Frequency Response

Frequency Response
• Definition - Steady state response of a system to sinusoidal
input.

LTI System

𝐴𝐴𝐴𝐴(𝜔𝜔) 𝐴 𝐺 𝑗𝜔 𝑠𝑠𝑠(𝜔𝜔 + 𝜙)

Magnitude Phase

• When a sinusoidal input is applied to an LTI system, the

output signal will also be a sinusoidal signal with same
frequency, but different in magnitude and phase.
 Frequency Response
To obtain the steady state response of a system G(s), replace the
s with jω.

G(s) G(jω)

G(jω) – sinusoidal transfer function

|G(jω)| - Magnitude of the system

∠𝐺(𝑗𝑗) – Phase of the system.
 Frequency Response
Example: Given a system shown below, find the steady state response of the
output signal y(t) when a sinusoidal signal r(t) = 2 sin 3t is applied.
Input
10
R(s) G s = Y(s) 2
𝑠 + 50 Output

0.4
10 50−𝑗𝜔
𝐺 𝑗𝜔 = ×
50+𝑗𝜔 50−𝑗𝜔
10(50−𝑗𝜔) Lagging
𝐺 𝑗𝜔 = 3.43˚
502 +𝜔2
500 10𝜔
𝐺 𝑗𝜔 = − 𝑗
502 +𝜔2 502 +𝜔2
𝐺 𝑗3 = 0.22 − 0.0122 = 𝟎. 𝟐
−0.012
𝜔 = 3, ∠𝐺 𝑗3 = tan−1 = −𝟑. 𝟒𝟒𝟒
0.2
500 10(3)
𝐺 𝑗3 = 2+32 − 𝑗 2+32
50
500
50
10(3)
Thus,
𝐺 𝑗3 = 2+32 − 𝑗 2+32 𝑦 𝑡 = 2 𝐺 𝑗3 sin(3𝑡 + ∠𝐺 𝑗3 )
50 50
𝑦 𝑡 = 2(0.2)sin(3𝑡 − 3.43°)
𝐺 𝑗3 = 0.2 − 𝑗0.012 𝒚 𝒕 = 𝟎. 𝟒𝟒𝟒𝟒(𝟑𝟑 − 𝟑. 𝟒𝟒𝟒)
 Bode Diagram
• A Bode diagram consists of 2 graphs: 20 log |G(jω)| (dB)
– Magnitude of G(jω) VS frequency in logarithmic
scale.
– Phase angle of G(jω) VS frequency in logarithmic
scale.
• Main Advantage of using Bode diagram:
Frequency, ω
– Multiplication of magnitude  Addition (rad/s)
Log scale
– Simple method of sketching approximate Bode
diagram is available.
– System identification is possible by using ∠G(jω) (degree)
asymptotic approximation.

Frequency, ω
Log scale (rad/s)
 Bode Diagram
Basic factors of transfer function G(s):
• Gain K
𝟏
• Integral s & Derivative
𝒔
𝟏
• 1st order pole & 1st order zero 𝑻𝑻 + 𝟏
𝑻𝑻+𝟏
𝟏 𝒔𝟐
• 2nd order pole 𝒔𝟐 𝟐𝜻
& 2nd order pole 𝝎𝒏 𝟐
+
𝟐𝜻
𝝎𝒏
𝒔 + 𝟏
+𝝎 𝒔+𝟏
𝝎𝒏 𝟐 𝒏
 Bode Diagram
The Gain K Gain (dB)
G(s) = K
G(jω) = K 20 log K

|G(jω)| = |K| = K = 20 log K dB

0 Frequency, ω
∠G jω = tan−1 = 𝟎𝟎 (rad/s)
𝐾

Phase (degree)
Side note:
K > 1  +ve dB
0o
K = 1  0 dB
0 < K < 1  -ve dB Frequency, ω
(rad/s)
 Bode Diagram
Integral s Gain (dB)
G(s) = s
G(jω) = jω
Slope = 20dB/dec
|G(jω)| = |jω| = ω = 20 log ω dB 0dB
ω
∠G jω = tan−1 0 = 𝟗𝟎𝟎 ω (rad/s)
1 rad/s

When ω increases by 1 decade:

Phase (degree)
|G(jω)| = 20 log 10ω dB = (20 log ω + 20 log 10) dB
|G(jω)| = (20 log ω + 20) dB
The magnitude |G(jω)| increases by 20 dB 90o

ω (rad/s)
When ω = 1:
|G(jω)| = 20 log 1 dB = 0 dB
 Bode Diagram
1
Derivative Gain (dB)
𝑠
1
G(s) =
𝑠 Slope = -20dB/dec
1
G(jω) = 0dB
𝑗𝜔
1 1 𝟏
|G(jω)| = | = 20 log dB = -20 log ω dB
|= ω (rad/s)
𝑗𝜔 𝝎 𝜔
1 rad/s
ω
∠G jω = tan−1 − 0 = −𝟗𝟗°
Phase (degree)
When ω increases by 1 decade:
|G(jω)| = -20 log 10ω dB = (-20 log ω + -20 log 10) dB
|G(jω)| = (-20 log ω - 20) dB -90o

The magnitude |G(jω)| decreases by 20 dB

ω (rad/s)

When ω = 1:
|G(jω)| = -20 log 1 dB = 0 dB
 Bode Diagram
𝟏
1st order pole
𝑻𝑻+𝟏
𝟏
G(s) = 𝑻𝑻+𝟏
Gain (dB)
𝟏
G(jω) =𝒋𝝎𝑻+𝟏
1 1
|G(jω)| = |𝑗𝜔𝑇+1| = 20 log dB
12 +𝜔2 𝑇 2
= -20 log 𝟏 + 𝝎𝟐𝑻𝟐 dB
0 𝜔𝑇
∠G jω = tan−1 − tan−1 = − 𝒕𝒕𝒕−𝟏 𝝎𝝎 0dB
1 1 Slope = -20dB/dec

At low frequencies such that ω << 1/T: ω (rad/s)

|G(jω)| = -20 log 1 dB = 0dB 1/T
∠G jω = 𝟎𝟎

At high frequencies such that ω >> 1/T: Phase (degree)

|G(jω)| = -20 log ωT dB
∠G jω = − 𝒕𝒕𝒕−𝟏 𝝎𝝎 = -90°
-0o
At ω = 1/T: |G(jω)| = -20 log 1 dB = 0dB -45o
∠G jω = − 𝒕𝒕𝒕−𝟏 𝟏 = -4𝟓°
-90o
ω (rad/s)
At ω = 10/T: |G(jω)| = -20 log 10 dB = -20dB 1/T
At ω = 100/T: |G(jω)| = -20 log 100 dB = -40dB

The magnitude |G(jω)| decreases by 20 dB per decade

 Bode Diagram
1st order zero 𝑻𝑻 + 𝟏
G(s) = 𝑻𝑻 + 𝟏
G(jω) = 𝐣𝛚𝑻 + 𝟏 Gain (dB)
|G(jω)| = |𝐣𝛚𝑻 + 𝟏| = 20 log 𝟏 + 𝝎𝟐 𝑻𝟐 dB
𝜔𝑇
∠G jω = tan−1 = 𝒕𝒕𝒕−𝟏 𝝎𝝎
1
Slope = -20dB/dec
At low frequencies such that ω << 1/T: 0dB
|G(jω)| = 20 log 1 dB = 0dB
∠G jω = 𝟎𝟎 ω (rad/s)
1/T

At high frequencies such that ω >> 1/T:

|G(jω)| = 20 log ωT dB Phase (degree)
−𝟏
∠G jω = 𝒕𝒕𝒕 𝝎𝝎 = 90°
90o
At ω = 1/T: |G(jω)| = 20 log 1 dB = 0dB
∠G jω = 𝒕𝒕𝒕−𝟏 𝟏 = 4𝟓° 45o

0o
At ω = 10/T: |G(jω)| = 20 log 10 dB = 20dB ω (rad/s)
1/T
At ω = 100/T: |G(jω)| = 20 log 100 dB = 40dB

The magnitude |G(jω)| increases by 20 dB per decade

 Bode Diagram
𝟏
2nd order pole 𝒔𝟐 𝟐𝜻
+𝝎 𝒔+𝟏
𝝎𝒏 𝟐 𝒏

At low frequency such that ω << ωn

|G(jω)| = 0dB
∠G jω = 0°
At low frequency such that ω >> ωn
|G(jω)| has a slope of -40dB/dec
∠G jω = −𝟏𝟏𝟎°

*A resonant peak will occur at ω ≈ ωn, and

The magnitude of the peak depends on the
Damping ratio. The lower the damping ratio
The higher the resonant peak.
 Bode Diagram
Approximating Bode diagram from transfer function
A multiplication in transfer function == addition in Bode diagram.
Example: Gain (dB) 1st order
𝟏𝟎 Gain
𝑮 𝒔 = pole
𝟐𝒔+𝟏
20 log 10 = 20dB
0dB Slope = -20dB/dec
𝟏
𝑮 𝒔 = 𝟏𝟏 ×
𝟐𝟐+𝟏 ω (rad/s)
1/2

G(s)
Gain 1st order
pole Phase (degree)

-0o

-45o

-90o
ω (rad/s)
1/2
 Bode Diagram
Approximating Bode diagram from transfer function
Example:
𝟓𝟓(𝒔+𝟏𝟏)
𝑮 𝒔 = Gain
(𝒔+𝟏)(𝒔+𝟏𝟏𝟏) (dB)
𝟏
𝟓(𝟏𝟏)(𝟏𝟏𝒔+𝟏) Gain
𝑮 𝒔 = 𝟏 1st order
1st order
𝟏𝟏𝟏(𝒔+𝟏)( 𝒔+𝟏) zero
𝟏𝟏𝟏 pole
20 log 5 = 14dB
20dB/dec
𝟓𝟓(𝟏𝟏) 𝟏 𝟏 𝟏
𝑮 𝒔 = × 𝒔 +𝟏× × 𝟏
𝟏𝟏𝟏 𝟏𝟏 𝒔+𝟏 𝒔+𝟏 0dB
𝟏𝟏𝟏

ω (rad/s)
1 10 100
1st order 1st order
Gain
zero pole Slope = -20dB/dec G(s)

1/2
 Bode Diagram
System Identification
• Given a Bode diagram of an unknown system, the transfer function of the system can be
estimated by asymptotic approximation.
• To approximate transfer function from Bode diagram, asymptotes are drawn on the gain plot of
the frequency response.
• Since the slope of the gain curve can only be 0, ±20dB/decade, ±40dB/decade, ±60dB/decade …..
The asymptotes that match the gain curve are constructed.
Example:
-20dB/dec
≈ 3dB asymptote

𝟏 𝟏
𝑮 𝒔 = 𝟑𝟑𝟑 × 𝟏 × 𝟏 -40dB/dec
𝒔+𝟏 𝒔+𝟏 asymptote
𝟒.𝟐 𝟑𝟑
𝟒.𝟐 𝟑𝟑
𝑮 𝒔 = 𝟏. 𝟒 × 𝒔+𝟒.𝟐 × 𝒔+𝟑𝟑

𝟐𝟐𝟐.𝟖
𝑮 𝒔 = (𝒔+𝟒.𝟐)(𝒔+𝟑𝟑) 100 101 102
≈4.2 ≈35
 Stability Margin
Stability Margin of closed loop system from Bode Diagram

G(s)

Given a unity feedback control system as shown above, the closed loop transfer
𝒀(𝒔) 𝑮(𝒔) 𝑮 𝒔
function is 𝑹(𝒔) =
𝟏+𝑮(𝑺)
, and thus 𝒀 𝒔 =
𝟏+𝑮 𝑺
R s

• When a bounded input R(s) is applied to the system, the system is said to be stable if the output
Y(s) is also bounded.
• For unstable system, Y(s) will grow to infinity as time approaches infinity (steady state response)
• Since the sinusoidal transfer function G(jω) only characterizes the steady state response, therefore,
𝑮 𝒋𝝎
to produce Y(s)  ∞ (unstable) when a bounded (stable) input is applied, must be ∞.
𝟏+𝑮 𝒋𝝎
𝑮 𝒋𝝎
• will be ∞ when G(jω) = -1, or in polar form of 𝟏 ∠ ± 𝟏𝟏𝟏𝟏
𝟏+𝑮 𝒋𝝎
• Therefore, how far G(jω) is from 𝟏 ∠ ± 𝟏𝟏𝟏𝟏 determines how stable the system is. This is called
relative stability.
 Stability Margin
There are 2 types of stability margin
Gain (dB)
• Gain Margin
• Phase Margin
0dB
Gain
Margin
Gain Margin is a measure of how much
addition gain can be added to the
ω (rad/s)
forward path before the closed loop
system becomes unstable. Phase (degree)

Phase Margin is a measure of how

much addition phase can be added to
the forward path before the closed
loop system becomes unstable. Phase
Margin
-180o
ω (rad/s)
 Steady State error
The steady state error of a closed loop system can be obtained from Bode diagram.

Determination of system type number and static error constants from Bode diagram.

Type 0 system and position error constant

A Type 0 system consists of gain, poles and/or zeros, thus, at low frequencies, the gain
curve is constant.
𝑨 𝑨
For type 0 systems, the steady state error to step input is given by SSE = 𝟏+𝑮(𝟎) = 𝟏+𝒌
𝒑

Kp = G(0) = magnitude at low frequencies

20 log kp
 Steady State error
Type 1 system and velocity error constant
A Type 1 system consists of an integrator, thus, at low frequencies, the gain curve has
a slope of -20dB/decade.
𝑨 𝑨
For type 1 systems, the steady state error to ramp input is given by SSE = 𝒔𝑮(𝟎) = 𝒌
𝒗

Kv = magnitude of the initial -20dB/dec line (or its extension) at ω=1 rad/s

Gain (dB)
-20dB/dec

20 log kv

0dB

1 rad/s
 Steady State error
Type 2 system and acceleration error constant
A Type 2 system consists of 2 integrators, thus, at low frequencies, the gain curve has a
slope of -40dB/decade.
For type 2 systems, the steady state error to acceleration input is given by
𝑨 𝑨
SSE = =
𝒔𝟐 𝑮(𝟎) 𝒌𝒂

Ka = magnitude of the initial -40dB/dec line (or its extension) at ω=1 rad/s
Gain (dB)
-40dB/dec

20 log ka

0dB

1 rad/s
 Relationship of Bode plot and transient response
One of the disadvantages of frequency response method is that the transient
response analysis in time domain is indirect.

G(s)

Given a unity feedback control system, the transient response can be approximated
from the frequency response of G(s).
1. Phase margin – the smaller the PM, the output will be more oscillatory (more
overshoot, less damping).
2. Cross-over frequency – the higher the Cross-over frequency, the faster the
system will response (faster rise time and peak time).
Relationship of Bode plot and transient response

Gain (dB)

0dB

ω (rad/s)
Phase (degree) Cross-over
frequency

Phase
Margin
-180o
ω (rad/s)
 Effect of forward path gain on system response
Adding a gain K in the forward path K G(s)
moves the gain curve up/down, phase
curve unchanged.
Gain (dB)
If gain K > 1, the gain curve will be raised New 20 log Kp
by 20 log K dB (blue line) 20 log Kp

Effect: 0dB

1. Kp increases  SSE decreases

2. Cross-over frequency increases  faster
response
ω (rad/s)
3. Phase margin decreases  more oscillatory
Phase (degree) New Cross-over
frequency

Cross-over
1 frequency

New Phase
Margin Phase
Margin
-180o
ω (rad/s)
 Effect of forward path gain on system response
Adding a gain K in the forward path K G(s)
moves the gain curve up/down, phase
curve unchanged.
Gain (dB)
If gain K < 1, the gain curve will be
lowered by 20 log K dB (blue line) 20 log Kp
New 20 log Kp
Effect:
1. Kp decreases  SSE increases
2. Cross-over frequency decreases  slower
response
ω (rad/s)
3. Phase margin increases  less oscillatory
Phase (degree) New Cross-over
frequency

Cross-over
1 frequency
New Phase
Margin
Phase
Margin
-180o
ω (rad/s)