Frequency-Domain Control Systems Analysis and Design

Frequency-Domain Control Systems
Eng R. L. Nkumbwa Copperbelt University School of Technology 2010
9/28/2013
Eng R. L. Nkumbwa @ CBU 2010
Its all Stability of Control Systems
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Frequency Response Roadmap
We will cover the following:
General frequency analysis in Control Engineering
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Introduction
In practice, the performance of a control system is more realistically measured by its time domain characteristics. The reason is that the performance of most control systems is judged based on the time response due top certain test signals. In the previous chapters, we have learnt that the time response of a control system is usually more difficult to determine analytically, especially for higher order systems.
9/28/2013 Eng R. L. Nkumbwa @ CBU 2010
Introduction
In design problems, there are no unified methods of arriving at a designed system that meets the time-domain performance specifications, such as:

Maximum overshoot, Rise time, Delay time, Settling time and so on.
Introduction
On the other hand, in frequency domain, there is a wealth of graphical methods available that are not limited to low order systems. It is important to realize that there are correlating relations between frequency domain performance in a linear system, Such that the time domain properties of the system can be predicted based on the frequency-domain characteristics.
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Example: Gun Positional Control
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Why use Frequency-Domain?
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With the previous concepts in mind, we can consider the primary motivation for conducting control systems analysis and design in the frequency domain to be convenience and the availability of the existing analytical tools. Another reason, is that, it presents an alternative point of view to control system problems, which often provides valuable or crucial information in the complex analysis and 9/28/2013 design of control systems. Eng R. L. Nkumbwa @ CBU 2010
Characteristics of Frequency Response
Frequency response methods are a good complement to the root locus techniques:
Can infer performance and stability from the same plot Can use measured data rather than a transfer function model Design process can be independent of the system order Time delays are handled correctly Graphical techniques (analysis and synthesis) are quite simple.
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Frequency-Domain Analysis
The starting point for frequency-domain analysis of a linear system is its transfer system.
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Time & Frequency-Domain Specs.
So, what are time-domain specifications by now? Am sure u all know what they are? Ok, what of frequency domain specifications? What are they? Lets look at the pictorials views
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Time-Domain Specifications
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Frequency-Domain Specifications
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Wrap Up
The frequency response of a system directly tells us the relative magnitude and phase of a systems output sinusoid, if the system input is a sinusoid. What about output frequency? If the plants transfer function is G (s), the open-loop frequency response is G (jw).
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Further Frequency Response
In previous sections of this course we have considered the use of standard test inputs, such as step functions and ramps. However, we will now consider the steadystate response of a system to a sinusoidal input test signal.
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The response of a linear constant-coefficient linear system to a sinusoidal test input is an output sinusoidal signal at the same frequency as the input. However, the magnitude and phase of the output signal differ from those of the input sinusoidal signal, and the amount of difference is a function of the input frequency.
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We will now examine the transfer function G(s) where s = jw and graphically display the complex number G(jw) as w varies. The Bode plot is one of the most powerful graphical tools for analyzing and designing control systems, and we will also consider polar plots and log magnitude and phase diagrams.
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How is this different from Root Locus? The information we get from frequency response methods is different than what we get from the root locus analysis. In fact, the two approaches complement each other. One advantage of the frequency response approach is that we can use data derived from measurements on the physical system without deriving its mathematical model.

What is the Importance of Frequency methods? They are a powerful technique to design a single-loop feedback control system. They provide us with a viewpoint in the frequency domain. It is possible to extend the frequency analysis idea to nonlinear systems (approximate analysis).
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Who Developed Frequency Methods?

Bode Nyquist Nichols And others In the 1930s and 1940s. Existed before root locus methods.
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Variety of Frequency domain Analysis
Bode Plot Log |G(j)| and Phase of G(j) vs. Log frequency.

Simplest tool for visualization and synthesis Typically plot 20log|G| which is given the symbol dB
Polar (Nyquist) plot Re vs.Im of G(j) in complex plane.
Hard to visualize, not useful for synthesis, but gives definitive tests for stability and is the basis of the robustness analysis.
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Variety of Frequency domain Analysis
Nichols Plot |G(j)| vs. Phase of G(j), which is very handy for systems with lightly damped poles.
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What are the advantages?

We can study a system from physical data and determine the transfer function experimentally. We can design compensators to meet both steady state and transient response requirements. We can determine the stability of nonlinear systems using frequency analysis. Frequency response methods allow us to settle ambiguities while drawing a root locus plot. A system can be designed so that the effects of undesirable noise are negligible.
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What are the disadvantages?

Frequency response techniques are not as intuitive as root locus. Find more cons
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Concept of Frequency Response
The frequency response of a system is the steady state response of a system to a sinusoidal input. Consider the stable, LTI system shown below.
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Characteristics of Frequency Domain
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The input-output relation is given by:
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Obtaining Frequency Response
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Obtaining Magnitude M and Phase
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For linear systems, M and depend only on the input frequency, w. So, what are some of the frequency response plots and diagrams?
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Frequency Response Plots and Diagrams
There are three frequently used representations of the frequency response: Nyquist diagram: a plot on the complex plane (G(jw)-plane) where M and are plotted on a single curve, and w becomes a hidden parameter.
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Frequency Response Plots and Diagrams
Bode plots: separate plots for M and , with the horizontal axis being w is log scale. The vertical axis for the M-plot is given by M is decibels (db), that is 20log10(M), and the vertical axis for the -plot is in degrees.
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Plotting Bode Plots
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Amplitude Ratio (AR) on log-log plot
Start from steady-state gain at =0. If GOL includes either integrator or differentiator it starts at infinity or 0. Each first-order lag (lead) adds to the slope 1 (+1) starting at the corner frequency. Each integrator (differentiator) adds to the slope 1 (+1) starting at zero frequency. A delays does not contribute to the AR plot.
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Phase angle on semi-log plot
Start from 0or -180at =0 depending on the sign of steadystate gain.
Each first-order lag (lead) adds 0to phase angle at =0, adds -90(+90) to phase angle at = , and adds -45(+45)to phase angle at corner frequency.
Each integrator (differentiator) adds -90(+90)to the phase angle for all frequency. A delay adds - to phase angle depending on the frequency.
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Try Solving the Following Using Bode Technique
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Nyquist Diagram or Analysis
The polar plot, or Nyquist diagram, of a sinusoidal transfer function G(jw) is a plot of the magnitude of G(jw) versus the phase angle of G(jw) on polar coordinates as w is varied from zero to infinity. Thus, the polar plot is the locus of vectors |G(jw)| LG(jw) as w is varied from zero to infinity.
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The projections of G(jw) on the real and imaginary axis are its real and imaginary components. The Nyquist Stability Criteria is a test for system stability, just like the Routh-Hurwitz test, or the Root-Locus Methodology.
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Nyquist is an alternative representation of frequency response

Compact (one plot) Wider applicability of stability analysis than Bode plot High frequency characteristics will be shrunk near the origin. Inverse Nyquist diagram: polar plot of G(jw) Combination of different transfer function components is not easy as with Nyquist diagram as 9/28/2013 Eng R. L. Nkumbwa @ CBU 2010 with Bode plot.
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Note that in polar plots, a positive (negative) phase angle is measured counterclockwise (clockwise) from the positive real axis. In the polar plot, it is important to show the frequency graduation of the locus. Routh-Hurwitz and Root-Locus can tell us where the poles of the system are for particular values of gain.
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By altering the gain of the system, we can determine if any of the poles move into the RHsP, and therefore become unstable. However, the Nyquist Criteria can also give us additional information about a system. The Nyquist Criteria, can tell us things about the frequency characteristics of the system.
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For instance, some systems with constant gain might be stable for low-frequency inputs, but become unstable for high-frequency inputs. Also, the Nyquist Criteria can tell us things about the phase of the input signals, the time-shift of the system, and other important information.
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Nyquist Kuos View
Kuo et al (2003) suggests that, the Nyquist criterion is a semi-graphical method that determines the stability of a closed loop system by investigating the properties of the frequency domain plot, the Nygmst plot of L(s) which is a plot of L(jw) in the polar coordinates of M [L(jw)] versus Re[L(jw)] as varies from 0 to .
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Nyquist Xaviers View
While, Xavier et al (2004) narrates that, the Nyquist criterion is based on Cauchys Residue Theorem of complex variables which is referred to as Principle of Argument.
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The Argument Principle
If we have a contour, (capital gamma), drawn in one plane (say the complex laplace plane, for instance), we can map that contour into another plane, the F(s) plane, by transforming the contour with the function F(s). The resultant contour, F(s) will circle the origin point of the F(s) plane N times, where N is equal to the difference between Z and P (the number of zeros and poles of the function F(s), respectively).
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Nyquist Criterion
Let us first introduce the most important equation when dealing with the Nyquist criterion: Where:

N is the number of encirclements of the (-1, 0) point. Z is the number of zeros of the characteristic equation. P is the number of poles of the open-loop characteristic equation.
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Nyquist Stability Criterion Defined
A feedback control system is stable, if and only if the contour F(s) in the F(s) plane does not encircle the (-1, 0) point when P is 0. A feedback control system is stable, if and only if the contour F(s) in the F(s) plane encircles the (-1, 0) point a number of times equal to the number of poles of F(s) enclosed by .
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Nyquist Stability Criterion Defined
In other words, if P is zero then N must equal zero. Otherwise, N must equal P. Essentially, we are saying that Z must always equal zero, because Z is the number of zeros of the characteristic equation (and therefore the number of poles of the closed-loop transfer function) that are in the right-half of the s plane.
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Nyquist Mankes View
While Manke (1997) outlines that, the Nyquist criterion is used to identify the presence of roots of a characteristic equation of a control system in a specified region of s-plane. He further adds that although the purpose of using Nyquist criterion is similar to RHC, the approach differs in the following respect:
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Nyquist Mankes View Cont
The open loop transfer G(s) H(s) is considered instead of the closed loop characteristic equation 1 + G(s) H(s) = 0 Inspection of graphical plots G(s) H(s) enables to get more than YES or NO answer of RHC pertaining to the stability of control systems.
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Kuos Features of Nyquist Criterion
Kuo also outlines the following as the features that make the Nyquist criterion an attractive alternative for the analysis and design of control systems:
In addition to providing the absolute stability, like the RHC, the NC also gives information on the relative of a stable system and the degree of instability. The Nyquist plot of G(s) H(s) or of L (s) is very easy to obtain.
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Kuos Features of Nyquist Criterion
The Nyquist plot of G(s) H(s) gives information on the frequency domain characteristics such as Mr, Wr, BW and others with ease. The Nyquist plot is useful for systems with pure time delay that cannot be treated with the RHC and are difficult to analyze with root locus method.
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Benefits of Frequency Response

Frequency responses are the informative representations of dynamic systems Example of an Audio Speaker
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Benefits of Frequency Response
Lets now look at a Mechanical or Civil Engineering example of frequency domain, say a structure like a bridge.
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Frequency Stability Tests
Want tests on the loop transfer function L(s)=Gc(s)G(s) that can be performed to establish stability of the closed-loop system
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Frequency Stability Tests
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Any more worries about freqtool
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Frequency-Domain Control Systems Analysis and Design

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Frequency-Domain Control Systems

Eng R. L. Nkumbwa Copperbelt University School of Technology 2010

Eng R. L. Nkumbwa @ CBU 2010

Its all Stability of Control Systems

Eng R. L. Nkumbwa @ CBU 2010

Frequency Response Roadmap

We will cover the following:

General frequency analysis in Control Engineering

Eng R. L. Nkumbwa @ CBU 2010

Eng R. L. Nkumbwa @ CBU 2010

Eng R. L. Nkumbwa @ CBU 2010

Example: Gun Positional Control

Eng R. L. Nkumbwa @ CBU 2010

Why use Frequency-Domain?

Characteristics of Frequency Response

Eng R. L. Nkumbwa @ CBU 2010

Eng R. L. Nkumbwa @ CBU 2010

Time & Frequency-Domain Specs.

Eng R. L. Nkumbwa @ CBU 2010

Eng R. L. Nkumbwa @ CBU 2010

Eng R. L. Nkumbwa @ CBU 2010

Further Frequency Response

Eng R. L. Nkumbwa @ CBU 2010

Further Frequency Response

Further Frequency Response

Eng R. L. Nkumbwa @ CBU 2010

Further Frequency Response

Further Frequency Response

Who Developed Frequency Methods?

Variety of Frequency domain Analysis

Polar (Nyquist) plot Re vs.Im of G(j) in complex plane.

Variety of Frequency domain Analysis

Eng R. L. Nkumbwa @ CBU 2010

What are the advantages?

What are the disadvantages?

Eng R. L. Nkumbwa @ CBU 2010

Concept of Frequency Response

Eng R. L. Nkumbwa @ CBU 2010

Characteristics of Frequency Domain

Eng R. L. Nkumbwa @ CBU 2010

Concept of Frequency Response

The input-output relation is given by:

Eng R. L. Nkumbwa @ CBU 2010

Concept of Frequency Response

Eng R. L. Nkumbwa @ CBU 2010

Obtaining Frequency Response

Eng R. L. Nkumbwa @ CBU 2010

Concept of Frequency Response

Obtaining Magnitude M and Phase

Eng R. L. Nkumbwa @ CBU 2010

Concept of Frequency Response

Eng R. L. Nkumbwa @ CBU 2010

Frequency Response Plots and Diagrams

Eng R. L. Nkumbwa @ CBU 2010

Frequency Response Plots and Diagrams

Eng R. L. Nkumbwa @ CBU 2010

Plotting Bode Plots

Eng R. L. Nkumbwa @ CBU 2010

Amplitude Ratio (AR) on log-log plot

Eng R. L. Nkumbwa @ CBU 2010

Phase angle on semi-log plot

Start from 0or -180at =0 depending on the sign of steadystate gain.