Frequency Response for Control System

Analysis - GATE Study Material in PDF

In these free GATE Notes, we study the Frequency Response for Control System Analysis.
In GATE EE and GATE EC, when studying Frequency Response Analysis of Control
Systems, we come across Frequency Domain Specifications such as Resonant Frequency,
Resonant Peak and Bandwidth. This GATE Study Material will deal with these concepts.
Up till now, we were dealing with the Time Response of these systems. However, the
properties and parameters of a system can also be measured using Frequency
Response. The magnitude and phase relation between the sinusoidal input and steady
state output of the system is known as the Frequency Response of the System.
Using frequency response method is advantageous due to its ease of use and accuracy of
measurements. The frequency response is generally recommended for systems having
smaller time constants. For large time constant circuit, the frequency output is very
small and time required for computation increase excessively.
You can download GATE notes in PDF for reference and revision later. Also useful for
other exams like IES, DRDO, BSNL, BARC etc. Before you begin however, you need to be
familiar with some topics.

Recommended Reading
Root Locus Diagram

Time Response of Second Order Systems

Routh Hurwitz Stability Criteria

Stability of Control Systems

Signal Flow Graph

Block Diagram Algebra in Control Systems

1|Page

Frequency Response for Control System Analysis

Now, we consider a standard second order control system shown as below.

C(s)
R(s)

2n
s2 +2n s+2n

Now, for frequency response, we replace s with j.

2

T(j) = (j) = (j)2

R

+2n (j)+2n

2n
2n 2 +j(2n )

T(j) =
Let

1
2

1( ) +j2( )
n
n

= u (normalized frequency)

T(j) =

1
1u2 +j2u

Now, if we apply sinusoidal input to second order closed loop transfer function it would
be shown as below

Now, if input to an LTI system is sinusoidal then output is also sinusoidal but with some
change in magnitude and phase.
2|Page

From the previous block diagram, we get

(M = |T(j)|)

B = A|T(j)| = AM

2 = 1 + T(j) = 1 +

(T(j) = )

Now, we previously calculated

T(j) =
M=

1
1u2 +j2u
1

(1u2 )2 +(2u)2

, = tan1 (

2u

1u2

For u = 0; M = 1, = 0
1

u = 1; M = 2 , = 90
u = ; M = 0, = 180
The frequency response of the system will be plotted in the two curves:
(i) Magnitude v/s normalized frequency (M).
(ii) Phase angle v/s normalized frequency ().

In the above plots, Mr = Resonant Peak, ur = Normalized resonant frequency,

r=Resonant phase
3|Page

The terms associated with frequency response are given as follows

Resonant Frequency (r)

It is calculated
Using

dm

|
du u=ur

=0

For second order systems, ur = 1 22 (try to calculate)

r
n

= ur = 1 22

r = n 1 22

Resonant Phase (r)

Phase at resonant frequency is called resonant phase.

r = tan1 [

122

(Try to calculate this).

Resonant Peak (Mr)

The maximum value of the magnitude is known as resonant peak.

Mr = |M|u=ur =

1
212

Now, we make a comparison between time response specifications and frequency

response specifications.

1.
2.

3.
4.
4|Page

Time Response
specifications
d = n 1 2
(

Mp = e
= tan
ts

12

1 2
[
]

1
stability

Frequency Response
specification
r = n 1 22
1
Mr =
21 2
r = tan1 [

1 22
]

Gain Margin, Phase

Margin Stability

0<<1

5.

0<<

1
2

Now, we will take a look at some examples based on frequency response.

Example of Frequency Response for Control System Analysis

Example 1: Closed loop transfer function of a second order system is given as
C(s)
R(s)

81
s2 +6s+81

Find the frequency response parameters.

Solution:
If we compare the given transfer function with standard second order transfer function,
we get
2n = 81, n = 9
2n = 6
6

= 2 = 3 = 0.33
n

r = n 1 22
2

= 91 9 = 37
R = 7.94 rad/sec
Mr =

1
212

3
1
21
9

33

= 28

Mr = 1.591
r = tan1

122

= tan1 7
= 69.3
In another example, we will witness derivation of frequency response parameters from
time response parameters.
5|Page

Example 2: The step response of a standard second order system having unity feedback
is given as follows.

Now, if the input to system is changed to sinusoidal, find the maximum value of output
with respect to frequency.
Solution:
From the given response, Mp = 1.35 1 = 0.35
Also, we known that
[

Mp = e

]
12

12

12
2
12

12

= 0.35

= ln(0.35) = 1.05
= 1.05

= 0.10638

2 (1.10638) = 0.10638
2 = 0.096
= 0.31
Maximum value of output with respect to frequency is resonant peak,

Mr =

1
212

6|Page

20.311(0.31)2

Mr = 1.6965

So, we studied the basic concepts and significance of frequency response. Next we will
look in to different plots with respect to frequency response and their use in stability
analysis.

Polar Plot and Its Analysis

Nyquist Plot and Stability Criteria
Relative Stability and Bode Plot

7|Page