A simplified model of the control system for regulating the pupillary aperture in the human eye. The gain K represents the pupillary gain, and r is the pupil time constant, which is 0.5 s. The time delay 7" is equal to 0.5 s. The papillary gain is equal to 2.
(a) Assuming the time delay is negligible, sketch the Bode diagram for the system. Determine the phase margin of the system, (b) Include the effect of the time delay by adding the phase shift due to the delay. Determine the phase margin of the system with the time delay included.