 or 8K < 1 then there is no encirclements of – 1 + j0.
So two conditions are
2K > 1, 0.2K < 1
1
K , K 5
2
1 1
K 5 and 8 K 1 or K
2 8
Hence, the correct option is (B).
Question 4 [Work Book – Nyquist] [GATE EE 2006 IIT-Kharagpur : 2 Marks]
Consider the following Nyquist plots of loop transfer functions over 0 to . Which of these plots
represents a stable closed loop system?
1. Img 2. Img
w=¥ w=¥
Re Re
-1 -1
3. Img 4. Img
-1 w=¥ w=¥
Re Re
-1
w w
(A) 1 only (B) all, except 1 (C) all, except 3 (D) 1 and 2 only
Ans. (D)
Sol. If open loop system is stable then no poles should lie in the right half of s-plane i.e. P = 0.
For option (A), For option (B),
Img
Img
–1
–1 Re
Re
CW CCW
CW CCW
N=0
(1 CW + 1 CCW)
N = 0 [No encirclement] Type 3 system as starts from 2700 and ends at 2700
Stable closed loop system N=Z–P=0 Z 0
Stable closed loop system
16
For option (C), For option (D),
Img
Img
–1
Re
-1 w=¥
Re CW
CW
CW CW
N=2
(2 CW) w = 0 N=2
(2 CW)
N=Z–P=2 Z 2 Type 1 system as starts from 900 and ends at 900
Unstable closed loops system N=Z–P=2 Z 2
Unstable closed loop system
Hence, the correct option is (D).
.Statement For Linked Answer Questions 21 & 22.
(1 6s)
Consider a unity feedback system with open loop transfer function G(s)
s (1 s)(1 2s)
2
Img
CW
-180 0
w pc w pc
Re
CCW
17
This system consist two ω pc .
For second ω pc :
From equation (i),
tan 1 6 pc tan 1 pc tan 1 2 pc
pc 2 pc A B
tan 1 6 pc tan 1 Apply tan 1 A tan 1 B tan 1
1 22 1 AB
pc
ω pc 2ω pc
6 ω pc
1 2ω2pc
1
2
1 2ω2pc
ω pc 0.5 rad/sec
Hence, the correct option is (C).
Important concept of polar plot :
1. (a) Direction of polar plot is given by,
1 2
Where 1 GH ( j 0) 2 GH ( j)
(b) If ve the direction clockwise
(c) If ve the direction Anti clockwise or counter clockwise
2. If transfer function consist finite left hand poles and zeros then starting direction of polar plot is given
by either finite pole or finite zero which is nearer to origin and ending direction is given by
1 2
3. If finite pole exist nearer to origin than the starting direction will be clockwise.
4. If finite zero exist nearer to origin then the starting direction will be counter-clockwise.
– 0.5
Re G (s)
– 1.0
-j
18
In option (D) it is given that G(s) is marginally stable but in the question G(s) is stable. Therefore, option
(D) cannot be correct.
Img
ja
G ( s ) H ( s ) Plane
-a a Re
- ja
In option (B) it is given that G(s) has a zero in the right half of s-plane so assuming a G ( s )
s z1
G(s) K where z1 0 & p1 0
s p1
j z1
Put s j , G( j) K
j p1
Magnitude can be written as,
2 z12
G ( j) K
2 p12
Phase angle is given by,
() G ( j) 1800 tan 1 tan 1
z1 p1
z1
At 0 G ( j) K G ( j ) 1800
p1
At G( j) K G ( j ) 0 0
Re
-1 -0.5
w = -¥
w = 0-
-j
At 0 G( j) G ( j ) 90
0
At G( j) R G ( j ) 0 0
Here at 0 magnitude is but for given Nyquist plot all the frequencies have finite magnitude so
option (C) is not satisfying.
Note : Impedance of passive network represents minimum phase system i.e. left hand poles and zeros of
s-plane. In minimum phase system, there is no possibility of negative sign of G ( j ) at 0 or .
Hence, the correct option is (B).
Question 24 [Practice Book] [GATE IN 2009 IIT-Roorkee : 2 Marks]
K
A unity feedback control loop with an open loop transfer function of the form has a gain
s(s a)
crossover frequency of 1 rad/sec and a phase margin of 600 . If an element having a transfer function
( s 3)
is inserted into the loop, the phase margin will become :
( 3 s)
(A) 0 (B) 30 (C) 45 (D) 60
Ans. (*)
K
Sol. Given : P.M. = 600 , G ( s ) , gc 1rad / sec.
s(s a)
s 3
Transfer function T ( s) inserted in loop.
s 3
Phase angle can be written as,
G ( j) 900 tan 1 ……. (i)
a
20
Phase margin is given by,
P.M. 1800 G ( j gc )
600 1800 G ( jgc )
G ( j gc ) 1200
gc
From equation (i), 900 tan 1 1200
a
gc
tan 1 300
a
gc 1
a 3
1 1
a 3
a 3
Gain crossover frequency is the frequency at which G ( jgc ) H ( jgc ) 1
G ( jgc ) H ( jgc ) 1
K
1
gc 2gc 3
K 2 [ gc 1]
Modified transfer function can be written as,
2 ( s 3)
G '( s) H '( s)
s( s 3) ( s 3)
The new transfer function T ( s) inserted has magnitude 1. So (gc ) new well remain same.
G '( j) H '( j) 900 tan 1 tan 1 1800 tan 1
3 3 3
G '( j gc ) H '( jgc ) 900 300 300 1800 300 00
Modified phase margin is given by,
P.M.' 1800 G '( j gc ) H '( j gc )
P.M.' 1800
Correct option is 1800 which is not given in the option.
Question 20 [Work Book – Polar] [GATE EE 2010 IIT-Guwahati : 2 Marks]
1
The frequency response of G( s) plotted in the complex G ( j) plane (for 0 ) is
s( s 1)( s 2)
Img
Img
(A) –3 / 4 (B) w=0
Re
w=0 Re
–3 / 4
21
Img Img
w=0
(C) (D)
Re
Re
w=0
–1 / 6 –1 / 6
Ans. (A)
1
Sol. Given : G(s)
s(s 1)(s 2)
1 (1 j) (2 j)
Put s j, G( j)
j (1 j) (2 j) j (1 2 ) (4 2 )
(2 2 ) j 3 3 2 2
G ( j) j x jy
j (1 2 ) (4 2 ) (1 2 ) (4 2 ) (2 1) (2 4)
Let x Re [G ( j )], y Im [G ( j )]
3 2 2
x , y
(1 ) (4 2 )
2
(2 1)(2 4)
Phase angle can be written as,
G ( j ) 90 0 tan 1 tan 1
2
3
At 0 x y G ( j ) 90
0
4
At x0 y0 G ( j ) 270
0
–3 / 4 x
w=0
Hence, the correct option is (A).
. Common Data Question 26 & 27 .
100
The input output transfer function of a plant H (s) . The plant is placed in a unity negative
s(s 10)2
feedback configuration as shown in the figure below.
+ u 100
r S H (s) = y
- s ( s + 10) 2
plant
22
Question 26 [Practice Book] [GATE EC 2011 IIT-Madras : 2 Marks]
The gain margin of the system under closed loop unity negative feedback is
(A) 0 dB (B) 20 dB (C) 26 dB (D) 46 dB
Ans. (C)
Sol. The plant with unity feedback configuration is shown below.
+ u 100
r S H (s) = y
- s ( s + 10) 2
plant
100
H (s)
s(s 10)2
100
H ( j)
j( j 10)2
Magnitude can be written as,
100
H ( j)
(2 100) 2
ω
180 0 90 0 2 tan 1 pc
10
ω
450 tan 1 pc ω pc 10 rad/sec
10
Gain margin can be defined as reciprocal of the magnitude of the G ( j ) H ( j ) measured at phase
crossover frequency.
1
G.M.=
G ( jω) H ( jω) ω
pc
1
In dB, G.M.= 20log
G( jω) H ( jω)
100 1
H ( jω)
pc
10(100 100) 20
G.M . = 20 log 20 26 dB
23
Alternatively 1 : Alternatively 2 :
Characteristic equation is given by, For calculating pc equating imaginary part of
1 H ( s) 0 G( j) H ( j) to zero, we get
100
1 0 Img j3 j100 202 0
s ( s 10) 2
K desired 100 3pc 100 pc 0
24
n 2n 75
(15 n )n n2 75
15n n2 n2 75
15n 75
n 5rad/sec
and 15 5 10
10
K 125 2n 10 (5)2 250
K 125
Hence, the correct option is (B).
Alternatively : Root Locus Concept
K
Given : G (s) H (s)
( s 5)3
Number of poles P = 3
Number of zero Z = 0
Number of branches terminating at infinite = P – Z = 3
Asymptotes is given by,
(2 1)1800
A 0,1, ..... P Z 1
PZ
(2 1)1800
A 0, 1, 2
3
A 600 , 1800 , 3000
Centroid is given by,
5 5 5 0
5
3
Intersection with imaginary axis can be calculated using Routh array.
Characteristics equation is given by,
K
1 0
( s 5)3
s3 125 15s 2 75s K 0
s3 15s 2 75s K 125 0
Routh Tabulation :
1000 K
Row of zeros can be formed by equating 0
15
25
i.e. K mar 1000
Auxiliary equation can be formed as,
15s 2 125 K 0
15s 2 1125 0
s 2 75
s j5 3
n 5 3 rad / sec
Root locus can be drawn as shown below.
jw
K =¥
K = 1000
j5 3
A
K =0 f q s
K =¥ -5 B 0
- j5 3
K = 1000
K =¥
26
Im G ( jw)
K G(s) Re G ( jw)
–1 +1
jw Img
0.5
4
s Re
– 0.25 2 – 0.5 0
Here the transfer function which we have designed is stable and non-minimum phase system.
The figure drawn above is for value of K = 1 but suppose value K is change that is 0.5K > 1 then K > 2
system stable.
So, system here is conditional stable system.
For above case 0.5K critical point then lie inside the figure, system become unstable. So when sufficiently
large value is provided then system becomes unstable.
Hence, the correct option is (D).
27
Question 9 [Work Book – Nyquist] [GATE EC 2016 (Set-02) IISc-Bangalore : 1 Mark]
The number and direction of encirelements around the point 1 j 0 in the complex plane by the Nyquist
1 s
plot of G ( s ) is
4 2s
(A) zero (B) one, anti-clockwise (C) one, clockwise, (D) two, clockwise
Ans. (A)
Sol. Method 1 :
1 s
Given : G (s)
4 2s
And G ( s ) tan 1 tan 1
2
1
At s 0, G (s) 0.25 and G ( s ) 0 0 0
4
At s, G(s) 0.5 and G(s) 1800
Hence Nyquist plot is
Im
Re
–1 –5 0.25
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IES Objective Solutions
Question 3 [Practice Book] [IES EC 1993]
The gain-phase plots of open-loop transfer function of four different systems are shown below. The correct
sequence of the increasing order of stability of these four systems will be
50 dB
A
30 dB B
C
D
10 dB
w increasing
–2700 –2250 –1350 –900 – 450
– 20 dB
– 40 dB
30 dB B
System is unstable. C
Plot B : G.M. 0 dB 20 dB
D
P.M. 180 (180 ) 0
0 0 0
10 dB w increasing
System is marginally stable. 0 dB
–2700 –2250 –1350 –900 – 450
Plot C : G.M. 30 dB 30 dB – 10 dB
P.M. 1800 (112.50 ) 67.50 – 20 dB –67.5
0
Re
Increasing
w
jw jw
(A) (B)
s s
jw
Ans. (B)
Sol. From the Nyquist plot open loop transfer function is given by,
1
G ( s) H (s)
s ( sT 1)
Root locus for the above open-loop transfer function can be drawn as shown in figure.
(2 1)1800
A 0,1, ..... P Z 1
PZ
(2 1)1800
A 0,1
2
A 900 and 2700
jw
s
-1 0
T
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Question 45 [Practice Book] [IES EC 2007]
Which one of the following statement is correct for gain margin and phase margin of two closed–loop
system having loop function G(s) H(s) and exp (–s) G(s) H(s) ?
(A) Both gain and phase margins of the two systems will be identical.
(B) Both gain and phase margins of G(s) H(s) will be more.
(C) Gain margins of the two systems are the same but phase margin of G(s) H(s) will be more.
(D) Phase margins of the two systems are the same but gain margin of G(s) H(s) will be less.
Ans. (*)
Sol. Relative stability parameters without delay can be written as,
Assume proper transfer function.
1. Phase crossover frequency, G ( j pc ) 1800
2. Gain crossover frequency, G ( jgc ) 1
1
3. Gain margin, G.M.
G ( j pc )
1
In dB, G.M. 20 log
G ( j pc )
4. Phase margin, P.M. 1800 G ( jgc )
Relative stability parameters with delay can be written as,
1. Phase crossover frequency, pc' pc
2. Gain crossover frequency, gc' gc
1
3. Gain margin, G.M.'
G ( j pc' )
1
In dB, G.M.' 20 log
G ( j pc' )
Gain margin expressed in dB,
G.M.' G.M.
4. Phase angle with delay becomes more negative than phase angle without delay.
Phase margin, P.M.' 1800 G '( jgc' )
P.M.' P.M.
M (dB)
Gain plot
0 dB w (rad/sec)
G.M.'
G.M.
Phase (deg)
P.M.
P.M.'
1800 w pc' w pc w (rad/sec)
wgc = wgc'
Phase plot without delay
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Question 46 [Practice Book] [IES EC 2007]
Consider the following statement with reference of relative stability of a system.
1. Phase margin is related to effective damping of the system.
2. Gain margin gives better estimate of damping ratio than phase margin.
3. When expressed in dB, gain margin is negative for a stable system.
Which of the statements given above are correct ?
(A) 1 and 2 only (B) 1 and 3 only (C) 2 and 3 only (D) 1, 2 and 3
Ans. (*)
Sol. The P.M. is defined in terms of damping ratio as,
2ξ
P.M. tan
1
2ξ 4ξ 1
2 4
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