Frequency Response

Techniques
Prof. Ketul M. Patel
Assistant Professor
Electrical Engineering Department
Dr. S. & S. S. Ghandhy G. E. C., Surat
 Introduction
 The magnitude and phase relationship between
sinusoidal input and steady state output of a system is
termed as frequency response.
 Consider a linear system with sinusoidal input r t   A sin t
C s 
We have  T s  or C s   Rs T s  From which, ct   t t T t 
Rs 
The frequency response C j   R  j  T j 
 Under steady state, system output as well as signals at all
other points in the system are sinusoidal. However the
magnitude and phase angle will change according to T(s)
 For given r(t), Steady state output may be written as:
ct   B sin t     A T  j  sin t      T  j 
 Frequency Response
Techniques - Advantages
 In LTI systems, frequency response is independent of
the amplitude and phase of input signal. Frequency
response test on a system or a component is usually
done by keeping amplitude of input A fixed and
determining B and φfor suitable frequencies.
 Wherever it’s not possible to obtain form of transfer
function of system through analytical method, necessary
information to compute its transfer function can be
easily extracted by performing frequency response test
on system. This is not so easy for step response method.
 Design and parameter adjustment of open loop transfer
function of a system for specified closed loop
performance is easier with this method.
 Frequency Response
Techniques - Advantages
 Effect of noise, disturbance and parameter variation is
easy to visualize and access with this method.
 Sinusoidal test signals for wide range of frequencies are
readily available.
Disadvantages:
 For systems with large time constant, this test is
cumbersome to perform as time required for output to
reach steady state for each frequency of test signal is
very long and method requires testing for wide range.
 This test cannot be performed on non-interruptible
systems. In such situation, single shot tests like
step/impulse response are more advantageous.
 Frequency Response Plots
 In frequency domain,
G  j   G s  s  j  R  j   jX j  where R  j   ReG  j 
X j   ImG  j 
 R   
where   tan -1   and
or G  j   G  j  G  j   M  X   
M  G  j   R  2  X 2
 Graphical representation of frequency response of
system G(jω) can utilize either of the above two
equations. Various ways of such graphical
representation are:
 Polar Plots
 Nyquist Plots
 Bode Plots
  R   
G  j   G  j  G  j  G  j   tan -1   and
 X   
R  j   ReG  j 
X j   ImG  j 
G  j   R    X 
2 2
Polar Plots
 G  j   G  j  G  j 
Polar Plots
 The polar plot of sinusoidal transfer function G(jω) is a
plot of the magnitude of G(jω) and the phase angle of
G(jω) on polar coordinates as ω is varied from 0 to ∞ .
 Therefore, it is the locus of G j  G j as ω is varied from
0 to ∞ .
 In the polar plot the magnitude of G(jω) is plotted as the
distance from the origin while phase angle is measured
from positive real axis.
 Each point on the polar plot of G(jω) represents the
terminal point of a vector at a particular value of ω.
 The projections of G(jω) on the real and imaginary axes
are its real and imaginary components.
 Positive angle is taken for anticlockwise direction and
 Polar Plots
 Steps to draw Polar Plot :
1. Put s = jω in the transfer function G(s).
2. Get expression for |G(jω)| and ∠G(jω).
3. For various values of ω between 0 and ∞, calculate
both |G(jω)| and ∠G(jω). The direction of polar plot
will be from ω = 0 to ω = ∞.
4. Rationalize the function G(jω) and separate the real
and imaginary parts .
5. Put Re[G(jω)]=0 to determine the frequency
ω(0<ω<∞) at which plot intersects the Imaginary
axis. Then calculate intersection value by putting
the above calculated frequency in G(jω).
 Polar Plots
 Steps to draw Polar Plot :
6. Put Im[G(jω)]=0 to determine the frequency
ω(0<ω<∞) at which plot intersects the real axis.
Then calculate intersection value by putting the
above calculated frequency in G(jω).
7. Sketch the Polar Plot with the help of above
information
 Polar Plot for Type ‘0’ System
 Consider a type 0 system as: Gs   1
1  sT
1
G  j  
 Putting s = jω, 1  j T
1
G  j   G  j    tan 1 T 
 From which: 1   2T 2

At   0, G  j   1;  1  1  jT  1  jT
G  j      
G  j   0      1  T
2 2
 1 j T  1 j T
1 j T
At   1 , G  j   1 ;  
T 2 1   2T 2 1   2T 2
G  j   45
1 j T
At   , G  j   0;  ReG  j   ; ImG  j  
1   2T 2
1   2T 2
G  j   90
 Polar Plot for Type ‘0’ System
At   0,
G  j   1;
G  j   0
At   1 ,
T
G  j   1 ;
2
G  j   45
At   ,
G  j   0;
G  j   90
1
ReG  j   ;
1   2T 2
j T
ImG  j  
1   2T 2
 Polar Plot for Type ‘0’ System
K
 Consider a type 0 system as: G s  
1  sT1 1  sT2 
K
 Putting s = jω, G  j  
1  jT1 1  jT2 
K
 From which: G  j  
1  T1  1  T2   Separating real and
2 2

G  j    tan 1 T1   tan 1 T2  imaginary parts:

At   0, G  j   K ; G  j  
K 1  jT1 1  jT2 
G  j   0 1  jT1 1  jT2  1  jT1 1  jT2 
At   , G  j   0; K 1  jT1  jT2   2T1T2 

G  j   90  90
 
1   2T1 1   2T2
2 2

 180 K 1   2T1T2  K T1  T2 
 
 
1   2T1 1   2T2
2 2
 
j

1   2T1 1   2T2
2 2

 K 1   2T1T2  K T1  T2 
G  j   
 
1   2T1 1   2T2
2
 
2
j
1   2T1 1   2T2
2 2
 
Polar Plot for Type ‘0’ System
K 1   2T1T2  K T1  T2 
G  j    j
1   2T1   2T2   4T1T2 1   2T1   2T2   4T1T2
2 2 2 2

Setting ReG  j  
1   T T  2
 0 1   2T1T2  0 From which  
1
1   T 1   T 
1 2
2 2 2 2
1 2
T1T2

1 K T1T2
With   , G  j   and G  j   90
T1T2 T1  T2
This gives imaginary axis intersection point.
 T1  T2 
Setting ImG  j   0  T1  T2   0
1   T 1   T 
2
1
2 2
2
2 From which   0

Hence there is no intersection with real axis.

With   0, G  j   K and G  j   0
 K 1   2T1T2  K T1  T2 
G  j   
 
1   2T1 1   2T2
2
 
2
j
1   2T1 1   2T2
2 2
 
Polar Plot for Type ‘0’ System
K 1   2T1T2  K T1  T2 
G  j    j
1   2T1   2T2   4T1T2 1   2T1   2T2   4T1T2
2 2 2 2

With   , G  j   0 and G  j   180

Setting ReG  j  
1   T T  2
 0 1   2T1T2  0 From which  
1
1   T 1   T 
1 2
2 2 2 2
1 2
T1T2

This gives imaginary axis intersection point.

 T1  T2 
Setting ImG  j   0  T1  T2   0
1   T 1   T 
2
1
2 2
2
2 From which   0

Hence there is no intersection with real axis.

With   0, G  j   K and G  j   0
 Frequency Response
Techniques - Advantages
 The method does not need precise mathematical
description of systems. The root locus method needs
reasonably accurate mathematical description.
 The frequency domain approach leads to robust design.
 The method is independent of the complexity of systems
and is applicable to systems containing time delay
elements. Root locus method needs an approximate
description of time-delay elements.
 The method gives a simple and orderly approach for trial
and error design.
 It provides a very good indication of the system
bandwidth which can only be approximated with the
root-locus method of design.
 Root Locus

K
KG ( s )  K  K1K 2 
s s  10 

K
KG ( s ) s s  10 
T (s)  
1  KG ( s ) 1  K
s s  10 

K
T (s) 
s 2  10s  K
 Root Locus
Pole 1

Pole 2
 Root Locus
 As the gain, K, increases, the closed-loop pole, which is at
10 for K=0, moves toward the right, and the closed-loop
pole, which is at 0 for K=0, moves toward the left.
 They meet at -5, break away from the real axis, and move
into the complex plane.
 One closed-loop pole moves upward while the other
moves downward. We cannot tell which pole moves up or
which moves down.
 This representation of the paths of the closed-loop poles
as the gain is varied that we call a root locus.