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A plant is controlled by a proportional controller, if time delay element is introduced in the loop its:

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A plant is controlled by a proportional controller, if time delay element is introduced in the loop its:

(a) Phase margin remains the same

(b) Phase margin increases

(c) Phase margin decreases

(d) Gain margin increases

This question was addressed to me in an international level competition.

My question is taken from Effect of Adding a Zero to a System in portion Time Response Analysis, Design Specifications and Performance Indices of Control Systems

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Correct option is (c) Phase margin decreases

Best explanation: When a delay element is introduces in a control system, it only affects the phase margin of the system and new value of the phase margin is decreased.

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