SKEE 3143

Control System Design

Chapter 3 – Controller Design in Frequency
Domain

Ir. Dr. Shafishuhaza Sahlan

School of Electrical Engineering, UTM
shafis@utm.my

1
 Damping Ratio and Phase Margin
Relationship of phase margin and damping ratio:
2
 M  tan 1
 2 2  1  4 4

2
 Introduction

• For design in frequency response, the concepts of stability,

transient response and steady-state error are used.
• A closed-loop system is stable if the open-loop magnitude
frequency response has a gain less than 0 dB at the phase
frequency response -1800.
• Percent OS is reduced by increasing the phase margin.
• Speed of response is increased by increasing the bandwidth.
• The steady-state error is improved by increasing the lower
frequency magnitude responses.

3
 Gain Adjustment
The desired OS can be obtained by designing the phase margin.

A simple gain adjustment can be used to

design the phase margin and hence, the OS.

If we desire a phase
margin, M represented
by CD, we have to raise
the magnitude curve by
AB.

4
 Example 1

For the position control system, find the value of

the preamplifier, K to yield a 9.5% OS in the
transient response for a step input. Use only the
frequency response methods.
Desired Power Motor and Shaft
Preamplifier
position Amplifier Load position
Shaft
R(s ) 100 3.6 velocity 1 C (s )
K
( s  100) ( s  36) s

5
9.5% overshoot yields damping ratio of
-ln(%OS /100)
z=
p 2 + ln 2 (%OS /100)

Hence yield the desired phase margin of ~59.162o

Read at 120o at bode phase plot

2
 M  tan 1
 2 2  1  4 4

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 Solution example 1

K = 3.6 Bode Diagram

0
-5
-10
-15
-20
-25
-30
Magnitude (dB)

-35
-40
-45
44.2dB -50
-55
-60
-65
-70
-75  = 14.8 rad/s
-80 Bode Diagram
-80

-100

-120
Phase (deg)

-140

-160

-180

-200

-220 -1 0 1 2
10 10 10 10
Frequency (rad/s)

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 Solution example 1

• OS 9.5%,  = 0.59962, M = 59.20.

• From the plot, to obtain M = 59.20 (120.80),
M = 14.8 rad/s.
• At  = 14.8 rad/s, the gain = -44.2 dB. The
magnitude has to be raised to 0 dB to yield the
required phase margin.

8
 Solution example 1
• OS 9.5%,  = 0.59962, M = 59.20.
• From the plot, to obtain M = 59.20 (120.80),
M = 14.8 rad/s.
• At  = 14.8 rad/s, the gain = -44.2 dB. The magnitude has to
be raised to 0 dB to yield the required phase margin.

• 20 log K1 = 44.2 dB  K1 = 162.18

K = 3.6K1 = 162.2 x 3.6 = 583.9.
• The gain-adjusted open-loop transfer function:
58390
G( s) 
s( s  36)(s  100)
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Solution example 1

10
Solution example 1

11
 Example 2

For a unity feedback system with a forward transfer function

K
G( s) 
s( s  50)(s  120)
use frequency response techniques to find the value of gain, K
to yield a closed-loop step response with 20% OS.

12
Solution example 2

Needs to increase
gain by 106dB

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 Solution example 2

OS 20%,  = 0.45595, M = 48.1480.

• From the plot, to obtain M = 48.10 , (at 1320) is at a
frequency of M = 27.5 rad/s.
• At  = 27.5 rad/s, the gain = -106 dB. The magnitude has to
be raised to 0 dB to yield the required phase margin.
• 20 log K1 = 106 dB  K1 = 199530
• The gain-adjusted open-loop transfer function:
199530
G (s) 
s ( s  50)( s  120)

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Solution example 2

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