Frequency characteristic

Control engineering and signal processing

Michala Srnová
2009/2010
 Content
 Frequency characteristic

Bode diagram
 Nyquist diagram
 Nichols diagram
 Frequency characteristics

Steady state response of sinusoidal input

Frequency response: gain, phase


s → jω

Graphs – easy overview

Purpose
 Frequency properties of system
 Stability of system
 Frequency characteristic II
 Input: sine signal with frequency f ω =2πf
 Output?
 Sine signal
 Same frequency
 Gain
 Phase
 Graphs
 Bode
 Nyquist
 Bode diagrams

Gain vs frequency plot [db]

Phase vs frequency plot [°]

Logarithmic frequency scale


Example

ω - 20db/decade
 Bode diagram II
 Asymptotic approximations

Effect of each pole/zero – find separately

 Asymptotes of constant and one pole:

1. ω<a → G ~ 0
2. ω=a → G=3dB
3. ω>a → G grow
Slope: 20dB/decade
 Bode diagram III

Phase vs frequency – approximation


Automatic process: → break point – in root: zero↑, pole ↓
→ constant: K * zero / pole → phase 0° → -90° ;in two
decade → summation
 Bode diagram IV
 Summation

 Twice root (jω)2

 Bode diagram V
 Stability
 Nyquist diagram
 Nyquist plot – transfer function: amplitude, phase
- for all frequencies
 Achieving of closing contour

G(s) → G(jω)
Amplitude |G(jω)|
Phase φ(G(jω))
Re{G(jω)}
Im{G(jω)}
 Nyquist diagram II
 Criteria stability I
 Open-loop system G(jω) is stable
 Not encircles -1 + j0 point, clockwise
 Criteria stability II
 Open-loop system G(jω) is unstable
 N times encircles point -1 + j0, clockwise
 N right hand poles of 1+G(jω)
 Nichols diagram
 Axis y: logarithmic magnitude

Axis x: phase
 Frequency points

Bode diagram in one plot
Thank you for your attention