p

ho
ks
Frequency Response Of Linear Systems

or
Unit-4.2: Frequency Response

W
n
Specifics

ai
M
T
0KT. K. Ghoshal
T1
Honorary Emeritus Professor, Electrical Engineering,
Centre for Knowledge Based Systems
CT

Jadavpur University
EI

T10KT- December 2014

M
N
 Contents:
Pedagogic Perspective

p
ho
Examples of Selected Topics: ( Unit-4.1: Introduction to

ks
or
Frequency Response)

W
Unit Introduction

n
ai
Transfer Function Identification

M
Frequency domain specifications in Bode Plane.

T
0K
Nyquist Plots of 1st, second and third order stable systems
T1

Nyquist plot of simple unstable systems

CT

M-Circles in Nyquist Plot

EI

M-contours in Nichols charts

M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 2

2
 p
ho
ks
or
Pedagogic Perspective

W
n
ai
Unit-4.2: Frequency Response Specifics

M
T
0K
T1
CT
EI
M
N
 Contents:

Pedagogic Perspective

p
ho
Examples of Selected Topics: ( Unit-4.1: Introduction to Frequency

ks
Response)

or
W
Unit Introduction
Sketching Asymptotic Bode plots

n
ai
Transfer Function Identification

M
Frequency domain specifications in Bode Plane.

T
0K
Nyquist Plots of 1st, second and third order stable systems
T1
Nyquist plot of simple unstable systems
M-Circles in Nyquist Plot
CT

M-contours in Nichols charts

EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 4

4
 Unit Decomposition
Unit-4.1: Introduction to Frequency Response

p
Definition of frequency response (Empirical and Mathematical); Quasi-steady state.

ho
Importance of frequency response

ks
Standard plot coordinates: Bode, Nichols, Nyquist

or
Bode Plots of Standard Second order systems

W
Sketch Bode Plots of Typical systems (say 3rd order)
Asymptotic Bode plots (magnitude and phase).

n
Unit-4.2: Frequency Response Specifics

ai
Frequency domain specifications such as bandwidth, Mr, gain and phase cross over

M
frequency, gain and phase margin in Bode Plane.

T
Frequency domain specifications and transfer function parameters
0K
Sketching Asymptotic Bode plots
T1
Nyquist Plots of 1st, second and third order stable systems
Nyquist plot of simple unstable systems
CT

M-Circles
EI

M-contours in Nichols charts

M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 5

 Unit 4.2 Objectives : Frequency Response Specifics

p
A student should be able to

ho
Estimate the linear system transfer function given an (asymptotic)

ks
Bode plot

or
Manually sketch frequency response plots in Bode, Nichols and

W
Nyquist planes for simple low order (<4) systems.

n
ai
Define bandwidth, Mr, gain and phase cross over frequencies, gain

M
and phase margins

T
Compute bandwidth, Mr, gain and phase cross over frequency,
0K
gain and phase margin for a given system transfer function from
T1

inspection of plots or using tools like Matlab and Scilab.

Relate frequency domain parameters and time response
CT

characteristics.
EI
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N

T10KT-December 2014 CKBS-Jadavpur University, Kolkata 6

 Relating frequency domain parameters and time response
characteristics-Amplified.

Given a Second Order system TF or its frequency,

p
a student should be able to

ho
ks
Relate transient response parameters such as rise

or
time, settling time, peak overshoot with transfer

W
function parameters

n
Relate, MP / Mr, gain and phase cross over frequency,

ai
gain and phase margin with transfer function

M
parameters
T
0K
Relate bandwidth, Mp, gain and phase cross over
T1

frequency, gain and phase margin with transient

response parameters such as rise time, settling time,
CT

peak overshoot
EI
M
N

T10KT-December 2014 CKBS-Jadavpur University, Kolkata 7

 Relating frequency domain parameters and time response
characteristics-2.

Given asymptotic Bode plots (magnitude and

p
phase) for a 2nd order transfer function, a student

ho
ks
should be able to

or
Estimate transient response parameters such as rise

W
time, settling time, peak time, peak overshoot without

n
explicitly computing the transient response to a step

ai
M
input
Given gain margin, phase margin estimate for a
T
0K
2nd order transfer function, a student should be
T1

able to
CT

Estimate transient response parameters such as rise

EI

time, settling time, peak time, peak overshoot

M
N

T10KT-December 2014 CKBS-Jadavpur University, Kolkata 8

N
M
EI
CT
T1
0K
T
M
ai
n
W
or
ks
ho
p
T10 KT Lesson Plan
 Frequency Domain

p
ho
Frequency Domain

ks
or
Frequency Response

W
n
ai
Properties

M
T
0K Representation
T1
CT
EI

Bode Nichols
Nyquist
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 10

 Lesson Plan Perspective
Module- 1: Basic Concepts of Control

p
ho
Module- 2: Modelling of Dynamical Systems

ks
Module- 3: Time Response Of Linear Systems

or
W
Module- 4: Frequency Response Of Linear Systems

n
ai
Unit-4.1: Introduction to Frequency Response

M
Unit-4.2: Frequency Response Specifics
T
0K
Module- 5: Stability Analysis
T1

Module- 6: Controller Design

CT

Module- 10: Controller Implementation

EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 11

 Unit Decomposition
Unit-4.1: Introduction to Frequency Response

p
Definition of frequency response (Empirical and Mathematical); Quasi-steady state.

ho
Importance of frequency response

ks
Standard plot coordinates: Bode, Nichols, Nyquist
Bode Plots of Standard Second order systems

or
Sketch Bode Plots of Typical systems (say 3rd order)

W
Asymptotic Bode plots (magnitude and phase).

Unit-4.2: Frequency Response Specifics

n
ai
Frequency domain specifications such as bandwidth, Mr, gain and phase

M
cross over frequency, gain and phase margin in Bode Plane.

T
Frequency domain specifications and transfer function parameters
0K
Nyquist Plots of 1st, second and third order stable systems
T1

Nyquist plot of simple unstable systems

CT

M-Circles
M-contours in Nichols charts
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 12

 p
ho
ks
or
W
Examples of Selected Topics

n
ai
M
T
0K
T1
CT
EI
M
N
 p
ho
ks
or
Examples of Selected Topics:

W
( Unit-4.2: Frequency Response Specifics)

n
ai
M
T
0K
T1
CT
EI
M
N
 Contents:
Pedagogic Perspective

p
ho
Examples of Selected Topics: ( Unit-4.2: Frequency Response

ks
Specifics)

or
Unit Introduction

W
Transfer Function Identification

n
ai
Frequency domain specifications in Bode Plane.

M
Nyquist Plots of 1st, second and third order stable systems

T
Nyquist plot of simple unstable systems
0K
M-Circles in Nyquist Plot
T1

M-contours in Nichols charts

CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 15

15
N
M
EI
CT
T1
0K
T
M
ai
n
W
Unit Introduction

or
ks
ho
p
 Contents:

Pedagogic Perspective

p
ho
Examples of Selected Topics: ( Unit-4.1: Introduction to Frequency

ks
Response)

or
Unit Introduction

W
n
ai
Transfer Function Identification

M
Frequency domain specifications in Bode Plane.

T
Nyquist Plots of 1st, second and third order stable systems
0K
Nyquist plot of simple unstable systems
T1

M-Circles in Nyquist Plot

CT

M-contours in Nichols charts

EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 17

17
 Introduction to Unit 4.2
The basic definition, motivation, and some salient

p
ho
characteristics of frequency response for linear systems

ks
have been discussed in the previous unit.

or
W
In the present unit, called frequency response specifics, we

n
discuss finer and more involved concepts related to

ai
frequency response.

M
T
First we explore the possibilities of identifying the transfer
0K
function of a system, given its frequency response plot.
T1
CT
EI
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T10KT-December 2014 CKBS, Jadavpur University, Kolkata 18

 Introduction to Unit 4.2 B
Frequency domain parameters, which specifies different

p
ho
aspects of open loop and closed loop responses (both in

ks
frequency and time domain) are discussed next.

or
W
Rest of the unit examines Nyquist plot in more details

n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 19

 p
ho
ks
or
W
n
Transfer Function Identification

ai
M
T
0K
T1
CT
EI
M
N
 Contents:

Pedagogic Perspective

p
ho
Examples of Selected Topics: ( Unit-4.1: Introduction to Frequency

ks
Response)

or
Unit Introduction

W
Sketching Asymptotic Bode plots

n
ai
Transfer Function Identification

M
T
Frequency domain specifications in Bode Plane.
0K
Nyquist Plots of 1st, second and third order stable systems
T1

Nyquist plot of simple unstable systems

CT

M-Circles in Nyquist Plot

EI

M-contours in Nichols charts

M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 21

21
Intro to Transfer Function Identification
An interesting application of frequency response is to fit an

p
appropriate transfer function to empirical frequency

ho
ks
response data.

or
The approach is fairly simple and is considered robust with

W
respect to minor nonlinearity and noise.

n
ai
These are taken care of by appropriate tracking filters.

M
The method to be described here requires non trivial
T
manual processing
0K
T1

By fitting asymptotic approximations to the Bode plots.

CT

There are several computer aids to perform the above tasks

EI

with minimal human interventions, however, we would

M

discuss the manual method to understand what is involved.

N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 22

 Intro to Transfer Function Identification-2
Conveniently applicable to:

p
ho
Minimum phase systems
systems having time constants ranging from milliseconds to less than a few

ks
minutes.

or
System identification from frequency response had once been very

W
popular and regularly employed in preference to time domain

n
ai
methods.

M
However, with the availability of inexpensive computing power and

T
data acquisition systems, other alternatives (including time domain
0K
methods) have become popular.
T1

The described method has limitations when the system has

CT

closely spaced singularities (pole or zero).

EI

Under damped pole pairs.

M

Several Non-minimum phase pole or zero

N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 23

 Intro to Transfer Function Identification-3
Despite the shortcomings just mentioned, this simple manual method

p
described here helps to understand other automated frequency

ho
domain methods.

ks
Essence:

or
W
Both magnitude and phase aspects of the frequency response are to be
plotted in Bode plane.

n
ai
Approximate transfer function model of the system is to obtained by fitting

M
asymptotic approximations to the frequency response.

T
The fact that slopes of the asymptotes of the magnitude plots are expected to
0K
be multiples of 20 DB/decade is utilized.
T1
Phase angle plots are used mostly to corroborate decision from the magnitude
plots and for detecting non minimum phase components.
CT

For under-damped pole pair, straight line approximation instead of asymptotes

EI

are used.
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 24

 Transfer Function Identification
Major Steps:

p
ho
1. Determine the initial slope

ks
or
Gives number of poles/zeroes at the origin.

W
2. Determine the final slope

n
ai
Gives the difference in order between the

M
T
denominator and numerator (n-m).
0K
3. Determine the initial and final angle
T1
CT

confirms the results from above or detect the

EI

presence of a non-minimum phase system (delays or

M

zeroes in the RHP).

N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 25

 Transfer Function Identification-2
4. Determine the low frequency gain (Bode

p
ho
gain).

ks
or
5. Detect the number and approximate location of

W
corner frequencies and fit asymptotes.

n
ai
M
identify well defined (1st order) components.

T
Examine expected corners (-3dB) points.
0K
T1

Isolate second-order components and use the standard

response templates to estimate damping.
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 26

 Transfer Function Identification-3
6. Sketch the phase plot for the identified transfer function

p
and compare with empirical data.

ho
ks
as a check of accuracy.

or
to check for presence of non-minimum phase terms

W
and to calculate the time delay value if one is present.

n
ai
7. Revise and refine

M
Calculate the frequency response for the identified model and
T
0K
check against the experimental data (CAAD package or a few
points by hand calculation).
T1

Iterate and refine the pole/zero locations and damping of

CT

second-order terms.
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 27

 Example of Identification
Initial slope

p
= -20dB/dec. :

ho
single 1/j term.

ks
Final slope

or
= -40dB/dec. :

W
(n-m) = 2 .

n
Initial angle

ai
= -90 deg and the

M
final angle is -180
T
0K deg which checks
with the gain
T1

curve.
CT
EI
M

Given Plot
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 28

 Example of Identification-2

p
ho
ks
or
W
n
ai
M
T
0K
T1

Low frequency gain = 35dB, where = 0.1 KB = 5.62 .

CT

Through asymptotic fitting two poles found at c = 4 and 25, and one
EI
M

zero at c = 70 .
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 29

 2nd Example of TF Identification
Initial slope = 0dB/dec.

p
no pole at the origin.

ho
Final slope = 40dB/dec.

ks
(n-m) = 2 .

or
Initial angle = 0 and the

W
final angle is 180 which

n
checks with the gain

ai
curve.

M
Low frequency gain is
T
0K found to be
|KB|dB = 20dB KB = 10 .
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 30

 2nd Example of TF Identification-2
Initial slope = 0dB/dec.

p
no pole at the origin.

ho
Final slope = 40dB/dec.

ks
(n-m) = 2 .

or
Initial angle = 0 and the

W
final angle is 180 which

n
checks with the gain

ai
curve.

M
Low frequency gain is
T
0K found to be
|KB|dB = 20dB KB = 10 .
T1
CT
EI

Through asymptotic fitting a simple pole is found at c = 0.2, a simple zero at c =

M

1.0 and a complex pole at n = 5.0 .

N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 31

 2nd Example of TF Identification-3
Initial slope = 0dB/dec.

p
no pole at the origin.

ho
Final slope = 40dB/dec.

ks
(n-m) = 2 .

or
Initial angle = 0 and the

W
final angle is 180 which

n
checks with the gain

ai
curve.

M
Low frequency gain is
T
0K found to be
|KB|dB = 20dB KB = 10 .
T1
CT
EI

Through asymptotic fitting a simple pole is found at c = 0.2, a simple zero at c =

M

1.0 and a complex pole at n = 5.0 .

N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 32

 2nd Example of TF Identification-4

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 33

 3rd Example (delay)

p
Same Magnitude

ho
ks
plot as in Ex-2.

or
Phase plot is

W
different

n
ai
M
continues to
increase phase
T
0K
lag.
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 34

 Example-3 (delay)-2
The angle plot continues to go

p
ho
more negative and does not

ks
asymptotically approach 180

or
as expected.

W
n
ai
M
T
This is a non-minimum phase system with a time delay,
0K
es.
T1
CT

How do we determine the time delay, ?

EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 35

 Example-3 (delay)-3
Plot the phase of the transfer function

p
ho
identified from the magnitude plot and

ks
find the phase difference between this

or
plot and the phase data.

W
n
ai
M
T
This difference represents the ej term.
0K
At = 20 rad/sec, /3 0.052 s
T1

( 60)
CT

At = 50 rad/sec, 5/6 0.052 s

EI

( 150)
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 36

 Example-3 (delay)-4

p
ho
50 e0.052s ( s + 1)
G ( s) =

ks
( s + 0.2)( s 2 + s + 25)

or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 37

 p
ho
ks
or
W
Frequency domain specifications in Bode Plane

n
ai
M
T
0K
T1
CT
EI
M
N
 Contents:

Pedagogic Perspective

p
ho
Examples of Selected Topics: ( Unit-4.1: Introduction to Frequency

ks
Response)

or
Unit Introduction

W
Transfer Function Identification

n
ai
Frequency domain specifications in Bode Plane.

M
T
Nyquist Plots of 1st, second and third order stable systems
0K
Nyquist plot of simple unstable systems
T1

M-Circles in Nyquist Plot

CT

M-contours in Nichols charts

EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 39

39
 p
ho
ks
or
W
Frequency domain specs

n
Open loop

ai
M
T
0K
T1
CT
EI
M
N
 GCF

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 41

 PCF

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 42

 GM

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 43

 PM

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 44

 p
ho
ks
or
W
Frequency domain specs

n
Closed loop

ai
M
T
0K
T1
CT
EI
M
N
 Resonance Frequency

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 46

 Resonance/Peak Magnification
Resonance

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 47

 Closed Loop Bandwidth (3dB)

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 48

 Closed Loop Bandwidth (90 Degree)

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 49

 Phase Rate/Delay

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 50

 p
ho
ks
or
W
Nyquist Plots of Simple Stable Systems

n
ai
M
T
0K
T1
CT
EI
M
N
 Contents:

Pedagogic Perspective

p
ho
Examples of Selected Topics: ( Unit-4.1: Introduction to Frequency

ks
Response)

or
Unit Introduction

W
Sketching Asymptotic Bode plots

n
ai
Transfer Function Identification

M
Frequency domain specifications in Bode Plane.

T
Nyquist Plots of Simple stable systems
0K
T1

Nyquist plot of simple unstable systems

CT

M-Circles in Nyquist Plot

EI

M-contours in Nichols charts

M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 52

52
 Getting Nyquist Plots

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 53

 Nyquist Plots

p
1

ho
G (s) =
1 + sT

ks
1 jT

or
1
G ( j ) = =
1 + jT 1 + 2T 2

W
n
1

ai
= arctan(T )
(1 + T )

M
2

T
0K
T1

Stable 1st order term

CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 54

 Delayed 1st Order.

p
ho
ks
or
W
n
ai
M
T
0K
A circle for the delay
T1

A spiral for the composir

CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 55

 Nyquist Plots-2

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT

Standard Second order numerator and denominators.

EI
M

Look at the natural frequency point and discuss.

N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 56

 Nyquist Plots-3

p
ho
1
G ( s) =

ks
s (1 + sT )

or
1 j (1 jT )
G ( j ) = =

W
j (1 + jT ) (1 + 2T 2 )

n
ai
1
= {arctan(T ) / 2}

M
(1 + T ) 2

T
0K
T1

This open loop system gives the standard second order

CT

system in closed loop

EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 57

 Manual Plotting of Nyquist

p
G ( j ) = G ( j ) arg(G ( j ))

ho
= M ( ) / ( )

ks
or
W
1. Change Transfer Function From s domain to the jw Domain.
Express the magnitude and phase equations in terms of jw

n
ai
2. Evaluate the function (magnitude, phase and slope d/d) at point

M
0+ and + points
T
0K
3. Estimate the magnitude and phase for representative values of jw.
T1

4. Sketch the curve by connecting the points.

CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 58

 Manual Plotting of Nyquist

p
To sketch the polar plot of G(j) for the entire range of

ho
ks
frequency , i.e., from 0 to infinity, there are four key

or
points that usually need to be known:

W
1. The start of plot where = 0,

n
ai
2. The end of plot where = ,

M
3. Where the plot crosses the real axis, i.e., Im(G(j)) = 0, and
T
0K
4. Where the plot crosses the imaginary axis, i.e., Re(G(j)) = 0.
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 59

 2nd order order-Type-0

p
ho
ks
or
W
The magnitude of G( j ), i.e., | G( j) |, is obtained as;

n
ai
M
T
0K
T1

The phase of G( j ), denoted by, , is obtained as;

CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 60

 2nd order order-Type-0-II
The start of plot where = 0

p
ho
ks
or
W
The end of plot where =

n
ai
M
T
0K Polar Plot
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 61

 3rd Order Systems

p
ho
ks
or
W
n
ai
M
T
0K
T1

All real poles

CT

Type-1 and an undamped pole pair

EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 62

 Effects of Zero

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 63

 3rd order system with complex zero

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 64

 Nyquist Plot Using MATLAB

p
ho
ks
or
W
n
ai
M
T
0K
T1

Steps:
CT

Define the numerator (Num) and the denominator (den) and

EI

Define the transfer function as num/den

M

Then use the nyquist command to have MATLAB draw the nyquist plot.
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 65

 Chinese Viewpoint
Chinese Control System teachers sometimes encapsulate

p
ho
their design recommendation in terms of tri-band policy:

ks
Low band:

or
W
Keep steady state error low, gain high
Mid band:

n
ai
Cut off frequency (bandwidth), phase margin, gain margin, settling time

M
High Frequency:
T
0K
Steep slope down to attenuate noise
T1

Consistent with conventional prudence and thriving to 6-12-

CT

6-12 policy
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 66

 Closed Loop Frequency Domain Performance
Why: Easy to perform, especially for drives and

p
ho
mechatronic systems.

ks
The system performance specifications can be estimated

or
W
by the closed-loop frequency indices.

n
Performance indices of closed-loop frequency

ai
M
characteristics are used widely in practice as design
T
specifications. 0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 67

 Correlation

p
( 1 M r 1.8 )

ho
Overshoot = [0.16 + 0.4( M r 1)]

ks
100%

or
W

ts =
c
[2 + 1.5( M r 1) + 2.5( M r 1) 2 ]

n
ai
M
T
0K
T1
CT

The correlation between freq domain and time domain step

EI

response may be extended for higher order systems by the above

M

empirical relations
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 68

 Properties of Nyquist plot

If there is a gain, K, in front of open-loop transfer function,

p
the Nyquist plot will expand by a factor of K.

ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 69

 p
ho
ks
or
W
Nyquist plot of simple unstable systems

n
ai
M
T
0K
T1
CT
EI
M
N
 Contents:

Pedagogic Perspective

p
ho
Examples of Selected Topics: ( Unit-4.1: Introduction to Frequency

ks
Response)

or
Unit Introduction

W
Sketching Asymptotic Bode plots

n
ai
Transfer Function Identification

M
Frequency domain specifications in Bode Plane.

T
Nyquist Plots of 1st, second and third order stable systems
0K
Nyquist plot of simple unstable systems
T1
CT

M-Circles in Nyquist Plot

M-contours in Nichols charts
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 71

71
 Nyquist Contour example

p
Open loop system has pole at 2

ho
1

ks
G (s) =

or
s2

W
Closed-loop system has pole at 1

n
ai
M
G (s) 1
=
1 + G ( S ) ( s 1)

T
0K
If we multiply the open-loop with a gain,
T1

K, then we can move the closed-loop

CT

poles position to the left-half plane

EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 72

 p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 73

 p
ho
ks
or
W
M-Circles in Nyquist Plot

n
ai
M
T
0K
T1
CT
EI
M
N
 Contents:

Pedagogic Perspective

p
ho
Examples of Selected Topics: ( Unit-4.1: Introduction to Frequency

ks
Response)

or
Unit Introduction

W
Sketching Asymptotic Bode plots

n
ai
Transfer Function Identification

M
Frequency domain specifications in Bode Plane.

T
Nyquist Plots of 1st, second and third order stable systems
0K
Nyquist plot of simple unstable systems
T1

M-Circles in Nyquist Plot

CT

M-contours in Nichols charts

EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 75

75
 Nyquist Chart
Constant M / N circles

p
ho
Constant M circle

ks
A locus corresponding OA
to a constant ( ) =

or
BA

W
Let G ( j ) = X + jY

n
( j ) = M ( ) ( )

ai
M
G X + jY
= M ( ) = =

T
1 + G 1 + X + jY
0K
X 2 +Y 2
T1
= = M ( )
( X + 1) + Y
2 2
CT

2
M
EI

2
M
2
Rewrite: X
2
+ Y 2
= 2
M

1 M 1 M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 76

 N-circles in Nyquist Plane

p
It is fairly straight

ho
forward to prove that

ks
or
such contours are

W
indeed circles.

n
ai
These are used less

M
frequently
T
0K
N-circles are contours of constant closed loop phase on
T1

Nyquist plane.
CT
EI

Note that all such circlespass through the origin as well as

M

the critical point.

N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 77

 Nyquist

p
Constant N circle A locus corresponding

ho
to a constant OAB =

ks
Let G ( j ) = X + jY

or
X + jY

W
G
( j ) = =
1 + G 1 + X + jY

n
ai
X 2 + X + Y 2 + jY
=

M
( X + 1) 2 + Y 2

T
Y
( ) = arctan 0K=
X 2 + X +Y 2
T1
Y
tan = N ( ) = 2
X + X +Y 2
CT

2 2
1 1 N2 +1
Rewrite: X + + Y =
EI

2 2 N 4N 2
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 78

 p
ho
ks
or
W
M-contours & N-contours in Nichols

n
ai
charts

M
T
0K
T1
CT
EI
M
N
 Nichols Chart

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 80

 Contents:

Pedagogic Perspective

p
ho
Examples of Selected Topics: ( Unit-4.1: Introduction to Frequency

ks
Response)

or
Unit Introduction

W
Sketching Asymptotic Bode plots

n
ai
Transfer Function Identification

M
Frequency domain specifications in Bode Plane.

T
Nyquist Plots of 1st, second and third order stable systems
0K
Nyquist plot of simple unstable systems
T1

M-Circles in Nyquist Plot

CT

M-contours in Nichols charts

EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 81

81
 M-Contour on Nichols

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 82

 Interpreting M-contours

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 83

 N-contours

p
ho
ks
or
W
n
ai
M
T
0K
T1

N-contours are contours of constant closed loop phase on

CT

Nyquist plane:
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 84

 p
ho
ks
or
W
Frequency domain specifications in Bode Plane

n
ai
M
T
0K
T1
CT
EI
M
N
 Contents:

Pedagogic Perspective

p
ho
Examples of Selected Topics: ( Unit-4.1: Introduction to Frequency

ks
Response)

or
Module Introduction

W
Transfer Function Identification

n
ai
Frequency domain specifications in Bode Plane.

M
Nyquist Plots of 1st, second and third order stable systems

T
Nyquist plot of simple unstable systems
0K
M-Circles in Nyquist Plot
T1

M-contours in Nichols charts

CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 86

 p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 87

 p
ho
ks
or
W
Frequency domain specifications in Bode Plane

n
ai
M
T
0K
T1
CT
EI
M
N
 Contents:

Pedagogic Perspective

p
ho
Examples of Selected Topics: ( Unit-4.1: Introduction to Frequency

ks
Response)

or
Module Introduction

W
Sketching Asymptotic Bode plots

n
ai
Transfer Function Identification

M
Frequency domain specifications in Bode Plane.

T
Nyquist Plots of 1st, second and third order stable systems
0K
Nyquist plot of simple unstable systems
T1

M-Circles in Nyquist Plot

CT

M-contours in Nichols charts

EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 89

 p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 90

 Closed-loop transient response and closed-loop
frequency responses from OL frequency Response

p
C (s)
= T (s)

ho
R( s)

ks
n2

or
= 2
s + 2 n s + n2

W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 91

 p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 92

 p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 93

 p
ho
ks
or
W
n
ai
M
T
0K
T1
CT

The magnitude of the resonance peak is an indication for the system relative
EI

stability. A large resonance peak indicates the existence of a dominant pair of

M

complex poles with a small damping ratio. Such poles may lead to an undesirable
N

transient response.
T10KT-December 2014 CKBS, Jadavpur University, Kolkata 94
 Correlating time and frequency response for more general systems
In general systems, obtaining the time-frequency response relationship is not as direct as it is
in second order systems .

p
ho
Typically, the addition of any poles may change the correlation between step transient re-
sponse and frequency response . However, the derived results for second order systems

ks
may be applicable to higher order systems in the presence of a dominant second order

or
system poles

W
For an LTI higher order systems with a dominant second order pole, the following
relationships generally exists

n
The value of Mr is indicative for the relative stability. A satisfactory performance is attained for 1 <

ai
Mr < 1:4, which corresponds to a damping ration of 0; 4 < < 0:7.

M
A large Mr indicates a high overshot and slow damping.
If the system is subject to noise signals whose frequency are near to the resonance frequency !r,

T
the noise will be amplified in the output causing a serious problem.
0K
The magnitude of the resonance frequency !r indicates the speed of the transient response. Large
!r indicates faster time response [smaller rise and settling times]
T1

The resonant peak frequency!r and the damped natural frequency !d of unit step response are
very close to each other for lightly damped systems.
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 95

 Freq Response and Damping Ratio
C (s)

p
= T (s)

ho
R( s)

ks
n2
= 2

or
s + 2 n s + n2

W
n
ai
1
Mp =

M
2 1 2

T
0K
p = n 1 2 2
T1
CT
EI
M

Closed Loop M and Damping Ratio.

N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 96

 Response speed and frequency response

p
n = = BW = n (1 2 2 ) + 4 4 4 2 + 2

ho
Ts Tp 1 2

ks
or
The first set of relations show the inter dependence of natural

W
frequency, peak time and settling time (low damping).

n
ai
The second equation provides approximate 3-db Bandwidth.

M
NF=90 degree BW

T
0K
For the reasonable value of 0.5 damping ratio, the 3 db BW=1.27 times the
T1
NF.
For 50 deg PM, NF/GCF=1.1/.813=1.35; 3dB BW/GCF=1.72
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 97

 PUOS vs zeta

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 98

 PUOS vs zeta
Tutorial pm-zeta-os

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 99

 Mp vs zeta

p
ho
ks
or
W
n
ai
M
T
0K
T1
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 100

 Response speed and closed-loop frequency response

p
BW = n (1 2 2 ) + 4 4 4 2 + 2

ho
ks
4
BW = (1 2 2 ) + 4 4 4 2 + 2

or
Ts

n
BW = (1 2 2 ) + 4 4 4 2 + 2

ai
M
Tp 1 2

T
0K
BW
T1

= frequency at which magnitude is 3dB down

CT

1
M=
EI

from value at dc (0 rad/sec), or 2.

M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 101

 Find BW from
Open-loop Frequency Response

p
ho
ks
or
W
n
Nichols Charts

ai
M
T
0K
T1
CT

BW
From open-loop frequency response, we can find
EI

at the open-loop frequency that the magnitude

M
N

lies between -6dB to -7.5dB (phase between -135 to -225)

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 102
 Relationship between
damping ratio and phase margin

p
of open-loop frequency response

ho
ks
or
W
Phase margin of open-loop frequency response

n
ai
Can be written in terms of damping ratio as following

M
T
0K
2
M = tan 1
T1

2 2 + 1 + 4 4
CT
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 103

 Example
Open-loop system with a unity feedback has a bode plot
below, approximate settling time and peak time

p
ho
BW = 3.7

ks
or
W
n
ai
M
T
0K
T1
CT

PM=35
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 104

 2
M = tan 1

2 2 + 1 + 4 4

p
= 0.32

ho
Solve for PM = 35

ks
or
W
4
Ts = (1 2 2 ) + 4 4 4 2 + 2

n
ai
BW

M
= 5.5

T

0K
Tp = (1 2 2 ) + 4 4 4 2 + 2
T1

BW 1 2
CT

= 1.43
EI
M
N

T10KT-December 2014 CKBS, Jadavpur University, Kolkata 105

 p
ho
ks
or
W
Thank you

n
ai
M
forT
0K

Your kind Attention

T1
CT
EI
M
N