SKEE 3133

SKEE 3143
SYSTEM MODELING AND
CONTROL SYSTEM
ANALYSIS
DESIGN

CHAPTER 3
Response and Stability Analysis in
Frequency Domain

Herman 1
 General Bode Plots
G (s)  K
Magnitude

Gj ) dB  20 log K
G ( j )  00
G (s)  K
G ( j )  K Phase

G ( j )  00

2
 Bode Plots  G(s) = s
G ( s )  s  G ( j )  j
for   0.01,0.1,1,10,100
Gj ) dB  40,20,0,20,40
Gj ) dB  20 log  Plotting on
log-scale

20 dB/decade

Magnitude Plot
 Bode Plots  G(s) = s
G ( s )  s  G ( j )  j
G ( j )  900

Plotting on
log-scale

Phase plot

4
 Bode Plots  G(s) = 1/s
G (s)  1 s
G ( j )  1 j
Gj )  log(1 /  )
Gj ) dB  20 log(1 /  )  20 log 

- 20 dB/decade

At  = 1, gain = 0 dB.

5
 Bode Plots  G(s) = 1/s
G (s)  1 s
G ( j )  1 j
Gj )  log(1 /  )
Gj ) dB  20 log(1 /  )  20 log  Magnitude Plot

Plotting on
log-scale

- 20 dB/decade

6
 Bode Plots  G(s) = 1/s

G ( j )  900 Phase plot

Plotting on
log-scale

7
 Bode Plots  s/a + 1
 
2

Gj )     1
a
s j
G( s)   1 G ( j )  1  
a a G ( j )  tan 1  
a

Gj ) dB  20 log1  0dB Low Frequency

At   a
G ( j )  tan 1 0  0 0 Asymptote

Gj ) dB  20 log 2  3.01dB Break

At  = a frequency
G ( j )  tan 1 1  450

Gj ) dB  20 log  High Frequency

At  >> a G ( j )  tan 1   90 0 Asymptote
20 dB/decade 8
 Bode Plots

• the low-frequency asymptote  The low-frequency

approximation

• high-frequency asymptote  The high-frequency

approximation

• break frequency :  = a  the break between the low- and

high-frequency asymptotes.

9
 s
G( s)   1
a
Bode Plots - magnitude
high-frequency asymptote
Gj ) dB  20 log 

break-frequency
low-frequency asymptote
Gj ) dB  20 log 2  3.01dB
Gj ) dB  20 log 1  0dB 10
 s
G( s)   1
a Bode Plots - phase

high-frequency asymptote
G ( j )  tan 1   900

low-frequency asymptote asymptotic approximation

G ( j )  tan 1 0  00 G ( j )  tan 1 1  450
11
 s
G( s)   1 Bode Plots – actual plot
a

Break frequency : 3dB

12
 s
G( s)   1
a Bode Plots

13
 Bode Plots
1
Gj ) 
 
2

  1
a
1  
G( s)  G ( j )  
1
  
s  j a  1  G ( j )   tan 1  
1 a
a
Gj ) dB  20 log1  0dB Low Frequency
At   a
G ( j )  tan 1 0  0 0 Asymptote

Gj ) dB  20 log(1 2 )  3.01dB Break

At  = a G ( j )   tan 1 1  450 frequency
- 20 dB/decade

1
Gj ) dB  20 log High Frequency

At  >> a Asymptote
G ( j )   tan 1   90 0 14
 Bode Plots

high-frequency asymptote
1
Gj ) dB  20 log


low-frequency asymptote
break-frequency
Gj ) dB  20 log 1  0dB
Gj ) dB  20 log(1 2 )  3.01dB 15
 Bode Plots

high-frequency asymptote
G ( j )   tan 1   900

asymptotic approximation
low-frequency asymptote
G ( j )   tan 1 1  450
G ( j )  tan 1 0  00 16
 Summary of general plot

General Plot
G(s) = s G(s) = s2
20 90° 40 180°
dB/decade dB/decade
G(s) = 1/s G(s) = 1/s2
-20 -90° -40 -180°
dB/decade dB/decade
Second Order
System
 Bode Plots: Second Order
• For n 2 General Form
G(s) 
s 2  2 n s n 2

n 2 1
G(s)  2 
s  2n s   n
2
s 2 2
 s 1
n n
2 Manipulation

1 1
G ( j )  
( j ) 2 2  2  2
j 1 1  2   j
n 2
n    n
 n 

• At low frequency,   n, G( j )  1

Gj ) dB  20 log1  0 dB; G( j )  0 0
• At high frequency,   n, G( j )  1   2
Gj ) dB  20 log  2  40 log ; G( j )  180 0
19
 Bode Plots: Second Order 
Magnitude

high-frequency asymptote

low-frequency asymptote
break-frequency
20
 Bode Plots: Second Order 
Phase

high-frequency asymptote

asymptotic approximation
low-frequency asymptote
21
 Bode Plots: Second Order
• At the break frequency,  = n, G( j )  1 j 2
G( j ) dB  20 log( 2 ); G( j )  90 0

• The magnitude depends on . For example:

 lG(j)ldB

0.1 -20log (0.2) = 13.9 dB

0.7 -20log (1.4) = -2.92 dB

1 -20log (2) = -6.02 dB

22
Bode Plots: Second Order

23
Bode Plots: Second Order

24
 Example 2

• Sketch the Bode plot for G(s) for the unity feedback system
shown below where ( s  3)
G (s) 
( s  2)( s 2  2 s  25)

Obtain the actual bode plot using MATLAB.

25
 Solution 2

• For 1/(s2 + 2s + 25)],

• n = 5 rad/s;  = 0.2
• Normalise:
s 
(3 50)  1
G(s)  3 
 s  s 
2
2
  1   s  1
 2  25 25 

26
Solution 2

27
Solution 2

28