SKEE 3133

SKEE 3143
SYSTEM MODELING AND
CONTROL SYSTEM
ANALYSIS
DESIGN

CHAPTER 3
Response and Stability Analysis in
Frequency Domain

Herman 1
 The Concept
Example x(t )  M o cos(  o )

M f (t )  M i cos(  i )

Sinusoidal M i ( )i ( ) M o ( )o ( ) generate sinusoidal

M ( ) ( )
inputs to a responses of the
linear system same frequency
However, the output amplitude and phase angle is different from input

2
 The Concept
M i ( )i ( ) M o ( )o ( )
M ( ) ( )

• Sinusoids can be represented as complex numbers called

phasor.
M 1 cos(t  1 )  M 11

where M1 and 1 are the amplitude and phase angle.

• Thus, the system  complex number so that the product of

the input phasor and the system yield the phasor of the
output.

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

3
 The Concept [3]
M o ( )o ( )  M i ( ) M ( )[i ( )   ( )]

Magnitude frequency M o ( )
M ( ) 
response M i ( )

Phase frequency
response  ( )  o ( )  i ( )

The combination of the magnitude and phase frequency responses

is called the frequency response,

The frequency response of a system with transfer function G(s) is

G( j )  G( s) s  j M ( ) ( )
 Analytical Expression
System with R( s )  \As  B
C (s )
s 2  2
sinusoid input G (s )

Can be represented in three ways

Polar form Rectangular form Euler’s formula

M i i A  jB M i e j i

M i  A2  B 2
i  tan 1 ( B / A)
5
 Plotting Frequency Response
1
• For a given transfer function: G ( s )  ( s  2)
1
G ( j ) 
( j  2)
1
G ( j )  ;  ( )   tan 1 ( 2)
( 2  4)
Magnitude Frequency
• One way to plot the Frequency response is by using a separate
magnitude and phase plots.

a) Magnitude curve: decibel (dB) vs log  [dB = 20 log M]

b) Phase curve: phase angle vs log 

6
• Separate plots (magnitude and phase vs log ).

Magnitude plot vs 

Phase plot vs 
7
 Frequency Response Plot

• Another way to plot the Frequency response is using

Nichol’s chart
 Bode Plots  Magnitude Plot
• The log-magnitude and phase frequency response curves
as a function of log   Bode plots.
• Technique for analyses & design of control systems.
K ( s  z1 )( s  z 2 )  ( s  z k )
G (s) 
s m ( s  p1 )( s  p2 )  ( s  pk )

Magnitude K ( s  z1 ) ( s  z 2 )  ( s  z k )
Freq. Response G (s) 
s m ( s  p1 ) ( s  p2 )  ( s  pn )
s  j

20 log G ( j )  20 log K  20 log ( j  z1 )  20 log ( j  z 2 )  

 j 
sConvert
to dB  20 log ( j ) m  20 log ( j  p1 )  20 log ( j  p2 )  

9
 Bode Plots  Phase Plot
K ( s  z1 )(s  z2 ) ( s  zk )
G( s) 
• The phase frequency response s m ( s  p1 )(s  p2 ) ( s  pk )

G( j )  K  ( j  z1 )  ( j  z 2 )    ( j  p1 )  ( j  p2 )  

• Magnitude and phase responses of each term  total

frequency response obtained by algebraic sum of each
term.
• The frequency response can be simplified by utilizing
straight-line approximations.
• total frequency response  graphic addition.

10
 General Bode Plots
G (s)  K
Magnitude

Gj ) dB  20 log K
G ( j )  00
G (s)  K
G ( j )  K Phase

G ( j )  00

11
 Bode Plots  G(s) = s
G ( s )  s  G ( j )  j
for   0.01,0.1,1,10,100
Gj ) dB  40,20,0,20,40
Gj ) dB  20 log  Plotting on
log-scale

20 dB/decade

Magnitude Plot
 Bode Plots  G(s) = s
G ( s )  s  G ( j )  j
G ( j )  900

Plotting on
log-scale

Phase plot

13
 Bode Plots  G(s) = 1/s
G (s)  1 s
G ( j )  1 j
Gj )  log(1 /  )
Gj ) dB  20 log(1 /  )  20 log 

- 20 dB/decade

At  = 1, gain = 0 dB.

14
 Bode Plots  G(s) = 1/s
G (s)  1 s
G ( j )  1 j
Gj )  log(1 /  )
Gj ) dB  20 log(1 /  )  20 log  Magnitude Plot

Plotting on
log-scale

- 20 dB/decade

15
 Bode Plots  G(s) = 1/s

G ( j )  900 Phase plot

Plotting on
log-scale

16
 Bode Plots  s/a + 1
 
2

Gj )     1
a
s j
G( s)   1 G ( j )  1  
a a G ( j )  tan 1  
a

Gj ) dB  20 log1  0dB Low Frequency

At   a
G ( j )  tan 1 0  0 0 Asymptote

Gj ) dB  20 log 2  3.01dB Break

At  = a frequency
G ( j )  tan 1 1  450

Gj ) dB  20 log  High Frequency

At  >> a G ( j )  tan 1   90 0 Asymptote
20 dB/decade 17
 Bode Plots

• the low-frequency asymptote  The low-frequency

approximation

• high-frequency asymptote  The high-frequency

approximation

• break frequency :  = a  the break between the low- and

high-frequency asymptotes.

18
 s
G( s)   1
a
Bode Plots - magnitude
high-frequency asymptote
Gj ) dB  20 log 

break-frequency
low-frequency asymptote
Gj ) dB  20 log 2  3.01dB
Gj ) dB  20 log 1  0dB 19
 s
G( s)   1
a Bode Plots - phase

high-frequency asymptote
G ( j )  tan 1   900

low-frequency asymptote asymptotic approximation

G ( j )  tan 1 0  00 G ( j )  tan 1 1  450
20
 s
G( s)   1 Bode Plots – actual plot
a

Break frequency : 3dB

21
 s
G( s)   1
a Bode Plots

22
 Bode Plots
1
Gj ) 
 
2

  1
a
1  
G( s)  G ( j )  
1
  
s  j a  1  G ( j )   tan 1  
1 a
a
Gj ) dB  20 log1  0dB Low Frequency
At   a
G ( j )  tan 1 0  0 0 Asymptote

Gj ) dB  20 log(1 2 )  3.01dB Break

At  = a G ( j )   tan 1 1  450 frequency
- 20 dB/decade

1
Gj ) dB  20 log High Frequency

At  >> a Asymptote
G ( j )   tan 1   90 0 23
 Bode Plots

high-frequency asymptote
1
Gj ) dB  20 log


low-frequency asymptote
break-frequency
Gj ) dB  20 log 1  0dB
Gj ) dB  20 log(1 2 )  3.01dB 24
 Bode Plots

high-frequency asymptote
G ( j )   tan 1   900

asymptotic approximation
low-frequency asymptote
G ( j )   tan 1 1  450
G ( j )  tan 1 0  00 25
 Summary of general plot

General Plot
G(s) = s G(s) = s2
20 90° 40 180°
dB/decade dB/decade
G(s) = 1/s G(s) = 1/s2
-20 -90° -40 -180°
dB/decade dB/decade
 Example 1

• Sketch the Bode plots for the system shown where

K ( s  3)
G( s) 
s ( s  1)(s  2)

Use the command in MATLAB to get the actual bode

plot. (use the command ‘bode(G)’
27
 Solution
3 s 
K ( s  3) K   1
G( s)  Normalize 2 3 
s ( s  1)(s  2) G (s) 
 s  s 
s  1  1
 1  2 
Break Frequency

The magnitude plot  decade below the lowest break frequency

 extend a decade above the highest break frequency
 0.1 radian to 100 radian
Let K = 1

28
 3 s 
K   1
2 3 
G ( s)  Gj ) dB  20 log 
 s  s 
s  1  1
 1  2 
-20dB
/decade
 3 s 
K   1
2 3 
G ( s)  Gj ) dB  20 log 
 s  s 
s  1  1
 1  2 

3
20 log
2s
 3 s 
K   1
2 3 
G ( s)  Gj ) dB  20 log 
 s  s 
s  1  1
 1  2 

3 rad/s
 3 s 
K   1
2 3 
G ( s)  Gj ) dB  20 log 
 s  s 
s  1  1
 1  2 

1 rad/s
 3 s 
K   1
2 3 
G ( s)  Gj ) dB  20 log 
 s  s 
s  1  1
 1  2 

2 rad/s
Solution 1

35
 Phase Plot

K ( s  3)
G( s) 
s ( s  1)(s  2)

3rd Order system

3 * (-90°) = -270°
Phase plot ends at -
270°
 Bode Plots  s/a + 1
 
2

Gj )     1
a
s j
G( s)   1 G ( j )  1  
a a G ( j )  tan 1  
a

Gj ) dB  20 log1  0dB Low Frequency

At   a
G ( j )  tan 1 0  0 0 Asymptote

Gj ) dB  20 log 2  3.01dB Break

At  = a frequency
G ( j )  tan 1 1  450

Gj ) dB  20 log  High Frequency

At  >> a G ( j )  tan 1   90 0 Asymptote
20 dB/decade 37
 Bode Plots  s/a + 1
 
2

Gj )     1
a
s j
G( s)   1 G ( j )  1  
a a G ( j )  tan 1  
a

Gj ) dB  20 log1  0dB A decade Low Frequency

At   a before break
G ( j )  tan 1 0  0 0 frequency
Asymptote

Gj ) dB  20 log 2  3.01dB Break

At  = a frequency
G ( j )  tan 1 1  450

Gj ) dB  20 log  High Frequency

A decade after
break frequency At  >> a G ( j )  tan 1   90 0 Asymptote
20 dB/decade 38
 Phase Plot
0.3 rad/s 30 rad/s

s
1
3
 Phase Plot
10 rad/s

0.1 rad/s

s
1
1
 Phase Plot
0.2 rad/s

1
s  20 rad/s
 1
2 