Chapter Objective: - Derive The Frequency Response of A System - Plot and Sketch The Frequency Response of A System

Chapter 9
Frequency Response Bode Diagram
Chapter Objective:
Derive the frequency response of a system
Plot and sketch the frequency response of a system
Feb-17 ME2142 Feedback Control Systems C9.1
Copyright ME, NUS. All Rights Reserved.
What is Frequency Response?
Definition:
By frequency response, we meant the response of a system subject to a
sinusoidal input
sin (1)
The system response also experience a sinusoid behaviour
sin (2)
We are interested in amplitude ratio (or gain)
(or sometime, 20 log dB). (3)
and phase shift,
360 u(t)=UoSin( t)
Uo
2 (4) Yo y(t)=YoSin( t+ )
U(s) Y(s)
G(s)

System Response Example 1
Consider a first order system with transfer function
U(s) Y(s)
(5) G(s)
subject to a sinusoidal input
sin .
The output will be
(6)
where
lim 1 (7a)

lim (7b)

lim (7c)

Therefore, the output Y(s) becomes

1 1 1 1 1
1 1 2 1 1

From previous slide, we have U(s) Y(s)
G(s)
1 1 1 1 1
1 1 2 1 1
Taking inverse Laplace transform yields
(8)
By substituting in (5), we have
(9)
Where
(10)
tan (11)

Substituting (10-11) into (8) yields U(s) Y(s)
G(s)
cos jsin cos jsin
sin (12)
Noting that as 0, 0, therefore the output y(t) becomes
y sin (13)
Only care about ss response?
For frequency response, we are interested in amplitude ratio (or gain) and
phase shift,
(14)
Similarly,
phase = (15)

A More General Case
The above example shows that the gain and phase shift of a system with
transfer function is the magnitude and argument of with replaced by .
Is this generally true for all transfer function?
To view this let us look into a more general case.
Consider a system with transfer function

(16)
With the sinusoid input sin , the output becomes

(17)
where
(18)
(19)
is sometime known as the complementary function of the solution of an ode. If
the system is stable (i.e. 0, ), then 0 as .
In other word, for large t, y . So, let us focus on the evaluation of .

A More General Case 2
For large t. we can assume
Y (19)
where
lim

lim

(20)
Similarly,
lim

lim (21)
Let us rewrite in exponential representation,

(22)
where
and (23)
Then, becomes

(24)

A More General Case 2
For large t. we can assume
With becomes

(24)
Taking the inverse Laplace transform yields
sin (25)
Hence, for frequency response, we are interested in amplitude ratio (or gain) and
phase shift,
, and (26)
(27)
Summary:
1. The gain of a system is the magnitude of its transfer function with replaced
by .
2. The phase shift is the argument of the transfer function with replaced by .

Determination of frequency response
1. From system transfer function Function Generator and Oscilloscope
As illustrated in previous section, Function
Generator
vi(t)
Plant
vo(t) CRO
(28)
and
(29)
Vi
2. Experimental Determination t
Vo
Basically use a function

generator to generate a sinusoid
signal and feed into the input of and 360 (30)
the system and compares this
input signal with the measured Alternatively, switch the oscilloscope
output. into x-y mode,
There can be summarized as and Vo
a
follows: sin (31)
Vi

Experimental Determination
Special Function Generator Procedure:
Use a function generator with an Set the oscilloscope in x-y mode
optional variable phase output and Connect the 0 output to the input of the
configure the experimental setup as plant. i.e,
shown below. sin (32)
Connect the variable phase, to the x-input
(Channel 1) of the oscilloscope. i.e
sin (33)
Connect the output of the plant to the y-
input (Channel 2) of the oscilloscope. i.e
sin (34)
Adjust the phase control such that the
Vo elliptical figure on the scope becomes a
straight line
Then the gain and phase can be calculated
by
Vi
Before adjustment After adjustment and (35)

Graphical Representation of Frequency Response
Our interest is in the Gain and

phase with varying frequency, a
good way to represent these data
is via the graphical means.
There are basically two graphical
representations.
Bode Plot Representation:

Consists of 2 subplot of
Gain versus frequency
Phase versus frequency
Gain is represented in decibel
(dB),
20 log 20 log (36)
The frequency is usually in
logarithmic scale.

Graphical Representation
Polar or Nyquist Plot: Nichols Plot (named after Nathaniel B. Nichols):

We adopt the polar representation of A plot of phase (horizontal axis)
complex values. i.e. against gain (vertical axis) in dB.
(37) The axis crosses at (-180 ,0 dB).
That is, gain as magnitude and
phase as angle
Im
Re
G(j )

The Bode Plot
Consists of two subplots:
I. Gain versus frequency, and Typical Bode Plot
II. Phase versus frequency.
Frequency:
in horizontal axis
in log-scale.
I : Gain:
In vertical axis of 1st subplot
In dB
II: Phase:
In vertical axis of 2st subplot Slop of gain in Bode Plot
In Deg 70
60
50
For a system G(s), the frequency 40
response implies 30
20 log (39) 20
(40)
10
0
1 10 100 1000

Bode Plot Components
Bode plot for Proportional Component
Consider a system with transfer
function
We have
(41) Gain (dB) Bode Diagrams
Hence, 20 Log(K)
20 log (42)
and
Log( )
tan
Phase ()
0 (43)
0
Log( )
Note:
proportional component is
independent of input frequency.

Bode Plot Zero at Origin
Consider a system with transfer We define the slope as changes in dB
function per factor change in frequency,
dB per factor change
We have 20 log dB per factor change (46)
(44) The commonly used factors are,
Hence, to construct the gain vs Freq. 10,
graph, we have 20 log 10 dB per factor of 10
20 log Recall: log|G(jw)|
20 dB / Decade
20 log 20 log (45)
2,
Pass through freq-axis at where?
20 log 2 dB per factor of 2
We have 6 dB / Octave
20 log 20 log 0
20 log 20 log
/
To evaluate the slope.

We first let , then
20 log 20 log
Then, at another point ,
20 log 20 log
20 log 20 log 20 log
Gain vs Frequency
40
0.1
Decade
20
Gain (dB)
20 dB
0 Octave
1/A
6 dB
-20
101 102 103
100 Frequency (rad/s)

Bode Plot Zero at Origin
To construct the phase vs Freq. graph, we have
tan
90 (47)
135
90
Phase ( )
45 0.1
0
100 101 102 103
Frequency (rad/s)

Bode Plot for zero at origin
G s 0.1 s
40
Gain (dB)
20
0
1/A
-20 101 102 103
100
Frequency (rad/s)
135
Phase ( )
90
45
0
100 101 102 103
Frequency (rad/s)

Bode Plot Pole at Origin
Consider a system with transfer We define the slope as changes in dB
function per factor change in frequency,
dB per factor change
We have 20 log dB per factor change (50)
(48) Slope calculation by decade will be
Hence, to construct the gain vs Freq. 10,
graph, we have 20 log 10 dB per factor of 10
20 log 20 dB/Decade
20 log 20 log (49) Similarly, calculation by octave will be
Pass through freq-axis at where? 2,
We have 20 log 2 dB per factor of 2
20 log 20 log 0 6 dB/Octave
20 log 20 log
/
To evaluate the slope.
We first let , then
20 log 20 log
Then, at another point ,
20 log 20 log
20 log 20 log 20 log
Gain vs Frequency
20
10
Decade
0
Gain (dB)
A
-20 dB
Octave
-20
-6 dB
-40
101 102 103
100 Frequency (rad/s)

Bode Plot Pole at Origin
To construct the phase vs Freq. graph, we have
tan
90 (51)
0
10
-45
Phase ( )
-90
-135
100 101 102 103
Frequency (rad/s)

Bode plot for pole at origin
20 10
Gain (dB)
0
A
-20
-40 101 102

100 103
Frequency (rad/s)
Phase ( )
0
-45
-90
-135 0
10 101 102 103
Frequency (rad/s)
Bode Plot Pole on Real axis,
At very low frequency, 0 ,
function Noting that 1, we have
10 log 1
We have 10 log 1 0 (55)
(52) That is, at very low frequency, the
To construct the gain vs Freq. graph, gain can be approximated by a
we have horizontal line at 0 .
20 log 20 log
At very high frequency, ,
20 log 1
10 log 1 (53) Noting that 1, we have
The plot of (53) against is not 10 log 1
straight forward. 10 log
We will try to approximate this by 20 log (56)
looking into their asymptotes.
We use 1 as mid-range of the That is, the gain can be
frequency, i.e. when approximated by a straight line of
slope of -20 dB/Dec and crosses
(54)
the frequency-axis at .

Gain plot pole on
10
1
0
1
10
Gain (dB)
20
30
Low freq asymptote
40
High freq asymptote

50
60
0.01 0.1 1 10 100 1000
Frequency (rad/s)
Approximation Error
Gain (dB) Phase (Deg)
Freq
Actual Approx Error Actual Approx Error
0.01 0.0 0.0 0.6 0.6 0.0 0.6
0.02 0.0 0.0 0.0 1.1 0.0 1.1
0.05 0.0 0.0 0.0 2.9 0.0 2.9
0.1 0.0 0.0 0.0 5.7 0.0 5.7
0.2 0.2 0.0 0.2 11.3 13.5 2.2
0.5 1.0 0.0 1.0 26.6 31.5 4.9
1 3.0 0.0 3.0 45.0 45.0 0.0
2 7.0 6.0 1.0 63.4 58.5 4.9
5 14.1 14.0 0.2 78.7 76.5 2.2
10 20.0 20.0 0.0 84.3 90.0 5.7
20 26.0 26.0 0.0 87.1 90.0 2.9
50 34.0 34.0 0.0 88.9 90.0 1.1
100 40.0 40.0 0.0 89.4 90.0 0.6

Phase vs Frequency Plot
To construct the phase vs Freq.
graph, we have Noting that 1, we have
1 tan 0 (58)
tan (57) At corner frequency, ,
The plot of (57) against is not
straight forward. tan 1 45 (59)
We use similar approximation as At very high frequency, ,
for the case in finding gain.
1 tan 90 (60)
0
2
Phase (deg)
45
90
0.01 0.1 1 10 100 1000
Frequency (rad/s)
Bode plot for First Order system
Bode Diagram
Phase ( )
Gain (dB)
0.01 0.1 1 10 100 1000
Frequency (rad/s)
Bode Plot Zero on Real axis,
function Noting that 1, we have
1 10 log 1
We have 10 log 1 0 (64)
1 (61)
That is, at very low frequency, the
To construct the gain vs Freq. graph,
gain can be approximated by a
we have
20 log 20 log 1
horizontal line at 0 .
20 log 1 At very high frequency, ,
10 log 1 (62)
Noting that 1, we have
Similarly, we try to approximate this
by looking into their asymptotes. 10 log 1
We use 1 as mid-range of the 10 log
frequency, i.e. when 20 log (65)
(63) That is, the gain can be
approximated by a straight line of
slope of 20 dB/Dec and crosses
the frequency-axis at .

Gain plot Zero on
60
1
50
40
Gain (dB)
30
20
10
High freq asymptote
Low freq asymptote
10
0.01 0.1 1 10 100 1000
Frequency (rad/s)
At corner frequency, ,
graph, we have tan 1 45 (68)
1 1
tan (66)
tan 90 (69)
noting that 1, we have We use similar approximation
tan 0 (67) technique at , ,
1
90
Phase (deg)
45 10
10
0
0.01 0.1 1 10 100 1000
Frequency (rad/s)
Bode plot for zero on
Bode Diagram
Phase ( )
Gain (dB)
0.01 0.1 1 10 100 1000
Frequency (rad/s)
Second Order System
Consider the case for a second order system with 1,
(70)
For frequency response, we let
To simplify the notation, we divide the numerator and denominator by . We

have
Defining r , we have
(71)

Gain of 2nd order system
To construct the gain vs Freq. graph,
we have
20 log 20 log
10 log 1 4
20 log 1 2 10 log
10 log 1 (72) 4
40 log (75)
Similarly, we try to approximate this
by looking into their asymptotes. That is, the gain can be approximated
We use 1 as mid-range of the by a straight line of slope of -40
frequency, i.e. when dB/Dec and crosses the frequency-
(73) axis at .
10 log 1 4
10 log 1 (74)
0
That is, at very low frequency, the
gain can be approximated by a
horizontal line at 0 .

Gain vs Frequency
20
10
10
GAIN (DB)
20
30
40
z = 0.1
50 z = 0.2
60 z = 0.4
z = 0.707
70
z = 0.9
80
0.01 0.1 1 10 100
FREQUENCY (RAD/S)

graph, we have

tan 2 0 (77)
1 2 At corner frequency, ,
tan (76) tan 90 (78)
tan 180 (79)
0
20
40
PHASE (DEG)
60
80 z = 0.1
100 z = 0.2
120 z = 0.4
140 z = 0.707
160 z = 0.9
180
0.01 0.1 1 10 100
FREQUENCY (RAD/S)

2nd order systems Bode Plot
20
10
0
10
GAIN (DB)
20 z = 0.1
30 z = 0.2
40 z = 0.4
50 z = 0.707
60 z = 0.9
70
80
0.01 0.1 1 10 100
FREQUENCY (RAD/S)
0
45
PHASE (DEG)
90
135
180
0.01 0.1 1 10 100
FREQUENCY (RAD/S)
Resonant Frequency and Gain
For an under damped system as
shown on the right, the gain 20
increases near the corner 10
frequency.
0
At the frequency the gain is
maximum, we called that frequency 10
the resonant frequency and the 20
gain at that frequency the resonant
GAIN (DB)
gain, . 30
40
50
60
70
80
0.01 0.1 1 10 100
FREQUENCY (RAD/S)

Finding Resonant Frequency
From (71), we have Therefore, the resonant frequency is
(71) 1 2 for 0 (84)

To determine the gain at this
This gain value will be maximum if
frequency (i.e. resonant gain), we
is a minimum, where
substitute (83) into (71) and yields
1 4 (80)
To find the stationary point, we
differentiate (80) and equate it to zero (85)
will yield
Or
2 1 2 8
4 8 20 log
4 1 2 0 (81) 20 log 2 10 log 1 (86)

Solving (81) will have
0 or 1 2
Clearly, the only feasible root is
1 2 for . (83)

Finding Resonant Frequency
From (71), we have Therefore, the resonant frequency is
(71) 1 2 for 0 (84)

This gain value will be maximum if To determine the gain at this

is a minimum, where frequency (i.e. resonant gain), we
1 4 (80) substitute (82) into (71) and yields
Let use (80) as

2 1 4
2 1 2 1
1 2 1
(85)
Clearly, we can minimize by
making the left hand term (bolded in Or
blue) to zero. Hence, 20 log
1 2 0 (81)
20 log 2 10 log 1 (86)
1 2 (82)
Noting that (82) will hold only when
0 (83)

versus curve
14
12
10
8
Resonant Gain (dB)
0
0.0 0.2 0.4 0.6 0.8 1.0
Damping ratio

Gain and phase of product terms
Consider a system To find the phase shift, we have

(90)
The frequency response of the
system will be
(93)
(91)
To find gain in dB, we have
20 log
20 log
20 log 20 log (92)
Summary:
Gain of two product terms = sum of gain of each individual term
Phase of two product terms = sum of phase of each individual term

Construction of Bode Diagram
Procedure:
1. Factorise the transfer function into the combination of basic factors

where can be one of the followings:
Constant
Power of s-term,
Zero or pole, 1
Quadratic term, 2 1
2. Identify the corner frequencies of all basic factors.

3. Draw the gain (or phase) asymptope with proper slopes for each of the
factor.
4. The overall gain (or phase ) is the sum of all factors.

Example 2
Consider the system 20.0
1 5 10
6 dB
Step 1: factorize into basic 0.0
factors -20 dB/Dec
20.0
-40 dB/Dec
Step 2: Corner frequencies are 40.0
1, 5, 10
Step 3 (Gain): 60.0
Factor 1: constant of 2
80.0
20 log 2 6 Factor1
Factor2
Factor 2: Pole 1 Factor3
100.0
1, -20 dB/Dec Factor5
Combined
Factor 3: Pole 1 120.0 Actual
5 , -20 dB/Dec
Factor 4: Pole 1 140.0
0.01 0.1 1 10 100 1000
10, 20 dB/Dec
Step 4 (Gain): Superposition
Example 2Phase
Consider the system 0
1 5 10
Step 1: factorize into basic factors

45
Step 2: Corner frequencies are

90
1, 5, 10
Step 3 (phase):
Phase (Deg)
Factor 1: constant of 2 135
0
Factor 2: Pole 1
180
1, 0.1 0, 1 45, 10 90
factor11
factor
Factor 3: Pole 1 factor 2
factor 2
factor 3
5, 0.5 0, 5 45, 50 90 225
factor34
factor
Factor 4: Pole 1 combined
factor 4
10, 1 0, 10 45, 100 90 Real
Step 4 (Phase): Superposition 270

0.01 0.1 1 10 100 1000
Frequency (rad/s)

Example 3
Step 2: The factors and corner
Consider the system
frequencies are
1. Constant, 7.5, 17.5
Step 1: factorize into its normalised 2. Integrator,
form, we have
3. Quadratic factor with 2 and
,
1 2
.
4. 1st order factor with 2,
1 .
1 .
Factors Reference:
, , 1 , 1 2 with r

Example 3 Step 3-4 (Gain)
3
2
Step 3: The factors and corner 40
frequencies are
1. Constant, 7.5 20
17.5
-60 dB/Dec
2. Integrator, -80 dB/Dec

00
3. Quadratic factor with 2
and ,
Gain (dB)
20
1 2
40
1 .
60
1 .
80
Step 4: Superposition
100
0.1 11 10
10 100
Frequency (rad/s)

Example 3 Step 3-4 (Phase)
2 0.2 22 3
Step 3: The factors and corner 90
10
frequencies are
45
1. Constant, 7.5, 0
2. Integrator, , 90 0
3. Quadratic factor with 2 45
and ,
Phase (Deg)
90
1 2
4. 1st order factor with 2, 135
1 .
180

1 . 225
Step 4: Superposition 270
10 2
315
0.1 1 10 20 100
Frequency (Rad/s)

Bode Diagram Components
1. Constant term K 2. Integrator/Differentiator,
20 log 20 log
0 i.e. a straight line of slope
20 /
90
Gain
Gain
20 log
1 log
log
90
log
90

Bode Diagram Components
4. Second Order factors, 1 2
3. First Order factors, 1
10 log 1 4
10 log 1 where
i.e. at low frequency, 0 , and i.e. at low frequency, 0 , and at
at high frequency, 20 / . high frequency, 40 / .
2
n tan n tan
Gain 1
Gain
0
log 0
log
90
180
45
10 90
0.1 0.1 10
0 0
log log
45 90
90 180

1st Order factor and 2nd Order factor
Lets consider the construction of frequency response of two systems,
, and .
From the previous slide, components 3 and 4, we have

Gain G1
Gain G2
0
0
log log
0.1 10
0.1 10 0
0 log
log
90
90
180
180
Note: 1. For the case of , the two constructions are identical.

2. Also, for 1 and ,

Extraction of TF from Bode Diagram
We can make use of these asymptotes approximations to extract the transfer
function of a system from its Bode Plot.
Procedure:
1. Mark out the asymptote lines of slopes 20 / (or 6 / ) for
0,1,2, .
2. Identify the corner frequencies of each cross-over point of two adjacent
asymptotes.
3. The transfer function of the system can be constructed in the form of

i. Identify , check the slope( 20 ) and gain ( ) at very low
frequency:
20 log 20 log
ii. Move along the plot with increasing frequency (move to the right), check
for the changes in slope.
For a change of 20 / : add the factor 1

Example 4
From the experimental plot. 20
Step 1: Draws asymptotes of

4dB
20 0
0 dB/Dec
Step 2: Mark down the corner freqs
0.6, 4 20
Step 3: Construction of components.

40
i. Identify
20 / , 60
4 20 log 20 log 0.2
20 log 4 20 log 0.2 80
20 log 4 6 2
.
10 0.8
100
ii. Add factors
0.8 120
140
0.1 0.2 0.6 1 4 10 100

Example 4a

4dB
20 0
0 dB/Dec
0.6, 4 20

40
i. Identify
20 / , 60
0.8
ii. Add factors 80
Change from -20 to 0dB/Dec at

0.6 100
Factor is 1 .
120
1
0.8 0.8 140
0.6 0.1 0.2 0.6 1 4 10 100

Example 4b

4dB
20 0
0 dB/Dec
0.6, 4 20

40
i. Identify
20 / , 60
0.8
ii. Add factors 80
Change from 0 to -40dB/Dec at

4 100
Factor is 1
120
0.8 11 0.6
0.8
0.6 140
0.2 0.6
0.1 1 4 10 100
1
4
Feb-17
ME2142 Feedback Control Systems C9.54
Example 5
From the experimental plot. 20 0.9 4 10

6dB
20 /
0
Step 2a: Identify crossing points
Step 2b: Mark down the corner freqs 20
0.9, 4, 10
Step 3: Construction of components. 40

Compare gradient of lines before and
after the corner frequency. 60
If increase, add numerator factor
else
add denominator factor. 80
100
/ -0 dB/Dec
10 2 120
1 1 1
0.9 4 10 140
0.01 0.1 1 10 100 1000

The End


Chapter Objective: - Derive The Frequency Response of A System - Plot and Sketch The Frequency Response of A System

Uploaded by

Copyright:

Available Formats

You might also like

Chapter Objective: - Derive The Frequency Response of A System - Plot and Sketch The Frequency Response of A System

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Chapter Objective: - Derive The Frequency Response of A System - Plot and Sketch The Frequency Response of A System

Uploaded by

Copyright:

Available Formats

Chapter 9

Frequency Response Bode Diagram

Feb-17 ME2142 Feedback Control Systems C9.2

Therefore, the output Y(s) becomes

Feb-17 ME2142 Feedback Control Systems C9.3

Feb-17 ME2142 Feedback Control Systems C9.4

cos jsin cos jsin

Feb-17 ME2142 Feedback Control Systems C9.5

Feb-17 ME2142 Feedback Control Systems C9.6

Feb-17 ME2142 Feedback Control Systems C9.7

Feb-17 ME2142 Feedback Control Systems C9.8

Basically use a function

Feb-17 ME2142 Feedback Control Systems C9.9

Feb-17 ME2142 Feedback Control Systems C9.10

Our interest is in the Gain and

Bode Plot Representation:

Feb-17 ME2142 Feedback Control Systems C9.11

Polar or Nyquist Plot: Nichols Plot (named after Nathaniel B. Nichols):

Feb-17 ME2142 Feedback Control Systems C9.12

For a system G(s), the frequency 40

Feb-17 ME2142 Feedback Control Systems C9.13

Feb-17 ME2142 Feedback Control Systems C9.14

To evaluate the slope.

Feb-17 ME2142 Feedback Control Systems C9.16

Feb-17 ME2142 Feedback Control Systems C9.17

Feb-17 ME2142 Feedback Control Systems C9.18

Feb-17 ME2142 Feedback Control Systems C9.20

Feb-17 ME2142 Feedback Control Systems C9.21

-40 101 102

Feb-17 ME2142 Feedback Control Systems C9.23

High freq asymptote

Feb-17 ME2142 Feedback Control Systems C9.25

0.01 0.1 1 10 100 1000

Feb-17 ME2142 Feedback Control Systems C9.28

0.01 0.1 1 10 100 1000

To simplify the notation, we divide the numerator and denominator by . We

Feb-17 ME2142 Feedback Control Systems C9.32

Feb-17 ME2142 Feedback Control Systems C9.33

Feb-17 ME2142 Feedback Control Systems C9.34

Feb-17 ME2142 Feedback Control Systems C9.35

Feb-17 ME2142 Feedback Control Systems C9.37

4 1 2 0 (81) 20 log 2 10 log 1 (86)

Feb-17 ME2142 Feedback Control Systems C9.38

This gain value will be maximum if To determine the gain at this

Feb-17 ME2142 Feedback Control Systems C9.39

Feb-17 ME2142 Feedback Control Systems C9.40

Consider a system To find the phase shift, we have

Feb-17 ME2142 Feedback Control Systems C9.41

2. Identify the corner frequencies of all basic factors.

Feb-17 ME2142 Feedback Control Systems C9.42

factors -20 dB/Dec

Step 2: Corner frequencies are 40.0

Step 1: factorize into basic factors

Step 2: Corner frequencies are

Step 4 (Phase): Superposition 270

Feb-17 ME2142 Feedback Control Systems C9.44

Feb-17 ME2142 Feedback Control Systems C9.45

2. Integrator, -80 dB/Dec