Analysis of Frequency (amplitude -

phase) and polar diagrams

Members:
• EWIN LEON
• JHON CAJAMARCA
• WILMER SANMARTIN
• JORGE SINCHI
OBJECTIVES

General objective
 Study the control systems using the frequency response method and polar diagrams

Specific objectives
 Analyze the frequency response of a linear system affected by a sinusoidal input.
 Identify the different ways in which a sinusoidal transfer function can be displayed
 Verify using software Matlab the frequency and polar diagrams

Universidad Politécnica Salesiana Ingeniería Automotriz Claustro Sistemas Automotrices

INTRODUCTION

The frequency response of a system is the representation of the output

spectrum of the system in response to an input signal.
It is mainly used to graphically describe the dynamics of an electronic
circuit (amplifiers and electronic filters), but it is also especially useful to
analyze the stability of feedback circuits.
There are various representations of the frequency response: Bode,
Nichols, Nyquist diagram.
The frequency response assumes that the circuit is linear and that it is
maintained in a steady state, the input is excited by a synodal signal with a
fixed amplitude but with a frequency that varies in a certain range.

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 Frequency domain is a term used to
describe the analysis of mathematical
Frequency functions or periodic motion or signals
Analysis with respect to their frequency
Frequency response
T 1
T 1.0
Vin1 0.0

Amplitude [V]
-1.0
1.0 500m
Vin2 0.0

-1.0
1.10
Vout 0.00
0
-1.10 100 1k 10k 100k
0.0 500.0u 1.0m 1.5m 2.0m Frequency (Hz)
Time (s)

Frequency response methods in control systems provide a set of analysis and graphical tools that are not limited by
system order or other complexities

Frequency response analysis:

• Complex transfer function can be easily changed.

• It is an alternative method for the design and control of linear systems.
• There is almost always a correlation between the frequency response and the transient response over time.

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Development

e Frequency response is called the steady state response of a system subject to a sinusoidal signal of fixed
amplitude (𝐴), but at a frequency (𝜔) variable in a certain range.

The graphical representation of the steady state input and response is given in the following figure.

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Development

If the input x(t) is a sinusoidal signal, the output of this steady state systems will be a sine wave of the
same frequency, but possibly with different magnitude and phase angle.

Input 𝑥 ( 𝑡 )= 𝐴 𝑠𝑒𝑛 (ω∗𝑡 )

 

The transfer function G(s) can be written as the quotient of two polynomials in s:

  𝑃( 𝑠) 𝑃 (𝑠 )
𝐺 ( 𝑠 )= =
𝑞 ( 𝑠) ( 𝑠 +𝑠 1 )( 𝑠 +𝑠 2 ) ….. (𝑠+ 𝑠 𝑛 )

The Laplace transform of the output Y(s):

Y 

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Development

The steady –state response of a linear and invariant stable system over time to a sinusoidal input does
not depend on the initial conditions (therefore, it can be assumed that the initial conditions are zero).
If Y(s) has only different poles, the development of the partial fractions remains

 Y

  𝑎 ā  𝑏1 𝑏𝑛
¿ + 2 + +…+
𝑠+ 𝑗𝑤 𝑠 − 𝑗𝑤 𝑠+ 𝑠 1 𝑠 +𝑠𝑛
Where a and b (where i=1,2,….,n) are constants and ā is the conjugate complex of a. the inverse Laplace
transform of the above equation is given:

 y t≥0
For a style system –S1, -S2…,-Sn, they have negative real part therefore when t approaches infinite
it approaches zero in steady state.
  −𝑠 1 𝑡 −𝑠 2 𝑡 −𝑆𝑛 𝑡
𝑒 ,𝑒 ……𝑒
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Development

If Y(s) contains multiple poles sj of multiplicity mj , then y(t) will contain terms:

𝑡  h1 𝑒 −𝑠𝑗𝑡 (h𝑗 =0,1,2,3 , … … 𝑚− 1)

 For a stable system, the terms they tend to zero as t approaches infinity.

Therefore, regardless of whether the system has different poles or not, the response in steady state is:

 𝑌𝑠𝑠 ( 𝑡 )= 𝑒− 𝑗 ω 𝑡 +ā 𝑒 − 𝑗 ω𝑡
Where the constant a can be calculated.
 a=G(s)()(s + jw )

 =G(s)()(s – jw

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Development

Since G( jw) is a complex quantity, it can be rewritten as follows:

  ( 𝑗 ω )=|𝐺 ( 𝑗 ω)|𝑒 𝑗 φ
𝐺
2 2
 |𝐺 (ω )| = 𝑅 (ω) + 𝑋 (ω )2
 Where represents the magnitude and φ the angle of G ( jw ), that is

− 𝑗φ − 𝑗φ
𝐺
  ( − 𝑗 ω )=|𝐺(− 𝑗ω)|𝑒 =|𝐺( 𝑗ω)| 𝑒

 There angle can be negative, positive or zero. Similarly, the following expression is obtained for

 a=

 =

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Development

The steady state response characteristics of a system for a sinusoidal input are
obtained directly from

 Yss (t)=

  Yss (t)= sen

  Yss (t)=Y sen (

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Polar diagrams

5000
The advantage of the polar diagram that allows to
represent the characteristics of the frequency response for
the entire range of ω in a single graph

Below are a series of polar diagrams of typical transfer

functions, which will simplify the representation in
complex problems.

In the polar diagram, it is important to show the frequency

graduation at the locus

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First order factors
For sinusoidal transfer function

 
)
 If ω tends to infinity, the magnitude of G (jω) tends to zero and the phase angle tends -90 °. The polar
diagram of this transfer function is a semicircle when the frequency varies from zero to infinity, as shown in
figure. The center is located at 0.5 on the real axis and the radius is equal to 0.5 .

(a) Polar diagram of 1 (1 / 𝑗 ω Ʈ)

(b) Diagram G ( ju ) on the X-Y plane.

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• The polar diagrams of the transfer function just considered. The exact shape of a polar diagram depends on
the value of the relative damping factor Ƹ, but the general shape of the diagram is the same for both the
under damped case (1˃Ƹ˃0) and the over damped case (Ƹ˃1).

 • In the polar diagram, the frequency point whose distance to the origin is the maximum corresponds to the
resonance frequency ) is obtained as the quotient between the magnitude of the vector at the resonance
frequency

The low and high frequency parts of the polar diagrams of

the sinusoidal transfer function
  ( 𝑗 ω )= 1
𝐺 2
𝑝𝑎𝑟𝑎 ζ >0
ω ω
1+ 2ζ 𝑗
( )( )
ω𝑛
+ 𝑗
ω𝑛
Are obtained, respectively, by
𝑙𝑖𝑚
  − 0𝐺 ( 𝑗𝑤 )=1 (0º ) 𝑙𝑖𝑚
  − 0𝐺 ( 𝑗𝑤 )=1 (− 18 0º )
𝑤 𝑤

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General forms of polar diagrams.
The polar diagrams of a shape transfer function
 𝐺 ( 𝑗𝑤 ) = 𝐾 ( 1+ 𝑗𝑤 𝑇 𝑎 ) ( 1+ 𝑗𝑤 𝑇 𝑏 ) … .
( 𝑗𝑤 )λ ( 1+ 𝑗𝑤 𝑇 1 ) ( 1+ 𝑗𝑤 𝑇 2 ) … .

m 𝑚− 1
  𝑏 0 ( 𝑗𝑤 ) +𝑏 1( 𝑗𝑤 ) +…
¿ n 𝑛− 1
𝑎0 ( 𝑗𝑤 ) +𝑎1 ( 𝑗𝑤) + … .

where n> m, or the degree of the polynomial of the denominator is greater than that of the numerator, it will have
the following general forms:

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1. For λ=0 or type systems 0: 2.For λ=1 o or type systems 1:
G(j0)=finite and on the positive real axis. Phase (0) G(j0)=1 Phase (0) = -90º
perpendicular to the real axis
G(j∞)=0. Phase (∞) tangent to one of the axes G(j∞)=0. Phase (∞) tangent to one of the axes

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 3. For λ=2 or type systems 2

G(j0)=1. Phase(0) = -180º

G(j∞)=0. Phase (∞) tangent to one of the axes

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Polar diagrams of type systems0, type 1 y type 2

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  Ejemplo 1

Obtener
  la grafica polar
  ( ) 75
𝐺 𝑠=
𝑠+5

Lo
  primero que sedebe hacer escambiar la variable s por jw

  75 75
𝐺 ( 𝑗𝑤 ) = =
𝑗𝑤 +5 5+ 𝑗𝑤

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Resolución

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Resolución

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Resolución

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Resolución

Dependiendo de la experiencia y de lo complicado de la grafica polar, se necesitaran mas o

menos frecuencias a evaluar.

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 Resolución
 

 
Para el caso:

  ( ) 𝟕𝟓
𝑮 𝒔= W=5
𝒔+𝟓

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Diagrama polar

  ( ) 𝟕𝟓
𝑮 𝒔=
𝒔+𝟓

75
¿  𝐺 ( 𝑠 )∨¿
√ 𝑤 2+5 2

−1 𝑤
¿  𝐺 ( 𝑠 )=0 ° −𝑡𝑔 ( )
5

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Ejemplo 2
 Función de transferencia

• Tramo 1 (T1): Se evalúa la función en 0+<w<∞

• Tramo 2 (T2): Se evalúa la función en -∞<w<∞
• Tramo 3 (T3): Se evalúa la función en -∞<w<0-
• Tramo 4 (T4): Se evalúa la función en 0-<w<0+

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Resolución
Tramo 1: Primero reemplazamos a s=jw en G(s)H(s)
 

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Resolución

 • Separamos la parte real e imaginaria

• Reemplazamos los límites de w:

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Resolución
 • Como hubo cambio de cuadrante, analizamos si hay puntos de
cortes con el eje real:

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Resolución
Tramo 2: Es la semicircunferencia de radio infinito y donde -90<θ<90
 

• Ahora evaluamos la función en diferentes valores de θ para ver su

comportamiento

θ=90º G([Re]^j90 )H([Re]^j90 )=0e^(-j270)

θ=0º G([Re]^0 )H([Re]^0 )=0e^0
θ=-90º G([Re]^(-j90) )H([Re]^(-j90) )=0e^j270

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Resolución
Tramo 3: Reemplazamos a s=jw y variamos a w 0-<w<-∞. Este mismo
análisis se hizo en el tramo 1, solo que w tenía otros intervalos.
 

• La grafica en el plano F(s) del tramo 3 es la gráfica del tramo 1 refleja sobre el eje
real

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Resolución
Tramo 4: ES la semicircunferencia de radio que tiende a 0 y el ángulo
va variando de -90<θ<90

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• Ahora evaluamos la función en diferentes valores de θ para ver su

comportamiento

• θ=90º
• θ=0º
• θ=-90º

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• Por ultimo unimos los tramos y construimos la gráfica de Nyquist y con ello se concluye si el
sistema es estable o no

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Conclusions

Frequency response are graphs that show the frequency response of a linear system, they are
useful tools for analysis, synthesis and design. It allows to represent the frequency response of
an H (jw) system in two graphs known as: magnitude and phase.

One of the advantages of the frequency response method is that it allows designing a system
in which the unwanted effects of noise are eliminated, as well as extending this analysis and
to certain non- linear control systems.

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Gracias por su atención

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