Chapter four

Frequency domain analysis of

control system
 Frequency response of feedback
control system
• In this chapter we consider the steady-state response of a
system to a sinusoidal input test signal.
• We will see that the response of a linear constant coefficient
system to a sinusoidal input signal is an output sinusoidal
signal at the same frequency as the input.
• However, the magnitude and phase of the output signal differ
from those of the input sinusoidal signal, and the amount of
difference is a function of the input frequency.
• Thus we will be investigating the steady-state response of the
system to a sinusoidal input as the frequency varies
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• The frequency response of a system is
defined as the steady-state response of the
system to a sinusoidal input signal.
• The sinusoid is a unique input signal, and the
resulting output signal for a linear system, as
well as signals throughout the system, is
sinusoidal in the steady-state; it differs form
the input waveform only in amplitude and
phase.
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Example
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where w0 is natural undamped frequency

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 Example 1

solution
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• Then
 Exercise
Find the value of K and a for the following
system ? So that Mr=1.25 and wr=12.65
rad/sec will be satisfied. Also determine
the settling time and band width.
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 Logarithmic (Bode) Plots

• The Bode plots consist of

(1) A plot of the logarithmic magnitude (gain)
function, and
(2) A separate linear plot of the phase shift, both
plotted on a logarithmic frequency scale. In this
section we develop the plots for first and second
order terms in the transfer function.
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• In the following sections Bode plots are
developed for the first and second order
numerator and denominator terms:
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from above equations

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1. Constant term
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• The corner frequency wc can be obtained from
he intersection of low frequency and high
frequency asymptotes as follows.
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• When we see separately for p=+ve values
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• When we see separately for p=-ve values
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Summary To draw a bode plot
To draw a bode plot
 STABILITY ANALYSIS
• when the magnitude and the phase angle
of a transfer function are 0 dB and -180
degree , respectively, then the system is
marginally stable.
• If at the frequency, for which phase
becomes equal to-180 degree , gain is
below 0
dB, then the system is stable (unstable
otherwise).
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• Further, if at the frequency, for which
gain becomes equal to zero, phase is
above-180 degree , then the system is stable
(unstable otherwise).

• Thus, relative stability of a minimum

phase system can be determined
according to these observations.
 GAIN and PHASE MARGINS
• Gain Margin :Additional gain to make
the system marginally stable at a
frequency for which the phase of the
open loop transfer function passes
through-180 degree .

• Phase Margin :Additional phase angle

to make the system marginally stable at
a frequency for which the magnitude of
the open loop transfer function is 0 dB.
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at the gain gross over frequency

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Step 3
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