FREQUENCY

DOMAIN ANALYSIS
RIVALDO C MREWA R213412M
TINOTENDA MUTAUTO R213421J
EZEKIEL MAKANDWA R213405K
ADMIRE NYANHONGO R213389S
KUZIVAKWASHE W KAMHAMBA R206401R
KUNDAI B MAPONGA R201871A
 INTRODUCTION
 The frequency-response design method is a popular approach in industry used extensively to
analyse the characteristics and performance of control systems. This method provides solutions
when there are significant uncertainties in the plant model.
 It is used in specifications of numerous systems and components such as audio and video
amplifiers, speakers, sound cards, and servomotors
 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 is sinusoidal in the steady state.
 In frequency-response methods, we vary the frequency of the input signal over a certain range
and study the resulting response
 The resulting output signal for a linear system is sinusoidal in the steady state.It differs from
the input waveform only in amplitude and phase angle.
 The transfer function G(s) is analysed when s = jω and methods for graphically displaying the
complex number G( jw) as ω varies are developed. The main technique covered involves Bode
plots and Polar Plots.
 Frequency Response

If a sinusoidal signal is applied as an input to a Linear Time-Invariant (LTI) system,

then it produces the steady state output, which is also a sinusoidal signal.

Let the input signal bé r(t) = Asinωt

where A = input peak amplitude
ω = input signal frequency

When all the initial transients have died out, a stable sinusoidal output response will
be obtained, which can be expressed as:

where B = output peak amplitude

ω = output signal frequency
= phase difference between the output and input signals

The frequency of the output waveform will be identical to the input-signal frequency,
but the two signals may not be in phase.
This phase difference, β, may be positive (output leading input) or negative (output
 Frequency Domain Specifications
The frequency domain specifications are resonant peak, resonant frequency
and bandwidth.
In-order to calculate these specs gain margin and phase margin should be
determined first.
Lets Consider the transfer function of the second order closed loop control system
as,
Magnitude of the Transfer function becomes:

Phase margin:
 Resonant Frequency
It is the frequency at which the magnitude of the frequency response
has peak value for the first time. It is denoted by ωr .At ω = ωr , the
first derivate of the magnitude of T(jω) is zero.
To determine resonant frequency M is differentiated with respect to u
Resonant Peak
It is the peak (maximum) value of the magnitude of T(jω) . It is denoted
by Mr
 Bandwidth
It is the range of frequencies over which, the magnitude of T(jω) drops
to 70.7% from its zero frequency value.
At ω = 0 , the value of u will be zero. Substitute, u = 0 in M
Example

Solution
Methods Used for Frequency Response
Representation

 Frequency response data about signal gain and phase difference can be
presented either in a tabular form or graphical form
 Graphical form provides a convenient way to view the frequency response
data. It is more commonly used than the tabular form of presentation.
 There are several forms used for graphical presentation, the following are the
two most common
1. Bode plot (diagram), or logarithmic plot
2. Nyquist plot, or polar plot
 Bode Plots (Logarithmic plots) are more common of the two.
 A Bode plot uses semi-log paper and actually consists of two plots, the
magnitude plot and the phase-angle plot.
BODE PLOTS
 Bode plots consists of two plots ie. Magnitude plot and phase plot
 Magnitude versus frequency: Linear scale is used for plotting the magnitude, which
is a logarithmic quantity (dB). A linear scale is used for the y-axis. Frequency is
displayed in rad/s and is plotted on the x-axis. A logarithmic scale is used for the x-axis
because a large frequency range can be covered.
 Phase angle versus frequency: Phase angle is calculated in degrees and is plotted
on the y-axis. A linear scale is used for the y-axis. Similar’ to magnitude plot, frequency
is in rad/s and is plotted on a logarithmic x-axis
 Basic Bode Plots
 Constant k
 Integral term k/(jw) or k/(jw)^n
 Derivative term k(jw) or k(jw)^n
Procedure to draw Bode Plots
 Replace s by jw to convert OLT in frequency domain
 Calculate magnitude in dB by MdB = 20 log|GjwHjw|
 Find phase angle Ø=tan inverse of (imaginary part/real part)
 Vary w from minimum to maximum to find M and Ø and draw
magnitude and phase plot
Example 1
The following figure shows the corresponding Bode plot
Example 2
The following figure shows the corresponding Bode plot.
 Questions for practice
 Draw bode plots for the following transfer functions
i) G(s)H(s) = 1 + sτ
POLAR PLOTS
Polar plot is a plot which can be drawn between magnitude and phase.
Here, the magnitudes are represented by normal values only.
 The polar form of G(jω)H(jω) is
G(jω)H(jω) = |G(jω)H(jω)|∠G(jω)H(jω)
This graph sheet consists of concentric circles and radial lines. The concentric circles and the radial lines
represent the magnitudes and phase angles respectively. These angles are represented by positive values in
anti-clock wise direction. Similarly, we can represent angles with negative values in clockwise direction. For
example, the angle 270 in anti-clock wise direction is equal to the angle −90 in clockwise direction.
 Rules for Drawing Polar Plots
Follow these rules for plotting the polar plots.
 Substitute, s = jω in the open loop transfer function
 Write the expressions for magnitude and the phase of G(jω)H(jω)
 Find the starting magnitude and the phase of G(jω)H(jω) by substituting ω = 0 . So, the polar plot starts
with this magnitude and the phase angle.

 Find the ending magnitude and the phase of G(jω)H(jω) by substituting ω = ∞ . So, the polar plot ends with
this magnitude and the phase angle.

 Check whether the polar plot intersects the real axis, by making the imaginary term of G(jω)H(jω) equal to
zero and find the value(s) of ω .

 Check whether the polar plot intersects the imaginary axis, by making real term of G(jω)H(jω) equal to zero
and find the value(s) of ω.

 For drawing polar plot more clearly, find the magnitude and phase of G(jω)H(jω) by considering the other
value(s) of ω
 Example
 Consider the open loop transfer function of a closed loop control system.

 Let us draw the polar plot for this control system using the above rules.
 Step 1 − Substitute, s = jω in the open loop transfer function.

 The magnitude of the open loop transfer function is

 The phase angle of the open loop transfer function is

Step 2 − The following table shows the magnitude and the phase angle of the
open loop transfer function at ω = 0 rad/sec and ω = ∞ rad/sec.

 So, the polar plot starts at (∞,−90) and ends at (0,−270). The first and the
second terms within the brackets indicate the magnitude and phase angle
respectively

Step 3 − Based on the starting and the ending polar co-ordinates, this polar plot
will intersect the negative real axis.
The phase angle corresponding to the negative real axis is −180 or 180. So, by
equating the phase angle of the open loop transfer function to either −180 or 180,
we will get the value ω as .
 By substituting ω = in the magnitude of the open loop transfer function, we
will get M = 0.83 . Therefore, the polar plot intersects the negative real axis
when and the polar coordinate is (0.83,−180).
 So, we can draw the polar plot with the above information on the polar graph
sheet.
COMPENSATOR DESIGN
 There are three types of compensators — lag, lead and lag-lead compensators. These are most
commonly used.
Lag Compensator
 The Lag Compensator is an electrical network which produces a sinusoidal output having the
phase lag when a sinusoidal input is applied. The lag compensator circuit in the ‘s’ domain is
shown in the following figure.


 Here, the capacitor is in series with the resistor R2 and the output is measured across this
combination.
 The transfer function of this lag compensator is
Where
 From the above equation, α is always greater than one.
 From the transfer function, we can conclude that the lag compensator has one pole at s = − 1/ατ and one zero at
s = −1/ τ. This means, the pole will be nearer to origin in the pole-zero configuration of the lag compensator.
 Substitute, s = jω in the transfer function

 We know that, the phase of the output sinusoidal signal is equal to the sum of the phase angles of input
sinusoidal signal and the transfer function.
 So, in order to produce the phase lag at the output of this compensator, the phase angle of the transfer function
should be negative. This will happen when α > 1.
 Lead Compensator
The lead compensator is an electrical network which produces a sinusoidal output
having phase lead when a sinusoidal input is applied. The lead compensator circuit
in the ‘s’ domain is shown in the following figure

 Here, the capacitor is parallel to the resistor R1 and the output is measured
across resistor R_2.
 The transfer function of this lead compensator is -
  where and

 From the transfer function, we can conclude that the lead compensator has pole at

Substitute, s = jω in the transfer function.

 We know that, the phase of the output sinusoidal signal is equal to the sum of the
phase angles of input sinusoidal signal and the transfer function.

 So, in order to produce the phase lead at the output of this compensator, the phase
angle of the transfer function should be positive. This will happen when 0 < β < 1 .
Therefore, zero will be nearer to origin in pole-zero configuration of the lead
compensator.
Example
 LAG-LEAD COMPENSATOR
 Definition: lag-lead compensator is an electrical network which produces phase
lag at one frequency region and phase lead at one frequency region.
 The figure below represents the circuit of a lag lead compensator
It is clear from the circuit shown above that if C1 is eliminated from the
above circuit, then that particular circuit will be a lag network. While if
C2 is not present, then we get a lead network.
So, consider the circuit shown above. The loop current i(t) will be given
as:

The output equation is given as:

 So, taking the Laplace transform of the above equations, we will get,

Now substitute the value of I(s) in the above equation, we will have,

 On simplifying,

 Therefore,
 On cancelling like terms from numerator and denominator, we will get

 In generalized form

 So, on comparing,
 Now, substituting s = jω in the above equation, the transfer function will be

 So, the magnitude will be:

Hence, the phase angle will be

 The effects of Lag Lead Compensator
• The lead characteristics of the cascaded compensator provide improvement in the
overall bandwidth.
• Also, due to the use of the lag network, the steady-state performance of the system
gets improved.
 So, we can say, a lag lead network provides a quick response with good
accuracy. The low-frequency gain of the system is increased with this network,
thereby improving the steady-state response.
 Hence, we use a combination of lag and lead network as a compensator to provide
required compensation to the control system
Conclusion

 Frequency domain analysis is useful for determining the stability of a control system,
as it allows for easy visualization of stability margins using bode plots and polar
plots. Phase margin and gain margin enable us to see if the system is stable.
 By analyzing the system’s frequency response, engineers can asses its performance
characteristics like bandwidth, resonant frequencies, and phase shift.
 Frequency domain analysis also helps in designing controllers that can achieve
desired system behavior at specific frequencies.
THANK YOU !