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ES 158: Lecture 9 Laplace Transform & Frequency Response: Na Li
ES 158: Lecture 9 Laplace Transform & Frequency Response: Na Li
Na Li
• Goals:
− Motivate the role of the Laplace Transform in Control Analysis
− Define the Laplace Transform and its Properties
− Use the Laplace Transform to analyze system response
• Reading:
− Åström and Murray, Feedback Systems, Chapter 8 (Sections 8.1, 8.2)
1
Frequency Domain Modeling
• The frequency response of a linear system is the relationship between the gain and
phase of a sinusoidal input and the corresponding steady state (sinusoidal) output.
1 1
0 0
-1 -1
0 5 10 0 5 10
Frequency Response
20 Bode plot (1940; Henrik Bode)
Magnitude (dB)
10
0 Plot gain and phase vs input frequency
-10
-20 Gain is plotting using log‐log plot
-30
-40 Phase is plotting with log‐linear plot
-50
-60 Can read off the system response to a sinusoid –
0
in the lab or in simulations
Linearity ) can construct response to any input
Phase (deg)
-90
• Exponential signal:
– Exponential response can be computed via the convolution equation
3
Exponetial signal
Control inputs/outputs can be written as complex exponentials
Exponential signal:
4
Transfer Function and Frequency Response
• Exponential response of a linear state space system
transient steady state
• Transfer function Common transfer functions
– Steady state response is proportional to
exponential input => look at input/output
ratio
– is the
transfer function between
input and output
• Frequency response
gain phase
5
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