4 Time and Frequency

Domain Analysis
Syllabus

Time Domain Analysis-Unit step Response analysis via Transient response specifications (Percentage overshoot Rise
Frequency Domain Paraneters
- Natural
time, Delay time, Steady state error etcJFrequency Domain Analysis
factor, natural
Frequency, Damping Frequency and Damping Factor, Mapping of Pole Zero piot th damping
frequency and unit step response; Introduction to Bode Plot. Gain Margin, Phase Margin

Amplitude and the time duration must within

4.1 Underdamped Second Order System prescribed limits therefore transient response of a
control system is important.
University Question Linear control system always analyzed using the
Q. Define the following tems characterization of the transient is often done by use
) Rise time, (i) %Overshoot. of the unit step function u, (t) as the input
SPPU-May 16
f are using unit step function as input to
we
response step
a. Using Suitable diagram explain transient control ystem then it called as unit
specificaion for second order system. response.
SPPU- May 17, May 18 response
Unit step response analyzed via transient
Q. Explain the terms: i) Delay Time () Steady state
using following specifications.
errors (i) Rise time SPPU-Dec. 19
Unit step
Translent Response Specifications
Maxirmum
input overshoot

0.95
0.90 AA 1. Rise hme (Ta

Peak tme (Tp)

(
Pertentage overshoot OS)|
0.50
Delay 4. Settling time (Ts)
bIme

5. Delay tme (Tp)

0.10
t7 6. Steady state errorss
Rise Time
Lume
Setting time, t
Fig. C4.1:Transient Response Specifications
Fig. 4.1.1
1) Rise time (T,)
Transient Response
Unit step Response analysis via
The time required for the signal go from 0.1 of the
Specifications
final value to 0.9 of the final value.
If the time become large then transient
portion of the
2) Peak time (T,)
time response become zero.
The time required to reach maximum peak
 4-2 Time and Frequcncy
Mechatronics (STPU) Domaln Analvis
Ex. .1.1 :Using tho valuo of tho naturnl
3) Percentage overshoot (% OS) troquon)
1.414 and the damplng factor 0.177 ostimalo
The percentage amount that the signal overshoot
values tor percontage overshoot nnd 2 % Bottino tm
the steady state.
SPPU: May 15.
Consider unit step response is y{t). Maximum valuce 5Marks
of unit step response ym Steady state value of unit Soln.
step response is y. Maximum overshoot given by 1.414
unit step ponse is ym s 0.177
So in pervrentase form maximum overshootis
Setting time T, Ea
% overshoot
= Vershoot
100% -n 1009%

Majority üme maximum overshoot occur at first 0.177 x 1.414

overshoot and in some cases it occurs at later T 15.98 sec
overshoo
A negative undershoot may occur when transfer
function has an odd number of zeros in right half
% overshoot = e x <100
-(0.177x m/V1-0.177)
S-plane 100
4) Settling time (T) = 56.83 %

The time required for the transients damped Ex. 4.1.2 The transfer function
oscillation to reach and stay within t 2% of the
100
G(S)S+15s+100
steady state value.
5) Delay Time (T) Find T% OS and T,
The delay time Te is the time needed for the Soln.
response to reach half of its final value the very first
GS) 100
time. s2 +15 s+ 100
6) Steady state erroors Compare with
It is a difference between output obtained
and set G() 2+as+b
pint of system. Steady state error occurs in
control
system due to the discrepancy between the
output yb
and the reference input at steady state
and
Formulae 2yb
n= g 0.74
T V1-
10 and

T,
% overshoot = e-/1-) x 100 1-F
T,= 0.475 second
T,
Eu -r/V1--)
Ta = 1+0.7 % x 100
% OS 2.838
T,
T,
Where, B cos'(E) and =
0, V1-
E
=
T 0.533 second

eonledse
Trch
 Mechatronlcs (SPPU)
3 Timeand Fregvency Domain Aaalss

EY 4.1.3: avon s-plano groph find , o. 7, %06 and T, In gven example ferdbak ine not contain aoything
50 We are going to consider 1.

Fig P. 4.14[b)

CI
R(S)
1[1/s (s+1))
CS1
R(s)
1)
Fig.P.4.1.3 If we compare Equation (1) with Equation (2)

-(2)
Soln.: R)F5
According to formulae
Then
cos0
cos-0394 2b
1 rad/sec
a, = V7?33 = 7.616
0.5
T ay a,V1-5-v1-03
1- 0= 0.866
s saltes 0.449 second B cos ()=cos '[05)
% OS e
-(/1-5 x 100 26 %
= 1.05 rad
S- Pane
Settling time T, 1.333 second
Pa
Ex. 4.1.4: Detemine the value of Ta T, T, andT, when the
control system shown In Fig. P. 4.1.4 is subject to a unit
step input.
C(s)

Fig. P. 4.1L4()

Fig. P. 4.1.4
Risetime T=
T-1.05 2.415
0.866
Soln.
According to the feedback system formula Peaktime T,= D866 3.635
C GS 0 1+0.7 (0.5)
R(s)1+G(s) H(s) Delay time T
RI C()
Over shoot 0.S. % = e
-Rx0S 1-a5
e
1.81 = 0.163
Fig. P. 4.1.4(a) e
Tuch aledy
tiatia
 Time and Frequeney Domaln Analysls
Mechatronics (SPFU)
Damping Factor
163 a, + 0
+2
Settling time T7,
sT 8se
2
Ex. 4.1.5: Consider a second order unity teedtback system 2 0.5
with damng tactor-©.6 and naturai frequency 5 rad'sec 0, 1.4142 rad/scc
Calculae the rise time, maimum overshoot and settlng
time when a unit-step input is anplied to the system.
2.8284
SPPU-May 16.6 Marks Position of poles-zeros on s-plane

Son:
0.6
c Srad/sec Pole 1
0.8 255 0.8+ 25X U.O = 0,46 sec
Rise time = Zero 1

-1 +1234 5
Maximum % overshoot = 100 /V1-F) Pole 2
2
=g
9.5% Settling time (2960)
06x133 sec
3

Ex 4.1.6:/) RIS-05 22
From the transter tunction of a second order system, Fig. P. 4.1.6
preseted by equation (1) determine.
Given system is stable because poles are available at
0 Location ot Pole
stable region of s-plane.
Location of Zero
For the mechanical system shown in
Ex. 4.1.7
i)Damping Factor Fig. P. 4.1.7(a) Assume M(mass) = 1kg.K(stiffness) = 2N/m
Also, for the transter function in equation (1). comment on and b (damping) = 0.5Ns/m. The displacement x of the
Absolute stability of the system. mass m is measured from equilibrium position. In this
step response of the system. system the extemal force f() is input and x is the output.
Unit
SPPU-Dec. 16, 10 Marks Detemine
Soln. (0 Transfer function
C(s) 0.55+2 (i) ldentily location of poles abd zeros.
R(s)s+0.55+2
SPPU: May 18. 8 Marks
Poles X

s0.55+2 0
F
m

S1, S2
-biVb-4a wwm
a

S1S2
- 0.5+0.52-4x1x2 Fig.P.4.17(a)
2x1
Soln.:
S1.52 0.25t 1.39
Mass, m = 1kg
Zeros
Stiffness of spring. K = 2 N/m
0.55+2 = 0
Damping. (d) = 0.5 N/s m
S -4

catd
 Mechatronlcs (SPPU) 4-5 Thmeand Frngseney Domain Analysis

eERG F
mdy 1066 sec.
E 0755
/¥1-E) 100
F F105 %M,= 2.33

To convert into transfer functions take Laplace of 6 taT

both sldes, 9 0.7227 rad.

FlS) = s y(s)+0.5sy (s)+2y() T,
FS= s24+0.5s+2
ylS) Find n

vi-8 =sv1-075
F(S) s2+0.5s+2
o 3.3075 rad/sec
Find the zeros and poles in given system poles are
-0722
roots of denominators
T, 3.307
s+0.5s+2 0 T, 0.731 sec
- 0.25
ilg l S Er. 4.1.9 : Determine the vaua of Delay ne (T. Rse
dusdom ud S2 - 0.25
Time (T). Peak tme (T). seting me () and Peax
So poles are - 0.25 and -0.25
overshoot (M) when cotrol system shown in Fig. P.4.1.9{a)
No "zeros" available in given transfer function plot SPPU: 4ay 18. 8 1Marks
is subjected to unit step input
on S-plane.
Cs)

Pole P,and Pa
3
Fig. P. 419(a)

Stable Soln.:
region
According to the feedback system formula
CrS Gs
Flg. P. 4.1.7(b) R(s) 1+G(s) Hs)

System is stable because poles available at stable

region of S-plane.

Ex. 4.1.8: Determine the approximate Rise Time, 2%

Fig. P. 4.1.9(b)
Seting Time and % Overshoot of a second-order system
drtven using a unit step input. Assume the system to have a In given example feedback line not contain anything
damping factor = 0.75 ad natural frequency= 5 rad/sec. so we are going to consider 1.
SPPU- Dec. 16, 6 Marks
RI)
Soln.: Glven

Srad/sec
5 0.75
Fig. P. 419(c)

Tedsalegi
t
Y
 46
Time and Freyuency Domain Analysts
FMechatronics (SPPU)
1/s(s11_ 4.2 Frequency Domain Response
CS
R{s)1 [1/{s (s « 1))
C In frequeney response analysis of control system, the
(1)
1
. steady statr response of the system to sinusoldal
R(s)
lf we compare Equation (1) with Equation (2) input is of interest.
Cis (2) The frequency rsponse analy'sis are cartied out tn
asb the frequency domain, rather than the time domaln.
Then Time domain properties ol a control system can be
predicted from it's frequency domaln characterlstics.
2b In the frequency response analysis, the system is
1rad/sec excited by a sinusoidal input of fixed amplitude and
varying frequency.
0.5
Let's consider a sinusoidal input of amplitude R and
avi--1-05 frequency w in time domain.
0 0.866 r(t)= Rsin (ot)
B cos'()= cos' (0.5)
The steady state output of the system will be again a
1.05 rad sinusoidal signal of the same frequency but probably
with a different amplitude and phase.

S-Piene C() = Csin (ut + )

Gan
540"

Output

Input
Phase
dference
Fig. P. 4.19(d)
Fig. 4.2.1

0.866 =
Risetime T, = B_-1.05
W
2.415
Lapalce variable 's' can be replace by jo to convert
transfer function into frequency domain equation.
Peak time T 0.866 3.635
S j

Delay time T
07_1+0.70.5)
1
let C(s) = T(s) R (s)
can be written as,
1.35 sec Cju) TOu) (ju) in frequency domain
R
an
Over shoot 0.S. % = e Same equation written in the form of magnitude
phase form for that.
0S /N1-05
e R jo) IR (ju) |2 R (ju)
181
e = 0.163 CG) =
C ju)|2C (Juo)

16.3% T (j) = IT j) |£T (j»

8 sec he input and output relation in frequency dom
Settling timeT, Ew, 0.5x1 consists of the magnitude and phase expression

Trdnel
Mechatronles (SPPU) 4-7 Timeand Frequescy Domatn Aratysis
C (Jo) T (J») R (ju) Inbode plot maysitude is shown in deribels vnit. In
phase bode plot phase shewn in depre unit.
Cto) ITJo)|| RU»)| The most useful way to dispiay thss function is wa
CJu) = LT (j») + 2 R (jo)
two plots, the first shawing the aznatudr of
For the Input
and output described by transler function and the second showing its ptuase.
r() R sin (ut) trarster
Ex. 4.3.1 : V,
3 sin (301) 3 rd e
c() = (Csin (ut + 0))
lunction evauates Io
The amplltude and the phase
of the output can now 0.1
Soln.
be written as
1 1.01-30 1-3
C RITGu)| 1j0.1-
- 0316 2-716°
T(jo) 0.1-0.3 i
RIS
and the
G) The output is just the product of the input
by a
transfer function. Thus the magatude wil thange
factor of 0.316 this is the gain of the
sysem and the
phase of the
phase will change by - 71.6° this is tbe
Fig. 4.2.2
system.

CS Gs V. = VH
T(S) R( 1+G()H (S)
(3 20) (0316 2-71.6)
can be represent into
Same feedback system 0.954-7116
frequency domain form,
G(jo) = 0.95 sin (30t-71.6)
Ciw)
T0o) R Jw) 1+G (jo) H Go)
in terms of it's
The frequency response written
magnitude and phase like
Tlw) 1T(jo)|ZT(j»)
If we separate real and imaginary
part then

Tj) = Real part [T (j«]

[T Guo)
+j (imaginary part) 0.T 02
Fig. P. 4.3.1(a)
4.3 Bode Plot
Example of bode plot diagram
gain and
A bode plot is useful tool that shows the
for different 10
phase response of a give control system
frequencies.
transform of a
-Bode plots are used to show fourier
given control system.
plotted on logarithmic s01
On bode plots frequency
frequency axis.
on x-axis as 0.1, 1, 10,
Logarithmic frequency taken
100, 1000 ... value
represents a power of 10 times
0
the previous value
you move Frequency (radsec)
decade decreases as
The length of a (rad/sec)
towards the right on the graph. Fig. P. 4.3.1(b): Frequency
Tc elade
 4-8 Time and Frequency
Mechatronics (SPPU) Domaln Analyst
S
First step when drawing a bode plot is reconstruct a given transfer function
in 1
+form.
Then it is very simple to use rules of bode plot.

Ex. 4.3.2: Consider a transter function

H (s)= 100
()- 100S+10) (S +1) 100)
Soln.
1 1 2
H (s)= 100- = 0.1

101 100(1
00 10)1 00) 1)

Put S jo
Equation (1) made up of four terms ie.constant 0.1
A zero s - 1

Two poles s = - 10 and - 100

Equation (1) we can rewrite

Hj) =
0.17
111 100

= [10.112 (0.1)]
11-jo/10141011+jo/100 |41 100
We can write H (jo) as a single phasor

H (jo) =
|10.17
100 |
9)-41--10)
|H (jo) 14H (ju)

H (Go)| =
\0
19 1

l1. jo
ZH jo) = 2(0.1)2 (1+jo/1) -2(1+ jo/10)
-L(1+jo/10o)
4.3.1 A Magnitude Plot
Magnitude we are always taking in the decibel
format. Formula to
convert value into decibel formatis
X 20log1 (a)
We can represent magnitude ofH (s) as
given in Equation (2) in
decibel format.
1
H(s)|= 10.1|
 Mechatronlcs (SPPU) 4-9 Time and Frequency Domain Analysls

1. Rewrite the transfer function in proper form

=20 logso 10.1 Example 1

20logol 1 ()|
H)= S+20
40+3s+60
=20log1010.11+ 20logio
40 20
+20 log10 |+20l0g10
)
20 log10 ( I0.1|)+20 log10 (| 1+ jo/11)
= [13.33] 1
-20 log10(1 1+jo/10 1)-20 logo (| 1+ju/100 ) 66201
4.3.2 A Phase Plot 2. Separate in Parts
function as
The parts in which we can divide transfer
H () = (0.1)+2(1jo/1)-2(1+jo/10)
follows:
-2(1+ jo/100) (3)
A constant
projections from
Phase plot easy to draw if we take Poles at the origin
magnitude plot.
made up - Zeros at the origin
Equation (3) shows the transfer function is
Real Poles
of four terms.
- Real Zeros
Basic steps to draw a bode plot
Complex conjugate poles
Basic steps to draw a bode plot Complex conjugate zeros

Example 2
1. Rewrite
form
Rewrite the transfer function in proper
2. Separate in parts
H() 303+3s+50
Draw bode plot
3.
4. Overall bode plot
10
30 50 S 01s+1
50 501
Fig. C4.2: Basic steps to draw a bode plot

1. Rewrite
6 +1
Rewrite the transfer function in proper form.

2. Separate in parts then separation of transfer function in parts.

constituent
Separate the transfer function into a Constant=6
part Zeros- 10

3. Draw bode plot Complex conjugate poles Roots of s2+3s+ 50

Draw bode plot for each part.
s 1.5 tj6.9
Example 3
4. Overall bode plot
single bode Rewrite the transfer function in proper form
Combine a separately drawn bode plot in
plot.
Tech Kaeatedgi
 Mechatronics (SPPU) 4-10 Time and Frequency Domaln Analysts
10
Bode diapram for transter functon:

H) 30+3) 10
(6 50)* (.1)%1 20
195
Constant2
Zeros s=-10
Poless =-3 ands= - 50
Step 3: Draw bode plot using following rules
Rules for Bode plot Frequency (ad'sec) 0

Term Magnitude Phase Fig. 4.3.1

Constant K 20 loge (K k>0:0
k<0;t180° Condition 2

Pole at Origin -20 dB/decade 90 Pole at origin )

passing through
Integrator Magnitude: - 20 dB/dec, through 0 dB at w =1
odB at w=1
Zero at origin+20 d5/decae 90 Phase 90° for all
Differentiators| passing through 0
S
dB at w=1 Bode diagram for transfer function: (1/s)
201
Real Pole Steps are 1) Draw low
1) Draw iow frequency
frequency asymptote at
10
asymptote at 0
dB 2) Draw high
2) Draw high frequency
asymptote at -90
frequenc
asymptote at
-20 dB/decade
90
3) Connect with a
-100
10
LLIIL 10
3) Connect lines at straight line Frequency (rad/sec)
from 0.1 Wy to
Fig. 4.3.2
10
Real zero 1) Draw low 1) Draw low Condition 3
frequency frequency
Wo asymptote at 0 asymptote at
Zero at origin (s)
dB 0 Magnitude: -20 dB/dec, through 0 dB at w =1|
2) Draw high 2) Draw high
Phase 90° for all o
frequency frequency Bode diagram for transfer function:s
asymptote at asymptote at
+20dB/decade 90°
3) Connect line at 3) Connect with a
straight line -10
from 0.1 oo to
10 0o

Bode plot rule explained with plot

Condition
10 10 10
Constant k Frequency (rad/sec)
Magnitude 20 log,(k) Phase k> 0;0° k<0;t180
Fig. 4.3.3

Kaswleda
Tech
 Mechatronlcs (SPPU) 4-11 Tine and Freqaency Domain Analysls

Conditlon 4 Step 5:0verall Bode plot

Procedure
Real polesf +1 1. First drawall obtained plots on single bode plot
Magnltude: low frequency-asymptote at dB.
O

2. Then try to combine each point of separately drawn

Iligh frequency asymptoteat
-20dB/dec
plots on single bode plot
Connect asynptotlc line at
3. Joln all the points and obtain final bode plot.
Frequency: low frequency asymptote at
0°
Bode Plot Examples
Iligh frequency asymptote at -90°
a, to 10 o Ex. 4.3.3 Draw the Bode Diagram or tte transfaer function
Connect with stralght line from 0.1
Bode diagram tor transfer function: (1/s+1) H(s) 100
530
-10
Soln.

-20 Step 1:Rewrite the transfer hunction

100
HH()
30 33
301 1
Step 2: Separate the transfer function
The transfer function has 2 components:

10 10 10 1 A constant of 3.3
Frequency (rad/'sec)
ats = - 30
2. A pole
Fig. 4.3.4 Step 3:Draw the Bode diagram for each part
Magnitude
Condition 5
k 3.3
Real zero +1 According to formula
Magnitude = 20 logo(k)
Magnitude: low frequency-asymptote at 0 dB.
High frequency asymptote at + 20 dB/dec 20 log3.3 10.4 dB
Connect asymptotic line at Plot Magnitude
line at 0°
Phase: low frequency asymptote at 0° 104 dB, Phase plot for constant straight
High frequency asymptote at+ 90° A pole ats =-30

Connect with line from 0.1 to 10 Magnitude plot

Bode diagram for transter function: (s+1)
It is 0 dB up to the break frequency then drops off
with a slop--20 d8/dec

30
dB

-20 B/dec

10
10 10
Frequency (ad'sec)
30
Fig.P. 4.3.3(a)
Fig. 4.3.5
 Mechatronics 4-12 Time and Frequeney Domaln Analysis
(SPPU)
function.
Phase plot Step 2: Separate thhe transfer
The transfer function has 2 components:
The phase is 0 degree up to 0.1 o the break
frequency (3 rad/sec) the drop linearly down to - 90 1. A constant of 0.01
degrees at 10 times the break frequency 2. A pole at s = -50
(300 rad/sec). Step 3 Draw the Bode diagram for
cach part.
Forthe constant, K: 20 logio (0.01) -40
Simple straight line at -40

-90
-135 For pole straight line upto break frequency 50
10 0.10 10 10 100 10 For the pole, with critical frequency, pi:
3 rad'sec ie. 30 rad'sec

Fig. P. 4.3.3(b)
Step 4: Draw the final Bode diagram by combining
Step 4: Draw the final Bode diagram by combining
the results from step 3.
the results from Step 3.
Magnitude plct
20 log,MF
Exacd bode plot 0 dB
Zerd vaue
(tor reference onty) 40 dB
Constant 3.3 (10 dB)
---Real pole at -30
50

40 Fig.P.4.3.4(a)
10 10 0
10
Phase pla Ex. 4.3.5 Draw the Magnitude Bode Diagram for the
45
transfer function:
10's
************
5x
*******

TF + 505s +2500

Soln.:
-90 Step 1: Rewrite the transfer function.
4x 10
-135
10 10 10 5x 10 s 5x 500
10
Frequency o, rad-sec-1
TF
6+5]6+500)(15001
Fig. P. 4.3.3(c)
20 s
Ex. 4.3.4 Draw the Magnitude Bode Diagram for the
transferfunction
Step 2:Separate the transfer function.
TF 25+100 1. A constant of 20
Soln. 2. Zero at origin s
Step 1:Rewrite the transfer function. 3. A pole ats =5
(1 4. A pole at s = 500
100
TF Step 3: Draw the Bode diagram for each part
501 K = 20
 (SPPU) 4-13 Time and Frequency Domain Analysis
Mechatronics
Definition: Gain margin is defined as the
1ol20) = 26.02
20 log amount of change in open-loop gein needed t
make a closed-toop system unstable. The gai
gain
margin is the differenoe between 0 dB and the
zero at origin
the phase cross-over frequency that gives a phase
1
at froquency of
of-180. Ifthe gain {GH/ed| et the
4GHja=-180 is greater than 0 dB meaning a
positive gain margin, then the closed-lop system is
Poles:at p1 5

stable
system, find the
P2 500 - To measure the gain margin of a
response crosses
point that the open loop phase
180 degree.
final Bode diagram by combining
the
Step 4:Draw the this point, find the opea
At the same frequency as
results from step 3.
loop amplitude response
1. Draw the line of
each individual term on the graph. the open loop
The distance below 0dB that
frequency is the
amplitude response reads at this
gain margin
80 dB

4.4.2 Phase Margin

|20 lo910
40 dB
University Question
the signiicance of the Phase
dB Q. Define and discuss
of a system
margin with respect to ciosed loop stabity
SPPU: Dec. 18
40 dB

Definition : Phase margin is defined as the

phase needed to
-80
amount of change in open-loop
dB

unstable. The phase

10 10 10
make a elosed-loop system
between -180
Fig. P. 4.3.5(a) margin is the difference in phase
cross-orer frequency that|
and the phase at the gain
<GHja) at the
4.4 Gain and Phase Margins gives a gain of 0 dB. If the phase -180
to fregueney of | GHja)|=1 is greater than
- Gain and phase margins are common terms closed-loop
describe how stable a system is. meaning a positive phase margin, the
system is stable.
Gain and phase margins are used more because they
are simple than because they are ideal measurement To measure the phase margin of a system find the
0dB.
of stability point that the open loop amplitude crosses
open
Gain and phase margins are measured from the find the open
At the same frequency as this point,
system.
loop frequency response of the
loop phase responses.
can not be acquired directly
Gain and phase margins
response. The distance above 180 degrees that the open loop
from a closed loop frequency
-

phase response read at this frequency is the phase

4.4.1 Gain Margin margin.

In the following example gain margin is 32.S

dB.
University Question
of the Gain margin
Q. Define and discuss the significance
of system
The phase margin is 33 degrees.
with respect to closed loop stability a
SPPU: Dec. 18 (180 degrees) 147 degrees 33 degrees
Tech Tsoledg
anicatian
 Time and Frequency Domaln Analysis
Mechatronics (SPPU) 4-14

20 ,K
10
GM
(a)
H1
30
265 Kz

SO 135 arg G ) H (o)

-147 degrees
12H
-90 PM
-110 -270
Open oop amplaude -150
Open loop phase
-s15 (b)
360
Frequeny A
(a) Gain margin representation
Fig. 4.4.1: Gain, phase margin of an idealized motor (b) Phase margin representation
Fig. P. 4.4.1
4.4.3 Relative Stability Analysis
Slope of the line from starting point to the first
These relative stability parameters, which are used cormer frequency = - 20 dB/decade and the slope of the
as frequency response specifications for design can line from the first corner frequency to the second corner
be easily determine from bode plot.
frequency.
The frequency at which the magnitude curve crosses - 20 dB/decade +(-20 -
= dB/decade) = 40 dB/decade
the 0dB line is known as gain crossovers frequency, After the second corner frequency, the slope will be
and phase crossover frequency is the point where - 60 dB/decade. The magnitude and phase plots are
the phase curve crosses the 180° line.
obtained as shown in Fig. P. 4.4.1(a) and (b).
When the gain margin is positive, the system is a found
The system is unstable as both GM and PM are
stable system and the system is unstable for negative
to be negative
gain margin similarly the system is stable if the Bode diagram
phase margin is positive and the system is unstable GM 17.1 dB (at 6.32 rad/s) PM = 40.6° (at 14.7 rad/'s)
100
for negative phase margins.
For the stable system the gain margin and phase
margin both are positive. *************. *******************

Ex. 4.4.1: Detemine the gain

crossover frequency, phase 50

crossover frequency, gain margin, phase margin and -90 uu u

function, using a
stability of the system for the given transfer -9
bode plot
-130
Soln. ************
100 -180E. *******************************

Gs)= s(1+0.25s) (1+0.1s)

-225
Since this is a type one system, the initial slope of the -270
on the o- 10
line will be - 20 dB/decade. Mark the point 10 10 10

slope - 20 Frequency (rad/s)

axis at 100 rad/second and draw a line with
100, extend it the line
dB/ decade from the point at Fig. P. 4.4.1(c) and (d): Magnitude and
phase
Corner
cutting the y-axis. This is the starting point.
=
100
100
frequencies are: plots for the G$) s{1+0.25s) (1+ 0.15
= 1/0.25 4 rad/second
O
o 1/0.1 = 10 rad/ second Kes
Teh
 (SPPU) 4-15 Time and Frequency Domain Analysis
Mechatronics

Frequency Domain Parameters -1Vm

4.5 The homogeneous solution

Frequency Domaln Parameters cos

x)= A
ermined from the
1. Natural frequency Where A and B are constants

Damping factors
Initial conditions x10)
and
r)
2. undamped oscillatory motion
(4)
The motion represents
3. Damping ratio
with radian frequency.
Damped natural lrequency
4.
Fig. C4.3 Frequency
Domain Parameters V
domain parameters in Natural Frequency
- To understand frequency 4.5.1
consider a system.
second order system University Question
Freguancy SPPU: Dec. 19
Explain the term Natural
a.
m because it is the
called natural frequency
is undamped system would
frequency at which the
naturally oscillate.
allow to
mass released then it
Ifspring stretched and
Fig. 4.5.1 external force.
move mass without
the system b 0 the
Equation for system is we provide damping to
If
resulting transient
homogeneous solution is
F {A+BtJe"a*
m ddt +bd X
0)=
exponentialy decaying motions.
m mass Here system have damped because
b dampingcoefficient behavior of system is critically
The motions.
damped oscillatory
k = spring constant it have verge of
displacement of mass Damping Factors
x = ond 4.5.2
a second
characterize the unforced response of
To University Question
differential equation.
order system solve Explain the tem Damping
Factors.
F 0
a. SPPU: Dec. 19
So

ms2+bs+k 0 damping is defined as the

roots fors Definition Critical overdamping and
Quadratic equation has two threshold between

S 2m Vam underdamping, b
damping, the oscillator returns
to
In the case of critical possible, without
position as quickly as
S2 2m the equilibrium
most
roots oscillating, and passes it once at
system then b= 0 the
Ifno damping inthe 2Vkm = Zm
b
s1m TehKaullgi
tltatiens
 Time and Frequency Domaln Analysts
Mechatronics (SPPU) 4-16

4.5.4 Damped Natural Frequency

4.5.3 Damping Ratio ()
University Question
a. Explain the tem Damped Natural Frequency
SPPU:Dcc. 19
A critically damped system has a damping ratio of 1
Natural frequency a, and Damping ratio (E) gives 4V1-
root of equation. is called danmped natural frequency

S -a,+a,V-1
S2-Ea,- a, VE-1 Review Questions
If b 0 1 What is frequency domain response ?
and < 1
2. Explain bode plots with example
then transient homogeneous solution is 3. What is magnitude plot and phase plot in bode plot ?
cos (u,Vi-St)+Bsin
xte[a (a,1-)] What are the rules used in bode plot ?
5 Define and discuss the significance of the Phase and
Here damped oscillation consisting of sinusoidal
Gain margin.
motion with exponentially decaying amplitude.
5. Explain the following tems Natural Frequency,
Damped Natural Frequency, Damping Ratio, Damping
Factors
O00