ANS.

80 10
GH ( s ) =
s ( s + 4)( s + 20) 1
10
=
s (1 + 0.25s )(1 + 0.05s )

1
|G3| =
G1 = 10 (1 + 0.25s )
|G1|dB =20 log 101/2
= 10 φ3 = - tan-1 (0.25ω)
φ1 = 0°
½ Breakaway point, 1/T2 = 1/0.25 = 4 rad/s 1

G4(s) = 1/(1 + 0.05s)

|G2| = 1/s
φ4 = - tan-1 (0.05ω)
φ2 = - 90°
½ Breakaway point, 1/T3 = 1/0.05 = 20 rad/s
1
 ∴φ = 0 – 90 - tan-1 (0.25ω) - tan-1 (0.05ω)

ω (rad/s) φ ( deg)
0.0 -90.00
1/T3 0.2 -93.43
T2/5 0.4 -96.85
T3/5 1.0 -106.89
2.0 -122.27
≈5/T2 3.0 -135.40
1/T2, 5/T3 5.0 -155.37
10.0 -184.76
20.0 -213.69
30.0 -228.71
70.0 -250.78
∞ -270.00

1½
 |GH|dB

3
40

-20 dB/cycle
20
G1

ω
0.1 1 10 100

-40 dB/cycle P.M. ≈ 18 dB

G4
-20

G3

-40
G2

-60 dB/cycle
ω
-0.1 1 10 100
GH

-100 X X
X
X
X
γ ≈ 40° X
X
-200
X
X
X
 Gain Margin (G.M.),

20 log (G.M.) = 18
log (G.M.) = 18/20
= 0.9
G.M. = 7.94
1
Phase Margin,
γ ≈ 40°

Critical gain (KCR):

KCR = KPLOT (G.M.)

KCR = 8(7.94)
= 63.52
½