Frequency –Response Analysis
In F-R we vary the frequency of the sinusoidal input signal over a certain range and
study the resulting steady-state response
The frequency ranges needed for the test are:
0.001 - 10Hz for large time constant
0.1 – 1000Hz for small time constant
The performance of most control system is judged based on the time responses due
to certain test signals. This is contrast to the analysis and design of communication
systems for which the F-R is of more importance , since the most of the signals to
be processed are sinusoidal
The time response is usually more difficult to determine analytically , especially for
higher – order system, the F.R tests are simple and can be made accurately
The sinusoidal transfer function G(jω) of any linear control system is obtained by
substituting jω for S in the T.F .
Consider the linear time- invariant system shown below
1
Frequency response of closed- loop systems:
Typical gain and phase characteristics of a control system
Frequency – response specifications:
1-Resonant peak Mr:
2-Resonant frequency ωr:
3-Bandwidth BW:
The range of frequencies (of the input) over which the system will respond
satisfactorily. OR The BW indicates how well the system will track an input sinusoid
2
4-Cutoff Rate:
Example:
Figs ,a-closed-loop F.R ,b-unit-step response ,c-unit-ramp response
3
5- Gain margin:
6-Phase margin:
The correlation between pole locations , unit step response and the
magnitude of the frequency response for the prototype –second order
system are summarized in figure below.
Example: The specification on a second-order unity feedback control
system with closed-loop T.F
Solution:
4
Example: The closed-loop frequency response M(ωr)versus frequency of
a second –order system (proto-type) is shown in figure below. Sketch
the corresponding unit- step response of the system.
solution:
There are three commonly used representation of sinusoidal transfer
function:
5
1-Bode diagram or logarithmic plot
2-Nyquist plot or polar plot
3-Nichols plot
Bode plot:
The bode diagram consist of two graph:the magnitude in db of open-
loop T.F ,and phase angle both plotted as a function of frequency axes
(log scale)
Bode form and bode gain:
Example: Determine the bode form and bode gain for the open-loop T.F:
K ( s 2)
GH ( s)
s ( s 4)(s 6)
2
Solution: convert s-domain to frequency domain s= jω
K ( j 2)
GH ( j )
( j ) 2 ( j 4)( j 6)
The bode form is :
K / 12 ( j / 2 1)
GH ( j ) , Bode gain = k /12
( j ) 2 ( j / 4 1)( j / 6 1)
Example: Determine accurate values of bode magnitude and phase angle
for the following open-loop transfer function.
20
GH ( s) , corner frequencies are 2 , 10
s( s 2)(s 10)
1
GH ( j ) , bode gain =1
j (0.5 j 1)(0.1 j 1)
Magnitude equation:
2 2
|GH (jω) | db= 20Log1 – 20Logω -20Log -20Log
6
Phase equation:
Phase= 0 – 90 –
Frequency ω(rad/sec) Magnitude (db) Phase (degree)
0.1 20 -93.5
10 -37 -213.5
Magnitude and phase plot can be approximated by straight-line
segments(a symptotic or corner plot) which allow the simple sketching
without detailed computation
Bode Diagram
50 System: s
Gain Margin (dB): 21.6
At frequency (rad/s): 4.47
0 Closed loop stable? Yes
Magnitude (dB)
-50
-100 System: s
Phase Margin (deg): 60.4
Delay Margin (sec): 1.16
-150 At frequency (rad/s): 0.907
-90 Closed loop stable? Yes
-135
Phase (deg)
-180
-225
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)
7
CONTROL SYSTEM DESIGN BY FREQUENCY RESPONSE (DESIGN BY K)
EXAMPLE:
K
GH ( s)
s( s 2)(s 20)
Find: 1- Value of k for system to be critical stable (G.M=0 db)
2- Value of K for G.M =10 db
3- Value of k for P.M =50 DEG
4- Value of K for ω1 =4 rad / sec
Solution: The bode form is:
K / 40
GH ( s)
j (0.5 j 1)(0.05 j 1)
Bode gain KB = K/40 = 0.025 K, Let KB =1 , K=40
We construct bode plot using Matlab program
Bode Diagram
50 System: s
Gain Margin (dB): 26.8
At frequency (rad/s): 6.32
0
Magnitude (dB)
Closed loop stable? Yes
-50
-100 System: s
Phase Margin (deg): 62.9
Delay Margin (sec): 1.21
-150 At frequency (rad/s): 0.909
-90 Closed loop stable? Yes
-135
Phase (deg)
-180
-225
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)
8
1-For G.M=0 db, KB=26.8 – 0=26.8db ,
20logKB=26.8, KB=21.8, KB=0.025K,
K=875
2- For G.M=10 db, KB=26.8 – 10=16.8db ,
20logKB=16.8, KB=6.91, KB=0.025K,
K=276.7
3- ω 1= 1.43 rad/sec at phase =-180+50= - 130 ,
Magnitude = - 4.9 db at ω1= 1.43 20log KB=4.9 db,
KB=1.75, KB=0.025K,
K=70
4-Magnitude = - 19.2 db at ω1 = 4rad/sec,
20logKB=19.2, KB=9.1, KB=0.025K,
K=364.8
