O restart; with DynamicSystems :

O sys1 d ZeroPoleGain K0.5 , K1,K1.5,K5 , 1 : sys2 d ZeroPoleGain K1.3 , K1,

K1.7,K5 , 1 : sys3 d ZeroPoleGain , 0.2,K1.7,K5 , 1 : sys4
d ZeroPoleGain 1 , K1,K1.7,K5 ,K1 : sys5 d ZeroPoleGain 0 , K0.5,K0.4
C 0.7 I,K0.4 K 0.7 I , 1 :
O tf1 d TransferFunction sys1 : tf2 d TransferFunction sys2 : tf3
d TransferFunction sys3 : tf4 d TransferFunction sys4 : tf5
d TransferFunction sys5 :
O simplify tf1:-tf1, 1 ; RootLocusPlot sys1 ; ResponsePlot tf1, 1 , duration = 10,
dsolveargs = maxfun = 0 ; NyquistPlot sys1 ; BodePlot sys1 ;
2. s C 1.
2. s3 C 15. s2 C 28. s C 15.

Im(s)
2

K5 K4 K3 K2 K1 0
Re(s)
K1

K2

K3

K4
 0.08

0.07

0.06

0.05

y1 0.04

0.03

0.02

0.01

0
0 2 4 6 8 10
t
 0.06

0.04

0.02

K0.01 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08

K0.02

K0.04

K0.06
 Freq [rad/s]
1. # 10 - 2 1. # 10 - 1 1. # 10 0 1. # 10 1 1. # 10 2 1. # 10 3

K30

K40

K50
Magnitude [dB]

K60

K70

K80

K90

K100

K110

K120
 0
1. # 10 - 1 1. # 10 0 1. # 10 1 1. # 10 2 1. # 10 3
Freq [rad/s]
K20

K40

K60
Phase [deg.]

K80

K100

K120

K140

K160

O simplify tf2:-tf1, 1 ; RootLocusPlot sys2 ; ResponsePlot tf2, 1 , duration = 10,

dsolveargs = maxfun = 0 ; NyquistPlot sys2 ; BodePlot sys2 ;
10. s C 13.
10. s3 C 77. s2 C 152. s C 85.
 3

Im(s)
2

K5 K4 K3 K2 K1 0
Re(s)
K1

K2

K3
 0.15

0.10

y1

0.05

0
0 2 4 6 8 10
t
 0.08

0.06

0.04

0.02

0 0.05 0.10 0.15

K0.02

K0.04

K0.06

K0.08
 Freq [rad/s]
1. # 10 - 2 1. # 10 - 1 1. # 10 0 1. # 10 1 1. # 10 2 1. # 10 3

K20

K30

K40

K50
Magnitude [dB]

K60

K70

K80

K90

K100

K110

K120
 Freq [rad/s]
1. # 10 - 2 1. # 10 - 1 1. # 10 0 1. # 10 1 1. # 10 2 1. # 10 3

K20

K40

K60
Phase [deg.]

K80

K100

K120

K140

K160

O tf3:-tf1, 1 ; RootLocusPlot sys3 ; ResponsePlot tf3, 1 , duration = 10, dsolveargs

= maxfun = 0 ; NyquistPlot sys3 ; BodePlot sys3 ;
1
s3 C 6.5 s2 C 7.16 s K 1.70
 3

Im(s)
1

K6 K5 K4 K3 K2 K1 0 1
Re(s)

K1

K2

K3
 3

y1

0
0 2 4 6 8 10
t
 0.2

0.1

K0.5 K0.4 K0.3 K0.2 K0.1 0

K0.1

K0.2
 Freq [rad/s]
1. # 10 - 3 1. # 10 - 2 1. # 10 - 1 1. # 10 0 1. # 10 1 1. # 10 2 1. # 10 3

K20

K40

K60
Magnitude [dB]

K80

K100

K120

K140

K160

K180
 Freq [rad/s]
1. # 10 - 3 1. # 10 - 2 1. # 10 - 1 1. # 10 0 1. # 10 1 1. # 10 2 1. # 10 3

K140

K160

K180
Phase [deg.]

K200

K220

K240

K260

O simplify tf4:-tf1, 1 ; RootLocusPlot sys4 ; ResponsePlot tf4, 1 , duration = 10,

dsolveargs = maxfun = 0 ; NyquistPlot sys4 ; BodePlot sys4 ;
10. s K 1.
K
10. s C 77. s2 C 152. s C 85.
3
 6

Im(s)
2

K7 K6 K5 K4 K3 K2 K1 0 1
Re(s)

K2

K4

K6
 0.10

0.08

y1 0.06

0.04

0.02

0
2 4 6 8 10
t
K0.02
 0.10

0.05

K0.08 K0.06 K0.04 K0.02 0 0.02 0.04 0.06 0.08 0.10

K0.05

K0.10
 Freq [rad/s]
1. # 10 - 2 1. # 10 - 1 1. # 10 0 1. # 10 1 1. # 10 2 1. # 10 3
K20

K30

K40

K50
Magnitude [dB]

K60

K70

K80

K90

K100

K110

K120
 Freq [rad/s]
1. # 10 - 2 1. # 10 - 1 1. # 10 0 1. # 10 1 1. # 10 2 1. # 10 3

K50

K100

K150
Phase [deg.]

K200

K250

K300

K350

O tf5:-tf1, 1 ; RootLocusPlot sys5 ; ResponsePlot tf5, 1 , duration = 10, dsolveargs

= maxfun = 0 ; NyquistPlot sys5 ; BodePlot sys5 ;
s
s3 C 1.3 s2 C 1.05 s C 0.325
 3

Im(s)
2

K0.6 K0.5 K0.4 K0.3 K0.2 K0.1 0

Re(s)
K1

K2

K3
 0.8

0.7

0.6

0.5

y1 0.4

0.3

0.2

0.1

0
2 4 6 8 10
t
 1

0.5

K0.2 0 0.2 0.4 0.6 0.8 1.0 1.2

K0.5

K1
 0
0.02 0.04 0.1 0.2 0.6 1 2 4 6 10 20 40 60 100
Freq [rad/s]
K10

K20

K30
Magnitude [dB]

K40

K50

K60

K70

K80
 75

50

25

0
0.02 0.04 0.1 0.2 0.6 1 2 4 6 10 20 40 60 100
K25 Freq [rad/s]
Phase [deg.]

K50

K75

K100

K125

K150

K175

O
O