(a) Draw the log magnitude and phase diagram (use the computer).

Step Response
1.4

System: untitled1
Peak amplitude: 1.35
Overshoot (%): 35.3
1.2 At time (seconds): 0.298

System: untitled1
System: untitled1
Final value: 1
Settling time (seconds): 1.85
1 System: untitled1
Rise time (seconds): 0.127

0.8
Amplitude

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5
Time (seconds)
(b) Based on the plot from part a, determine the phase-margin frequency ωφ, the phase-margin angle, gain margin and the gain-margin
frequency ωc.
Step Response
1.4

System: untitled1
Peak amplitude: 1.35
Overshoot (%): 35.3
1.2 At time (seconds): 0.298

System: untitled1
System: untitled1
Final value: 1
Settling time (seconds): 1.85
1 System: untitled1
Rise time (seconds): 0.127

0.8
Amplitude

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5
Time (seconds)
 Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = 26.3 deg (at 10.3 rad/s)
40

30

20
System: H
Magnitude (dB)

10 Frequency (rad/s): 10.3

Magnitude (dB): 0.0374
0

-10

-20

-30

-40
-45

-90
Phase (deg)

System: H
-135 Frequency (rad/s): 10.3
Phase (deg): -153

-180
-1 0 1 2
10 10 10 10
Frequency (rad/s)
(c) Calculate the same parameters in part b and check your results.
100(𝑠 + 2)
𝐺(𝑠) =
𝑠(𝑠 2 + 6𝑠 + 25)

100(𝑠 + 2)
𝐺(𝑠) =
𝑠(𝑠 2 + 6𝑠 + 25)

- Calculo de los polos

−𝑏 ± √𝑏 2 − 4𝑎𝑐
𝑥=
2𝑎

𝑠 2 + 6𝑠 + 25

−6 ± √62 − 4(25)
𝑥=
2(1)

𝑠 = −3 ± 4𝑗

- Función de Transferencia al dominio de frecuencia

100(𝑗𝜔 + 2)
𝐺(𝑗𝜔) =
𝑗𝜔(𝑗𝜔 + 3 − 4𝑗)(𝑗𝜔 + 3 + 4𝑗)

- Para la Frecuencia de cruce de ganancia.

 100(𝑗𝜔 + 2)
𝐺(𝑗𝜔) =
𝑗𝜔(−3 + (𝜔 − 4)𝑗)(−3 + (𝜔 + 4)𝑗)

𝜔𝑔 = 20 log(100) + 20 log (√22 + 𝜔 2 ) − 20 log (√𝜔 2 ) − 20 log (√(−3)2 + (𝜔 − 4)2 ) − 20𝑙𝑜𝑔 (√(−3)2 + (𝜔 + 4)2 ) = 0

log(100) + log (√22 + 𝜔 2 ) − 20 log (√𝜔 2 ) − log (√(−3)2 + (𝜔 − 4)2 ) − 𝑙𝑜𝑔 (√(−3)2 + (𝜔 + 4)2 ) = 0

log(100) + log(𝑎) − 20 log(𝑏) − log(𝑐) − 𝑙𝑜𝑔(𝑑) = 0

100 𝑎
log ( ) + log ( ) = 𝑙𝑜𝑔(𝑑)
𝑏 𝑐

100 𝑎
log ( ∗ ) = 𝑙𝑜𝑔(𝑑)
𝑏 𝑐

100 𝑎
( ∗ )=𝑑
𝑏 𝑐

100 √22 + 𝜔 2
( ∗ ) = √(−3)2 + (𝜔 + 4)2
√𝜔 2 √(−3)2 + (𝜔 − 4)2

𝐫𝐞𝐬𝐨𝐥𝐯𝐢𝐞𝐧𝐝𝐨 𝐥𝐚 𝐞𝐜𝐮𝐚𝐜𝐢𝐨𝐧 𝐭𝐞𝐧𝐞𝐦𝐨𝐬 𝐪𝐮𝐞

−𝑤 6 + 14𝑤 4 + 9375𝑤 2 + 40000 = 0

−𝑢3 + 14𝑢2 + 9375𝑢 + 40000 = 0

𝑓(𝑢) = −𝑢3 + 14𝑢2 + 9375𝑢 + 40000

Método de newton-rampson
 𝑥{𝑛+1} = 𝑥𝑛: − ({𝑓(𝑥𝑛 )}/{𝑓′(𝑥𝑛 )})

−𝑢2 + 18.30281 … 𝑢 + 9296.24644 … ≈: 0

𝑢 ≈: −4.30281 … , : 𝑢 ≈: −87.69897 … , : 𝑢 ≈: 106.00178 …

𝑠𝑖𝑒𝑛𝑑𝑜 𝑤 2 = 𝑢

𝑤 2 = −4.3028 sin 𝑠𝑜𝑙𝑢𝑐𝑖𝑜𝑛

𝑤 2 = −87.69897 sin 𝑠𝑜𝑙𝑢𝑐𝑖𝑜𝑛

𝑤 2 = 106.00178

𝑤 = √106.00178, : 𝑤 = −√106.00178

𝑤 = 10.2957: 𝑤 = −10.2957

𝝎𝒈 = 𝟏𝟎. 𝟐𝟗𝟓𝟕 𝒓𝒂𝒅/𝒔𝒆𝒈

- Frecuencia de Cruce de fase

6𝑤 𝑤
⊾ϕ = 90 − tg−1 ( ) − tg−1 ( )
25 − 𝑤2 2

6𝑤 𝑤
180 = 90 − tg−1 ( 2
) − tg−1 ( )
25 − 𝑤 2

𝑤 6𝑤
−90 = tg−1 ( − )
2 25 − 𝑤2
 𝑤 6𝑤
2 −
−90 = tg ( 25
−1 − 𝑤2 )
𝑤 6𝑤
1+ 2 ∗
25 − 𝑤2
𝑤 6𝑤
−1 2 − 25 − 𝑤 2
tg ( )=∞
𝑤 6𝑤
1+ ∗
2 25 − 𝑤 2

𝑤 6𝑤
1+ ∗ =0
2 25 − 𝑤 2

6𝑤 2
1+ =0
50 − 2𝑤 2

50 − 2𝑤 2 + 6𝑤 2
=0
50 − 2𝑤 2

50 − 2𝑤 2 + 6𝑤 2 = 0

4𝑤 2 = −50

4𝑤 2 = −50

𝟓𝟎
𝝎𝝓 = √− = 𝒋𝟑. 𝟓𝟒 𝑰𝒎𝒂𝒈𝒊𝒏𝒂𝒓𝒊𝒐
𝟒

- Margen de Fase
 𝑃𝑀 = ∠𝐿(𝜔𝑔 ) − 180

10.29 10.29 − 4 10.29 + 4

𝑃𝑀 = tan−1 ( ) + 90 − tan−1 ( ) − tan−1 ( ) − 180
2 −3 −3

2(2(10.2957)2 + 25)
𝜙𝑚 = 𝑡𝑎𝑛−1 ( )
(10.2957)(10.29572 − 13)

𝑃𝑀 = 𝑡𝑎𝑛−1 (0.49508)

𝑷𝑴 = 𝟐𝟔. 𝟑°

- Margen de Ganancia:

100(𝑠 + 2) 100𝑠 + 200 100(𝑗𝜔) + 200

𝐺(𝑠) = = 3 =
𝑠(𝑠 + 6𝑠 + 25) 𝑠 + 6𝑠 + 25𝑠 (𝑗𝜔) + 6(𝑗𝜔)2 + 25(𝑗𝜔)
2 2 3

100𝑗𝜔 + 200 −100(𝜔2 − 13) [200(2𝜔2 + 20)]

𝐺(𝑗𝜔) = 3 2
= 4 2
−𝑗
−𝑗𝜔 − 6𝑗𝜔 + 25𝑗𝜔 𝜔 − 14𝜔 + 625 𝜔(𝜔 4 − 14𝜔 2 + 625)
1
10000(𝜔2 + 4) 2
|𝐺(𝑗𝜔)| = [ 2 4 2
]
𝜔 (𝜔 − 14𝜔 + 625)

100√𝜔 4 + 4
|𝐺(𝑗𝜔)| = [ ]
𝜔 2 √𝜔 4 − 14𝜔 2 + 625
 𝑀𝑔 = −20 log10 ⌈𝐿(𝜔𝑔 )⌉

100√𝜔 2 + 4
𝑀𝑔 = −20 log10 | |
√𝜔 4 − 14𝜔 2 + 625 𝜔

- Reemplazamos 𝝎:

100√∞2 + 4
𝑀𝑔 = −20 log10 | |
√∞4 − 14∞2 + 625 ∞

𝑴𝒈 = 𝒊𝒏𝒅𝒆𝒕𝒆𝒓𝒎𝒊𝒏𝒂𝒅𝒐