SKEE 3133

SKEE 3143
SYSTEM MODELING AND
CONTROL SYSTEM
ANALYSIS
DESIGN

CHAPTER 3
Response and Stability Analysis in
Frequency Domain

Herman 1
 Stability via Bode Plots

• Bode Plot of an Open Loop System 

indicates the stability of the closed loop
system

A closed-loop system is stable

•  magnitude less than 0 dB (unity gain)
•  at the frequency where the phase is ±1800.

3
 Stability via Bode Plots
Example 3:
• Sketch the bode plot  use Matlab to get the actual
plotting
• Determine the range of K within which the unity
feedback system is stable. Let
K
 G ( s ) 
s  2s  4s  5

K
Solution: Normalise G( s) 
 s  s  s 
(40)  1  1  1
 2  4  5 

• For convenience, choose K = 40.

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Stability via Bode Plots

5
 Stability via Bode Plots
at -1800,  = 7 rad/s,
magnitude = -20 dB.

+20dB before the Hence, +20dB 

system becomes required increase in
gain before the
unstable system becomes
unstable

7 rad/s

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 Stability via Bode Plots
For the plot, K = 40
(Absolute Value).
A gain in +20dB 
(20 log X = 20dB)
+20dB before the
system becomes X = 10 (Absolute value)
unstable

Hence the gain before

the system becomes
unstable = 40X10 =
400

-Range for stability:

0 < K < 400.

7 rad/s

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 MATLAB
>> bode(40/((s+2)*(s+4)*(s+5)))

Bode Diagram
0

-10

-20
Using MATLAB, Actual
-30
System: untitled1
Gain Margin (dB): 19.5
results:  = 6.16 rad/s,
At frequency (rad/s): 6.16
Magnitude (dB)

-40
Closed loop stable? Yes
-50 From Gain Margin
-60
(20 log X = 19.5dB)
 X = 9.4406
-70

-80

-90

 Hence range of K =
0

-45
9.4406 X 40 = 378
-90
Phase (deg)

-135

-180

-225

-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/s)
 To Measure Stability : Bode plot
Phase Margin

Change required in Open-Loop

gain at 180o phase shift to make
the system unstable

At gain margin frequency phase

is 180o

 gain required to
raise/decrease the magnitude
curve to 0dB

Look at Magnitude plot to

determine the gain margin 
gain required to raise/decrease
the magnitude curve to 0dB
Greater margins  withstand
greater changes in system
parameters before unstable
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Stability via Bode Plots
20dB

Gain
7 rad/s
Margin
10
Frequency
Stability via Bode Plots
20dB

20dB before system

becomes unstable

Gain
7 rad/s
Margin
11
Frequency
 To Measure Stability : Bode plot

Change required in Open-Loop

Phase Margin
gain at 180o phase shift to make
the system unstable
change required in open-
At gain margin frequency phase loop phase shift to make
is 180o the closed-loop system
unstable
 gain required to
raise/decrease the magnitude
curve to 0dB At phase margin
frequency, M where the
Look at Magnitude plot to gain is 0 dB.
determine the gain margin 
gain required to raise/decrease
the magnitude curve to 0dB  difference between the
Greater margins  withstand phase value & -1800
greater changes in system
parameters before unstable
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Stability via Bode Plots

-100o – (-180o) = 80o

2 rad/s
13
 Stability via Bode Plots

80o before
system become
unstable

-100o – (-180o) = 80o

Phase
2 rad/s
Margin
Frequency 14
 Gain and Phase Margins - simplified

Gain
Margin

180
Gain Margin
Frequency
15
 Gain and Phase Margins - simplified

Phase
margin
180
Phase Margin
Frequency
16
 Example 4

Consider a unity feedback system :

200
G (s) 
( s  2)( s  4)( s  5)

Using MATLAB, find the gain margin and the phase margin
from the bode plot.

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Solution :

• Note that: any additional zeros and/or poles will change the
original bode plot. This can be clearly observed by using the
command ‘sisotool(G)’ and adding zeros/poles from the
menu. Resulted in the changes in GM and M, hence the
stability
 Relation between Closed-
Loop Time and Closed-Loop
Frequency Responses
 Relation between Closed-Loop Time and
Closed-Loop Frequency Responses

• There is a relationship between closed-loop time and

closed-loop frequency responses.
• Consider the second order feedback control system:

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Relation between Closed-Loop Time and
Closed-Loop Frequency Responses

C ( s) n 2
T (s)   2
R( s ) s  2n s   n 2
n 2 n 2
T ( j )  
( j )  j 2n   n ( n   2 )  j 2n
2 2 2

n 2
M  T ( j ) 
( n   2 ) 2  4 2 n  2
2 2

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 Relation between Closed-Loop Time and
Closed-Loop Frequency Responses M p

• Plot of magnitude-log
plot:
• The maximum value of
Mp,
1
MP 
2 1   2

• The frequency,
 P  n 1  2 2

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Relation between Closed-Loop Time and
Closed-Loop Frequency Responses
• Therefore, the maximum magnitude is directly related to
damping ratio and overshoot.

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Relation between Closed-Loop Time and
Closed-Loop Frequency Responses
• Bandwidth, BW is the frequency at which the magnitude
response curve is -3 dB.
• Relationships between the bandwidth and the time
response specifications:
 BW   n (1  2 2 )  4 4  4 2
4
 BW  (1  2 2 )  4 4  4 2
Ts

 BW  (1  2 2 )  4 4  4 2
Tp 1   2
 Relation between Closed-Loop Time
and Closed-Loop Frequency Responses
• Bandwidth, BW and time response specifications:
• Example: Find the
closed-loop
bandwidth
required for 20%
overshoot and 2
seconds settling
time.
• Answer: BW = 5.
79 rad/s

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 Example 5
• Given a unity feedback system with G(s) = K/[s(s+1)(s+2)].
Using Matlab, find the system gain and phase margins,
maximum amplitude and bandwidth for K = 1 and 10.
ANSWER
Gain and phase margins are obtained from the open-loop
Bode plot. [prove using MATLAB]
Maximum amplitude and bandwidth can only be obtained
with the closed-loop Bode plot. [prove using MATLAB]
K=1 K = 10
Gain margin 29.5 dB 9.5 dB
Phase margin 780 250 Hard to find manually
Maximum amplitude 0 dB 7.3 dB
Bandwidth 0.26 rad/s 2 rad/s
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 Relation between Closed- and Open-
Loop Frequency Responses
• We do not have an easy way of finding the closed-loop
frequency response from which we could determine Mp and
thus the transient response.
• We can sketch the open-loop frequency response (Bode plot)
but not the closed-loop frequency response.
• One of the techniques to obtain the closed-loop frequency
response from open-loop frequency response is Nichols
Chart.

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 Nichols Chart
Open-loop
magnitude (dB) Closed-loop
magnitude

Open-loop phase angle (degree) Closed-loop phase angle (degree)

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 Nichols Chart: Example

• Given a unity feedback system with G(s) =

K/[s(s+1)(s+2)]. Obtain the closed-loop frequency
response using Nichols Chart. Use K = 1.
• [plot using MATLAB, command ‘nichols(G)’]
• SOLUTION
1 1
G (s)  ; G ( j ) 
s ( s  1)(s  2) j ( j  1)( j  2)
1
G ( j ) dB  20 log
  2 1  2  4
 
G ( j )  0 0  90 0  tan 1   tan 1 
 2

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 Nichols Chart: Solution
 (rad/s) Magnitude (dB) Phase (degree)
0.1 13.92 -98.6
0.3 4 -115
0.5 -1.2 -131
0.7 -5.16 -144
1 -10 -161.6
1.5 -16.6 -183

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Nichols Chart: Solution Closed-loop:
Mag: 1.02 (0 dB)
Phase: -130
Closed-loop:
Mag: 0.45 (-7 dB)
Phase: -1550

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 Nichols Chart: Stability, Gain
and Phase Margins
• Stability, gain margin and phase margins can also be
determined using the Nichols Chart.
• For the system with K = 1, GM = 15.5 dB, M = 550.

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 Relation between CL transient
and OL frequency responses
• The maximum magnitude, Mp and the frequency p can be
obtained from the open-loop frequency response and
Nichols chart.
• Mp is found by maximum magnitude curve crossed by the
open-loop response.
• p is the frequency at the crossing.
• Bandwidth, BW is the frequency when the closed-loop
frequency achieve -3 dB (0.7)

34
Relation between CL transient
and OL frequency responses

Mp = 1.1
=
0.4rad/s

Bandwidth = 0.8 rad/s

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

36
 Steady-state Error from
Frequency Response
• For a unity feedback system with open-loop transfer function
G(s), the steady-state errors are:

- for system type 0: where

- for system type 1: where

- for system type 2:

where

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 Steady-state Error from
Frequency Response
• Steady-state error can also be obtained from
the open-loop Bode plot.

System type 0 System type 1

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Steady-state Error from
Frequency Response

System type 2

40
 Example
• Find the steady-state error for the following Bode plot:
20 log Kp = 25
Kp = 17.78

Kv = 0.55

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Example

Ka = 9

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 Conclusion
We have covered
 The graphical analysis using Bode Plot and Nichols
Chart
 The stability analysis by looking at Gain and Phase
Margins
 Some relationships between open loop and closed loop
systems’ information

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