Frequency Response Methods

and Stability
In previous chapters we examined the use of test signals such as a step and a ramp
signal. In this chapter we consider the steady-state response of a system to a sinusoidal
input test signal. We will see that the response of a linear constant coefficient system to
a sinusoidal input signal is an output sinusoidal signal at the same frequency as the
input. However, the magnitude and phase of the output signal differ from those of the
input sinusoidal signal, and the amount of difference is a function of the input
frequency. Thus we will be investigating the steady-state response of the system to a
sinusoidal input as the frequency varies.

We will examine the transfer function G(s) when s =jw and develop methods for
graphically displaying the complex number G(j)as w varies. The Bode plot is one of the
most powerful graphical tools for analyzing and designing control systems, and we will
cover that subject in this chapter. We will also consider polar plots and log magnitude
and phase diagrams. We will develop several time-domain performance measures in
terms of the frequency response of the system as well as introduce the concept of
system bandwidth.
Introduction

The frequency response of a system is defined as the steady-state

response of the system to a sinusoidal input signal. The sinusoid
is a unique input signal, and the resulting output signal for a linear
system, as well as signals throughout the system, is sinusoidal in
the steady-state; it differs form the input waveform only in
amplitude and phase.
Frequency Response Plots

Polar Plots
Frequency Response Plots

Polar Plots
1
  1000 999 1000 j  1 R  1 C  0.01 1 
R C

1
G  Negative 
 j   1

 
 1  0.5

 

Im( G(  ) ) 0

 0
 0
 
0.5
0 0.5 1
Re( G(  ) )
 1

Positive 
Frequency Response Plots

Polar Plots
7
0
 410
  0  .1  1000   0.5 K  100

K

G1  Im( G1(  ) ) 500
1
j   j   
 

 997.506 1000
60 40 20 0
 49.875 Re( G1(  ) ) 4
 210
Frequency Response Plots

Polar Plots
Frequency Response Plots

Bode Plots – Real Poles

Frequency Response Plots

Bode Plots – Real Poles

0.1 0.11
    1000 j  1 R  1 C  0.01   R C
 

1
1 1  1  100 (break frequency or corner frequency)
G  
j    1

0
-3dB

10

20 log G (  ) 
20

30 3
0.1 1 10 100 1 10

(break frequency or corner frequency)
Frequency Response Plots

Bode Plots – Real Poles

  atan  

0.5

(  )

1.5 3
0.1 1 10 100 1 10


(break frequency or corner frequency)

Frequency Response Plots

Bode Plots – Real Poles (Graphical Construction)

Frequency Response Plots

Bode Plots – Real Poles

Frequency Response Plots

Bode Plots – Real Poles

 Frequency Response Plots
Magnitude:
Bode Plots – Real Poles
db  G     20 log G  j   
Phase shift:
180
ps  G     arg G  j     360  if  arg G  j     0  1  0 

Assume
K
K  2 G ( s) 

s ( 1  s)  1 
s

 3

Next, choose a frequency rangefor the plots (use powers of 10 for convenient plotting):
lowest frequency (in Hz):  start  .01 number of points: N  50
highest frequency (in Hz):  end  100

  start  1
step size: r  log 
 end  N


range for plot: i  0  N range variable: i r

 i   end 10 si  j  i
Frequency Response Plots

Bode Plots – Real Poles

range for plot: i  0  N range variable: i r
 i   end 10 si  j  i

100

20  log G s i  0

0
100

200
0.01 0.1 1 10 100
i

ps G  i

 180

0.01 0.1 1 10 100

i
Frequency Response Plots

Bode Plots – Complex Poles

Frequency Response Plots

Bode Plots – Complex Poles

Frequency Response Plots

Bode Plots – Complex Poles

2
r n  1  2    0.707

1
M p  
G r
 2   0.707
 2  1   
 Frequency Response Plots

Bode Plots – Complex Poles

2
r n  1  2    0.707

1
M p  
G r
 2  1  2    0.707
 
Frequency Response Plots

Bode Plots – Complex Poles

Frequency Response Plots

Bode Plots – Complex Poles

Performance Specification In the Frequency Domain
Performance Specification In the Frequency Domain
  .1  .11  2 K  2 j  1

K
G  
j   j   1   j   2 Bode1   20 log G  

20

Open Loop Bode Diagram

Bode1(  ) 0

20
0 0.5 1 1.5 2

G 
T  
1  G  Bode2   20 log T  

10

0
Bode2(  )

10 Closed-Loop Bode Diagram

20
0.5 1 1.5 2

Performance Specification In the Frequency Domain

w  4
Finding the Resonance Frequency
Given

20 log T( w)  5.282

wr  Find( w) wr  0.813

Mpw  1

Given

20 log( Mpw) 5.282 Finding Maximum value of the frequency response

Mpw  Find( Mpw) Mpw  1.837 10

0
Bode2(  )

10 Closed-Loop Bode Diagram

20
0.5 1 1.5 2

Performance Specification In the Frequency Domain

Assume that the system has dominant second-order roots

  .1 Finding the damping factor

Given 10

1
  2 
Mpw 2   1    0
Bode2(  )

10 Closed-Loop Bode Diagram

  Find   0.284
20
wn  .1 Finding the natural frequency
0.5 1 1.5 2


Given
2
wr wn  1  2 

wn  Find( wn ) wn  0.888
Performance Specification In the Frequency Domain
 Performance Specification
In the Frequency Domain

5
GH1 
  
j  0.5 j   1  j  1 
 6 
Performance Specification In the Frequency Domain
Example
Performance Specification In the Frequency Domain
Example
Performance Specification In the Frequency Domain
Example
Performance Specification In the Frequency Domain
Example
Frequency Response Methods Using MATLAB
Frequency Response Methods Using MATLAB
Frequency Response Methods Using MATLAB
Frequency Response Methods Using MATLAB
Frequency Response Methods Using MATLAB
Frequency Response
Methods Using
MATLAB
Frequency Response
Methods Using
MATLAB
Bode Plots
 
Bode plot is the representation of the magnitude and phase of G(j*w) (where the
frequency vector w contains only positive frequencies).
To see the Bode plot of a transfer function, you can use the MATLAB
bode
command.

For example,
 
bode(50,[1 9 30 40])
 
displays the Bode plots for the
transfer function:
 
50 / (s^3 + 9 s^2 + 30 s + 40)
Gain and Phase Margin
 
Let's say that we have the following system:
 
 where K is a variable (constant) gain and G(s) is the plant under consideration.
 
The gain margin is defined as the change in open loop gain required to make the
system unstable. Systems with greater gain margins can withstand greater changes
in system parameters before becoming unstable in closed loop. Keep in mind that
unity gain in magnitude is equal to a gain of zero in dB.
 
The phase margin is defined as the change in open loop phase shift required to make
a closed loop system unstable.
 
The phase margin is the difference in phase between the phase curve and -180 deg at
the point corresponding to the frequency that gives us a gain of 0dB (the gain cross
over frequency, Wgc).
 
Likewise, the gain margin is the difference between the magnitude curve and 0dB at
the point corresponding to the frequency that gives us a phase of -180 deg (the phase
cross over frequency, Wpc).
Gain and Phase Margin

-180
Gain and Phase Margin
We can find the gain and phase margins for a system directly, by using MATLAB.
Just enter the margin command.
This command returns the gain
and phase margins, the gain and
phase cross over frequencies, and
a graphical representation of these
on the Bode plot.

margin(50,[1 9 30 40])
 
Gain and Phase Margin

Magnitude:

db  G     20 log G  j   
Phase shift:
180
ps  G     arg G  j     360  if  arg G  j     0  1  0 

Assume
K
K  2 G ( s) 

s ( 1  s)  1 
s

 3

Next, choose a frequency rangefor the plots (use powers of 10 for convenient plotting):
lowest frequency (in Hz):  start  .01 number of points: N  50
highest frequency (in Hz):  end  100

  start  1
step size: r  log 
 end  N


range for plot: i  0  N range variable: i r

 i   end 10 si  j  i
Gain and Phase Margin

Guess for crossover frequency:  c  1

Solve for the gain crossover frequency:

 
 c  root db G   c   c   c  1.193

Calculate thephase margin:

 
pm  ps G   c  180 pm  18.265 degrees

Gain Margin

Now using the phase angle plot, estimate the frequency at which the phase shift crosses 180 degrees:

 gm  1.8

Solve for  at the phase shift point of 180 degrees:

  
 gm  root ps G   gm  180   gm 
 gm  1.732

Calculate thegain margin:


gm  db G   gm  gm  6.021
Time-Domain Performance Criteria Specified
In The Frequency Domain

Open and closed-loop frequency responses are related by:

G  j
T j
1  G  j
1
Mpw   0.707
2
2   1  

G  u  j v M M

G  j
2 2
u  jv u v
M  
1  G  j 1  u  jv 2 2
( 1  u)  v
Squaring and rearrenging
2 which is the equation of a
 M 
2
2  M 
2 circle on u-v planwe with a
u v 
 2 2 center at
 1M  1M  M
2
u v 0
2
1M