Having the transfer function

X (s)
W ( s ) it is possible to obtain
U (a)

Frequency characteristic

W (i ) W ( s ) s j
Substituting s i results in

W (i ) A( )e j ( )
or

x(t , )
A( )e j ( )
u (t , )
where
Amplitude - frequency - characteristic

A( ) W ( j )
and
Phase - frequency - characteristic

( ) arg W ( j )
Another presentation:

W (i ) P( ) jQ( )
where Real- frequency characteristic: P ( ) Re W ( j )
and Iimaginary - frequency characteristic: Q ( ) Im W ( j )

Relations:

P ( ) A( ) cos ( ) and Q ( ) A( ) sin ( )

and

A( ) P( ) 2 Q( ) 2 and ( ) arctg

Q( )
P( )

1. Integral element

W (i ) W ( s ) s j
where A( )

and ( )

s j

k
k j2

e
j

2. Aperiodic (first order) element

W (i ) W ( s ) s j

k
(T 2 2 1)

k
k
k (1 Tj )

Ts 1 s j 1 Tj (1 Tj )(1 Tj )

kT
k
j arctgT

e
(T 2 2 1)
(T 2 2 1)

Here

A( )

k
(T 1)
2

and ( ) arctgT

3. Oscilation (second order) element

W (i ) W ( s ) s j

k
k

T0 s 2 2 Ts 1 s j T0 2 2 Tj 1

[(1 T0 2 ) j 2 T ]
k
k

(1 T0 2 ) j 2 T [(1 T0 2 ) j 2 T ] [(1 T0 2 ) j 2 T ]
k (1 T0 2 )
2 k T

j
(1 T0 2 ) 2 4 2T 2 2
(1 T0 2 ) 2 4 2T 2 2

jarctg

k
(1 T0 ) 4 T
2 2

2 T
(1T0 2 ) 2