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We have seen that LTI system response to x(t)=est is H(s)est. We represent such input-output pair as: st st
e H (s)e
Peter Cheung Department of Electrical & Electronic Engineering Imperial College London URL: www.ee.imperial.ac.uk/pcheung/teaching/ee2_signals E-mail: p.cheung@imperial.ac.uk
PYKC 8-Feb-11 E2.5 Signals & Linear Systems Lecture 8 Slide 1
H ( j) = H ( j) e jH ( j )
cos t H ( j) cos[t + H ( j)]
Amplitude Response
PYKC 8-Feb-11 E2.5 Signals & Linear Systems
Lecture 8 Slide 2
Find the frequency response of a system with transfer function: s + 0.1 H ( s) = s+5 Then find the system response y(t) for input x(t)=cos2t and x(t)=cos(10t-50) Substitute s=j
2 + 0.01 + 25
2
H ( j ) =
j + 0.1 j + 5
H ( j ) =
2 + 0.01 + 25
2
H ( j 2) =
22 + 0.01 22 + 25
= 0.372
For input x(t)=cos(10t-50), we will use the amplitude and phase response curves directly:
H ( j10) = 0.894
Therefore
PYKC 8-Feb-11
Lecture 8 Slide 5
PYKC 8-Feb-11
Lecture 8 Slide 6
H (s) = e sT
(Time-shifting property)
H (s) = s and H ( j ) = j = e j / 2
Therefore
Therefore
H ( j ) =
and
H ( j ) =
H ( j) = e jT = 1
and
( j) = T
That is, delaying a signal by T has no effect on its amplitude. It results in a linear phase shift (with frequency), and a gradient of T. The quantity:
d ( ) = g =T d
Thats why differentiator is not a nice component to work with it amplifies high frequency component (i.e. noise!).
H ( s) =
Therefore
1 1 j 1 j / 2 and H ( j ) = = = e s j
H ( j ) =
and
H ( j ) = 1
2
The POLES are roots of the denominator polynomial. In this case, the poles of the system are: s=0, s=-b1 and the solutions of the quadratic
Thats why integrator is a nice component to work with it suppresses high frequency component (i.e. noise!).
( s 2 + b2 s + b3 ) = 0
which we assume to be complex conjugates values. The ZEROS are roots of the numerator polynomial. In this case, the zeros of the system are: s =-a1, s=-a2.
L4.9 p430
PYKC 8-Feb-11
Lecture 8 Slide 9
PYKC 8-Feb-11
Lecture 8 Slide 10
1+
j j 1+ a1 a2
Pole term
20log j
b ( j ) 2 j 1+ j 2 + b1 b3 b2
zeros at a1 and a2
j a
= a/2
For s+a
= 2a
poles at 0
for a ,
constant term
conjugate poles
poles at b1
Now amplitude response (in dB) is broken into building block components that are added together.
E2.5 Signals & Linear Systems Lecture 8 Slide 11
at = a,
20log 1 + j = 20log( 2) 3dB
PYKC 8-Feb-11 E2.5 Signals & Linear Systems
For
1 s+a
20dB
1 decade
Lecture 8 Slide 12
PYKC 8-Feb-11
weak dampling
strong dampling
40dB
1 decade
PYKC 8-Feb-11
Lecture 8 Slide 13
PYKC 8-Feb-11
Lecture 8 Slide 14
Step 2: For each pole and zero term, draw an asymptotic plot.
We need to draw straight lines for zeros at origin and =100. We need to draw straight line for poles at =2 and =10.
PYKC 8-Feb-11
Pole term
b ( j ) 2 j 1+ j 2 + b1 b3 b2
Pole term
= a /10
For s+a
= 10a
Therefore:
for a ,
for a ,
For
1 s+a
PYKC 8-Feb-11
Lecture 8 Slide 17
PYKC 8-Feb-11
Lecture 8 Slide 18
2 + 2 jn s + n
PYKC 8-Feb-11
Lecture 8 Slide 19
PYKC 8-Feb-11
Lecture 8 Slide 20
You will be applying frequency response in various areas such as filters and 2nd year control. You have also used frequency response in the 2nd year analogue electronics course. Here we explore this as a special case of the general concept of complex frequency, where the real part is zero. You have come across Bode plots from 2nd year analogue electronics course. Here we go deeper into where all these rules come from. We will apply much of what we done so far in the frequency domain to analyse and design some filters in the next lecture.
PYKC 8-Feb-11
Lecture 8 Slide 21