Feedback Control Systems (FCS)

Lecture-21-22-23
Frequency Response Analysis

Dr. Imtiaz Hussain

email: imtiaz.hussain@faculty.muet.edu.pk
URL :http://imtiazhussainkalwar.weebly.com/
 Introduction
• Frequency response is the steady-state response of a
system to a sinusoidal input.
• In frequency-response methods, the frequency of
the input signal is varied over a certain range and the
resulting response is studied.

System
 The Concept of Frequency Response
• In the steady state, sinusoidal inputs to a linear
system generate sinusoidal responses of the
same frequency.

• Even though these responses are of the same

frequency as the input, they differ in amplitude
and phase angle from the input.

• These differences are functions of frequency.

 The Concept of Frequency Response
• Sinusoids can be represented as complex numbers
called phasors.
• The magnitude of the complex number is the
amplitude of the sinusoid, and the angle of the
complex number is the phase angle of the sinusoid.
• Thus M 1 cos( t   ) can be represented as M 11
where the frequency, ω, is implicit.
 The Concept of Frequency Response
• A system causes both the amplitude and phase angle
of the input to be changed.

• Therefore, the system itself can be represented by a

complex number.

• Thus, the product of the input phasor and the system

function yields the phasor representation of the
output.
 The Concept of Frequency Response
• Consider the mechanical system.

• If the input force, f(t), is sinusoidal, the steady-state output

response, x(t), of the system is also sinusoidal and at the same
frequency as the input.
 The Concept of Frequency Response

M ( ) ( )

• Assume that the system is represented by the complex number

M ( ) ( )

• The output is found by multiplying the complex number

representation of the input by the complex number
representation of the system.
 The Concept of Frequency Response

M ( ) ( )

• Thus, the steady-state output sinusoid is

M o ( )o ( )  M ( )M i ( )[ ( )  i ( )]

• Mo(ω) is the magnitude response and Φ(ω) is the phase response.

The combination of the magnitude and phase frequency
responses is called the frequency response.
 Frequency Domain Plots
• Bode Plot
• Nyquist Plot
• Nichol’s Chart
 Bode Plot
• A Bode diagram consists of two graphs:
– One is a plot of the logarithm of the magnitude of
a sinusoidal transfer function.
– The other is a plot of the phase angle.
– Both are plotted against the frequency on a
logarithmic scale.
Decade
Basic Factors of a Transfer Function
• The basic factors that very frequently occur in
an arbitrary transfer function are
1. Gain K
2. Integral and Derivative Factors (jω)±1
3. First Order Factors (jωT+1)±1
4. Quadratic Factors

20(3s  1)
G( s ) 
s( s  1)( s 2  5s  2)
 Basic Factors of a Transfer Function
1. Gain 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.

• 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.
 If K  5 Then 20 log (K)  20 log ( 5 )  14 db
15

5
Magnitude (decibels)

-5

-15
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Im 0
If K  5 Then   tan-1( )  tan-1( )  0
90o
Re 5

30o
Phase (degrees)

0o

-300

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Basic Factors of a Transfer Function
2. Integral and Derivative Factors (jω)±1
Derivative Factor G( s )  s , where s  j

Magnitude G( j )  20 log(  )

ω 0.1 0.2 0.4 0.5 0.7 0.8 0.9 1

db -20 -14 -8 -6 -3 -2 -1 0

Slope=6b/octave
Slope=20db/decade


Phase G( j )  tan 1 ( )  90 
0
 20 db
decade
30

10
Magnitude (decibels)

-10

-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 
  tan-1( )  90 
180o
0

900

60o
Phase (degrees)

0o

-600

-180o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Basic Factors of a Transfer Function
2. Integral and Derivative Factors (jω)±1
• When expressed in decibels, the reciprocal of a number
differs from its value only in sign; that is, for the number N,
1
20 log( N )  20 log( )
N
• Therefore, for Integral Factor the slope of the magnitude line would
be same but with opposite sign (i.e -6db/octave or -20db/decade).

1
Magnitude G( j )   20 log(  )
j

1 
Phase G( j )   tan ( )  90 
0
 20 db
decade
30

20

10
Magnitude (decibels)

-10

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 
  tan-1( )  90 
180o
0

60o
Phase (degrees)

0o

-600

-900

-180o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Basic Factors of a Transfer Function
3. First Order Factors (jωT+1)
M ( )  20 log(1  jT )
M ( )  20 log( 1   T )
2 2

1
– For Low frequencies ω<<1/T G( s )  ( s  3)  ( s  1)
3

M ( )  20 log(1)  0 1 T
T
– For high frequencies ω>>1/T

M ( )  20 log( T )
 Basic Factors of a Transfer Function
3. First Order Factors (jωT+1)

( )  tan-1(T )

-1
when   0, ( )  tan (0)  0 

1 -1
when   ,  ( )  tan (1)  45 
T
-1
when   , ( )  tan ()  90 
 1
G( s )  ( s  3)  ( s  1)
3
30

20

6 db/octave
10
Magnitude (decibels)

20 db/decade

0
ω=3

-10

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 90o

45o
30o
Phase (degrees)

0o

-300

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Basic Factors of a Transfer Function
3. First Order Factors (jωT+1)-1
M ( )  20 log(1  jT )
M ( )  20 log( 1   T )
2 2

– For Low frequencies ω<<1/T 1

G( s ) 
( s  3)
M ( )  20 log(1)  0
– For high frequencies ω>>1/T

M ( )  20 log( T )
 Basic Factors of a Transfer Function
3. First Order Factors (jωT+1)-1

( )  tan-1(T )

-1
when   0, ( )  tan (0)  0 

1 -1
when   ,  ( )  tan (1)  45 
T
-1
when   , ( )  tan ()  90 
 1
G( s ) 
( s  3)
30

10
Magnitude (decibels)

0
ω=3

-10
-6 db/octave
-20 db/decade
-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 90o

30o
Phase (degrees)

0o

-300

-45o

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Example#1
• Draw the Bode Plot of following Transfer function.
20 s
G( s ) 
( s  10 )
Solution:
2s
G( s ) 
( 0.1s  1)
• The transfer function contains
1. Gain Factor (K=2)
2. Derivative Factor (s)
3. 1st Order Factor in denominator (0.1s+1)-1
 Example#1
2s
G( s ) 
( 0.1s  1)
1. Gain Factor (K=2)
K db
 20 log( 2)  6 db
2. Derivative Factor (s)
s db  20 log(  )  20 db/decade
3. 1st Order Factor in denominator (0.1s+1)
1
when   10,  20 log(1)  0
0.1 j  1 db

1
when   10,  20 log( 0.1 )  20db/dec
0.1 j  1 db
 20 s
G( s ) 
( s  10 )
30

20 db/decade
10
Magnitude (decibels)

K=2
0

-10

-20 db/decade
-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 20 s
G( s ) 
( s  10 )
30

-20 db/decade+20db/decade

10
Magnitude (decibels)

20 db/decade
0

-10

-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Example#1
2 j
G( j ) 
( 0.1 j  1)

G( j )  2  j  ( 0.1 j  1)

1 0 1 
G( j )  tan ( )  tan ( )  tan 1 ( 0.1 )
2 0

G( j )  90  tan1(0.1 )

ω 0.1 1 5 10 20 40 70 100 1000 ∞

Φ(ω) 89.4 84.2 63.4 45 26.5 14 8 5.7 0.5 0

 ω 0.1 1 5 10 20 40 70 100 1000 ∞
Φ(ω) 89.4 84.2 63.4 45 26.5 14 8 5.7 0.5 0
90o

30o
Phase (degrees)

0o

-300

-45o

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Bode Diagram
30

20
Magnitude (dB)

10

-10

-20
90
Phase (deg)

45

0
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
 Example#2
20( s  3)
G( s ) 
s( s  20 )( s  100 )

Solution:

0.03( 0.33 s  1)
G( s ) 
s( 0.05 s  1)( 0.01s  1)
Basic Factors of a Transfer Function
4. Quadratic Factors

 2
 2
M ( )  20 log (1  2 )  ( 2 )
n n

– For Low frequencies ω<< ωn

M ( )  20 log(1)  0
– For high frequencies ω>> ωn

M ( )  40 log( )  40 db / dec
n
 Minimum-Phase & Non-minimum
Phase Systems
Bode Diagram
16

14

Magnitude (dB)
12

3( 2s  1) 10

G( s ) 
( s  1) 8
20

15
Phase (deg)

10

0
-2 -1 0 1
10 10 10 10
Frequency (rad/sec)
 Minimum-Phase & Non-minimum
Phase Systems
Bode Diagram
35

Magnitude (dB)
30

25

10(3s  1)( 7 s  1)
G( s ) 
20
40
( s  1)( 5s  1) 30
Phase (deg)

20

10

0
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
 Minimum-Phase & Non-minimum
Phase Systems
Bode Diagram
30

20

Magnitude (dB)
10

6( s 2  4s  4)
G( s )  -10
0
(3s  1)( 5s  1)
Phase (deg)

-45

-90

-135
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
 Minimum-Phase & Non-minimum
Phase Systems
Bode Diagram
16

14

Magnitude (dB)
12

3( 2 s  1)
10

G( s ) 
( s  1)
8
180

135
Phase (deg)

90

45

0
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
 Minimum-Phase & Non-minimum
Phase Systems
Bode Diagram
40

30

Magnitude (dB)
20

10

10(5s  1)( 2s  1) 0
G( s )  90
s( s 2  8s  16 ) 45
Phase (deg)

-45

-90
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
 Minimum-Phase & Non-minimum
Phase Systems
• Transfer functions having neither poles nor
zeros in the right-half s plane are minimum-
phase transfer functions.

• Whereas, those having poles and/or zeros in

the right-half s plane are non-minimum-phase
transfer functions.
 Relative Stability
 Phase crossover frequency (ωp) is the frequency at which
the phase angle of the open-loop transfer function equals –
180°.
 The gain crossover frequency (ωg) is the frequency at which
the magnitude of the open loop transfer function, is unity.
 The gain margin (Kg) is the reciprocal of the magnitude of
G(jω) at the phase cross over frequency.

 The phase margin (γ) is that amount of additional phase lag

at the gain crossover frequency required to bring the system
to the verge of instability.
Relative Stability
 Gain cross-over point

Phase cross-over point

ωg ωp
12/13/2019 48
 Unstable Stable

Stable Gain Margin

Stable
Phase Margin

Unstable Stable

ωg ωp
12/13/2019 49
 Example#3
• Obtain the phase and gain margins of the
system shown in following figure for the two
cases where K=10 and K=100.
To download this lecture visit
http://imtiazhussainkalwar.weebly.com/

END OF LECTURES-21-22-23