Given P( s )

s /(100) 1

s / 4 2 1.4 s / 4 1 , a proportional and integral (PI) controller G(s) =

K ( s / 1)
is to be
s

designed to achieve the specifications.

Solution
P( s )

s /( 100) 1

s / 4

P ( j )

1.4 s / 4 1

s 100
6.25s 2 35s 100

j 100

6.25( j ) 2 35( j ) 100

100 2 2

100 6.25

2 2

35

35

tan 1
2 .

100
100 6.25
and P ( j ) in the Inverse Nichols Chart (A)

1
and P ( j ) tan

Plot

P ( j )

a) G1 k / s

s 100

2
6.25s 35s 100
6.25s 3 35s 2 100 s
1

1 L ( s ) 6.25s 3 35s 2 100 k s 100k

L ( s ) G1 ( s ) P ( s )

Given s 0.3 j ,

k
s

0.169 j 3.15 30 j
1

1 L( s )
0.169 j 3.15 100 k 0.3 j 100k

3.15 29.83 j
100k 3.15 29.83 0.3k j
3.15 29.83 j

100k 3.15 29.83 0.3k j

30

30

100k 3.15

0.178 15dB
900 648k 10000k 2
10000 k 2 648k 27505 0
k 2 0.0648k 2.75 0
(k 1.69)(k 1.63) 0

k 1.69 and L ( s )

1.69 s 169
6.25s 3 35 s 2 100 s

29.83 0.3k

L ( j )

169 2 1.69

1.69( j ) 169

6.25( j ) 3 35( j ) 2 100( j )

35

2 2

6.25 3 100

3
1.69
1 6.25 100

tan

169
35 2

1
and L( j ) tan

Plot

L ( j )

and L( j ) in the Inverse Nichols Chart (A).

b) G 2 ( s / 1)
L( s ) G1 ( s )G 2 ( s ) P ( s )

1.69 s 169 s /

1
6.25s 35s 100 s
3

From the inverse Nichols chart, we want to move the curve from (A) to (B) or point (I) to (II) at 3
rad/s. Thus, L(3 j ) 142 o .

L( j ) G 2 ( j ) G1 ( j ) P ( j ) s / 1 G1 ( j ) P( j ) tan 1
G1 ( j ) P ( j )

At 3 rad/s, G1 ( j ) P( j ) 159 o .
3
o
159

L(3 j ) 142 o G2 (3 j ) G1 (3 j ) P (3 j ) tan 1

3
142 159 17 9.8

1.69s 169 s / 9.8 1
L( s ) G1 ( s )G 2 ( s ) P ( s )
6.25s 3 35s 2 100 s

G 2 (3 j ) tan 1

L ( j )

1.69( j ) 169

6.25( j ) 3 35( j ) 2 100( j )

L ( j )

35

2 2

1 / 9 .8

6.25 3 100

3
1.69
1
1 6.25 100

tan

tan

35 2
169

L
(
j

)
and
in the Inverse Nichols Chart (B).

1
and L( j ) tan

Plot

169 2 1.69

MATLAB code for plotting the bode plot of

1
:
1 L( s)

w=[0.1:0.01:100];
s=j*w;
L=(-1.69*s+169).*(s/9.8+1)./(6.25*s.^3+35*s.^2+100*s);
LL=1./(1+L);
a_LL=20*log10(abs(LL));
angle_LL=angle(LL)*180/pi;
semilogx(w,a_LL);
title('|1/(1+L)|');
grid;
figure;
semilogx(w,angle_LL);
title('angle of (1/(1+L))');
grid;

The transfer function of output to the output disturbance is TY / D

o

i)

From the bode plot of

1
.
1 L

1
1
, the 1 L(0.3 j ) 15 dB .
1 L( s)

15 / 20
0.5 0.089 .
The amplitude of the output is equal to 1 L (0.3 j ) D0 10

ii)

From the bode plot of

1
1
, the 1 L(1 j ) 4.7dB .
1 L( s)

4.7 / 20
0.5 0.29 .
The amplitude of the output is equal to 1 L(1 j ) D0 10