Automatic Control - 1 ( EPM 312)

Prof. Dr. Hamdy El-Goharey

Section 6: Frequency Response Analysis

r(t) = A sin(w t)

G(s)

c(t) = |G(jw)| A sin(w t + q )

Copyright © 2007 by Hamdy S. K. El-Goharey. All rights reserved

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 1
Bode Plot Construction: 5 100
G (s ) = 
Example 4 s + 1 s 2 + 2 s + 100

• Bode Form:
5 100
G ( jw ) = 
j w + 1 j( w )2
+ 2 jw + 100
5 1
= 
1 + jw / 1 1 + 0.2 jw / 10 - (w / 10 )2
• The damping ratio for the second-order term is
z = 0.1 and the natural frequency is 10 rad./s .
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 2
 5 100
Bode Plots: Example 4 G ( s) =  2
s + 1 s + 2 s + 100
Bode Diagram
Constructing Bode Plots
Magnitude (dB)

0
• Calculate the complex
-20
number G(jw) for
-40
several frequencies and
-60
plot the points.
0
Phase (deg)

-50 • Use MatLab to

-100
-150
automatically plot the
-200 Bode plots.
-250
10-1 100 101 102 • Use asymptotic
Frequency (rad/sec) approximations.
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 3
 5  100
Example 4 G(s) =
s + 1 s 2 + 2 s + 100
14
-20dB/dec.
Magnitude (dB)

0 14dB

-20

-40 -60dB/dec.

-60

-50 -45 /dec.

Phase (deg)

-100
-135 /dec.
-150

-200
-90 /dec.
-250
-270
10 -1 10 0 10 1 10 2
p=1 wn = 10
Frequency (rad/sec)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 4

 10(s +100)
Bode Plot Construction: Example 5A G(s) =
s(s +5)(s +2)
• Bode Form:
10 ( j w + 10) 10 (1 + jw / 10)
G ( jw ) = =
jw ( jw + 5)( jw + 2) jw (1 + jw / 5)(1 + jw / 2)
• Plot the asymptotic approximations for each term
separately, for both magnitude and angle.
• Then add them together to get the system
asymptotic approximation.
• Sketch in the Bode plot curve.
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 5
 10( s + 10)
G( s) =
Example 5A s ( s + 5)(s + 2)

60
Magnitude (dB)

40
20
1 + jw / 10

0 1
-20 1 1 + jw / 5
jw
-40
1
-60 1 + jw / 2

-90
-100
Phase (deg)

-120

-140

-160

-180

10
-2
10
-1
.2 .5 100 2 5 10
1
10
2

Frequency (rad/sec)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 6

 10 (–s + 10)
Non-Minimum Phase: Example 5B G( s) =
s ( s + 5)(s + 2)
Non-Minimum Phase Example

60
40
Magnitude (dB)

20
0
-20
-40
-60

-100
–45/dec. –90/dec.
-150
Phase (deg)

-200
–135/dec.
-250

-300
–90/dec. –45/dec.
-350
10-2 10-1 100 101 102
Frequency (rad/sec)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 7

 Transfer Function Identification
• Frequency response characteristics can be obtained
experimentally by applying sinusoidal inputs of
various frequencies, and measuring the gain and
phase relationships between input and output.
• By fitting asymptotic approximations to the
frequency response characteristics obtained from
experimental measurements, an approximate
transfer function model of the system can be
obtained.
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 8
 Transfer Function Identification:
Major Steps
1. Determine the initial slope → order of poles at the
origin.
2. Determine the final slope → difference in order
between the denominator and numerator (n-m).
3. Determine the initial and final angle → confirm the
results from above or detect the presence of a non-
minimum phase system (delays or zeroes in the
RHS).
4. Determine the low frequency gain (Bode gain).
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 9
 Transfer Function Identification:
Major Steps
5. Detect the number and approximate location
of corner frequencies and fit asymptotes.
– possibly subtract well defined components.
– examine expected -3dB points.
– try to separate second-order terms and use the
standard responses to estimate damping.
6. Sketch the phase plot for the identified
transfer function as a check of accuracy.
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 10
 Transfer Function Identification:
Major Steps
7. Use the phase plot to check for non-minimum
phase terms and to calculate the time delay value
if one is present.
8. Calculate the frequency response for the
identified model and check against the
experimental data (MatLab or a few points by
hand calculation).
9. Iterate and refine the pole/zero locations and
damping of second-order terms.
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 11
 Transfer Function Identification Example 1
40
Magnitude (dB) 20
0
-20
-40
-60
-80
-100
-120

-80
Phase (deg)

-100
-120
-140

-160
-180
-200
-220
10 -1 10 0 10 1 10 2 10 3
Frequency (rad/sec)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 12

 Transfer Function Model
Identification: Example 1
• Initial slope = -20dB/dec. → a 1/jw term.
• Final slope = -40dB/dec. → (n-m) = 2 .
• Initial angle = -90 and the final angle is -180
which checks with the gain curve.
• Low frequency gain is found to be |KB/w|dB =
35dB, where w = 0.1 → KB = 5.62 .
• Through asymptotic fitting there are two poles
found at wc = 4 and 25, and one zero at wc = 70 .
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 13
 Transfer Function Identification Example 1
40

Magnitude (dB)
20
-20dB/dec.
0
-20
-40dB/dec.
-40
-60
-40dB/dec.
-80
-60dB/dec.
-100
-120
4 25 70
-80

-100
Phase (deg)

-120

-140
-90/dec.
-160

-180 -45/dec.
-200
+45/dec.
-220
10 -1 10 0 10 1 10 2 10 3

Frequency (rad/sec)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 14

 Transfer Function Model
Identification: Example 1
• The estimated transfer function in Bode
form is 5.62(1+ jw / 70)
w =G( j )
jw (1 + jw / 4)(1 + jw / 25)

• The final form is G ( s) = 8( s + 70)

s ( s + 4)( s + 25)

• Note: the asymptotic approximation of the

phase, based on this transfer function is
quite consistent with the data.
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 15
 Transfer Function identification Example 2
40

Magnitude (dB)
20

-20

-40

-60

0
Phase (deg)

-50

-100

-150

-200
10 -2 10 -1 10 0 10 1 10 2

Frequency (rad/sec)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 16

 Transfer Function Model
Identification: Example 2
• Initial slope = 0dB/dec. → no pole at the origin.
• Final slope = -40dB/dec. → (n-m) = 2 .
• Initial angle = 0 and the final angle is -180
which checks with the gain curve.
• Low frequency gain is found to be
|KB|dB = 20dB → KB = 10 .
• Through asymptotic fitting a simple pole is found
at wc = 0.2, a simple zero at wc = 1.0 and a
complex pole at wn = 5.0 .
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 17
 Transfer Function Identification Example 2
40

Magnitude (dB)
20 -20dB/dec.
15dB.
0

-20 -40dB/dec.
-40

-60
0.2 1.0 5.0
0
-45/dec.
Phase (deg)

-50
-90/dec.
-100

-90/dec.
-150

-200
10 -2 10 -1 10 0 10 1 10 2

Frequency (rad/sec)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 18

 Transfer Function Model
Identification: Example 2
• The peak at wn = 5.0 is  15dB which
corresponds to a damping ratio of z  0.1 .
• The estimated transfer function in Bode form is
10 (1 + jw / 1)
G ( jw ) =
(1 + jw / 0.2)(1 + 0.2 jw / 5 - w 2 /25)

• The final form is

50( s + 1)
G( s) =
( s + 0.2)( s 2 + s + 25)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 19

 Delay Example- Example 2A

20
10
Magnitude (dB)
0
-10
-20
-30
-40

-100
Phase (deg)

-200

-300

-400

10-2 10-1 100 101 102

Frequency (rad/sec)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 20

 Transfer Function Model
Identification: Example 2A
• The magnitude plot is the same as the previous
example.
• The angle plot continues to go more negative
and does not asymptotically approach -180 as
expected.
• This is a non-minimum phase system with a
time delay, e–st.
• How do we determine the time delay,t ?
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 21
 Transfer Function Model
Identification: Example 2A
• Plot the phase of the transfer function identified
from the magnitude plot and find the phase
difference between this plot and the phase data.
• This difference represents the e–jwt term.
• At w = 20 rad/sec, –wt  –/3 → t  0.052 s
(– 60)
• At w = 50 rad/sec, –wt  – 5/6 → t  0.052 s
(– 150)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 22

 50 e–0.052s ( s + 1)
Transfer Function with Delay G ( s ) =
( s + 0.2)( s 2 + s + 25)
Phase Data and Identified Bode Plot Without Delay
20
Magnitude (dB)

10
0
-10
-20
-30
-40

0
Phase (deg)

-100

-200 60
150
-300

-400

10 -2 10 -1 10 0 10 1 10 2
Frequency (rad/sec)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 23

 Bode Plots and Steady State Error

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 24

 Bode Plots, Kp

20
[db] 20Log10Kp
0

-20

0.1 1 ω rad/s 10 100

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 25

 Bode Plots, Kv

20
[db] 20Log10Kv
0

-20

0.1 1 ω rad/s 10 100

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 26

 Bode Plots, Ka

20
[db] 20Log10Ka
0

-20

0.1 1 ω rad/s 10 100

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 27

 Closed-loop Frequency Response
• Assuming the closed-loop system is stable, the
frequency response of the closed-loop system will
directly give the bandwidth of the system, i.e. 3dB
down from the steady-state gain.
• This will be related to the zero crossing frequency of
the loop transfer function plot.
• Information about the overshoot of the step response
can also be obtained from the peak of the magnitude
curve in the closed-loop Bode plot.
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 28
 Open Loop T.F. vs. Closed Loop T. F. (1)

• Bode plot of open

loop system can be
used to determine
closed loop response.
Y(s) G(s)
= = GT(s)
R(s) 1 + G(s)
G(jω) 1 ω < ωc
|GT(jω)| = |
1 + G(jω)
≈ | { |G(jω)| ω > ωc
ωc < ωBW < √2ωc

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 29

 Open Loop T.F. vs. Closed Loop T.F. (2)

The bandwidth is the frequency, ωBW, at which the

frequency declined 3 dB from its low-frequency values. It
measures the speed of response
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 30
 Closed-Loop Bode Plot

0
-3dB
Magnitude (dB)

-10
-20
-30
-40
-50
-60
wB
G(s)
=
0

1 + G ( s)
Phase (deg)

-50

-100 8( s + 70)
-150 s 3 + 29 s 2 + 108s + 560
-200
10-1 100 101 102

Frequency (rad/sec)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 31

 Open Loop T.F. vs. Closed Loop T. F. (3)

G1 (s) = 1/s(s+0.4)

G2 (s) = 10/s(s+0.4√10)

G3 (s) = 100/s(s+4)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 32

Open Loop T.F. vs. Closed Loop T. F. (4)
G4 (s) = 10/s(s+0.8√10 )

G5 (s) = 10/s(s+0.4√10)

G6 (s) = 10/s(s+0.2√10)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 33

Closed Loop Transient Response versus
Open Loop Frequency Response

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 34

Frequency Domain Specifications (1)

The frequency domain specifications are:

1. resonant peak,
2. resonant frequency, and
3. bandwidth.

ωn ≤ ωBW ≤ 1.56 ωn
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 35
Frequency Domain Specifications (2)

12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 36

Frequency Domain Specifications (3)

ωn ≤ ωBW ≤ 1.56 ωn

ωn ≤ ωBW ≤ 1.56 ωn
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 37
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 38
Spec. on transients of dominant modes
• Spec. on transients of dominant modes
– dominant first order
• time constant t (related to 3 dB bandwidth)
– dominant second order
• rise time tr (related to natural frequency wn ≈ 1.8/tr )
• settling time ts (related to real part s = 4.6/ts )
– overshoot Mp, or damping ratio z.
• Spec. on reference tracking
– typically step or ramp input specification
• i.e. specifications on Kp and Kv
12/16/2021 HSK - EPM 312 - Frequency Response Analysis - Lecture 3 39