Frequency response methods

Prof. Muhammad Abid

Basic Tools for analysis and design

Bode diagrams

Polar plots

Nyquist plots
Frequency response and root locus
Obtaining mathematical model is easier and more accurate

Robustness issues and relative stability concepts

Frequency response and root locus based approaches complement each

other
Frequency response Linear Systems

Sinusoidal input results into sinusoidal

𝐺(𝑠)
𝑀 𝑖 sin ( 𝜔 𝑡 + 𝜙𝑖 ) 𝑀 𝑜 sin ( 𝜔 𝑡 + 𝜙𝑜 )
output (at steady state)
𝑀 𝑖∠ 𝜙𝑖 𝑀 𝑜∠ 𝜙𝑜
Same frequency
Amplitude and phase angle are different

2 2

1 1

0 0

-1 -1 1
2
𝑠 + 𝑠+1
-2 -2
0 5 10 150 205 10 15 20
 Frequency response Linear Systems

Sinusoidal input results into sinusoidal

𝐺(𝑠)
𝑀 𝑖 sin ( 𝜔 𝑡 + 𝜙𝑖 ) 𝑀 𝑜 sin ( 𝜔 𝑡 + 𝜙𝑜 )
output (at steady state)
𝑀 𝑖∠ 𝜙𝑖 𝑀 𝑜∠ 𝜙𝑜
Same frequency
Amplitude and phase angle depend upon
frequency
Magnitude frequency response
𝑀𝑜 (𝜔 )
𝑀 ( 𝜔) =
𝑀𝑖 ( 𝜔) Phase frequency response

𝜙 ( 𝜔 )=𝜙𝑜 ( 𝜔 ) −𝜙 𝑖 ( 𝜔)
𝐺 ( 𝑗𝜔 )=𝐺 ( 𝑠 )|𝑠→ 𝑗 𝜔 1
Frequency 2
𝑀 ( 𝜔 ) ∠𝜙 (𝜔 ) 𝑠 + 𝑠+1
response
𝐺 ( 𝑗 𝜔 )=|𝐺 ( 𝑗 𝜔 )|∠( 𝐺( 𝑗 𝜔))
 Bode diagrams
Bode Diagram
20
Magnitude frequency response and
0
phase frequency response in two

Magnitude (dB)
separate graphs -20

-40
Logarithmic scale for frequency axis
-60
Cover wider range of frequencies
-80
Lower frequencies region is 0
magnified

Phase (deg)
-45

-90

-135

-180
10 -2 10 -1 10 0 10 1 10 2
Frequency (rad/s)
 Bode diagrams
Bode Diagram
20
Bode Diagram
20
0

Magnitude (dB)
0
Magnitude (dB)

-20
-20

-40
-40

-60 -60

-80 -80
0
0

Phase (deg)
-45
-45
Phase (deg)

-90
-90
-135

-135
-180
10 20 30 40 50 60 70 80 90 100
Frequency (rad/s) -180
10 -2 10 -1 10 0 10 1 10 2
Frequency (rad/s)
 Bode diagrams
Bode Diagram
20
Magnitude frequency response and
phase frequency response in two 0

Magnitude (dB)
separate graphs -20

Logarithmic scale for frequency axis -40

-60
Cover wider range of frequencies
Lower frequencies region is magnified -80
0

Phase (deg)
-45

-90
𝐺 ( 𝑗𝜔 )=𝐺 ( 𝑠 )|𝑠→ 𝑗 𝜔 -135

𝐺 ( 𝑗 𝜔 )=|𝐺 ( 𝑗 𝜔 )|∠( 𝐺( 𝑗 𝜔)) -180

10 -2 10 -1 10 0 10 1 10 2
Frequency (rad/s)
Magnitude is plotted in dBs 20 log 𝐺 ( 𝑗 𝜔 ) G = tf([1],[1 1 1]);
| | bode(G)
 20 𝑑𝐵/decade
Asymptotic Bode 4 0 𝑑𝐵

diagrams 20 𝑑𝐵

0 𝑑𝐵
Bode plot for
−20 𝑑𝐵

𝐺 ( 𝑗 𝜔 )= 𝑗 𝜔

|𝐺 ( 𝑗 𝜔 )|=𝜔 90 𝑜

∠ 𝐺 ( 𝑗 𝜔 )=90 𝑜 0𝑜

−90 𝑜
20 log |𝐺 ( 𝑗 𝜔 )|=20 log 𝜔
−180 𝑜

0.01 0.1 1 10 100 103 104 105

 Asymptotic Bode 4 0 dB

diagrams 20 dB −20 dB/decade

0 dB
Bode plot for
−20 dB

1 −𝑗
𝐺 ( 𝑗 𝜔 )= ¿
𝑗𝜔 𝜔
90 𝑜
1
|𝐺 ( 𝑗 𝜔 )|=
𝜔 0𝑜
1
20 log |𝐺 ( 𝑗 𝜔 )|=20 log
𝜔 ¿ −20 log 𝜔
−90 𝑜

𝑜 −180 𝑜
∠ 𝐺 ( 𝑗 𝜔 )=− 90

0.01 0.1 1 10 100 103 104 105 106

 4 0 dB
Bode plot for
20 dB

√
2
𝑗𝜔 𝜔
𝐺 ( 𝑗 𝜔 )=
𝑎
+1 |𝐺 ( 𝑗 𝜔 )|= 1+ 2 0 dB
𝑎 𝑎 10 𝑎

(√ )
𝜔
2 −20 dB
20 log |𝐺 ( 𝑗 𝜔 )|=20 log 1+ 2
𝑎

( )
2
𝜔
20 log |𝐺 ( 𝑗 𝜔 )|=10 log 1+ 2 90 𝑜
𝑎
0𝑜
At 𝜔≪𝑎 20 log |𝐺 ( 𝑗 𝜔 )|≈ 10 log ( 1 )=0
−90 𝑜

( )
2
𝜔
At 𝜔≫𝑎 20 log |𝐺 ( 𝑗 𝜔 )|≈ 10 log 2
𝑎
−180 𝑜
¿ 20 log ( ) ¿ 20 log 𝜔 − 20 log 𝑎
𝜔
𝑎
 4 0 dB 20 dB /decade
Bode plot for
20 dB

√
2
𝑗𝜔 𝜔
𝐺 ( 𝑗 𝜔 )=
𝑎
+1 |𝐺 ( 𝑗 𝜔 )|= 1+ 2 0 dB
𝑎 𝑎 10 𝑎

(√ )
𝜔
2 −20 dB
20 log |𝐺 ( 𝑗 𝜔 )|=20 log 1+ 2
𝑎

( )
2
𝜔
20 log |𝐺 ( 𝑗 𝜔 )|=10 log 1+ 2 90 𝑜
𝑎
0𝑜
At 𝜔≪𝑎 20 log |𝐺 ( 𝑗 𝜔 )|≈ 10 log ( 1 )=0
−90 𝑜

( )
2
𝜔
At 𝜔≫𝑎 20 log |𝐺 ( 𝑗 𝜔 )|≈ 10 log 2
𝑎
−180 𝑜
¿ 20 log ( ) ¿ 20 log 𝜔 − 20 log 𝑎
𝜔
𝑎
 4 0 dB 20 dB /decade
Bode plot for
20 dB
𝑗𝜔
𝐺 ( 𝑗 𝜔 )= +1 0 dB
𝑎 𝑎 10 𝑎
−20 dB
At 𝜔≪𝑎 ∠ 𝐺 ( 𝑗 𝜔 ) ≈ 0𝑜

At 𝜔≫𝑎 ∠ 𝐺 ( 𝑗 𝜔 ) ≈ 90 𝑜
90 𝑜

0𝑜
0.1 𝑎 𝑎 10 𝑎
−90 𝑜

−180 𝑜
 4 0 dB
Bode plot for
1 1
20 dB
𝐺 ( 𝑗 𝜔 )= |𝐺 ( 𝑗 𝜔 )|=

√
𝑗𝜔 𝜔
2
+1
𝑎 1+ 2 0 dB
𝑎 𝑎 10 𝑎

(√ ) (√ )
1 2
20 log |𝐺 ( 𝑗 𝜔 )|=20 log 𝜔 −20 dB −20 dB/decade
1+
𝜔2
¿ −20 log 1+ 2
𝑎2 𝑎

(𝜔2
¿ −10 log 1+ 2
𝑎 ) 90 𝑜

0𝑜
At 𝜔≪𝑎 20 log |𝐺 ( 𝑗 𝜔 )|≈ 10 log ( 1 )=0
−90 𝑜
( )
2
𝜔
At 𝜔≫𝑎 20 log |𝐺 ( 𝑗 𝜔 )|≈ −10 log 2
𝑎
−180 𝑜
¿ − 20 log ( )
𝜔
𝑎 ¿ −20 log 𝜔+20 log 𝑎
 4 0 dB
Bode plot for
1
20 dB
𝐺 ( 𝑗 𝜔 )=
𝑗𝜔
+1
𝑎 0 dB
𝑎 10 𝑎
−20 dB −20 dB/decade
At 𝜔≪𝑎 ∠ 𝐺 ( 𝑗 𝜔 ) ≈ 0𝑜

At 𝜔≫𝑎 ∠ 𝐺 ( 𝑗 𝜔 ) ≈ −90 𝑜
90 𝑜

0𝑜
0.1 𝑎 𝑎 10 𝑎
−90 𝑜

−180 𝑜
 4 0 dB
Example
20 dB
2
0 dB
𝟐
𝑮 ( 𝒔 )=
𝒔+𝟐 −20 dB −20 dB/decade

1
𝐺 ( 𝑠 )=
𝑠
1+
2
90 𝑜
0.2 20
0𝑜

−90 𝑜

−180 𝑜

0.01 0.1 1 10 100 103 104 105 106

Bode plot for

√(
𝜔𝑛2

)( )
𝐺 ( 𝑗 𝜔 )= 2 2 2
2
( 𝑗 𝜔 ) +2 𝜁𝜔𝑛 ( 𝑗 𝜔 ) +𝜔 2 𝜔 2 𝜁𝜔
𝑛 |𝐺 ( 𝑗 𝜔 )|=1/ 1− 2 +
𝜔𝑛 𝜔𝑛
1
¿
( )( )
2
𝑗𝜔 𝑗𝜔
1+2 𝜁 +

( √( ) ( ))
𝜔𝑛 𝜔𝑛 2 2 2
𝜔 2 𝜁𝜔
20 log |𝐺 ( 𝑗 𝜔 )|=− 20 log 1− 2 +
𝜔𝑛 𝜔𝑛
A t 𝜔 ≪ 𝜔𝑛 20 log |𝐺 ( 𝑗 𝜔 )|≈ −20 log ( 1 ) =0

( √( ) )
2 2
A t 𝜔 ≫ 𝜔𝑛 𝜔
20 log |𝐺 ( 𝑗 𝜔 )|=− 20 log − 2
𝜔𝑛
¿ − 40 log
( )
𝜔
𝜔𝑛
¿ − 40 log 𝜔+40 log 𝜔𝑛
 2 0 dB 𝑀 𝑟
Bode plot for 𝜔𝑛 10 𝜔 𝑛
0 dB 𝜔𝑟
2
𝜔 𝑛
𝐺 ( 𝑗 𝜔 )=
( 𝑗 𝜔 )2 +2 𝜁𝜔𝑛 ( 𝑗 𝜔 ) +𝜔 2𝑛 −20 dB
− 40 dB/ decade
1 − 40 dB
¿
( )( )
2
𝑗𝜔 𝑗𝜔
1+2 𝜁 +
𝜔𝑛 𝜔𝑛

90 𝑜
A t 𝜔 ≪ 𝜔𝑛 20 log |𝐺 ( 𝑗 𝜔 )|≈ −20 log ( 1 ) =0
0𝑜

( √( ) )
2 2
A t 𝜔 ≫ 𝜔𝑛 𝜔
20 log |𝐺 ( 𝑗 𝜔 )|≈ −20 log − 2 −90 𝑜
𝜔𝑛
¿ − 40 log
( )
𝜔
𝜔𝑛
−180 𝑜

¿ − 40 log 𝜔+40 log 𝜔𝑛

Resonant frequency and resonant peak𝑀 𝑟

𝜔𝑟
𝜁 = 0 ⇒ 𝑀 𝑟 =∞

√( ( )
2
4 𝜔𝑟 𝜔𝑟

)( )
2 2 2 2
𝜔 2 𝜁𝜔 − 1+ 2 𝜁 =0
|𝐺 ( 𝑗 𝜔 )|=1/ 1− 2 + 𝜁 =0.707 ⇒ 𝑀 𝑟 =1 𝜔 2
𝑛 𝜔 2
𝑛
𝜔𝑛 𝜔𝑛
𝜁 >0.707 ⇒ No resonace 𝜔 2𝑟 =𝜔 2𝑛 ( 1− 2 𝜁 2 )
At resonant frequency 𝜔𝑟 ,|𝐺 ( 𝑗 𝜔 )|is maximum
𝜔 𝑟 =𝜔 𝑛 √ ( 1− 2 𝜁 )
2

√( )( )
2
𝜔2 2 𝜁𝜔 2
1− 2 + is minimum
𝜔𝑛 𝜔𝑛 1
𝑀𝑟=
√( 2 𝜁 2 2
) +4 𝜁 2 ( 1 −2 𝜁 2 )

( ) ( )
2 2 2
𝜔 2 𝜁𝜔 𝜔 4
𝜔 2
𝜁 2
𝜔 2
𝑔 ( 𝜔) = 1 − 2 + 1
𝜔𝑛 𝜔 𝑛 ¿ 1+ 𝜔4 −2 𝜔2 +4 𝜔2 ¿
2 𝜁 √ 2 𝜁 +1 − 4 𝜁
𝑛 𝑛 𝑛 2 2

𝑑 𝜔3 𝜔 𝜁2 𝜔 1
𝑔 ( 𝜔 )=4 4 − 4 2 + 8 𝑀𝑟=
𝑑𝜔 2
𝜔𝑛 𝜔𝑛 𝜔𝑛 2 𝜁 √ 1− 2 𝜁 2
 2 0 dB 𝑀 𝑟
Bode plot for 𝜔𝑛 10 𝜔 𝑛
0 dB 𝜔𝑟
2
𝜔 𝑛
𝐺 ( 𝑗 𝜔 )=
( 𝑗 𝜔 )2 +2 𝜁𝜔𝑛 ( 𝑗 𝜔 ) +𝜔 2𝑛 −20 dB
− 40 dB/ decade
1 − 40 dB
¿
( )( )
2
𝑗𝜔 𝑗𝜔
1+2 𝜁 +
𝜔𝑛 𝜔𝑛

90 𝑜
0.1 𝜔 𝑛 𝜔 𝑛 10 𝜔 𝑛
A t 𝜔 ≪ 𝜔𝑛 ∠ 𝐺 ( 𝑗 𝜔 ) ≈ 0𝑜 0𝑜

−90 𝑜
A t 𝜔 ≫ 𝜔𝑛 ∠ 𝐺 ( 𝑗 𝜔 ) ≈ −18 0 𝑜
−180 𝑜
 2 0 dB 𝑀 𝑟
Bode plot for 𝜔𝑛 10 𝜔 𝑛
0 dB 𝜔𝑟

−20 dB
− 40 dB/ decade
− 40 dB

90 𝑜
0.1 𝜔 𝑛 𝜔 𝑛 10 𝜔 𝑛
0𝑜

−90 𝑜

−180 𝑜
Example 20 dB

0 dB
25
𝐺 ( 𝑠 )= 2
𝑠 +2 𝑠+25 −20 dB
− 40 dB/ decade
25 − 40 dB
𝐺 ( 𝑗 𝜔 )=
( 𝑗 𝜔 )2 +2 ( 𝑗 𝜔 )+ 25

1
𝐺 ( 𝑗 𝜔 )= 90 𝑜

( )( )
2
2 𝑗𝜔 𝑗𝜔
1+ +
5 5 5 0𝑜

𝜁 =0.2 𝜔 𝑟 =𝜔 𝑛 √ ( 1− 2 𝜁 ) ¿ 5 √ ( 1− 0.08 ) =4.79

2 −90 𝑜

1 1 −180 𝑜
𝑀𝑟= ¿ =2.6
2 𝜁 √ 1− 2 𝜁 2 0.4 √ 1− 0.08
0.01 0.1 1 10 100 103 104 1
¿ 8.3 dB
 Bode diagram 20 dB

0 dB
Transfer Function with multiple factors
−20 dB

( 𝑠+3 ) − 40 dB
𝐺 ( 𝑠 )=
𝑠 ( 𝑠+2 ) ( 𝑠 +1 )

( 𝑗 𝜔 +3 )
𝐺 ( 𝑗 𝜔 )= 90 𝑜
𝑗 𝜔 ( 𝑗 𝜔+ 2 )( 𝑗 𝜔+1 )
0𝑜

¿
3 (
𝑗𝜔
3
1+ ) −90 𝑜
2
𝑗 𝜔 1+ (
𝑗𝜔
2 )
( 1+ 𝑗 𝜔 )
−180 𝑜
3
20 log dB=3.5 dB 0.01 0.1 1 10 100
2 103 104 1
 Bode diagram 20 dB

0 dB
Transfer Function with multiple factors
−20 dB

( 𝑠+3 ) − 40 dB
𝐺 ( 𝑠 )=
𝑠 ( 𝑠+2 ) ( 𝑠 +1 )

( 𝑗 𝜔 +3 )
𝐺 ( 𝑗 𝜔 )= 90 𝑜
𝑗 𝜔 ( 𝑗 𝜔+ 2 )( 𝑗 𝜔+1 )
0𝑜

¿
3 (
𝑗𝜔
3
1+ ) −90 𝑜
2
𝑗 𝜔 1+ (
𝑗𝜔
2 )
( 1+ 𝑗 𝜔 )
−180 𝑜
3
20 log dB=3.5 dB 0.01 0.1 1 10 100
2 103 104 1
 Bode diagram 20 dB

0 dB
Transfer Function with multiple factors
−20 dB

( 𝑠+3 ) − 40 dB
𝐺 ( 𝑠 )=
𝑠 ( 𝑠+2 ) ( 𝑠 +1 )

( 𝑗 𝜔 +3 )
𝐺 ( 𝑗 𝜔 )= 90 𝑜
𝑗 𝜔 ( 𝑗 𝜔+ 2 )( 𝑗 𝜔+1 )
0𝑜

¿
3 (
𝑗𝜔
3
1+ ) −90 𝑜
2
𝑗 𝜔 1+ (
𝑗𝜔
2 )
( 1+ 𝑗 𝜔 )
−180 𝑜
3
20 log dB=3.5 dB 0.01 0.1 1 10 100
2 103 104 1
 Bode diagram 20 dB

0 dB
Transfer Function with multiple factors
−20 dB

( 𝑠+3 ) − 40 dB
𝐺 ( 𝑠 )=
𝑠 ( 𝑠+2 ) ( 𝑠 +1 )

( 𝑗 𝜔 +3 )
𝐺 ( 𝑗 𝜔 )= 90 𝑜
𝑗 𝜔 ( 𝑗 𝜔+ 2 )( 𝑗 𝜔+1 )
0𝑜

¿
3 (
𝑗𝜔
3
1+ ) −90 𝑜
2
𝑗 𝜔 1+ (
𝑗𝜔
2 )
( 1+ 𝑗 𝜔 )
−180 𝑜
3
20 log dB=3.5 dB 0.01 0.1 1 10 100
2 103 104 1
 Bode diagram 20 dB

0 dB
Transfer Function with multiple factors
−20 dB

( 𝑠+3 ) − 40 dB
𝐺 ( 𝑠 )=
𝑠 ( 𝑠+2 ) ( 𝑠 +1 )

( 𝑗 𝜔 +3 )
𝐺 ( 𝑗 𝜔 )= 90 𝑜
𝑗 𝜔 ( 𝑗 𝜔+ 2 )( 𝑗 𝜔+1 )
0𝑜

¿
3 (
𝑗𝜔
3
1+ ) −90 𝑜
2
𝑗 𝜔 1+ (
𝑗𝜔
2 )
( 1+ 𝑗 𝜔 )
−180 𝑜
3
20 log dB=3.5 dB 0.01 0.1 1 10 100
2 103 104 1
Bode diagram Bode Diagram
20 dB
60
0 dB
40
−20 dB
20

− 40 dB
0
Magnitude (dB)

-20

90 𝑜
-40

-60
0𝑜

s = tf('s'); −90 𝑜
-80
G = (s+3)/(s*(s+2)*(s+1));
bodemag(G,{10^-2, 10^3});
bode(G); -100 −180 𝑜

-120
10 -2 10 -1 10 0 10 1 10 2 10 3 0.01 0.1 1 10 100 103 104 1
Frequency (rad/s)