Chapter 5

FREQUENCY RESPONSE
ANALYSIS

5.1 - Introduction
Problem with time domain analysis
- very tedious for higher order systems
Frequency domain analysis
- no problems due to system order
- large amount of graphical techniques
- duality between time and frequency domains
2

5.1.1: Frequency Response of A System

Linear system theory:
r(t) = R sin(ot)

y(t) = Y sin(o t +)

Let the transfer function of a SISO system be M(s).

The output Y(s) and the input R(s) are related through
Y(s) = M(s) R(s)
For sinusoidal steady-state analysis, we replace s by j
Y(j) = M(j) R(j)

|Y(j)| = |M(j)||R(j)|
Y(j) = M(j) + R(j)
3

5.1.2:Frequency Response of Closed-Loop

System
CLTF (general expression),

Y ( s)
G(s)
M ( s)

R( s) 1 G ( s) H ( s)

Sinusoidal steady state, s=j. Thus,

Y ( j )
G ( j )
M ( j )

R ( j ) 1 G ( j ) H ( j )

Magnitude of M(j) is

G ( j )
M ( j )
1 G ( j ) H ( j )
Phase of M(j) is

M ( j ) G ( j ) 1 G ( j ) H ( j )
4

1.

5.1.3: Frequency-Domain
Specifications
Resonant Peak, (M )
r

The resonant peak Mr is the maximum value

of M(j). In general Mr gives indication of
the relative stability. Normally, a large M r
corresponds to a large maximum overshoot
of the step response.

2. Resonant Frequency, |M(j)|

The resonant frequency r is the frequency at
which the peak resonance Mr occurs.

3. Bandwidth, BW
The bandwidth BW is the frequency at which
M( j) drops to 70.7 % of, or 3 dB down
from, its zero-frequency value. Generally,
the bandwidth of a control system gives an
indication of the transient response
properties in time domain. A large BW
corresponds to faster rise time, whereas
small BW refers to slow and sluggish time
response.

4. Cutoff Rate
Cutoff rate is the slope of |M(j)| at high
frequencies.

 2nd order system: Mr, j and BW are

uniquely related to and n
n2
Y ( j )
M ( j )

R ( j ) ( j ) 2 2 n ( j ) n2
1

1 j2(/ n ) ( / n ) 2

1
Mn,( j )
By letting u= /
2
1 j 2u u
Magnitude of M(ju),
M ( ju )

1 u 2u
2 2

1/ 2

 r can be found by

d M ( ju )

4u (u 1 2 ) 0
2

du
ur = 1-22

r = n 1-22 ,

0.707

Since frequency is a real quantity, the equation is meaningful

only for 2 2 <1, or <0.707
For all values of > 0.707, the resonant frequency is r=0,
and Mr=1
1
Mr
,
0.707
2
2 1
BW of prototype second order system is given by

BW n 1 2 2 4 4 4 2 2
7

5.1.3: Frequency-Domain
Specifications
A summary of the relationships between the time-domain response
and frequency domain characteristics of a second order system, is
as follows:
1. The resonant peak Mr depends on only. When = 0, Mr is
infinite. When is negative, the system is unstable, and the value
of Mr ceases to have any meaning. As increases, Mr decreases.
2. For 0.707, Mr =1 and r = 0. In comparison with the unit-step
time response, the maximum overshoot also depends on .
3. Bandwidth is directly proportional to n. For the unit-step
response, rise time increases as n decreases. Therefore, BW and
rise time are inversely proportional to each other.
4. Bandwidth and Mr are proportional to each other for 0 0.707.
8

Self Exercise 1 (Tutorial 5

Q1)
The forward-path transfer function of a
unity-feedback control system is
k
G(s)
s(s 6.54)

Analytically find the resonance peak Mr

, resonant frequency r and bandwidth
BW of the closed-loop system for K =
5.
9

Solution

10

5.2 - Plotting Frequency Response

The frequency response of the loop transfer
function G(s)H(s) (G(s) if H(s) is unity) can be
plotted in several ways:
- Bode plot
- Polar/ Nyquist plot
- Nichols plot

11

5.2.1: Bode Plot

Plots the magnitude and phase of the
frequency response separately, against
frequency.
Log scale for Frequency (rad/sec)
Linear scale for Magnitude (dB) & Phase
angle (degrees).
Effects of the following factors will be
considered :
1

Constant gain, K
1
1 jT
Integral and derivative
factors
2 1
1 2 j / n j / n
First-order factors
Quadratic factors

12

Procedure for Plotting the Bode Plot:

Obtain G(s)|s=j
Derive for log magnitude and phase angle terms
for each basic factors
Identify the corner frequencies associated with
basic factors
Find the effects of each factor on the magnitude
and phase.
Add and sketch the effects of all the factors to get
the total effect for both magnitude and phase
frequency response.

13

1st Basic Factor (BF): Gain/Constant: G(s) = K

G(j) = K
(i) |G(j)| = K
Log magnitude 20 log10 |G(j)| = 20 log10 (K)
dB
Horizontal line with magnitude of 20 log10 (K) dB
Example 1: K= 10
Magnitude (dB)

21

Bode Diagrams

20.5
20
19.5
19
10-1

100

101

Frequency (rad/sec)

102
14

(ii) Phase angle, G(j) = 0

=> Horizontal line with 0 (ALWAYS!!)
Bode Diagrams
1

Phase (deg)

0.5
0
-0.5
-1
-1
10

10

10

10

Frequency (rad/sec)
15

2nd BF: Integral and derivative factors or Zeros and poles at

the origin: G(s) = sp
G(j) = (j)p
(i)|G(j)| = p
Log magnitude 20 log10 |G(j)| = 20 log10 ( p) dB
= 20p log10 () dB
Straight line in semilog coordinate, passes through 0 dB at
= 1 rad/sec. The slope of the line is 20p dB/decade.
(ii) Phase angle, G(j) = 90p
Straight line (zero gradient) with value of 90p

16

Example 2: G(s) = sp
Log magnitude 20p log10 () dB
(a)p= -1, Log magnitude : 20(-1) log10 () = -20 log10 () dB
(b) p= -2 , Log magnitude: 20(-2) log10 () = -40 log10 () dB
(c) p= +2, Log magnitude: 20(2) log10 () = 40 log10 () dB
Bode Diagrams

Magnitude (dB)

40

40 dB/
decade

20

-20 dB/
decade

-20

-40 dB/
decade

-40
10-1

100

Frequency (rad/sec)

101

102
17

Phase angle, G(j) = 90p

(a) p= -1, Phase= 90(-1) = -90
(b) p= -2 , Phase= 90(-2) = -180
(c) p= +2, Phase= 90(2) = +180
Bode Diagrams
180

Phase (deg)

90
0
-90
-180
-1
10

10

10

10

Frequency (rad/sec)
18

3rd BF: First order Factors or Simple Zero: G(s) =(1+ jT)1
G(j) = (1 + jT)1 , |G(j)| = ([1+ (T)2] )1
(i) Log magnitude, 20 log10 |G(j)| = 20 log10 [1+ (T)2] dB

Asymptotic Approximation
1. Consider both very large and very small values of .
2. At very low frequencies: T << 1 and hence
20 log10 |G(j)| 20 log10 (1) = 0 dB
3. At very high frequency T >> 1 and hence
20 log10 |G(j)| 20 log10 (T) dB => slope of 20 dB/decade.
*** Two asymptotes intersect at the corner frequency.
T = 1; = 1/T
19

Phase angle G(j) = tan-1 (T) (45 At corner frequency )

Approximate plot:

00 at 0.1/T, 450 at = 1/T, 900 at 10/T

Maximum error in magnitude plot between the asymptotic plot

and the actual magnitude curve = 3dB
20 log10 [1+ (T)2] = 20 log10 2 = 3 dB
Maximum error in phase plot between the actual phase curve
and the asymptotic approximation = 6 .
Occurs at the corner frequency, T
=1
20

Example 3: Sketch the Bode plot for the following function:

1
G (s)
s2
1
1
1
G ( j )

G1 ( j ) G2 ( j )
j

j 2 2 1
2
1

20 lg G ( j ) 20 lg - 20lg 1

2
2

2 BFs

1st BF: G1(j)= 1/2

(i) Log Magnitude
(ii) phase

1
20 lg 6 dB
2

G1(j)= 0
21

2nd BF: G2(j)=

(i) Log magnitude:

1
j
1
2

At very low frequencies, ( /2) << 1:

- 20lg 1
2

-20 lg10 1 = 0

At very high frequency, ( /2) >> 1:

- 20lg 1
2

-20 lg10 (/2)

1
(ii) Phase, G ( j ) tan

Phase: 00 at 0.2, -450 at = 2, -900 at 20

22

The two asymptotes intersect at the corner frequency.

/2 = 1 = 2
5
0

Magnitude (dB)

-5

(i)

-10
-15
-20
-25

-20 dB/
decade

-30
-35
-40
-2
10

10

-1

10
10
Frequency (rad/s)

10

(ii)

10

23

10

(i)

0
-10

Phase (degrees)

-20
-30
-40
-50
-60

-45/ decade

-70
-80

(ii)= Final plot

-90
-100
-2
10

10

-1

10
10
Frequency (rad/s)

10

10

24

Exact plot

25

Example 4:

5
G( s)
s(1 s )(1 0.1s )

5
G ( j )
j ( j 1)(0.1 j 1)
(i) Effects of 5/j :
Magnitude: 20 lg 5 20 lg
When = 5, magnitude = 0 dB
Phase: -900

26

(ii) Effects of 1/(j+1):

Log magnitude:
When 1 -20 lg10 1 = 0
When 1 - 20 lg10
Phase: 00 at 0.1, -450 at = 1, -900 at 10
(iii) Effects of 1/(0.1j+1):
Log magnitude:
When 10 - 20 lg10 1 = 0
When 10 - 20 lg10 - 20 lg 0.1
Phase: 00 at 1, -450 at = 10, -900 at 100
27

Magnitude plot:
(i)
40

-20
dB/decade

30
20

-40
dB/decade

Magnitude (dB)

10
0
-10
-20
-30
-40

10

-60
dB/decade
-2

10

-1

10
10
Frequency (rad/s)

(iii)
1

10

(ii)

10

28

Phase plot:
10
0

(i)

-45

45 /decad
e
0

-90
Phase (degrees)

(iv)
(ii)

-135

90 /decade

-180

-225

45 /decad
e

-270

10

(iii)

-2

10

-1

10
10
Frequency (rad/s)

10

10

29

(Stability Analysis with the

Bode Plot
Bode plot is a very useful
graphical tool for the analysis
and design of linear control
systems.
Advantages of the Bode Plot:
1.Gain Crossover, phase
crossover, gain margin, and
phase margin are more easily
determined on the Bode plot
than from the Nyquist plot.
2.For design purposes, the
effects of adding controllers
and their parameters are more
easily visualized on the Bode
plot than on the Nyquist plot.

30

Example 3: Consider the loop transfer function given as

L(s)= ____2500____
s(s+5)(s+50)
From the provided Bode diagram, find the GM and PM and corresponding
frequencies.

31

Fig. 35 Phase and Gain margins for stable and unstable systems {Kg=1/|G(jw)| at the phase crossover
frequency}

32

Self Exercise 2 (Final

2012)
A unity feedback system has an open-loop transfer function given by:

G(s)

30
s (1 0.1s )(1 0.04 s )

Without plotting the Bode plot, list out all the basic factors and their
corresponding corner frequencies and magnitudes/slopes for this system.

33

Self Exercise 2 (Solution)

30
G(s)
s (1 0.1s )(1 0.04 s )
G ( j )

30
or
j (1 0.1 j )(1 0.04 j )

30
G ( j )
j
j
j (1
)(1
)
10
25

First factor: 30
Corner frequency: NIL
Magnitude: 20 log 30 = 29.54 dB

34

Second factor:

1
j

Corner frequency: NIL

Magnitude: always a -20dB/decade slope
Third factor:

1
j
(1
)
10

Corner frequency: w = 10 rad/s

Magnitude:

20 log 1

10

For w <<10 rad/s, magnitude 0dB

For w >>10 rad/s, magnitude -20dB/decade

35

Fourth factor:

1
j
(1
)
25

Corner frequency: w = 25 rad/s

Magnitude:

20 log 1

25

For w <<25 rad/s, magnitude 0dB

For w >>25 rad/s, magnitude -20dB/decade

36

Self Exercise 3
plotting the Bode plot for the transfer function given below:

37

Self Exercise 3 (Solution)

38

39

40