Zagazig University

Faculty of engineering
Electrical Power and Machine Dept.

Power System Control (1)

Lecture (7)
Dr\ [Link]
2024-2025

Redistribution is PROHIBITED
フェケリー 3年目（2003年条例） 1
 フェケリー 3年目（2003年条例）

Frequency Response Method

• The frequency response means the steady-state
response of a system to a sinusoidal input.
• we vary the frequency of the input signal over a
certain range and study the resulting response.
• The frequency response and root-locus approaches
complement each other.
• The advantage of the frequency-response approach is
that we can use the data obtained from measurements
on the physical system without mathematical model.
• The frequency-response criterion enables us to
investigate both the absolute and relative stabilities of
linear closed-loop systems.

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Revision
Frequency Response Method
Linear Time Invariant System
(LTI)
• It is a system that produces
an output signal from any
input signal subject to the
constraints of linearity and
time-invariance.
• LTI system can only affect
the amplitude and phase
shaft of the system. The frequency response of a system is defined as the steady-
state response of the system to a sinusoidal input signal. The
• LTI system can NOT affect sinusoid is a unique input signal, and the resulting output
the fundamental frequency signal for a linear system is sinusoidal in the steady state; it
differs from the input only in amplitude and phase angle.
of the system.

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Frequency Response Method

Bode Diagrams or Logarithmic Plots
Bode diagram consists of two graphs:
1. One is a plot of the logarithm of the magnitude of a
sinusoidal transfer function; usually expressed in
decibels. It describes the amplification factor of each
frequency component of the signal.
2. The other is a plot of the phase angle; expressing the
phase shift of each frequency component of the signal.
3. Both are plotted against the frequency on a logarithmic
scale.

A decade is a frequency band from 𝜔1 to 10𝜔1 , where again 𝜔1

is any frequency.
Semi-log plot
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Frequency Response Method

Bode Diagrams or Logarithmic Plots
The main advantages of plotting in decibels is to
1. Transform the individual factors in the
numerator to add to the total magnitude.
2. Transform the individual factors in the
denominator to subtract from the total
magnitude.
𝑎𝑏
log = log 𝑎𝑏 − log 𝑐𝑑
𝑐𝑑
𝑎𝑏
log = log 𝑎 + log 𝑏 − log 𝑐 − log(𝑑)
𝑐𝑑
3. Although it is not possible to plot the curves right
down to zero frequency because of the logarithmic
frequency (𝑙𝑜𝑔(0) =– ∞), this does not create a Semi-log plot
serious problem. 5
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Frequency Response Method

Bode Diagrams or Logarithmic
Plots
• This is done by introducing
different frequency of the
system input and measure
the output.
• To capture all the system
frequency dynamics, a range
of frequencies will be
applied to excite the system
dynamics.

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Frequency Response Method

Bode Diagrams or Logarithmic Plots
How to get the bode plot analytically?
• Replace the s with 𝑗𝜔 (𝑠 = 𝑗𝜔) in 𝐺(𝑠)
𝐴𝑜𝑢𝑡
• Mag: 𝑀= = 𝐺 𝑗𝜔
𝐴𝑖𝑛

• Phase shift: 𝜙 = ∡𝐺(𝑗𝜔)

• Note: the frequency diagram is drawn in log scale

• 𝐺 𝑗𝜔 𝑑𝐵 = 20 log 𝐺 𝑗𝜔
180
• 𝜙𝑑𝑒𝑔 = 𝜙𝑟𝑎𝑑
𝑝𝑖

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Frequency Response Method

Example (1)
Consider the system shown below. The transfer function 𝐺(𝑠) is
𝐾
𝐺 𝑠 =
𝑇𝑠 + 1
Find the steady state response 𝑦𝑠𝑠 (𝑡) for the input 𝑥 𝑡 = 𝑋𝑠𝑖𝑛(𝜔𝑡)
𝐾
𝐺 𝑗𝜔 = = 𝐺 𝑗𝜔 ∠𝐺 𝑗𝜔
𝑗𝑇𝜔 + 1
𝐾
𝐺 𝑗𝜔 = 𝑀 =
𝑇2𝜔2 + 1
−1
𝐼𝑚 −1
𝑇𝜔
∠𝐺 𝑗𝜔 = 𝜙 = −tan = −tan
𝑅𝑒 1
𝑥 𝑡 = 𝑋𝑠𝑖𝑛 𝜔𝑡 → 𝑥 𝑗𝜔 = |𝑋|∠0
𝐾𝑋
𝑦𝑠𝑠 𝑗𝜔 = 𝐺 𝑗𝜔 𝑥 𝑗𝜔 = ∠ 0 − tan−1 𝑇𝜔
𝑇 2 𝜔2 +1
𝐾𝑋
𝑦𝑠𝑠 𝑡 = 𝑠𝑖𝑛 𝜔𝑡 − tan−1 𝑇𝜔
𝑇2𝜔2 + 1
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Frequency Response Method

Example (2)
• If 𝑇1 > 𝑇2 ,
Consider the network given by
𝑠 + 1/𝑇1
𝐺 𝑠 =
𝑠 + 1/𝑇2
Determine whether this network is a lead network or lag network for the
∴ tan−1 𝑇1 𝜔 − tan−1 𝑇2 𝜔 > 0
input 𝑥 𝑡 = 𝑋𝑠𝑖𝑛(𝜔𝑡)
𝐺 𝑗𝜔 =
𝑠 + 1/𝑇1 𝑇1 𝑠 + 1 𝑇2 𝑗𝑇1 𝜔 + 1
= = = 𝐺 𝑗𝜔 ∠𝐺 𝑗𝜔
The network is lead compensator
𝑠 + 1/𝑇2 𝑇2 𝑠 + 1 𝑇1 𝑗𝑇2 𝜔 + 1
𝑇2 𝑇12 𝜔 2 + 1
𝐺 𝑗𝜔 =𝑀=
• If 𝑇1 < 𝑇2 ,
𝑇1
𝑇22 𝜔 2 + 1
𝑇1 𝜔 𝑇2 𝜔
∠𝐺 𝑗𝜔 = 𝜙 = tan−1
1
−tan−1
𝑥 𝑡 = 𝑋𝑠𝑖𝑛 𝜔𝑡 → 𝑥 𝑗𝜔 = |𝑋|∠0
1 ∴ tan−1 𝑇1 𝜔 − tan−1 𝑇2 𝜔 < 0
𝑦𝑠𝑠 𝑗𝜔 = 𝐺 𝑗𝜔 𝑥 𝑗𝜔
The network is lag compensator
𝑇2 𝑇12 𝜔2 + 1
= ∠ 0 + tan−1 𝑇1 𝜔 − tan−1 𝑇2 𝜔
𝑇1 𝑇22 𝜔2 +1
𝑇2 𝑋 𝑇12 𝜔 2 + 1
𝑦𝑠𝑠 𝑡 = 𝑠𝑖𝑛 𝜔𝑡 0 + tan−1 𝑇1 𝜔 − tan−1 𝑇2 𝜔
𝑇1 𝑇22 𝜔 2 +1

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Frequency Response Method

Effect of adding pole to the system
The addition of a pole to the open-loop transfer function has the effect of
1. Pulling the root locus to the right, tending to lower the system’s relative stability
2. Slow down the settling of the response.
3. It works as addition of integral control that adds a pole at the origin, thus making the system less stable.

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Frequency Response Method

Effect of adding zero to the system
The addition of a zero to the open-loop
transfer function has the effect of
1. Pulling the root locus to the left, tending
to make the system more stable
2. Speed up the settling of the response.
3. Physically, the addition of a zero in the
feedforward transfer function means the
addition of derivative control to the
system. The effect of such control is to
introduce a degree of anticipation into
the system and speed up the transient
response.)

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Frequency Response Method

Terminology and specification
• DC gain: The mag. Gain at Zero
frequency
• Roll-off /Cut-off rate: The slope
at which the mag. Drop off at
high freq. expressed in
(dB/decade)

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Frequency Response Method

Terminology and specification
• Resonant Peak 𝑴𝒓:
• The resonant peak 𝑀𝑟 is the maximum value of the
magnitude of frequency response.
• It gives an indication on the relative stability of a
stable closed-loop system. Normally, a large 𝑀𝑟
corresponds to a large maximum overshoot of the step
response.
• For most control systems, it is generally accepted in
practice that the desirable value of 𝑀𝑟 should be
between 1.1 and 1.5.
• Natural / Resonance Freq. 𝝎𝒓 : The resonant
frequency 𝜔𝑟 , is the frequency at which the peak
resonance 𝑀𝑟 occurs.
• Any peak in the trace is associated to some natural
frequencies of the system.
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Frequency Response Method

Terminology and specification
• Bandwidth Freq.:
• It is the frequency at which the response drops to
70.7% of, or 3 dB down from, its zero-frequency
value.
• At this point, the attenuation is going below the
rms value of the input signal
𝐴𝑜𝑢𝑡 1
=
𝐴𝑖𝑛 √ 2
• It is a measure of the upper limit at which the
system dynamics can be controlled. As any input
that pass that frequency is severely attenuated.

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Frequency Response Method

Terminology and specification
• Bandwidth Freq.:
• The bandwidth gives indication on the transient
response in the time domain.
1. A large bandwidth corresponds to a faster rise
time, higher-frequency signals are more easily
passed through the system.
2. A small the bandwidth corresponds to slow and
sluggish time response as only signals of
relatively low frequencies are passed.

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Frequency Response Method

Terminology and specification
• Crossover Freq.: The frequency 𝒛𝒆𝒓𝒐𝒅𝑩 = 𝐥𝐨𝐠(𝟏)
𝑨𝒐𝒖𝒕 = |𝑨𝒊𝒏 |
at which the mag. Of the system
changing from amplifying the
input to attenuating the input.
• Note: Any gain mag. Above
zero B means the system
amplifies the input and vise
versa

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Frequency Response Method

Terminology and specification
• Corner / break Freq.:
The frequency at the two asymptotes
meet. The change in asymptotes slope is
done due to a pole (or zero).

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Frequency Response Method

Basic Factors of 𝐺( 𝑗𝜔)𝐻(𝑗𝜔)
The basic factors that very frequently occur in an arbitrary transfer function
𝐺( 𝑗𝜔)𝐻(𝑗𝜔) are:
• Gain K
• Integral and derivative factors 𝑗𝜔 ∓1
• First-order factors 1 + 𝑗𝜔𝑇 ∓1
∓1
𝑗𝜔 𝑗𝜔 2
• Quadratic factors 1 + 2𝜁 +
𝜔𝑛 𝜔𝑛

Once we become familiar with the logarithmic plots of these basic

factors, it is possible to utilize them in constructing a composite
logarithmc plot for any general form of 𝐺( 𝑗𝜔)𝐻(𝑗𝜔)
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Frequency Response Method

Basic Factors of 𝐺( 𝑗𝜔)𝐻(𝑗𝜔): The Gain (𝐾)
• A number greater than unity has a positive value
in decibels, while a number smaller than unity
𝟏
has a negative value. 𝑴 = 𝟐𝟎 𝐥𝐨𝐠 𝑲 = −𝟐𝟎 𝐥𝐨𝐠 = 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕
𝑲
• The log-magnitude curve for a constant gain 𝐾 is
a horizontal straight line at the magnitude of
20 log 𝐾 decibels.
• The phase angle of the gain 𝐾 is zero. 𝝓 𝝎 =𝟎
• The effect of varying the gain 𝐾 in the transfer
function is that it raises or lowers the log-
magnitude curve of the transfer function by the
corresponding constant amount, but it has no
effect on the phase curve. 𝑴 = 𝟐𝟎 𝐥𝐨𝐠 𝑲 × 𝟏𝟎𝒏 = 𝟐𝟎 𝐥𝐨𝐠 𝑲 + 𝟐𝟎𝒏
𝝓 𝝎 =𝟎
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Frequency Response Method

Basic Factors of 𝐺( 𝑗𝜔)𝐻(𝑗𝜔): Integral and derivative factors 𝒋𝝎 ∓𝟏

Integrator differentiator
1
• 𝐺 𝑠 = → 𝐺 𝑗𝜔 =
1 • 𝐺 𝑠 = 𝑠 → 𝐺 𝑗𝜔 = 𝑗𝜔
𝑠 𝑗𝜔

• 𝐺 𝑗𝜔 𝑑𝐵 = 20 log 1 − 20 log 𝜔 • 𝐺 𝑗𝜔 𝑑𝐵 = 20 log 𝜔

• ∡𝐺 𝑗𝜔 = −90𝑜 • ∡𝐺 𝑗𝜔 = 90𝑜

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Frequency Response Method

Basic Factors of 𝐺( 𝑗𝜔)𝐻(𝑗𝜔): Integral and derivative factors 𝒋𝝎 ∓𝟏

Integrator differentiator

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Frequency Response Method

Basic Factors of 𝐺( 𝑗𝜔)𝐻(𝑗𝜔): Integral and derivative factors 𝒋𝝎 ∓𝟏

Integrator differentiator
•𝐺 𝑠 =
1
→ 𝐺 𝑗𝑤 =
1 • 𝐺 𝑠 = 𝑠 𝑛 → 𝐺𝜔 = 𝑗𝜔𝑛
𝑠𝑛 𝑗𝜔𝑛

• 𝐺 𝑗𝜔 𝑑𝐵 = 20 log 1 − 20𝑛 log 𝜔 • 𝐺 𝑗𝜔 𝑑𝐵 = 20𝑛 log 𝜔

• ∡𝐺 𝑗𝜔 = −90𝑛𝑜 • ∡𝐺 𝑗𝜔 = 90𝑛𝑜

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Frequency Response Method

Basic Factors of 𝐺( 𝑗𝜔)𝐻(𝑗𝜔): First-Order Factors 𝟏 + 𝒋𝝎𝑻 ∓𝟏
.
Single Pole
1 1
• 𝐺 𝑠 = → 𝐺 𝑗𝜔 =
1+𝑇𝑠 1+ 𝑗𝜔𝑇
• Find the pole frequency ?
1
• 1 + 𝑗𝜔𝑇 = 0 → 𝜔 = −
𝑗𝑇
• 𝐺 𝑗𝜔 𝑑𝐵 = 20 log 1 − 20 log 𝑇2𝜔2 + 1
1
• For 𝜔 ≪ 𝐺 𝑗𝜔 𝑑𝐵 ≈0
𝑇
• ∡𝐺 𝑗𝜔 ≈ 0
1
• For 𝜔 ≫ 𝐺 𝑗𝜔 𝑑𝐵 = − 20 log 𝑇𝜔
𝑇
• ∡𝐺 𝑗𝜔 = −90𝑜
1
• For 𝜔 = 𝐺 𝑗𝜔 𝑑𝐵 = − 20 log 2 = −3.03
𝑇
• ∡𝐺 𝑗𝜔 = −45
Low pass
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Frequency Response Method

Basic Factors of 𝐺( 𝑗𝜔)𝐻(𝑗𝜔): First-Order Factors 𝟏 + 𝒋𝝎𝑻 ∓𝟏
.
Single Zero
• 𝐺 𝑠 = 1 + 𝑇𝑠 → 𝐺 𝑗𝜔 = 1 + 𝑗𝜔𝑇
• Find the zero frequency ?
1
• 1 + 𝑗𝜔𝑇 = 0 → 𝜔 = −
𝑗𝑇
• 𝐺 𝑗𝜔 𝑑𝐵 = 20 log 𝑇2𝜔2 + 1
1
• For 𝜔 ≪ 𝐺 𝑗𝜔 𝑑𝐵 ≈0
𝑇
• ∡𝐺 𝑗𝜔 ≈ 0
1
• For 𝜔 ≫ 𝐺 𝑗𝜔 𝑑𝐵 = 20 log 𝑇𝜔
𝑇
• ∡𝐺 𝑗𝜔 = 90𝑜
1
• For 𝜔 = 𝐺 𝑗𝜔 𝑑𝐵 = 20 log 2 = 3.03
𝑇
• ∡𝐺 𝑗𝜔 = 45
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Frequency Response Method

Basic Factors of 𝐺( 𝑗𝜔)𝐻(𝑗𝜔): First-Order Factors 𝟏 + 𝒋𝝎𝑻 ∓𝟏
.

Single Pole Single Zero

• Adding pole to the system attenuate the high freq. • Adding zero to the system amplifying the high freq.
comp. comp.
𝑛 𝑛
• 𝐺 𝑠 =
1
→ 𝐺 𝑗𝜔 =
1 • 𝐺 𝑠 = 1 + 𝑇𝑠 → 𝐺 𝑗𝜔 = 1 + 𝑗𝜔𝑇
1+𝑇𝑠 𝑛 1+ 𝑗𝜔𝑇 𝑛
1
• 1 + 𝑗𝜔𝑇 = 0 → 𝜔 = − 𝑗𝑇
1
• 1 + 𝑗𝜔𝑇 = 0 → 𝜔 = − 1
𝑗𝑇 • For 𝜔 ≪ 𝑇 𝐺 𝑗𝜔 𝑑𝐵 ≈0
1
• For 𝜔 ≪ 𝐺 𝑗𝜔 𝑑𝐵 ≈0 • ∡𝐺 𝑗𝜔 ≈0
𝑇
• ∡𝐺 𝑗𝜔 ≈ 0 1
• For 𝜔 ≫ 𝑇 𝐺 𝑗𝜔 𝑑𝐵 = 20𝑛 log 𝑇𝜔
1
• For 𝜔 ≫ 𝑇 𝐺 𝑗𝜔 = − 20𝑛 log 𝑇𝜔
𝑑𝐵 • ∡𝐺 𝑗𝜔 = 90𝑛𝑜
• ∡𝐺 𝑗𝜔 = −90𝑛𝑜

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Frequency Response Method

∓𝟏
𝒋𝝎 𝟐
Basic Factors of 𝐺( 𝑗𝜔)𝐻(𝑗𝜔): Quadratic Factors 𝟏 + 𝟐𝜻
𝒋𝝎
𝝎𝒏
+
𝝎𝒏

1
• 𝐺 𝑠 = 𝑗𝜔 𝑗𝜔 2
1+2𝜁 𝜔𝑛
+ 𝜔𝑛

2
𝜔 2 𝜔 2
• 𝐺 𝑗𝜔 𝑑𝐵 = − 20 log 1− + 2𝜁 𝜔
𝜔𝑛 𝑛

• For 𝜔 ≪ 𝜔𝑛 𝐺 𝑗𝜔 𝑑𝐵 ≈ 0
• ∡𝐺 𝑗𝜔 ≈ 0
𝜔
• For 𝜔 ≫ 𝜔𝑛 𝐺 𝑗𝜔 𝑑𝐵 = −40 log
𝜔𝑛
• ∡𝐺 𝑗𝜔 = −180𝑜
• For 𝜔 = 𝜔𝑛 𝐺 𝑗𝜔 𝑑𝐵 = − 20 log 2𝜁
• ∡𝐺 𝑗𝜔 = −90

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Frequency Response Method

∓𝟏
𝒋𝝎 𝟐
Basic Factors of 𝐺( 𝑗𝜔)𝐻(𝑗𝜔): Quadratic Factors 𝟏 + 𝟐𝜻
𝒋𝝎
𝝎𝒏
+
𝝎𝒏

• The Resonant Frequency 𝝎𝒓 and the Resonant Peak

Value 𝑴𝒓
1
𝐺 𝑠 =
𝜔 2 𝑗𝜔
1− 𝜔 + 2𝜁 𝜔
𝑛 𝑛
1
𝐺 𝑗𝜔 =
2 2 2
𝜔 𝜔
1− + 2𝜁
𝜔𝑛 𝜔𝑛
1
𝐺 𝑗𝜔 𝑚𝑎𝑥 =
𝑔 𝜔 |𝑚𝑖𝑛
2 2 2
𝜔 𝜔
𝑔 𝜔 = 1− + 2𝜁
𝜔𝑛 𝜔𝑛
𝑑𝑔 𝜔 𝜔2
= 2 − 1 + 2𝜁 2 = 0
𝑑𝜔 𝜔𝑛
∴ 𝜔𝑟 = 𝜔𝑛 1 − 2𝜁 2 27
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Frequency Response Method

∓𝟏
𝒋𝝎 𝟐
Basic Factors of 𝐺( 𝑗𝜔)𝐻(𝑗𝜔): Quadratic Factors 𝟏 + 𝟐𝜻
𝒋𝝎
𝝎𝒏
+
𝝎𝒏

• The Resonant Frequency 𝝎𝒓 and the

Resonant Peak Value 𝑴𝒓
∴ 𝜔𝑟 = 𝜔𝑛 1 − 2𝜁 2
1. As the damping ratio 𝜁 approaches zero, the
resonant frequency approaches 𝜔𝑛 and 𝑀𝑟
approaches infinity.
2. For 0 < 𝜁 < 0.707, the resonant frequency
𝜔𝑟 is less than the natural frequency 𝜔𝑛 and 𝑀𝑟
can be
1
𝑀𝑟 =
2𝜁 1 − 𝜁 2
1. For 𝜁 > 0.707, there is no resonant peak and
𝑀𝑟 = 1
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Frequency Response Method

∓𝟏
𝒋𝝎 𝟐
Basic Factors of 𝐺( 𝑗𝜔)𝐻(𝑗𝜔): Quadratic Factors 𝟏 + 𝟐𝜻
𝒋𝝎
𝝎𝒏
+
𝝎𝒏

• The Resonant Frequency 𝝎𝒓 and the Resonant Peak

Value 𝑴𝒓
• Resonant frequency The frequency 𝜔𝑟 at which the
maximum value of the frequency response of a complex
pair of poles is attained.
• Natural frequency The frequency of natural oscillation
that would occur for two complex poles if the damping
were equal to zero.
• The phase angle of 𝑮(𝒋𝝎) at the frequency where the
resonant peak occurs can be obtained is

𝜙 = ∠𝐺 𝑗𝜔𝑟
1 − 2𝜁 2 𝜁
= − tan−1 = −90° + sin−1
𝜁 1 − 𝜁2

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Frequency Response Method

General Procedure for Plotting Bode Diagrams
1. First rewrite the sinusoidal transfer function 𝐺 𝑗𝜔 𝐻 𝑗𝜔 as a product of basic
factors forms discussed before.
2. Identify the corner frequencies associated with these basic factors.
3. Tabulate the basic factors with the associated slop and phase shift according to
the corner frequencies.
4. Derivate the expression of the total sum of the phase shift.
5. Draw the asymptotic log-magnitude curves with proper slopes between the corner
frequencies.
6. Drawn the phase shift by adding the phase-angle curves of individual factors.
7. The exact curve, which lies close to the asymptotic curve, can be obtained by
adding proper corrections. 30
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Frequency Response Method

Example (3)
Draw the Bode diagram for the following transfer function:
10(𝑗𝜔 + 3)
𝐺 𝑗𝜔 =
(𝑗𝜔)(𝑗𝜔 + 2)( 𝑗𝜔 2 + 𝑗𝜔 + 2)

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Frequency Response Method

Example (3)
1. First rewrite the sinusoidal transfer function G jω H jω as a product of basic
factors forms
1
7.5 𝑗𝜔 + 1
𝐺 𝑗𝜔 = 3
1 1 2 1
𝑗𝜔 𝑗𝜔 + 1 𝑗𝜔 + 𝑗𝜔 + 1
2 2 2
2. Identify the corner frequencies associated with these basic factors.
1
𝑗𝜔 + 1 → 𝜔 = 3 𝑟𝑎𝑑/𝑠
3
1
𝑗𝜔 + 1 → 𝜔 = 2 𝑟𝑎𝑑/𝑠
2
1 2
1
𝑗𝜔 + 𝑗𝜔 + 1 → 𝜔 = 2 𝑟𝑎𝑑/𝑠 32
2 2
 フェケリー 3年目（2003年条例）

Frequency Response Method 𝐺 𝑗𝜔 =

1
7.5 3 𝑗𝜔 + 1

Example (3) 𝑗𝜔
1
2 𝑗𝜔 + 1
1
2 𝑗𝜔 2 + 1 𝑗𝜔 + 1
2

3. Tabulate the basic factors with the associated slop according to the corner
frequencies.
Basic factors term Type 𝝎 Slop Net Slop
20 𝑙𝑜𝑔 7.5 = 17.5 Gain - 0 0
𝑗𝜔 Integrator 𝜔=0 -20 -20
1 1 Quadratic
𝑗𝜔 2 + 𝑗𝜔 + 1 𝜔= 2 -40 -60
2 2 Pole
1
𝑗𝜔 + 1 Pole 𝜔=2 -20 -80
2
1
𝑗𝜔 + 1 Zero 𝜔=3 +20 -60
3

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Frequency Response Method 𝐺 𝑗𝜔 =

1
7.5 3 𝑗𝜔 + 1

Example (3) 𝑗𝜔
1
2 𝑗𝜔 + 1
1
2 𝑗𝜔 2 + 1 𝑗𝜔 + 1
2

3. Derivate the expression of the total sum of the phase shift.

−1
𝜔 −1
𝜔 −1
𝜔/2
𝜙 = tan − 90 − tan − tan
3 2 1 − 𝜔 2 /2
Transition
Basic factors term Type 𝝎 Phase Shift Net Phase Shift
Phase Shift
20 𝑙𝑜𝑔 7.5 = 17.5 Gain - 0 - 0
𝑗𝜔 Integrator 𝜔=0 -90 -90 -90
1 1 Quadratic
𝑗𝜔 2 + 𝑗𝜔 + 1 𝜔= 2 -180 -190 -270
2 2 Pole
1
𝑗𝜔 + 1 Pole 𝜔=2 -90 -236.3 -360
2
1
𝑗𝜔 + 1 Zero 𝜔=3 +90 -258.11 -270
3
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 フェケリー 3年目（2003年条例）

Frequency Response Method 𝐺 𝑗𝜔 =

1
7.5 3 𝑗𝜔 + 1

Example (3) 𝑗𝜔
1
2 𝑗𝜔 + 1
1
2 𝑗𝜔 2 + 1 𝑗𝜔 + 1
2

-20 dB/decade

-60 dB/decade

-80 dB/decade

-60 dB/decade
Quadratic factor @ 2𝑟𝑎𝑑/𝑠 Zero @3 𝑟𝑎𝑑/𝑠

Integrator @ 1 𝑟𝑎𝑑/𝑠 Pole @2 𝑟𝑎𝑑/𝑠

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Frequency Response Method

Example (4)
Draw the Bode diagram for the following transfer function:
10(0.1𝑗𝜔 + 1)
𝐺 𝑗𝜔 =
(0.01𝑗𝜔 + 1)( 𝑗𝜔 2 + 0.1𝑗𝜔 + 1)

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Frequency Response Method

Example (4)
1. First rewrite the sinusoidal transfer function 𝐺 𝑗𝜔 𝐻 𝑗𝜔 as a product of basic
factors forms
10 0.1𝑗𝜔 + 1
𝐺 𝑗𝜔 =
0.01𝑗𝜔 + 1 𝑗𝜔 2 + 0.1𝑗𝜔 + 1
2. Identify the corner frequencies associated with these basic factors.
0.1𝑗𝜔 + 1 → 𝜔 = 10 𝑟𝑎𝑑/𝑠
0.01𝑗𝜔 + 1 → 𝜔 = 100 𝑟𝑎𝑑/𝑠
𝑗𝜔 2 + 0.1𝑗𝜔 + 1 → 𝜔 = 1 𝑟𝑎𝑑/𝑠

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Frequency Response Method 𝐺 𝑗𝜔 =

10 0.1𝑗𝜔 + 1
0.01𝑗𝜔 + 1 𝑗𝜔 2 + 0.1𝑗𝜔 + 1
Example (4)
3. Tabulate the basic factors with the associated slop according to the corner
frequencies.
Basic factors term Type 𝝎 Slop Net Slop
20 𝑙𝑜𝑔 10 = 20 Gain - 0 0
Quadratic
𝑗𝜔 2
+ 0.1𝑗𝜔 + 1 𝜔=1 -40 -40
Pole
0.1𝑗𝜔 + 1 Zero 𝜔 = 10 +20 -20
0.01𝑗𝜔 + 1 Pole 𝜔 = 100 -20 -40

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Frequency Response Method 𝐺 𝑗𝜔 =

10 0.1𝑗𝜔 + 1
0.01𝑗𝜔 + 1 𝑗𝜔 2 + 0.1𝑗𝜔 + 1
Example (4)
3. Derivate the expression of the total sum of the phase shift.
−1 −1 −1
0.1𝜔
𝜙 = tan 0.1𝜔 − tan 0.01𝜔 − tan
1 − 𝜔2
Transition
Basic factors term Type 𝝎 Phase Shift Net Phase Shift
Phase Shift
20 𝑙𝑜𝑔 10 = 20 Gain - 0 - 0
Quadratic
𝑗𝜔 2
+ 0.1𝑗𝜔 + 1 𝜔=1 -180 -84.86 -180
Pole
0.1𝑗𝜔 + 1 Zero 𝜔 = 10 +90 -140 -90
0.01𝑗𝜔 + 1 Pole 𝜔 = 100 -90 -140 -180

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 フェケリー 3年目（2003年条例）

Frequency Response Method 𝐺 𝑗𝜔 =

10 0.1𝑗𝜔 + 1
0.01𝑗𝜔 + 1 𝑗𝜔 2 + 0.1𝑗𝜔 + 1
Example (4)
-40 dB/decade

-20 dB/decade

-40 dB/decade

Quadratic factor @ 2𝑟𝑎𝑑/𝑠 Zero @ 10 𝑟𝑎𝑑/𝑠 Pole @100 𝑟𝑎𝑑/𝑠

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Frequency Response Method

Example (5)

Draw the Bode diagram for the following transfer function:

5(0.1𝑗𝜔 + 1)
𝐺 𝑗𝜔 =
2
𝑗𝜔 𝜔
𝑗𝜔 0.5𝑗𝜔 + 1 + 0.6𝑗 +1
50 50

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Frequency Response Method

Example (5)
1. First rewrite the sinusoidal transfer function 𝐺 𝑗𝜔 𝐻 𝑗𝜔 as a product of basic
factors forms
5 0.1𝑗𝜔 + 1
𝐺 𝑗𝜔 =
𝑗𝜔 2 𝜔
𝑗𝜔 0.5𝑗𝜔 + 1 + 0.6𝑗 +1
50 50

2. Identify the corner frequencies associated with these basic factors.

0.1𝑗𝜔 + 1 → 𝜔 = 10 𝑟𝑎𝑑/𝑠
0.5𝑗𝜔 + 1 → 𝜔 = 2 𝑟𝑎𝑑/𝑠
2
𝑗𝜔 𝜔
+ 0.6𝑗 + 1 → 𝜔 = 50 𝑟𝑎𝑑/𝑠
50 50
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Frequency Response Method 𝐺 𝑗𝜔 =

5 0.1𝑗𝜔 + 1
𝑗𝜔 2
𝜔
Example (5) 𝑗𝜔 0.5𝑗𝜔 + 1
50
+ 0.6𝑗
50
+1

3. Tabulate the basic factors with the associated slop according to the corner
frequencies.
Basic factors term Type 𝝎 Slop Net Slop
20 𝑙𝑜𝑔 5 = 13.98 Gain - 0 0
𝑗𝜔 Integrator 𝜔=0 -20 -20
0.5𝑗𝜔 + 1 Pole 𝜔=2 -20 -40
0.1𝑗𝜔 + 1 Zero 𝜔 = 10 +20 -20
𝑗𝜔 2
𝜔 Quadratic
+ 0.6𝑗 +1 𝜔 = 50 -40 -60
50 50 Pole

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Frequency Response Method 𝐺 𝑗𝜔 =

5 0.1𝑗𝜔 + 1
𝑗𝜔 2
𝜔
Example (5) 𝑗𝜔 0.5𝑗𝜔 + 1
50
+ 0.6𝑗
50
+1

3. Derivate the expression of the total sum of the phase shift.

−1 −1 −1
0.6𝜔/50
𝜙 = tan 0.1𝜔 − 90 − tan 0.5𝜔 − tan
1 − 𝜔 2 /502
Transition
Basic factors term Type 𝝎 Phase Shift Net Phase Shift
Phase Shift
20 𝑙𝑜𝑔 5 = 13.98 Gain - 0 - 0
𝑗𝜔 Integrator 𝜔=0 -90 -90 -90
0.5𝑗𝜔 + 1 Pole 𝜔=2 -90 -125 -180
0.1𝑗𝜔 + 1 Zero 𝜔 = 10 +90 -130.81 -90
𝑗𝜔 2
𝜔 Quadratic
+ 0.6𝑗 +1 𝜔 = 50 -180 -189 -270
50 50 Pole

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 フェケリー 3年目（2003年条例）

Frequency Response Method 𝐺 𝑗𝜔 =

5 0.1𝑗𝜔 + 1
𝑗𝜔 2
𝜔
Example (5) 𝑗𝜔 0.5𝑗𝜔 + 1
50
+ 0.6𝑗
50
+1

-20 dB/decade

-40 dB/decade
-20 dB/decade

-60 dB/decade

Pole @2𝑟𝑎𝑑/𝑠 Zero @10 𝑟𝑎𝑑/𝑠

Integrator @ 1 𝑟𝑎𝑑/𝑠 Quadratic pole @50 𝑟𝑎𝑑/𝑠

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Frequency Response Method

Example (6)
Consider the system defined by
𝑥1ሶ 0 1 𝑥1 1 1 𝑢1
= +
𝑥2ሶ −25 −4 𝑥2 0 1 𝑢2
𝑦1 1 0 𝑥1
𝑦2 = 0 1 𝑥2
Plot Bode diagrams for the system.

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Frequency Response Method

Example (6)
1. Transform the state-space to transfer function
𝐺 𝑠 = 𝐶 𝑆𝐼 − 𝐴 −1 𝐵 + 𝐷
−1
1 0 𝑠 0 0 1 1 1
𝐺 𝑠 = −
0 1 0 𝑠 −25 −4 0 1
−1
1 0 𝑠 −1 1 1
𝐺 𝑠 =
0 1 25 𝑠 + 4 0 1
1 1 0 𝑠+4 1 1 1
𝐺 𝑠 =
𝑠 𝑠 + 4 + 25 0 1 −25 𝑠 0 1
1 𝑠+4 𝑠+5
𝐺 𝑠 =
𝑠 𝑠 + 4 + 25 −25 𝑠 − 25
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Frequency Response Method

Example (6)

𝑠+4 𝑠+5
𝑌1 (𝑠) 𝑠 2 + 4𝑠 + 25 𝑠 2 + 4𝑠 + 25 𝑈1 (𝑠)
=
𝑌2 (𝑠) −25 𝑠 − 25 𝑈2 (𝑠)
𝑠 2 + 4𝑠 + 25 𝑠 2 + 4𝑠 + 25
4 1 1 1
𝑗𝜔 + 1 𝑗𝜔 + 1
25 4 5 5
𝑗𝜔 2 4 𝑗𝜔 2 4
𝑌1 (𝑗𝜔) + 𝑗𝜔 + 1 + 𝑗𝜔 + 1 𝑈1 (𝑗𝜔)
= 5 25 5 25
𝑌2 (𝑗𝜔) −1 𝑗𝜔 − 1 𝑈2 (𝑗𝜔)
2 2
𝑗𝜔 4 𝑗𝜔 4
+ 𝑗𝜔 + 1 + 𝑗𝜔 + 1
5 25 5 25
48
 フェケリー 3年目（2003年条例） 4 1 1 1
𝑗𝜔 + 1 𝑗𝜔 + 1
25 4 5 5

Frequency Response Method 𝑌1 (𝑗𝜔)

𝑌2 (𝑗𝜔)
=
𝑗𝜔 2
5
4
+ 𝑗𝜔 + 1
25
−1
𝑗𝜔 2
5
4
+ 𝑗𝜔 + 1 𝑈1 (𝑗𝜔)
25
𝑗𝜔 − 1 𝑈2 (𝑗𝜔)
Example (6) 𝑗𝜔 2
4
+ 𝑗𝜔 + 1
𝑗𝜔 2
+
4
𝑗𝜔 + 1
5 25 5 25

Identify the corner frequencies

𝑈1 (𝑗𝜔) 𝑈2 (𝑗𝜔)
1 1
𝑗𝜔 + 1 → 𝜔 = 4 𝑟𝑎𝑑/𝑠 𝑗𝜔 + 1 → 𝜔 = 5 𝑟𝑎𝑑/𝑠
4 5
𝑌1 (𝑗𝜔) 2 2
𝑗𝜔 4 𝑗𝜔 4
+ 𝑗𝜔 + 1 → 𝜔 = 5 𝑟𝑎𝑑/𝑠 + 𝑗𝜔 + 1 → 𝜔 = 5 𝑟𝑎𝑑/𝑠
5 25 5 25

2 𝑗𝜔 − 1 → 𝜔 = 1 𝑟𝑎𝑑/𝑠
𝑗𝜔 4
+ 𝑗𝜔 + 1 → 𝜔 = 5 𝑟𝑎𝑑/𝑠 𝑗𝜔 2
4
𝑌2 (𝑗𝜔) 5 25
+ 𝑗𝜔 + 1 → 𝜔 = 5 𝑟𝑎𝑑/𝑠
5 25

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 フェケリー 3年目（2003年条例） 4 1 1 1
𝑗𝜔 + 1 𝑗𝜔 + 1
25 4 5 5

Frequency Response Method 𝑌1 (𝑗𝜔)

𝑌2 (𝑗𝜔)
=
𝑗𝜔 2
5
4
+ 𝑗𝜔 + 1
25
−1
𝑗𝜔 2
5
4
+ 𝑗𝜔 + 1 𝑈1 (𝑗𝜔)
25
𝑗𝜔 − 1 𝑈2 (𝑗𝜔)
Example (6) 𝑗𝜔 2
4
+ 𝑗𝜔 + 1
𝑗𝜔 2
+
4
𝑗𝜔 + 1
5 25 5 25

Tabulate the basic factors with the associated slop according to the corner
frequencies. 𝑼 (𝒋𝝎) 𝑼 (𝒋𝝎)
𝟏 𝟐

Basic Basic
Type 𝝎 Slop Net Slop Type 𝝎 Slop Net Slop
factors term factors term
4 1
Gain - 0 0 20 𝑙𝑜𝑔 = −13.98 Gain - 0 0
𝒀𝟏 (𝒋𝝎) 20 𝑙𝑜𝑔
25
= −15.92
5

1 1
4
𝑗𝜔 + 1 zero 𝜔=4 +20 +20 5
𝑗𝜔 + 1 zero 𝜔=5 +20 +20

𝑗𝜔 2
4 Quadratic 𝑗𝜔 2
4 Quadratic
+ 𝑗𝜔 + 1 𝜔=5 -40 -20 + 𝑗𝜔 + 1 𝜔=5 -40 -20
5 25 pole 5 25 pole

Basic Basic
Type 𝝎 Slop Net Slop Type 𝝎 Slop Net Slop
factors term factors term
𝒀𝟐 (𝒋𝝎) 20 𝑙𝑜𝑔 −1 = 0 Gain - 0 0 𝑗𝜔 − 1 zero 𝜔=1 +20 +20

𝑗𝜔 2
4 Quadratic 𝑗𝜔 2
4 Quadratic
+ 𝑗𝜔 + 1 𝜔=5 -40 -40 + 𝑗𝜔 + 1 𝜔=5 -40 -20
5 25 pole 5 25 pole

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 フェケリー 3年目（2003年条例） 4 1 1 1
𝑗𝜔 + 1 𝑗𝜔 + 1
25 4 5 5

Frequency Response Method 𝑌1 (𝑗𝜔)

𝑌2 (𝑗𝜔)
=
𝑗𝜔 2
5
4
+ 𝑗𝜔 + 1
25
−1
𝑗𝜔 2
5
4
+ 𝑗𝜔 + 1 𝑈1 (𝑗𝜔)
25
𝑗𝜔 − 1 𝑈2 (𝑗𝜔)
Example (6) 𝑗𝜔 2
4
+ 𝑗𝜔 + 1
𝑗𝜔 2
+
4
𝑗𝜔 + 1
5 25 5 25

Tabulate the basic factors with the associated phase shift according to the corner
frequencies. 𝑼 (𝒋𝝎) 𝑼 (𝒋𝝎)
𝟏 𝟐

Basic Phase Net Phase Basic Phase Net Phase

Type 𝝎 Type 𝝎
factors term Shift Shift factors term Shift Shift
4 1
Gain - 0 0 20 𝑙𝑜𝑔 = −13.98 Gain - 0 0
𝒀𝟏 (𝒋𝝎) 20 𝑙𝑜𝑔
25
= −15.92
5

1 1
4
𝑗𝜔 + 1 zero 𝜔=4 +90 +90 5
𝑗𝜔 + 1 zero 𝜔=5 +90 +90

𝑗𝜔 2
4 Quadratic 𝑗𝜔 2
4 Quadratic
+ 𝑗𝜔 + 1 𝜔=5 -180 -90 + 𝑗𝜔 + 1 𝜔=5 -180 -90
5 25 pole 5 25 pole

Basic Phase Net Phase Basic Phase Net Phase

Type 𝝎 Type 𝝎
factors term Shift Shift factors term Shift Shift
𝒀𝟐 (𝒋𝝎) 20 𝑙𝑜𝑔 −1 = 0 Gain - 180 180 𝑗𝜔 − 1 zero 𝜔=1 +90 180 → +90

𝑗𝜔 2
4 Quadratic 𝑗𝜔 2
4 Quadratic
+ 𝑗𝜔 + 1 𝜔=5 -180 0 + 𝑗𝜔 + 1 𝜔=5 -180 -90
5 25 pole 5 25 pole

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Frequency Response Method

Example (6) 𝑼𝟏 (𝒋𝝎) 𝑼𝟐 (𝒋𝝎)

𝒀𝟏 (𝒋𝝎)

𝒀𝟐 (𝒋𝝎)

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Do you have any question?

Best wishes
Dr. [Link]

フェケリー 3年目（2021年条例） 53