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By the term frequency response, we mean the steady-state response of a system to a sinusoidal
input. Industrial control systems are often designed using frequency response methods. Many
techniques are available in the frequency response methods for the analysis and design of control
systems.
Consider a system with sinusoidal input r (t ) = A sin ωt . The steady-state output may be
written as, c(t ) = B sin(ωt + φ ) . The magnitude and the phase relationship between the sinusoidal
input and the steady-state output of a system is called frequency response. The frequency response
test is performed by keeping the amplitude A fixed and determining B and Φ for a suitable range of
frequencies. Whenever it is not possible to obtain the transfer function of a system through
analytical techniques, frequency response test can be used to compute its transfer function.
The design and adjustment of open-loop transfer function of a system for specified closed-
loop performance is carried out more easily in frequency domain. Further, the effects of noise and
parameter variations are relatively easy to visualize and assess through frequency response. The
Nyquist criteria is used to extract information about the stability and the relative stability of a
system in frequency domain.
Where, u = ω / ωn is the normalized signal frequency. From the above equation we get,
1
T ( jω ) = M =
(1 − u ) + (2ζ u )2 .
2 2
The frequency where M has a peak value is called resonant frequency. At this point the slope of the
1 −4(1 − ur )ur + 8ζ ur
2 2
dM
magnitude curve is zero. Setting = 0 we get, − = 0.
du u =ur 2 (1 − u 2 ) 2 + (2ζ u )2 3/ 2
r r
Solving, ur = 1 − 2ζ 2 or, resonant frequency ωr = ωn 1 − 2ζ 2 . ………… …… (01)
1
The resonant peak is given by, resonant peak, Mr = . ……………… (02)
2ζ 1 − ζ 2
1
• For, ζ > (= 0.707) , the resonant frequency does not exist and M decreases
2
monotonically with increasing u.
1
• For 0 < ζ < , the resonant frequency is always less than ωn and the resonant peak has a
2
value greater than 1.
From equation (01) and (02) it is seen that The resonant peak M r of frequency response is
indicative of damping factor and the resonant frequency ωr is indicative of natural frequency for
a given ζ and hence indicative of settling time.
1
For ω > ωr , M decreases monotonically. The frequency at which M has a value of is called the
2
1
cut-off frequency ωc . The range of frequencies over which M is equal to or greater than is
2
defined as bandwidth, ωb .
The bandwidth of a second-order system is given by,
1/ 2
ωb = ωn 1 − 2ζ 2 + 2 − 4ζ 2 + 4ζ 4 ………….(03)
Polar Plot
The polar plot of a sinusoidal transfer function G ( jω ) is a
plot of the magnitude of G ( jω ) versus the phase angle of
G ( jω ) on polar coordinates as ω is varied from zero to
infinity. An advantage of using polar plot is that it depicts
the frequency response characteristics of a system
over the entire frequency range in a single plot.
The polar plot of
1 1
G ( jω ) = = ∠ tan −1 ωT is shown in
1 + jωT 1+ ω T2 2
figure below.
The polar plot of the transfer function,
1 is shown in figure
G ( jω ) =
jω (1 + jωT )
above.
1. Addition of a nonzero pole to the transfer function results in further rotation of the polar plot
through an angle of -90° as ω → ∞.
2. Addition of a pole at the origin to the transfer function rotates the polar plot at zero and
infinite frequencies by a further angle of -90°.
Bode Plots
jφ (ω )
The transfer function G ( jω ) is represented by, G ( jω ) = G ( jω ) e .
Taking natural logarithm of both sides, ln G ( jω ) = ln G ( jω ) + jφ (ω ) ………………………(04)
The unit of real part is called neper.
Similarly, log G ( jω ) = log G ( jω ) + 0.434 jφ (ω ) ……………………………………..(05)
The standard procedure is to plot 20 log G ( jω ) and phase angle φ (ω ) vs. log ω . The unit of
magnitude 20 log G ( jω ) is decibel. These two plots are called Bode plots in honor of HW Bode.
1 1
Example G ( jω ) = = ∠ tan −1 ωT .
1 + jωT 1+ ω T 2 2
The straight line approximation holds good for ω = 1/ T and ω ? 1/ T . With some loss of accuracy
these could be extended for frequencies ω ≤ 1/ T and ω ≥ 1/ T . The frequency ω = 1/ T at which the
two asymptotes meet is called the corner frequency. The corner frequency divides the plot in low
and high frequency regions.
The actual log-magnitude plot can be obtained by applying corrections for the errors
introduced by asymptotic approximation. The error at the corner frequency ω = 1/ T is,
−10 log(1 + ω 2T 2 ) + 10 log1
= −10 log(1 + 1) + 10 log1 = −3 db
ωn ωn
Bode diagram can be sketched for any general system by simply adding the effects of each pole and
each zero in order to determine the angles and intersection points of the asymptotes.
φ (ω ) = −90or . With log ω as abscissa, the plot of above equation is a straight line having a slope
of -20r db/decade and passing through 20log K at ω = 1 . This is shown in figure below for r = 0,
1, 2 and 3.
Thus, the log-magnitude curve of the quadratic factor consists of two straight-line asymptotes,
one horizontal line at 0 db for u = 1 and the other, a line with a slope -40 db/decade for u ? 1 .
The two asymptotes meet on 0-db line at u = 1. The asymptotic and the actual plots are shown in
figure right.
The error between the actual magnitude and the asymptotic approximation is as given below:
The error versus u curves for different values of ζ are shown in figure below.
2ζ u
φ = − tan −1 2 .
1− u
The phase angle plot are shown in figure
above. The phase angle curve also
depends on ζ .
64( s + 2) 4(1 + s / 2)
Example G(s) = = .
s ( s + 0.5)( s + 3.2 s + 64) s (1 + 2 s )(1 + 0.05s + s2 / 64)
2
To the asymptotic plot, corrections are to be applied to get the actual plot. The following list
shows the list of corrections obtained from the error versus log-magnitude curve (plots are given in
the previous pages).
Frequency Net Correction
Frequency Correction
0.25 -1 db
ω1 = 0.5 -3 db
0.5 -3 db
ω1 / 2 = 0.25, 2ω1 = 1 -1 db
1 0 db
ω2 = 2 +3 db
2 +3 db
ω2 / 2 = 1, 2ω 2 = 4 +1 db
4 + 3 db
ω3 = 8, ζ = 0.2 +8 db
8 + 8 db
ω3 / 2 = 4, 2 ω3 = 16 +2 db
16 +2 db
The phase angle curve may be drawn using the following procedure.
1. For the factor K / ( jω ) , draw a straight line of -90°r.
r
b. A few points of phase angles are read off from the normalized Bode plot for the
particular ζ .
The system transfer function within a certain degree of accuracy can be obtained from bode plots by
fitting an asymptotic log-magnitude plot to the experimental data using the procedure outlined
below.
1. Use the experimental data to plot the exact log-magnitude and phase angle versus frequency
curves on a semilog graph sheet.
2. Draw the asymptotes on the log-magnitude curve keeping slopes as a multiple of
±20 db/decade. Adjust the corner frequencies keeping in mind the correction factors.
3. If the slope changes by −20m db/decade at ω =ω1 , a factor 1/(1 + jω / ω1 ) will exist in the
m
transfer function.
4. If the slope changes by +20m db/decade at ω =ω2 , a factor (1 + jω / ω2 ) will exist in the
m
transfer function.
5. If the slope changes by −40 db/decade at ω =ω3 , either a double pole or a pair of complex-
conjugate pole will exist in the transfer function. If the error between the asymptotic and
actual curve is about −6 db , then a factor of the form 1/(1 + jω / ω3 ) is present and if the
2
The log-magnitude curve of type-0, type-1 and type-2 systems are shown in figure below.
After obtaining the transfer function from the log-magnitude curve, the phase angle curve is
constructed and is then compared with the one obtained experimentally. If the two curves are in fair
agreement and the curves at very high frequencies tend to −90o(q − p ), then the transfer function is
of minimum phase type. If the computed phase angle is 180oless negative than the one obtained
experimentally, then the transfer function is of nonminimum phase type and one of the zeros of the
transfer function lies in the right-half s-plane.
The experimental log-magnitude and phase-angle curves of a system are shown in the next page.
First draw the asymptotes on the experimental curve. From the slope changes and the corner
frequencies, the transfer function may be written as,
5 1 1
G ( jω ) = (1 + jω /10)
jω (1 + jω / 2) 1 + j 2ζ (ω / 50) + ( jω / 50) 2
5(1 + jω /10)
=
jω (1 + jω / 2)1 + j 2ζ (ω / 50) + ( jω / 50) 2
At the corner frequency of 50 the error between the actual and the approximate plot is +4 db.
Corresponding ζ from the error graph is obtained as 0.3.
The phase angle at very high frequencies is -270° which is equal to −90 (4 − 1) = −270 . Therefore
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