Homework 6

Bode, Tuesday 1:00pm 200, May 14, 2019

Gutiérrez Martı́nez, Manuel Alejandro 1517068

Abstract—abstract then to make the algebra simpler, it is written as follows:

in this work the mathematics was developed to obtain the
formula of the resonance frequency wr and the magnitude of wn2
|| · ||= p
the magnitude of the resonance M r of second order systems and (wn − w2 )2 + 4ξw2 wn2
it was applied to a system to apply the obtained formulas.
Index Terms—resonance frequency, resonance magnitude, To maximize the equation of the magnitude and make this
asymptotes, second order system simpler, we must consider that:
1
I. I NTRODUCTION max( )
x
A Bode diagram consists of two graphs: one is the graph of ⇔
the logarithm of the magnitude of the transfer function, and
the other is the graph of the phase angle; both are plotted min(x)
against the frequency in logarithmic scale.
and it is also considered that:
The common representation of the logarithmic magnitude
√
of G(jw) is 20log|G(jw)|, where the base of the logarithm max( x)
is 10. The unit used in this representation for the magnitude
is the decibel (dB). In the logarithmic representation, the ⇔
scale is logarithmic for the frequency and the linear scale for min(x)
any magnitude (in decibels) or the phase angle (in degrees).
The main advantage of using the Bode diagram is that the therefore we can only derive the denominator from the
multiplication of magnitudes becomes a sum. magnitude equation to obtain the maximized expression and
The control systems usually have quadratic factors as ob- obtain the wr
served: d || · ||
1 =0
G(jw) = w w 2
dw
1 + 2ξ(j wn ) + (j wn )
where the derivative is the following
In the underdamped case, the Bode plot has a resonance
d || · ||
peak near wn (in w = wr, where wr is the resonance = −4w(wn2 − w2 ) + 8ξ 2 wwn2
dw
frequency, which is the frequency at which the maximum
value of the response is obtained in frequency of the pair or also
of conjugated complex poles), with a magnitude of Mr peak 0 = −4wwn2 + 4w3 + 8ξ 2 wwn2
(maximum amplitude of the frequency response), where: d||·||
p w is cleared when dw = 0 and then we get the resonance
wr = wn 1 − 2ξ 2 frequency equation:
and 0
1 = −4wn2 + 4w2 + 8ξ 2 wn2
Mr = p w
2ξ 1 − ξ2
4w2 = 4wn2 − 8ξ 2 wn2
It is important to note that the peak magnitude only depends
on ξ. As the relative damping factor ξ tends to zero, wr w2 = wn2 − 2ξ 2 wn2
rightarrow wn and M r → ∞. For ξ > 0.707 there is no
p
w = wn2 − 2ξ 2 wn2
resonance peak and M r = 1[1]. p
w = wn 1 − 2ξ 2
II. CALCULATE wr AND M r p
to calculate W r it is necessary to maximize the equation of wr = wn 1 − 2ξ 2
the magnitude, which is the following. then to obtain wr the magnitude of resonance was obtained
wn 2 when evaluating wr in the equation of magnitude as observed
|| · ||= p below.
(wn − wn2 102n )2 + 4ξwn2 102n wn2
wn2
where Mr = q
w = wn10n
p p
(wn2 − (wn 1 − 2ξ 2 ))2 + 4ξ 2 (wn 1 − 2ξ 2 )2 wn2
 where
wn2
Mr = p
(wn2 − wn2 (1 − 2ξ 2 ))2 + 4ξ 2 wn2 (1 − 2ξ 2 )wn2

wn2
Mr = p ...
(wn4 − 2wn4 (1 − 2ξ 2 ) + wn4 (1 − 2ξ 2 )2 )

... p
(+4ξ 2 wn4 (1 − 2ξ 2 )

wn2
Mr = p
wn2 (1 − 2(1 − 2ξ 2 ) + (1 − 2ξ 2 )2 ) + 4ξ 2 (1 − 2ξ 2 )
1
Mr = p
(1 − 2 + 4ξ + 1 − 4ξ 2 + 4ξ 4 + 4ξ 2 − 8ξ 4 )
2

Fig. 1. matlab bode diagram

1
Mr = p
(1 − 2 + 4ξ + 1 − 4ξ 2 + 4ξ 4 + 4ξ 2 − 8ξ 4 )
2
it can be verified that the results are correct when verified
1 in Matlab as can be seen in figure 1.
Mr = p
(−4ξ 4 + 4ξ 2 ) III. C ONCLUSION

1 using maximizing and minimizing principles, the frequency

Mr = p of wr was obtained, since it was determined that at that
2ξ 1 − ξ2 point the slope was zero, when applying it to the proposed
A. calculate wr and M r for: system, the resonance frequency, which was obtained from the
damping factor xi, wasdethroned = 0.15 which indicates for
10 this damping facour value that the resonance frequency is less
G(s) =
s2 + s + 10 than the natural frequency, the value of the frequency was
3.08 rad / s, which was verified by matlab this means that the
s2 + s + 10 = s2 + 2ξwns + wn2
maximum peak in the bode plot was at that frequency value,
where and the value of the magnitude of this peak was determined
√ which was 10.11db which was also verified in matlab.
wn = 10
R EFERENCES
wn = 3.16
[1] K. O GATA Ingǵeneria de control moderna, quinta edición, Pearson,

2ξ(3.16) = 1

ξ = 0.15

then
p
wr = (3.16) 1 − 2(0.15)2

wr = 3.08rad/sec

and
1
Mr = p
2(0.15) 1 − (0.15)2
M r = 3.37

the conversion is made to decibels with the following

formula:

xdb = 20log10(3.37)

then
M rdb = 10.11