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Control System Unit 3

The document discusses frequency response analysis in control systems, focusing on root-locus plots, Bode plots, and polar plots. It highlights the advantages and disadvantages of frequency domain analysis, including ease of design and visualization of system performance. Additionally, it covers the correlation between transient and frequency response, providing mathematical relationships and examples for better understanding.

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4 views27 pages

Control System Unit 3

The document discusses frequency response analysis in control systems, focusing on root-locus plots, Bode plots, and polar plots. It highlights the advantages and disadvantages of frequency domain analysis, including ease of design and visualization of system performance. Additionally, it covers the correlation between transient and frequency response, providing mathematical relationships and examples for better understanding.

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anshitabarick1260
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© All Rights Reserved
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194 Conte! sytoms PEPV. Bry, o The value of K at which the root-locus plot crosses they. by the first term in s! row equal fo zero. Therefore! 2-K 7 BK * sewer FREQUENCY RESPONSE ANALYSIS For K> 12 te ih al Fae hae & FREQUENCY DOMAIN sty value of = ce poses The rot-4eus plo inerseets the jo-acs at Kp UTY amavests af sat the interestion point is determined by calculating ath from the & rw in the Routh array criteria. Therefore, hay 4 +K= 0 0 42412 RESPONSE ANALYSIS - CORI Foe AND PRSOUERICY {RELATION are IALL-PASS AND MINIMUM-PHASE SYSTEMS, or s= j1.732 PLOTS DE VERSUS PHASE SYSTEMS, Inesyemenhibis sre onion tk = 12 neg of inca osined by intersection pint oe oft a ae bequcy of eatoeh eae oot nds 1 ee ign atm mgeO 67k dawnat rea, pe terete tlt ts (035 )08) Are pi the root-locus the equation satisfies as follows — " (G(s) His) =F FREQUENCY RESPONSE ear fgunsy repens? Ge mt recagitoe and hse lonsip ren he soi np ene ee rosin tc cto pea ogpecy each emer frequency (0) the common vara ote the i Te cd ae old agen) rps as (@ Polar Plt ~ Pol loti plot of mage vers phe senor teria whee o's aed Rom a ai |_« | [c= 6+3)] ‘Substituting s= ~ 0.35 + j 0.6 into equation (ii), which yields (i) Bode Plot ~ The plots of both magnitude and phase versus EEE K | jency in logaithmic values are called Bode plots 354 MO[(-035+ joe) + i][-035+ 306) +3] ~ iy Magnitude Vests Plot ~The magstue versus phase plot 00 K ogo cordate a varying scaled magnitude vers pase po. (C08s+ ass + PHA MO] 02. Give the advantages and disadvantages of frequency domain k is Ke “dns. Advantages of frequency domain analysis are as follows ~ (i)_Itis very easy to design open-loop transfer function for specified iseddoop performance in frequency domain compared to time domain, (id In frequency domain, it is very easy to visualize the effects of i)” eeDGeD AV, Nox ims disturbance and parameter variations. G0 need (RGPW, Now pa Prob28. Sketch the root-locus forthe open-loop transfer funcice unity feedback control system. (ii) In laboratory, itis possible to obtain a frequency response test ih good accuracy and it is very useful when it is very difficult to obtain nse function by an analytical technique. ‘Sol This problem can be solved in a similar way as Prob.27 136 Contro! Systems GPV, B TECH, IV.5, R Sng y 2023) Frequency Response Analysis 197 antages of Frequeney Domain Analysis ~ Disadvany “| & Disadvantages of Frequency Domain Anal vamigg, | Ore damped frequency of excitations during the transient response is freoeney dora nays agen fe os 4) These methods are time consumn el oon sin badd Se pear sal aplicale onl Tina yy ‘sequoia (i) M, a wel a {i These mets ar fsa mi, | “omen (eva, aspen inst i) These method are ack dated than th develope fx digital computer simulation and 16 Ope phase margin ofa second-order system i obi ofS response OFBENSIMR yy, (Tye opentoop taser function ofa nity Feedback ov} lem ion ofa unit uy processes. ifthe tise constants are up 10 few minutes. en ee eee rrem, contol sem, antomric Mol SXEM, yyy, | 08 = a mah Dec peat q Unie. 2m We 2ton) dns. System ~ Refer tothe ans, of Q9 (UAICl Equation (iti) is given in sinusoidal form as fl a Control System ~ Refer to the ans. of Q.1 (Unit-D. oh ar sromatic Control Sytem — Refer tthe ans of Q.16 (Unit, (0)- Fotj0 + 0,9 ‘eabiity Refer 10 the ans, of Q.34 (Unit) “The magnitude of equation (i) can be obtained - Response — Refer tothe ans, of Q.1 (Unit) and Q.1- ‘ he isthe correlation berween transient response and 1G Gox= of See (eaPie baa (0? +2¢007)7 6) sai or Mi] tye magpie (90s unity at ein crossover eg i wency 0). Ths ind out the corrcaion ermeen transient response and freque, (oD? +Oie,o,7!" ot ne (RGRH, Dec. tay) 4 soto? of . i i ca o} +47aj0) -@f =0 inthe correlation benween time and frequency respon ree a scond er em (GRY, Mey 1 of = 2202 sei er = ag act yl? 2 oo on ahd ime and freque site short noe on correlation beoween time and frequency respons | "as ner equation iv), ([Link]., May 200, Probes eCoH “Ans. Transient and frequency response are correlated to each other aj 4650) = tan’ a] serfs) iy mathematical reltionsip between them can be established. a Mo Substituting the value of from equition (vi imo. For # second-order system the resonant peak takes place at reson (vi) into equation (vii), we get fee 2G(jo,) = tar ] a og et sy? : Hence, the phase margin can be obtained as ‘The maximum overshoot can be obtained as We « M,=e o) «) 138 Cont Systems 9 RGPY, Beeh, Som ee 7 Aipeetematenhiws °F aye frequency a which the maximum vale of equation (i) is atsned, {terms of damping ratio ¢ follow 4 tio ¢ following correlations are established between y" sonant frequency and {) The values of damped frequency ay and resonant freque etivative of equation) nto 2 equating to zero and ar peut ane sal a of Tho ro tes or fit represnis the speed of transient response, greater the vale of @, quik" the transient response. Th {i) The resonant peak M, and maximum overshoot M, func, In view of equations derived for ay, M, My and pis margin sl \ ‘ol J - omaea +2o/0,)F of damping ratioCare ' ™ shown infig3 ASS F decreases Mand Myf fo ¥ ' both increase but 7 fou rruvmvaieofM, « imate Latha limtedto ane araaaeaa oats 7 otis ery arse po ee sr ; values for < 04. Fig, 3.1 - 52 4? o (ip Fiz 32 shows graph between phase margin 9 88d danny Pans rnio¢ An increase in phase margin is observed a the value of © inreas A ns emnen the nse! and eqeney p05 fr ih, mens on he tocatn of cseb00p POE tae, Te arse oss ee rogue) response of higher-order system i domn, ‘i ‘by the dominant poles tod te material z ating the numerator ofthe RS, o equa Parenreee fe gon otaied 5 of equation it zero. he lowing systemcanbeaperoni- fag rutely extended 10 fisheroner systems considering dominant [— « complex poles. Fig, 3.2 Phase Margin gas a Function of ¢ Q5. Derive expression for resonant peak and resonant frequency andere | As ceublish correlation between time and frequency response. ([Link]. June 2023 Ans. The magnitude of the second-order term is given by co) 12) Femquency Response Anaiysis 141 20 oy Paso 140 Gontro! Systems FRGPV.B TN. San Hence the resonant frequency is given 9s i vr 4 #808 vated from zea infinity. The sinusoidal transfer Function Jes function and is ohtaied me ey maf =20 i. ty0)~ Re (Gn sen (Cj The equation (ii) for resonant frequeney holds Bod on), HOY = KG) = [Link]) “ £.50.707, At resonant frequency «,. the magmitnde of the autadtratic equation (i), we observe that rere |G) and pve ange ray net as {2 wise direction, As the mput frequen ‘ ‘a : ya sated fom Oto at tae de psec ng m0 te Sem oleae The cnc ek 1 attains main value a! his maNIMDUMY va, Oo Te Re ed hy My Te resonant peak M8 dtm called the resonant peak denoted by M, mn) 1 (260, /09)° 1 Mo= Tor jy Mesample ~ Consider a simple RC ity cate rcem pt at Mt don 33 The sr Since € y- MA) a GO)" Vis) Rei” ina | I ‘Therefore, the sinusoidal steady-tae I" 40 Liming ee | ' - ——_— - 1 e $ 69” TORE Key Fit, 3.3 Circuit Diagram of@ Coo) ite y be t = 1 “ae-e fac?a-c?) i. 1 = iy « ee) | ae 1 decibel, -M, (€b)= 2010 want ital =| Correlation between Time and Frequency response ~ Refer 10 the ans. of Q4, 0.6. Write short note on polar plot (RGPY, Dec. 2005, 2008, Nox. 2019) Or Discuss the method of shetching of polar plot with example, (RGPN, Dec. 2014) ‘Ans. Polar Plot ~The polar plot ofa sinusoidal transfer function Glia s 4 plot of the magnitude of G(jo) versus the phase angle of Gun) on pole " Freeney PsoonseArayss 149 142 | Cont Systems RGPV.B MS Then, What do you a inverse pote plot? 2 " : inverse ole pot of Gj 1 x2) sy? -](tf toot [ ot | cae fae EINE PEt a aap of 3 mcm of 2} *¥ = a le. forthe RC fier i GG) 7 [2h rset? J] Lee? 12) Dress fe " fiker i shown in fa 3.7 ay i ’ Gio” tio The por plot of === (RC ite is shown in 34 Gio l+pot= Jy +0°T) 2 tan sty and ¥ atthe two frequencies se corresponding Ie Po Ss hon in 3 The firs step isto determine N 0 0. At = 2 we obtain X = 4“ © Ato 0, we obiain X= Land ¥ {Thus in the XY-plane Go) 38 2 eile th contre at N= 12. Y= and with rads of syn in fig, 35. The lower semicicle crepe nds and he upper semicircle sponds 19-5050 | LN rows of Gio) 6 Wentical on either polar coordinates. If Gtjo) is ecg gen noe a sxptesse ‘on whether itis easier 10 RC Filter Cirewit Soi Sea frm sch as (Giga) = Fit 3S Pl of ey ° Orie er ney I a= XFplane Fig jer) Goercw)- inverse polar plots are wae ‘The aa seful in applying M-criteton and ate aso 1 Whats Explain pola plotfor pe Dand typeI (@., Whats polar plot? Explain polar plo, rae guste in tabi ty of nonumy fndheck sens 09, Draw and explain the Bode po with an exampe (RGRK, May 2019) Ans. Bode Plot ~ABoepotcnss oto gaging ne Perrotta rimanehal centers Slt of the phase angle. Both ar ploted agus the tegen alec, {le The dB magnitude versuslogo plots knowns Bode naznuss sot et ‘be phase angle versus log w plot is known as the Bode pase angle lot Example ~ Consider thatthe transfer funtion is represented as 1 ans Refer tothe ans of 6. Potr pot for type 1 systems can be obtained a8 — 1 1 -—_1_- Zot 60) Basie) Yor vo? joked # oo, : hoy =< Tijet 0 and Gti) = - 0" where T is the RC time constant of the network. The logarithmic gains given as x Onn, otmreniag a (| [GGey|=0 20 tog (jo)| =20 og {rent | and ZG4j0) =~ 180" se Ween) The polar plot ofthe given ja) given ; = = logy (+ (OT) ny Fig. 3.6 Polar Plt of For small frequencies ie, << UT. Then i in fig. 36. ‘ Mjol + jo) 20 flog (Gj) = -10 log (1) = 0 4B 144. Comtroi Systems For lange frequencies ie. «>> 171 Then, 2010x6450] = -20 og 0T 60> VT. the logarithmic pins sora The Bode magnitude plot and the Bode phase plot are shoy,, figs. 38 a) and (by) respectively The phase ofthe Bode magnitude plots" ‘= tan ‘oT. The frequency «= 1s fen known a the break frequee IRGPV.B Tech Sap, fe Att 20}ogG. jo] = 10 tog? Ie tq bs {brit ese ti] = Ut a ee Ill Taunt a) Bode Magnitude Plot of (0) Bode Phase Plot of Ge = (1+ jor! Ga) = (1 + joty! Fig. 38 in terms of oct Bode plots the fequeney ratios are expressed it 4 a ep tun om 20) wate Rt “atv and decade is a frequency band from cto 100. If the log magni, Jing die plone agains on fogartmic scale, its a staight Tin polar and inverse polar pls? How do they differ angst rete pi to nm Ams. Refer to the ans. of Q.6, Q.8 and Q.9. 11, Describe the steps in developing a Bode plo. (R-GR., Dec. 24 Ans, Following steps are generally involved in developing the Bode pc fora given GG) ~ ; (i) Firstrewrite the sinusoidal transfer function in the time cons (ii) Identify the comer frequencies associated with each factor of the wansfer function Gi) Now draw the asympotic magnitude plot after knowing te corner frequencies. This plot consi of straight line segments with ines, changing at comer frequency 20 dBidec for a zero and -20 dBidec for a pale For complex conjugate zero or pole the slope changes by + 40 dBdec. (iv) Draw a smooth curve through the corrected points such thatit is asymptatic to the line segments. This gives the actual log-magnitude pl (v) Draw phase angle curve for each factor and add thes algebraically to get the phase plot. 2023) oe Fraquency Response Analysis 145 Qu2 Ge the advantage of « Bode pot. or rte short note onthe advantages of Bode plot. (RGB, Dec. 2015, June 2017, Dec. 2017) an. Advantages of Boe lt are gen below (0) 1s posible 1 show both the high fequency ad the oem) cts of tant achn nanan eM (i) Froma Bode pltitspossbletocaleusterhe rest Aid ti possible to calcula (iv) Using a Bode plot it is. . asin be dese response 213. What are the advantages and drowbacks of Bode pot per the otr pot (RGBL., Now. 20/9 ‘Ans. Advantages ~ Refer othe ans. of @ 13 Disadvantages ~(i) The gun magn spoons ten ements pase crnnr se ey SE begainmargn ismeasuedbelow edb axe hike eens sbove the OB axis, the gain margins neatne ane ee (ii) The phase margin is positive and the system is sable 1 he of LG) is greater than -180" atthe gain crossover Thats fa shes fargin is Measured above the 180" ans. I the phos sac ve below the 180 ans, th phase margin snetaivemndth soy se Q.14. What do you understand by gain margin and phase marin? (RPS. Dec 04 Ans. Gain Margin ~ Gaia mania, esi of eatne sad, © defined as the magnitude ofthe reciprocal ofthe open-loop tant func evaluated at the frequency «at which the phase angles 180! Thats Possible to compensate the system 10 1 Gain margi Meet Ge) arg GH(w,) =~ 180 =~ x radians @p, = w= Phase crossover frequen. ‘Phase Margin ~The phase magindp, amas ofreatve sabi seins 180 plus the phase ange ofthe oper-lop tar into tunity. Thats dene = [180+arg GH(o, depres where (GH(o,)= 1 and where crossover fequency 146 Control Systems RRGPV, Boot, vs, Q.15. Define gain margin. RGPV, De Ans, Reter to the ans. of Q.14 0.16. Describe the phase margin, gain margin, Phase ery Srequency and gain crossover frequency on Bode plot, "oy, (GPK, Dee Or * 2a Define gun marzin Phase margin and how do you define ie margin and phase margin of a system from the Bode plot ? ERY, Noy ayy ns Phase Margin and Gain Margin — Refer tothe ans. of 1y To find out phase margin fon the Bode plot, at first the frequency at which the I6uetJe)} resultant magnitude i 0 dB is found out. Ths fequeney is crossover “Ueto? Magn as oan called gain frequency (0). Now from the phase plo, thephase angle _ (6) is calculated atthe phase eee a To find out gain margin Fig, 3.9 ay, < @,, GM and PM Posty, fon Bode plot, at first the Sable System frequency at which the ugiean resultant phase curve his a hase of ~ 180s found ou 40H This frequency is known a5 hase crossover frequency (@p.). Next the value of the Suponay reslantcune is ealeuated at phase crossover fequene. I the vale of he resuantcurve is below 048 itis considered u=0a otherwise it is Fig, 3.10 y= 0,4 Marginally Stable Frequency Response Analysis 147 Moana sg 0. GM and PM Negative. ae Unstable System 17. Explain the all-pass transfer function system. o or hat is all-pass transfer function ? (RGRY., Dec. 2018) dns. Ifthe transfer function has symmetric pole and zero about the ary axis i s-plane, then te transfer function system is known as all pte fc te 8 wh ines =st_1~joT Test Te jot ‘The pole-zero configuration and Bode plot for all-pas raster function shown in fig. 312 a= Et Re] rs i (a) Pole-zero Configuration for __(b) Bode Plot for Alk-pass Allepass Transfer Function Transfer Function Fig. 312 ‘The magnitude plot les on 0 dB axis indicating thatthe actual gun forthe ‘nquencies is 1, hence the transfer funeton passes all fequencies, Forall angle pass transfer function, the phase angle is obtained as — gic iot 1 jot 2 un oT) tan" h-0T) ~ tan oT) 1 Contra sy sae FRGPV. B Tech ‘Anaysis 149 oP [Link], 2023) Frnquency Response Anaiysis 1 us, Write shore note on minimum phase system. oF yt paeEearete 7 ia asf frcton Ben hy equation i en-us ane Ans, REE Jay rene pole-zet0 configuration and Bode pot foe such transfer Funetion Phase 2 Asystem having minis phase transfer fimetion scan 22%) | ttn ha Piesandwennis i call a mininwm phase transfer Foti 3 Fef-hand plane” tay, Lest, _L+joh, Tasty Hi0 Let Gs) The transfer function given by equation () 8 minimum ph hase function, The poi-ero configuration nd Bode plot forsuch rans ke | a) Polesera Configuration for (Bode Po for Nomminimms Sees ‘eoain | omeminimum Phase Syem mcg ict ead 3 re sneer ih ad oun se sem Ge): nd for non-minimum phase system, The slope of the magnitude plot xt» 2 |) ater torny acai ens ress = SRE a rete shee maps mr peep, lim We considered por pot and Bole pow oe pophes (es PoteseeConfgreion for — (9) Bode Ptr Mringy, | “renaton nto plotthe Minimum Phase System Phase System inagaitude in 4B versus phase 1s| T fos 38 it eqeny © re Pt Pe ser tememyete CTT rom Bode stad axe mioan as rang, | SanE ac He chest tpt pti eed pase angie peat OC | Te amas Brteseseee phn ics norm 0-4, Agee end poss ong oH {- 90 (mn), wherem and mare the orders ofthenumeratorand denominay J iferent frequencies ffom these | + te polomi fear fnction spectively. The slope af te mapune,f gate Toei verse | -o Float =a 20a) dBlcade for iim pice ree nf he ange lt consrcted 3 c] Bode plot nays is sutable only for minimum phase transfer functions wit the frequencies of various Cl we indeed ig 3.18, Te 018, What de you understand by all-pass, minimum phase systems? | sages ofthese pots are at (RGRY, Dec. 219 J ‘erative ability of losed-loop 0 Ams, Refer tothe as. of Q17 ad QB. taiclauemeantedcemca | | 7 020. Describe the non-minimam phase system. arcty andthe compensationcan “4 [Fea] | Ans, Transfer ‘unctions having atleast one pole or zero in the RHS of spline ee era ee tame eae ee : sate versus phase carve for rail svcdnton-mtimnpiae vase tage honcnenansai | epinievessnbsccaneie Phas em when he am has nonin pase tas fncton ster fnction se. Fig 3.15 Lopamagide v Phase Curve jo 0/10 la Gyo)= FT Leh, ® Go) is T4st 1+ jo jo(1 + jo!2)+[1+ Poe $0) +(jo 507) IRGPY,8T6h,[Link], Frequency Response Analysis 151 * Deseriethe performance speciation’ It PPawerey yy sometimes TY Be necessary to lok atthe slope of (Mj which is dona sna ihe sgn nearcontl serge | Speen Oe egy rap high egal spaltlt Methods to define a seo Wy, | hal 9475.5 = 50 ad fem aquatom tne eve SPeCifications so that the Ro gi o Te) Performance ofthe sytem canbe \entitied. For the prototype (0) 290) +03 Second order system show” gy te ste Fig, 316 Bok Dagrom of 5 eeeseaa fe Soin castoop ats Oe Cineddoop Spina OM '+2e/e,)e-(aia,)° iy Yo) oF simply assume = ©, and from (i, we get 1" Ry” Fete roh ; ce ; + aga? iy ten) response of this feedback stem Wil pers ae fig 317 Seve the asecond ere system te damping rao of gettin J TH MABHTIE ME Pe vale oT) we tie a isreated to the resonant peak (M,) which occurs atthe frequency, Theo [rw 1 peak is the maximum value of [M (jo). The bandwidth is the frequent a ‘ Shich he fequeney ij, reponse as dcined yy Ei 2G) = “an 2B fiom sts low frepeney vahe. The resonant frequency (oy) and the 3 4B 7 i ‘The steady-state eror for ramp i constant (Ky) 85 Pu specified in ems ofthe veloiy Beto bandwidth can be e sine eo ier sth mp of 8 amp pt The why a a wih increases, the . = : ae ars - woe afte ep Fig 217 Magnitude Characteristic ofthe Seay 7 A ss) = | 2 | = Order System Xiw)) % respons ofthe system will decrease Generally, the magnitude of resonant peak ives indication ofthe rely ‘The Bode diagram frm in tems of tine const, he th wane faction G(s) 'sweten stability ofa stable closed-loop system. large resonant peak corespon oie)= 7% k, 8 large overshoot or short of the step response. Practically for most con sfiy2Go,)+1] ~ sts+) systems, the desirable yalue of resonant peak should be range between | J Therefore, the frequency response characteristics represent the and 15 performance of a system quite adequately The resonant requney isthe fequency at which the peak resonne | 023. Describe set of performance specicaions characterising desired occu th ands small then only signals of eltvely low frequen | FAMENCY response, thar ae used indesign of nar contol sem. ate passed and the time response will be slow and inactive, Bandwidth ale : (RGBK, June 2007) sot ao re fay naa il Theokucupieimacettceminiscesjestpucae | MESA mono fue maps 2 Coen Sena FGPV. BTN WSoq Ams. The basic goal of control system m 7 specifications. Perf : hee mance specifications are the constraints puto characterises, They may be sated in any number of ways, Gene they take ono forms : % Gener (0 sje dona eieon (i) Toate iene A stor porananey setae hme ed fq rope te del af ie oma am ena eS a) cum Margin Retr hes TO : (i) Phe Margin eter the ane af. (iy Delay Time (Ty) ~ Delay ie Ty Meptd 3 a frei, soon ito ns ae fe elton nd gk ro = ba do were 1= ag (CR) The avenge lic T{o)overthe fue ofnestisunaly spec, “vy Bandwiaeh (BH) ~ Roughly speaking the range of frequen uch the sete sponds satisfactorily scaled bandwidth ofa sya (ny Caroff Rate The cul rat isthe frequency tle a wi she maznnute rato decease Beyond the cut-ofT requeney @, For exams ceereire muy be specified os 6 dBiocave, AM octave i fair oft, change in frequency ‘uip Resonance Peak (Mp) ~ The resonance peak Mp, a measur y- relative stability the maximum Value of the magnitude Of the closed, frequency response. That is “ por q Ri Mp= Max (iy Resonant Frequency (ap) — The resonant frequency psy ency at which Mp 002UmS 0.24 Explain in detail about M- and N-cicle. (R-GRV., June 2 ins. The closed-loop frequency response can be obtained by the ls ‘constant magnitude (M-cicl) and constant phase angle (N- ne ots (0250) yt (010° (G00. =1 = 33.7 34 AB ‘The phese angle for different frequency range start from «= 1 rads: 2G(ja) = ~ 90° — tan" 0.250) ~ tan !(0.10) e)' | 7a] 10 | eae eT —2ea" | 2684" ‘The Bode plot from the above calculated data is shown in fig. 3.28 (i) The gain plo crosses 0 dB axis at o = 13 radisec. Ther ‘in crossover frequency is 0g. 13 radisee (ii) The phase crosses 180" line at w = 6.4 rad'see. Therefor. phase crossover frequency is = 6d radisee (Gi) At phase crossover frequency, the gain is L4 dB. Th sin margin is 1000 2607 aw aw rt CMs — 1448 an isovon2023) Frequency Response Analysis 16i ‘At gain crossover fequency, the phase angle -2(P. Therefore, the phas. ons PML IN + (210%) == 30 Am (Gv) As we ten tat bot th GM and PM are negative. Ths, th gem is usble Prob, Conse the Bod pot for the given em 6-0 _ Miso ARGRY, Dee, 224 100 Sob Given, OO T5005) “ [Now putting s= jo, 100 GGo) = <1 _ 09) ~ Fells joy 055}0) “Therefore the comer frequencies are “i | mdisee od 20 rade ‘The given transfer functions type 1. Thus, the intial slope ofthe ps -20 dB/decade and intersect O4B axisat w=K= 100. The nitalslope sa secade continues till the lowest comer frequency a = | rad sce » reached The slope of the plot between comer frequencies @ = | radsec and radlsec is ~ 40 dB decade and slope ofthe plot afer @ dBidecade. From equation (ii), the magnitude of Gijoy is 1 olive i (G40 6-01 = 6048 ‘The phase angle for different fequency range sat from o = 0.1 rade. > Gio) {GGe)]= 2010. = 90 tan") tan 40.050) ol or | T s 5 "20 00 | ay falas] § ) 0 [2 [90 fi) (1-95.09) 13786) 177 a8as| 18272 - 20088-22214] -26705| 25812 164. Cantro! Systems The Bade plot is shown in fig. 3.24 GPV, B Tech, Sem 2083) "7 R (Ey Join Frequency Response Analysis 16 ‘The sinusoidal transfer function is — Gg) = 1540020 +1) (05}0+ M0104) a {01 2g AS O20 gy V+ (050) 1 (O10)? [GGo)ly = 91 = 43.5 4B slope ofthe pot is 0d es Pe oF the ph There he er eens ae () = 2rndsee dae w desea ont soe tt nage pater rane me (0) = 10 ade ur dam me fer ie oft apie ple =r (ade ~ 60s: dc nee manatee oe supe he mag per 9 "eo sola et decade. - The phase ng for cn fequeey = tan™" (0020) ~ tan“!(0.S0)— tan”! o] Oo Cae 10 3) Fig. 3.24 (i), The gain plot crosses 0 dB axis ato crossover frequency is p= I radisee (ii) The phase crosses -180" line at o = 4.5 radisec. Therefor, jy phase crossover frequency is radisec. Therefore gy 5 radisec (Gi) Atphase crossover frequency, the gain is 14 dB. Therefore, sin margin is (010) GM=-144B ‘At gain crossover frequency, the phase angle -201. Therefore, the phae margin is From fig, 3.25, we observe that, Gain crossover frequency = $4 rad see Phase margin = 60" dB PM. = 180° + (~ 201") =~ 21° (iv) As we seem that, both the GM and PM are negative. Thus ie system is unstable Prob.7. Aunity feedback control system with open-loop transfer funcie 50s + 60) . G19) = ayios tay’ Pram the Bode plot and aso, find the gain cross Ans wen, phase crossover frequency gin margin as well as phase mag fas a ([Link], Dec. 2015) Sot Given, suo © 41) svc gy *t) ee 2K6 19 7 auf Saf a) 2 Who _ 150400254 (058+ 01D) Gis) = 166 Cont Systems RGPV, B Tech, WSom ey Proh&. Sketch the Bode plot for following open-loop control system, qo = BE 200025) SCE W00ISI(2 + 8.0059) (RGPK, Dec. 2014 ‘Sol. Bode plots plotted considering K = 1. Pus=jo 11+02 joX+ 0025 jo) ‘aio — ae Gj)". +0.001 jo) 1 + 0.005 joa) = 0h ot i+ 00010? e000 | GG, = 91 = 604 ‘The pe af the sytem is 3, therefore te ini slope of the plot iso KML Gi) @= A = radisee due to numerator number firstorder tem, the slope of the magnitude plot afer o= 5 radsecis(-60-+ 20)=~ 40 dB decade 1 0035 slope of the magnitude plot aftr 10 rad/sec due to numerator fist-onder ter, he 10 radiseeis(-40+ 20) =-20 dBideate (i) 0 2s 200 rede due to denominator is-orer term 0005 slope of the magnitude plot after = 200 radisecis(-20-20)=—40 dB decade toponym slope of the magnitude plot after w = 1000 radisec is(-40—20) =~ 60 dBidecat The phase angle for different frequency range is o=- 270° + tan! 0.2 w + tan! 0.025 @ tan! 0.005 cy ~ tan! 0.00100 los | 40 4010 | -15572 Too 2162 [om 15905 com Sa {3} I 1K028 26474 | -21959 Lele The phase plot crosses the 180" fine twice indicating that the ys under consideration is conditionally stable, oni) Frequency Resconse Hnalysis 167 With ths igure, we find te parameter values as (04 Phase crossover frequency = 16.5 radisec or 385 radisec Gain crossover frequency = | radsec Phase margin = 7 dB GM = Gain margin = 6,3 48 of Now 20 log K = 61.3 100.9 4B, 10917 Fig 226 Prob. Consruct he Boe ple for he given yen Gi)-S0 4 ss? + 165+ 100) ‘Sol, The given transfer function is (RGPK, Nov. 2019) Gio = — — Mo) exo + 160+ 100) Rewrite the transfer funetion is Bode fom ss OSL i020) i) nota 168. Conta ystems REPU, BTEC, Sem The comer troquencies are ~ adsee due to numerator first-order term, the sp = $radisec is -20 + 20) = 0 dBidecade. oO 02 ‘of the magnitude plot after (i) op =a, = N06 = 10 rae ideo denominsor seconde tem. the slope ofthe magitde plot afr 10 adsee is (0 —40)=~ 40 sera The damping ati caked as Xe = 16 6 _ 16 = =08 8" 3a, 2x10 Choose law frequency w, such that @, <( and choosea high frequen, oy sch that oy > 09. Let @, = [Link] and = 20 rade, 075)_ 59, [078 0-0 G(o)ndB = 20104 °75] zoo 275] = 548 A, @= 07, Glja)indB wf 20104 27] so-ey onn 2] - 2°] At @ =e, [G(o)|indB = 16548 : [ss froma, tome] i) roe 0 16.54B « [rng At © =o, |G(jo)jindB = [Sop omy ty xo 2 sahara & 40g (165) = 28508 The phase ange is given by 2640) =tan (020) 90" tyq-t 9-160 for 0S pent Frequency Resconse Analysis 169 ‘The phase angle forthe Frequency range ofthe Bode plot calculated and grentelow— 0b =] © tar !029, tr! 7) L6G 1-00 aaa degree a 46 888728" | | 92 -8787 4-88" | | as. -91.85 =-92" 0 “11656~-115" | -468+180=1382) -147.195-147° -18.4+180=161.6 -16727s 167" 73.68 = 174° bb bebbbsbsccsevesnety Fig. 327 ‘Assume Oy be the phase of Gjo) atthe gain crossover equ 3.27, we get dye >= 88° Phase margin = 180" Gg. = 180° + (88° From fi “The phase plot crosses ~ 180 only a infinity. The | GLjo)| atinfinty ~ dB, Hence gain margins + 170 Cont! Systems GRY, Bech, Sam fg Prob.i(. Sketch the Bode plots for the following transfer function determine the system gain K for the gain crossover frequency 10 the S rad. Ks? gover 2029) Frequency Response Anais 171 (i) the gain crossover fequency is required 0 be $ rade, then magnitude plot mustcross the 0B line at Sradiec. For this, the plot has jobe brought down by 2 JB. Hence, 6 Trasnrcaany RGR Jane 2 200g K= 28 Sok (i) Lets consider hat K = 1 hen the ven tans into (3) expressed as . Te aun The K= 10) 904 Aus : ao [Link]. The open-loop transfer function of a system ix : GU) Toa +0028) K ee The perinent characteristics ofeach ator ofthe transfer ant 60= eoteaty - ' oT 5) sven in table 3.1 Determie fhe wale of K such that ‘Table 3.1 Asymptotic Approximation Table for Construct (9 Gain margin = 10 dB (ii) Phase margin = 50 degree. : acc Sane 2022 Ms oF GO) = easy HD) Sot Giten 9) = Sy aI Consider K=1 pae Corner “Asymptotic log-magnitude ‘Magnitude Plot — is Frequency Characteristic & ‘Corner Asymptotic None Straight line of constant slope of + No,| Factor | Frequency | {og-magnitude 1 ‘dBidecade passing through point at =) radisec | Characteristics : rdse. |] None | Sia inet man desir Traay | w= See | Straight line of constant slope ~ 2) i passing through =! vem ‘ABidecade originating from w= 5 radix @| 1 Straight line of ~20dB decade 1 nonahienrne a erating rom Troi | 02> SU radses | Straight line of cone ate wy | 10 | Staight line of ~ 20 B decade : Contr Systems RGR. BM9CH. Som re, The Bode plot is shown in fig. 329. 2023) Hence 2G (0) tan“!0-0,1057.9-50 tan. 2 Freaveney Resgonse Anais 173 010.0 = 40 rdisec 1 ee 37 1p sasenm 2 84s ELASN DT 4S Im ‘he phase angle forthe frequency range between y= csleulated piven below. “Tetoil 1] = 1-86 [= | -65 |=, Fig 329 (i) For he sin margin to be 10 dB, the magni plot bs ited phy : 95-10-9548 Dolor = 95 Ke 10950 _ 298 Aw (i) For the phase margin to be $0° the value of at ~ 180 +50. 130° 0.73 radisee and gain margin is ~ 5 dB. Thus to have phase margin of ‘50° the magnitude plat has to be brought down by SaB so that gain crossover frequency is 0.73 radise. 20logK =-5 or K= 10°570= 0.86 Am. ‘Prob.12. For the transfer function shown below, sketch the Bode phase angle plot - 10g + sje" (+025) Sol. For the tansporation lag 1, the expression for the magi and phase angle willbe jetliey 1 Go)= ([Link],, Nov. 2018 and Gio) eli = 12-Oovrad or =12-01ox 80 12-O1axs7 iii Fig 3.30 Prob2. The opemtoop rane function of «sytem is 2B ce is. Determine phase margin (RGRK, Dec. 2020 Sot. Given, 646) )= 25 remy Puts ~jo, then wi Gio Ho= oem At eu crossover frequency the gain is [GGje)HGe)| = 1 wi facia 176 & [RGPV. [Link], WSemy Cont Systems . (&y van-2023) Frequency Domain Stabity Analysis 175 A ‘FREQUENCY DOMAIN STABILITY ANALYSIS ~ NYQUIST ‘STABILITY CRITERION, ASSESSMENT OF RELATIVE {STABILITY USING NYQUIST PLOT (PHASE MARGIN, GAIN MARGIN AND STABILITY) aE (026, State and explain the Nyquist stability rtrion. (GRY, Dec. 2013) Ans. Nyquist stability criterion relates the numberof zeros and pes of 1+ G()HE) that ie onthe RHS of plane tthe oper-lop frequency sponse cgo)to). Nyquist stability criterions formally stated as “Fora clsed-oop syste to onteo? Nao orto om raises (hin cr¥ove regu -Gyo)Hijo) = -90- tan"! 90 ~tan“! V3 90-60 = ~ 150° “The phase main is given as PM= 180 + (- 150) = 30" An | este the Nyquist plotaf GH) mist emi ep ssaeany Prod Determine the phase margin of sem withthe open | nes tn of pokes of GM) ht ene nh half ean mange fincion Coskwise nclenents be ken a ete "Eaton pealy wed acs : N=Pez oy y= A= GRY, Dec 9 MO Tao 27 F anere sci, tebe ccintnntp Gis) = 23 umber of ples of Gs) tat are o he ht al of lane % Tera For stability of closed-loop Z should be zero, ie. Pat s=jou then NeP —e ia The Rit ritalin eee sbi of ont GGe)HGe) = 7 jax2+j0) systems by mapping from splane to G(s)A(s) plane. The presence of roo af a characteristic equation of a control system in &specitid region of s plane are identify by Nyquist crtenon To understand the Nyquist stability criterion, fst we have wo understand the term Nyquist path ‘The Nyquist path is contour consists ofthe entire jo axis from @ = —« to +c0 anda semicircular path of infinite radius inthe right half splane, The Nyquist path encloses the entire right haf plane and encloses al he 2er0s and poles of 1+ G(s)His that have postive real pats If there ae no 2t05 oF 11+ G(S)H() in the right half-plane, then there are ao closed-loop poles and the system is stable Thee possiblities can oecur by using Nyquist stability criterion (i) IF there are no poles of Gis)H(s inthe right half plane and there is no encirclement of the ~ | + j point, then the system is sabe. (i) the number of counerclockwise enciclemeats ae the same 2 the numberof poles of Gis)Hs) in the right al splane, then the system i stable, otherwise unstable (ii) there isa clockwise encirclement ofthe ~ 1+ 0 point then the system is unstable At gain crossover frequency, the ga is | Gio) HGoy= or = j 1.73 radisee ‘Because « is imaginary so there will not be any gain crossover frequen) PM= Aw. amet cage [RGPV, B T0Ch. [Link], c ; m Cad amyvhose opentoop transfer 1 a, Camera sowed pst elon transfer _ Gmin= —— Gs base) GWorFGio) = ( “The plot of GdiodHGio)isshown in fig. 331. Since Gj) doesnot have ‘any poles inthe ght halfs plane and the Tid pint is not encircled by the ‘GajaFlgjo) focus, this system is stable for any posinve values of KT) and Tp (0.27. Brite short note om principle of argument Cooma) Fig. 331 in Nyquist ert (RGRY, June yy sn The relation Z~ P=N between the enclosure of POES 8 eo (eit the plane contour and the encirclement ‘of the origin by the gy, is) our is commonly known athe principle of araunent ch ny te sated a6 follows ~ Let Qs) bea ratio ‘of polynomials in s. Let P be the number of poles of q,, “sit esd impleclosedconturin the splane DUC aera for Lette closed contour be such tha: dos not pass through any ples or zs of Qe). Thes-plane Cetour dhe maps into the XS) plane conour 2 a cased cue ‘The sumber N of clockwise ociclements ofthe origin ofthe (04s) plane, as representative point «s traces out the entire contour in the seplane in the clockwise Fig. 3,32 Evaluating 1 + G(s)H() fom Ocorresponds aN enicements so iclementto the ctl pit fection by the Fay contour N= indices tht contour dos 0 Frequency Domain Staity Analysis 177 G{S)H{s) plane a the critical point. So the encirclement ofthe origin by Me contour Fi equivalent tothe eneelmen ofthe ciel the comtout Fay nthe igh ofthese point 1 +0 recat iho these observations, we can exes elation Z-PaN vere Z= Nuter of 0s of + isis eoed bythe sane coor, = Number of pols of Gt - eof i) ect he vpn contour, N= Number of ack exten fhe pit +0 nade by the G(s}H(s}plane contour gy, In general N can be postive (Z > P), zero ¢ oF negative (Z< P) ‘Din clockwise Sect an a : cic cont facts ion cee ny of demain § : ig N nl pe il ome “440 of Be GoM) pend yl om oe cane fone af ea in i ea snngnitude of N, 7 a 0.28. Explain the relative stabi using Nyquist criterion ‘Ans. Relative stability of closed-oop sytem which ate ope-oop sabe «an be conveniently obtained through Nyquist plots. The on-time of {£1 +0 point determine the stability criterions the ability ca be determine ty inspecting open-loop funtion Gls) Hs) of Nau ot “The sytem becomes relatively les stable asthe Nyquist plot move loser ‘p(- 1+ JO) and the sytem clasd-oop poss moe het he oss [A Glja) Hijo) locus crosses the negative real axisatafequency with an intercept of Shown in fig, 3.33. unit circle centred at origit intersect the Go) Ha locus at a frequency © = fo and let the phasor Gfjo,) HGo,) KE 2 Angle of with thereat real axis messured positively in counter dlockwise direstion ig. 333 Glo) Hija) Locus 178 Cont Systoms RPV. Bech. Sem go, Y gevan2029) Frequency Domain Stability Analysis 179 © Git Describe in dea Thera aiiy rece 8 Co) HE) kes apc rial pig e fail phase margin. (GRY, Dec. 2010) Teal ofnkcep amt ath testo zest o The relate sabi meas nes oF nkrcep ao angle | Mite shor ton ht main GPW Dectiiae The Nope miaeeovonh hte en bear uns, | Tegner LGR Dees shiny tech oer nis that amount of addtional phase lag at which the Putas te dee of stay ofa s4He 3eM. The NUS OSC ge, | A a th infomation as how tbs ay Be ON “ rere big The pam anc aroun of he pas shi ofthe Lio) a uty apace Explain the term gain margin. (RGRV, Dec. 2010, 20)5, tegen ip he feney at which he phase angle ofthe energy] go ofthe ope-looptant acne ich the magnit ; : Shown in fig. 3.38, as the OM Je between the line that Z ses through the gain hep empn cnbe erent a ese the ogee end ny GM|gg = 200g (GM) ive teal axis ofthe Ljo) - a eaateg E06 Me. The phase margin she arin exresed in decibels is postive if he grin margin, fount of pure phase delay Pn if gam arn stan uty. Thsy J soc en be ae theo scm magn ms tha ie rem il ab Be eave pa, Pe te close op sytem ga se sm is unstable. jecomes unstable. For @ mini- a nie ncn ‘pum phase system to be stable ipa alate oe fe phse margin mst te = cline sitive. ren the system is. joven anabrrsenc ey imum phase type, then the FR 235 Phase Margin defined nike socal jn Tie ia mug fhe fnaytical expression ofthe Ujrplane e aan Lg) bs margin can be expressed as Closed oop system that bas L{s) 28s loop fhase margin canbe exp asf unt, expresied in Bas Phase margin (®pyq)= ZLsjo,)~ 180" Gain margin =20 logy ig 434 Gain Margin in "TE %ei8 the gain crossover fequeney Tie, Fig, 3.34 Gain Margin the Polar Coordinates 0.32. With the help of diagram explain phase margin and gain margin. og i9 | {RGPN, May 2019) 7 7 Ans, Refer to the ans. of Q.31 and Q.29. 2.30. Explain the term gain margin. Write a short note on the : k ‘advantages of Bode Plot GRY, Jame 200) 033 Explain the concep of ain margin and pase margin Elin Ans. Gain Margin Reo the ans. of 29, how these values help in relative stability (RGRY, June 2016) Advantages of Bode Plot ~ Refer othe ans. of Q.12. Ans. Refer to the ans. of Q.29, Q.31 and Q.28. 180. Contra Systems "me Lye requency Domain Stavlity Analysis 181 ) \ hosts rk pram he ven ne 4 OMIMEN OM Sy gy shen a GEIHO) = oe” ) Sot Given, SINS)” 32) 4 batting = jin te equation (). E Bet » Go) HO0)~ Gor2) 7 Mutinying numerator and denominator of equation (i) by (ji 2, equating el and imaginary parts, We Bet ay 4-1), Go-2) _ Aco" = Ro=jo+2) (jot2) Ge-2) 4 Fig. 3.36 cece the numberof 220s (ro of charac js 1 and the closed-loop system is unsabye ae™ *thpostive 16. Apply the Nyquist crite - ‘an = feet onl the fllowing openiop anf s+ G9) HO Fr syed — REPK, June 210, Mey 219) Gaia) Hye) = = 4 ‘iy iis observed that Nyquist plot crosses imayn oe tt imaginary parts of GGja) HG) for variog, or the open-loop transfer function of closed soop sem T + = t)1 | 2 [5s] | 0 lo Gene) = 8 RaGe Hon [2 | 08] 0 | 32 [38 | 3% [s SODAS) Tm(G(jo) He) | 0 | PA | 7283 | §24 | ILS | 3024 | jp | Determine stability. (RGR, Dec. 2013) or ‘The Nyquist plot shown in fig. 3.36 is obtained by plotting the values of real and imaginary pars of Gj) Ho int the Gs) H()plane. “The point (-1 =) is enced bythe Nygust plot and its numberof Ascertain stability by Nyquist criterion for following openlop contol ‘encirclement N bythe plot is -1(amiclockise). Goon) =" Since P, = 0 (numberof poles of Gis) H(s) with positive real pars) *Faasteay (RGN, Dec. 2014) 2, ~ The number of foos of the characteristic equation 1 + Gis) Hts) = 0 wah postive sap Sol, First we will sketch the Nyquist plot ‘The number of zeros (oos) ofthe characteristic equation with posine (reo Teal part is determined by using relation N=RA 1=0-% or =I 4 = tan! do - 180° tar! ota! 20 182 Contro! Systems IRGPY, B Tech. IV-Sem, (Ey The anal dient aes of bt ew (eo | ne | 180° | tno [an 20 |p op eae yo ator ~ |) = 1s | - 90° -90" ~ 270° orange | iso | se | cite | tte Loss Sis | Sas | Sone | Cate = when = when @ = 0 ‘Nyquist plo fom the calculated data of M and 6 is shown in fig. 3.37, ‘The Nyquist plot makes an intercept on the negative eal axis at point x, ‘The intercept OX is calculated as given below — Go) Hgw) = — 40 __ Gordsj02}o) | Separating into real and imaginary pats _ 141007 | ___to-80") CUO) = Sa 207)? +90") w= 208) +90") Eaquating imaginary part to zero (o-803)=0 ta? = 1 = 0354 radsee 1+ 160384)? Mly = 0354 ; 1064 (0354)*y1-+ (03549? 1+ (0354) “Alterativel, the value of « at point X ean be found out as o=- 180 tan do — 180° tar ho ~ tan"!20 tany + n"20 = tn 4 tanften"!o + tan 20] = 40 @r20 Fig, 337 0.354 radisee Since OX = ~ 10.64, point ~ 1+ 0 lies inside as shown. Taking clockwise encirclements as negative N=~2. Also P= O because no pole ison the [Link] Frequency Domain Stabilty Analysis 183 ae Substituting in the equation y-2023) G6) Hi) = v Hey (RGB, Dec. 2012) P0+9 29 Sol Nyquist Stability Criterion — Reser tthe ans of 2 Also, eer to the so, of Prob 6 | 1 | Pehl. Dow be mt Hay sat yee od make a comment on sail. (RGPY, Dec 2015 ne 01> vig Sol Given 7 L Gy) Hy= 1 __ Fest set) Puts=jo, Go) HGa)= 1 (jo) (1+ jo I+ jot) [GGoyHGjoy = ofl+07F flee 180° — tan! oT, - tan"! oT 164 Conta Systems IRGPV,B Toh. WS ’ 2023) Frouancy Daa Sty Anyi 108 250 an tan tag) (i) Ato= ot ae eS GGorH Go, ~ tan 26 +109"! 050 180° y 50 Toso? 20-180 =180°— tan! (Ty + Tp) : mm”) GU@}HL aye ge = ——— Vit 1 (nn) wh — 180° — tant ao = = 180° 90° = — 27q° (@ sere ts as) (tr 180? 05 aja =N eek POs “ase? and £62) j2) ~~ 180° 0 180° — 360" o= |Asperabove ealeultons gona shape ofthe NSgUist plot is shown (GG0) HG0) > K Fey "Vd Z.GG0) HO) > — 180° A o* OF (G(iN05) HUWO5y| = ——_ ANOS) 1° ; Yos05)* + ios vk wd ZG(jV0S) HOS) -180° Ao (GG) NG ->0 and 26450) H(j2) +90 Fig. 3.38 As per above calculations the Nygus plot is shown in 339 Prob.19. Using Nous erterion investigate the closed-loop stabil the system whose open-loop transfer function is Kos) Gro) =KO+ (5+ 0.55 — 2) Consider k= 128. (RGN, Dec. 16 ‘Sol, Given. Kise Gis) Hi — Ae) Hi) (s+ 05)(s—; Kijo+l) Fig. 3.39 io-05KG0 2 For K = 1.25, AB = 0.66 « 1.28 = 0.825 thus the point (- 1 +0) lines Kyo? + etween B and C and its number of encirclement N by the plot is ~ 1 (Gljo) Ho) MUON TE ost dated clockwise), : [RGPV.B Teh, Som '85. Contr Systems Som (G Iiieg 6 = 2 thus we Bet Nop -Z 11-2. 2,22 Hence. closed-loop characteristic equation has 1W0 T0018 With pos, real part and the system is unstable 7 : im Prok20. The aperloop transfer fancion ofa certain negative fang, control system i given BY Gis) = Determine the stability of system by Nyquist stability criteria, (GPK, Nox 29 So Given Gs) — s*(l+s) mierie iti 4) 16¢j0)]= SF aNd ZG Go) =~ 180 tay olor ® At @= 0, G(jw)| =e and ZG (jo) = ~ 180° At @=2, KGGio)) = and ZG{j@) =~ 270" ‘As per above calculations, general shape of the Nyquist plot is show iy fig 3.40. Itcan easly be observed that the locas of GGo) 40S plane not intersect the real or imaginary axis. ies inthe second quadrant forall values ofo. Hence, the Nyquist plot encircles the ric pont— 1 ~ JO twice inthe clockwise direction, i N= 2. Since P = number of poles of Gis) in therighthalfs-plane, webave Z=N+P 2=2+0=2 ic there are two roots inthe Tight-halfs plane and hence the system i wnstable. Fig, 340 Nyquist Plot oo iy DERIVATIVE, INTEGRAL AND COMPOSITE |. What is compensation ? Discuss sat npensation ? Discuss various ype of compensators (RG i, Dec. 2013, June Ans. Compensation ~ The process of redesigning a system by: ‘a external device is called compensation of a contol sytem. The fevce is known as a compensator. ‘Types of Compensators — Various types of compensation circuits are 8 filows ~ (i) Series (Cascade) Compensation - Fig 4.1 shows the most

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