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Frequency Response: 1 Systems Subjected To A Sinusoidal Input

1. The document discusses using Bode plots to analyze the frequency response of systems. Bode plots show the magnitude and phase of a system's transfer function over frequency. 2. Common transfer functions like integrators, differentiators, and second-order systems are analyzed. Their individual Bode plots are presented. An overall Bode plot can be obtained by superimposing the component plots. 3. Key concepts in stability analysis using Bode plots are introduced, including gain and phase crossovers, gain margin, and phase margin. These indicate how close a system is to instability.

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Faizal Bin Ibrahim
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112 views8 pages

Frequency Response: 1 Systems Subjected To A Sinusoidal Input

1. The document discusses using Bode plots to analyze the frequency response of systems. Bode plots show the magnitude and phase of a system's transfer function over frequency. 2. Common transfer functions like integrators, differentiators, and second-order systems are analyzed. Their individual Bode plots are presented. An overall Bode plot can be obtained by superimposing the component plots. 3. Key concepts in stability analysis using Bode plots are introduced, including gain and phase crossovers, gain margin, and phase margin. These indicate how close a system is to instability.

Uploaded by

Faizal Bin Ibrahim
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Frequency Response

Systems subjected to a sinusoidal input


Consider a plant G (s) = Y (s) U (s)

The applied input is a sinusoidal wave of the form u (t) = A sin 0 t If the initial conditions are 0, the Laplace transform of the output is Y (s) = G (s) s2 A0 2 + 0

Partial fraction expansion gives (assuming that all poles are distinct) Y (s) =
2 n 0 0 1 + + + + + s p1 s p 2 s pn s + j0 s j0

where p1 , p2 , . . . , pn are the poles of G (s) and 0 is the complex conjugate of 0 .

The solution is of the form y (t) = 1 ep1 t + 2 ep2 t + + n epn t + 2 |0 | sin (0 t + ) where = tan1 Im (0 ) Re (0 )

If the system is stable, (i.e. the real part of p1 , p2 , . . . , pn < 0), the transient response will disappear as t , leaving the steady state response only. The steady state response (due to a sinusoidal excitation function) is of the form y (t) = AM sin (0 t + ) 1

where M = |G (j0 )| = |G (s)|s=j0 = and = tan1 {Re (G (j0 ))}2 + {Im (G (j0 ))}2 Im {G (j0 )} = M ej Re {G (j0 )}

A stable system with transfer function G (s), when subjected to a sinusoidal excitation of unity amplitude and a frequency of 0 , will have a steady state response of frequency 0 , magnitude M (0 ) and phase (0 ). In other words, the system response would oscillate at the same frequency as the excitation, but the magnitude and phase may be changed.

Bode Plot
Comprises of magnitude-frequency and phase frequency relationship plots. Frequency coordinates in logarithmic scale, magnitude (Decibels) and phase (degrees) in linear scales. The Decibel unit is defined as |G (j0 )|dB = 20 log10 |G (j0 )| If 2 = 101 , the range of frequencies between 1 dan 2 is called a decade. The transfer function of any system is made up of one or a collection of the following transfer functions: 1. K 2. (j)1 3. (j + 1)1 4.
j 2 n j + 2 n + 1

2.1

Constant, K

Magnitude: |L ()|dB = 20 log10 |K| Phase: () = 0 Example: K = 50 L () = 20 log 50 = 20 (1.7) = 34 () = 0

Bode Diagram 35 34.5 Magnitude (dB) Phase (deg) 34 33.5 33 32.5 1 0.5 0 -0.5 -1 10
0

10 Frequency (rad/sec)

2.2

Integrator,
= (j)1

1 s

1 s s=j

Magnitude: |M ()|dB = 20 log10 1 j = 20 log10 (j)

Phase: () = 90 3

Bode Diagram 20

Magnitude (dB) Phase (deg)

10

-10

-20 -89 -89.5 -90 -90.5 -91 10


-1

10 Frequency (rad/sec)

10

2.3

Differentiator, s

s|s=j = (j) Magnitude: |M ()|dB = 20 log10 |j| Phase: () = 90


Bode Diagram 20

Magnitude (dB) Phase (deg)

10

-10

-20 91 90.5 90 89.5 89 10


-1

10 Frequency (rad/sec)

10

2.4

Multiple integrators,
= (j)n

1 sn

1 sn s=j

Magnitude:

|M ()|dB = 20 log10 Phase: () = 90n

1 j n = 20n log10 (j)

Example: (j)2

Bode Diagram 40

Magnitude (dB) Phase (deg)

20

-20

-40 -179 -179.5 -180 -180.5 -181 10


-1

10 Frequency (rad/sec)

10

2.5

Time delay in the denominator,


= (j + 1)1

1 s+1

1 s+1 s=j

For << 1 Magnitude: Phase: () = 0 Magnitude: |M ()|dB 0

For >> 1

|M ()|dB 20 log10

1 j = 20 log10 (j ) 5

Phase: () = 90 Example: (5j + 1)1


Bode Diagram 0 -5 Magnitude (dB) Phase (deg) -10 -15 -20 -25 -30 -35 0

-45

-90 10
-3

10

-2

10 Frequency (rad/sec)

-1

10

10

2.6

Time delay in the numerator, s + 1

s + 1|s=j = (j + 1) For << 1 Magnitude: |M ()|dB 0 Phase: () = 0 For >> 1 Magnitude: |M ()|dB 20 log10 |j | Phase: () = 90 Example: (5j + 1) = 20 log10 (j )

Bode Diagram 35 30 Magnitude (dB) Phase (deg) 25 20 15 10 5 0 90

45

0 10
-3

10

-2

10 Frequency (rad/sec)

-1

10

10

2.7

2nd order term in denominator,


2 = j 2 + 2n j + n 1

1 2 s2 +2n s+n

1 2 s2 +2n s+n s=j

Example: n = 5 and = 0.05, 0.2, 0.5 and 0.9.


Bode Diagram 0 -20 Magnitude (dB) Phase (deg) -40 -60 -80 -100 -120 0 -45 -90 -135 -180 10
-1

10

10 Frequency (rad/sec)

10

10

2.8

Overall Bode Plot

The overall Bode plot for the whole system can then be obtained by addition of all the component Bode plots through the superposition principle.

3
3.1

Relative Stability
Gain Crossover

Gain crossover is the frequency at which the gain is 0 dB (ie. the point at which the gain magnitude is 1).

3.2

Phase Crossover

Phase crossover is the frequency at which the phase passes 180

3.3

Gain Margin

The amount of gain that can be added before the closed loop system becomes unstable. It is the amount of gain measured below the 0 dB line at the phase crossover frequency.

3.4

Phase Margin

The amount of phase that can be added before the closed loop system becomes unstable. It is the phase angle measured above the 180 line at the gain crossover frequency.

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