Complex Frequency Complex Representation of Time-Domain Signals Example The s-plane
Unit 2: Modeling in the Frequency Domain Part 1: Complex Frequency
Engineering 5821: Control Systems I
Faculty of Engineering & Applied Science Memorial University of Newfoundland
January 18, 2011
ENGI 5821
Unit 2, Part 1: Complex Frequency
Complex Frequency Complex Representation of Time-Domain Signals Example The s-plane
Complex Frequency
Complex Representation of Time-Domain Signals
Example
The s-plane
ENGI 5821
Unit 2, Part 1: Complex Frequency
Complex Frequency
Consider a typical electrical system: the series RL circuit excited by a DC source. We can develop a DE for this system: L di(t) + Ri(t) = Vs dt
The solution for this equation is of the following form: i(t) = A + Be t Where A, B, and are constants determined from the circuits initial conditions and the DE itself.
Complex Frequency Complex Representation of Time-Domain Signals Example The s-plane
What if the input was an AC source? The forced response would be a sinusoid with the same frequency as the input () only it would dier in amplitude and phase: i(t) = A cos(t + ) + Be t Either way, the response consists of constants, exponentials, and sinusoids. We will return to this point shortly...
ENGI 5821
Unit 2, Part 1: Complex Frequency
Complex Representation of Time-Domain Signals
Assume we have some time varying quantity called x. We say that x has a complex frequency s when it can be expressed as follows: x(t) = {Xe st } Where X and s are complex numbers and, s = + j and, X = A + jB or Ce j Notice that must have units of inverse seconds. Consider the signals that can be expressed when s has dierent values: s=0 x(t) = = {Xe 0t } {A + jB} = A
A constant (i.e. a DC quantity) is represented.
Complex Frequency Complex Representation of Time-Domain Signals Example The s-plane
s= x(t) = = {Xe t } {X }e t
= Ae t Notice that if is negative we have a decaying exponential. If its positive we have a growing exponential (generally a bad thing to have in a control system).
ENGI 5821
Unit 2, Part 1: Complex Frequency
Complex Frequency Complex Representation of Time-Domain Signals Example The s-plane
Returning to our example, we can utilize various techniques to arrive at the constants A, B, and . The nal solution is: i(t) =
R Vs 1 e L t R
If Vs = 10, R = 5, L = 2H then we have, i(t) = 2 2e 2.5t This signal is composed of two components with complex frequencies: i(t) = {2e 0t } {2e 2.5t } The values of s are 0 and -2.5.
ENGI 5821
Unit 2, Part 1: Complex Frequency
Complex Frequency Complex Representation of Time-Domain Signals Example The s-plane
Plot of 2 1 e 2.5t :
ENGI 5821
Unit 2, Part 1: Complex Frequency
Complex Frequency Complex Representation of Time-Domain Signals Example The s-plane
s = j x(t) = = = We now utilize Eulers identity: e j = cos + j sin Continuing the derivation, x(t) = {C cos(t + ) + jC sin(t + )} = C cos(t + ) So far these signals with complex frequency s can represent constants, exponentials, and sinusoids. Thus, the complex frequency representation covers all types of responses from our RL circuit.
ENGI 5821 Unit 2, Part 1: Complex Frequency
{Xe jt } {Ce j e jt } {Ce j(t+) }
Complex Frequency Complex Representation of Time-Domain Signals Example The s-plane
General interpretation: s = + j x(t) = = {Xe (+j)t } {Xe t e jt }
= e t {Xe jt }
On the previous slide we derived Therefore,
{Xe jt } = C cos(t + ).
x(t) = Ce t cos(t + ) This represents a sinusoid with a decaying or growing envelope.
ENGI 5821
Unit 2, Part 1: Complex Frequency
e.g. e 0.4t cos(3x), s = 0.4 + j3
e.g. e 0.2t cos(4x), s = 0.2 + j4
Notice that e 0.4t cos(3t) can be represented by s = 0.4 j3. Why? Since cos is an even function the sign of makes no dierence. Another reason... Let z be a complex number. 1 {z} = (z + z ) 2 where z = {z} {z}. Thus we can express a damped or growing sinusoid as half the sum of complex conjugates. x(t) = Ce t cos(t) x(t) = = {Xe (+j)t } X (+j)t X (j)t e + e 2 2
If we applied Eulers identity we would see that the complex parts cancelled out. No matter the sign of we get the same result.
Complex Frequency Complex Representation of Time-Domain Signals Example The s-plane
Example
e.g. What is the complex frequency for v (t)? v (t) = 100e 20t sin(400t + 75o ) The two complex frequencies that both correspond to this signal are s = 20 + j400 and s = 20 j400. e.g. Express v (t) in the form Since cos(x 90o ) = sin(x), v (t) = {100e j(15 ) e (20j400)t } However, the angle in the exponent really should be in radians: v (t) = {100e 0.261j e (20j400)t } Would the complex frequency change if v (t) was expressed with cos as opposed to sin?
ENGI 5821 Unit 2, Part 1: Complex Frequency o
{Xe st }.
The s-plane
The s-plane represents a complex frequency s as a point in the complex plane. For dierent values of s we get dierent time-domain responses.
j Pure sinusoids
Decaying sinusoids DC
Growing sinusoids
Decaying exponentials
Growing exponentials
Decaying sinusoids
Growing sinusoids
