FREQUENCY RESPONSE

October 2016
 This Method was

ENEL3CS: Control Systems 1. Department of Electrical Engineering. University of Kwazulu Natal. Durban
 NOW
• Consider a transfer function

Y ( s) b0  b1 s  b2 s 2  .....  bm s m
 G( s) 
R( s ) a0  a1 s  a2 s 2  .....  an s n

• usually, n≥1+mProvided
 n
y (t )   Ak e  pk t
k 1

..
• Provided this system has non-repeated roots,
it possible to expand G(s) into its partial
fraction form, given by
n
Ak
G( s)  
k 1 s  p k

• And then:
 .. IMPULSE RESPONSE
• For the impulse, R(s)=1 and

n
Ak
Y ( s)  G( s) x1  
k 1 s  pk

• Yielding the time response:

n
y (t )   Ak e  pk t

k 1
then

..IMPULSE RESPONSE
• then
y (t )  0, t  
• What happens
 SINE RESPONSE
• For the sine input r (t )  E sin t

   
• And R( s )  E 2
s  2
 E
   

 ( s j )( s j ) 

• Yielding:

 EG(s) n
Ak a b
Y (s)  EG(s) x 2
s  j 2

(s  j )( s  j )
 E  (
k 1 s  pk
 
s  j s  j
)
 ..
• To evaluate ‘a’ and ‘b’, apply the Heaviside
method to obtain

G ( s ) G (  j )
a  ( s  j ) 
( s  j )( s  j ) s   j 2j
G ( s ) G ( j )
b  ( s  j ) 
( s  j )( s  j ) s  j 2j
• G(jw) and G(-jw) are complex conjugates, and
can be expressed as
j
G ( j )  G ( j ) e
d  j
G (  j )  G ( j ) e

• Yielding:
n
Ak G ( j ) e j G ( j ) e  j
Y ( s)  E  (   )
k 1 s  p k s  j s  j
 ..
• The resulting sine response:
n  1  s (e j  e  j )  j (e j  e  j )  
y (t )  E  Ak e  pk t
 E G ( j ) L  .
1

k 1  2 j  ( s  j  )( s  j  ) 

• Or

n   s sin    cos  
y(t )  E  Ak e  pk t
 E G( j ) L . 1
 
k 1   ( s  j )( s  j )  
 ..
• The sine response, has two components

y(t )  yt (t )  yss (t )
• Where n
y t (t )  E  Ak e  pk t
k 1

• And   s sin    cos   

y ss (t )  E G( j ) L .
1
 
  ( s  j )( s  j )  
 ..
If G(s) is stable, then the transient response
vanishes after some time (t→∞)

• What remains is:

  s sin    cos   
y ss (t )  E G ( j ) L .
1
 
  ( s  j )( s  j )  
  s sin    cos   
 E G ( j ) L .
1
 
 s 
2 2

 y ss (t )  E G ( j ) sin( t   )
 …
• Equation (14) shows that, for a stable linear
system, the steady-state response is the
product of the magnitude of the input E, times
the frequency-dependent gain G( j) , shifted by
the frequency- dependent phase angle G( j ) . ( )
The evaluation of the frequency-dependent
parameters G( j) and G( j )   ( ) is what is
referred to as the frequency response.
 Example
• Consider the circuit in Figure 1, for which
L=1H, C=1F, R=2Ω:

• For which:
1 s 2 L  RCs  1
V ( s)  ( R  sL  ) I ( s)  I ( s)
sC sC
 ..
• Transfer function:
I ( s) sC s
G( s)   2  2
V ( s) s L  RCs  1 s  2s  1

• For the frequency response:

j j
G ( j )  
(  j ) 2  2 j  1 1   2  2 j


G ( j ) 
Yielding: (1   2 ) 2  4 2

G ( j )  90  tan (
0 1
)
1  2
 .. Evaluated in MATLAB
Frequency (rads/s) Frequency Response Magnitude response Phase response (degrees)
(complex)

0.01 0.0002 + 0.0100i 0.0100 88.8541

0.02 0.0008 + 0.0200i 0.0200 87.7085

0.05 0.0050 + 0.0496i 0.0499 84.2752

0.1 0.0196 + 0.0970i 0.0990 78.5788

0.8 0.4759 + 0.1071i 0.4878 12.6804

1 0.5000 0.5000 0

2 0.3200 - 0.2400i 0.4000 -36.8699

10 0.0196 - 0.0970i 0.0990 -78.5788

20 0.0050 - 0.0496i 0.0499 -84.2752

100 0.0002 - 0.0100i 0.0100 -88.8541

 EXAMPLE II
• Consider the mass-spring-damper system
shown in Figure 2, where M  2Kg, B  0.5N / m , K  4N / m
2

• The applied force f(t), causes a displacement

y(t), given by:
2
d y(t ) dy(t )
M 2
B  Ky(t )  f (t
dt dt
 ..
• Now, using LT: Y (s)( Ms 2  Bs  K )  F (s)
• And the transfer function

Y (s) 1 1
 G( s)   2
F (s) ( Ms  Bs  K ) 2s  0.5s  4
2

1 1
G ( j )  
( M ( j )  jB  K ) ( K  M 2 )  jB
2

1
G ( j ) 
(4  2 2 )  j 0.5
 FREQUENCY RESPONSE
Frequency (rads/s) Frequency Response Magnitude response Phase response (degrees)
(complex)

0.01 0.2500 0.2500 -0.0716

0.02 0.2500 - 0.0003i 0.2500 -0.1433

0.05 0.2500 - 0.0006i 0.2500 -0.3585

0.1 0.2503 - 0.0016i 0.2503 -0.7198

0.8 0.2512 - 0.0032i 0.2512 -8.3659

1 0.3599 - 0.0529i 0.3637 -14.0362

2 0.4706 - 0.1176i 0.4851 -165.9638

10 -0.2353 - 0.0588i 0.2425 -178.5387

20 -0.0051 - 0.0001i 0.0051 -179.2802

100 -0.0013 - 0.0000i 0.0013 -179.8567

GRAPHICAL REPRESENTATION OF
FREQUENCY RESPONSE
 POLAR PLOT
• Each point on the plot represents a value of
magnitude and the phase angle information.
• The frequency values themselves are not
plotted (frequency in rads/sec is said to be a
running parameter),
• the direction of increasing frequency is shown
on the plot, using an arrow-head symbol.
• In general control theory, the polar plot is
referred to as the Nyquist daigram
NYQUIST DIAGRAM
 THE AMPLITUDE-AGAINST PHASE
DIAGRAM
• Amplitude values are plotted against the
phase angles at each frequency of response.
• Frequency is used as a running parameter.

• In later sections we will see that, when the

amplitude is plotted in decibels against the
phase values, the plot is called the Nichols
chart.
EXAMPLE: AMPLITUDE AGAINST
PHASE PLOT
 THE AMPLITUDE-AGAINST FREQUENCY
AND PHASE-AGAINST FREQUENCY PLOT
• Two separate plots are generated, to form the
complete plot.
• The magnitude response is plotted against
frequency.
• Then, a separate phase plot against frequency
is then include, the two plot forming one.
• This is the typical representation used in the
frequency analysis of amplifiers or vibration
analysis.
 BODE PLOT
• When the magnitude is plotted in decibels,
and a logarithmic scale is used on the
frequency axis, the combine plot is referred
to as the bode plot.
BODE PLOT
 THE GENERAL FORM OF THE
FREQUENCY RESPONSE
• Consider the transfer function
b0  b1 s  b2 s 2  .....  bm s m
G( s) 
a0  a1 s  a2 s  .....  an s
2 n

• Now:
b0  jb1  b2 ( j ) 2  b3 ( j ) 3 .....  bm ( j ) m
G( j ) 
a0  a1 j  a2 ( j ) 2  .....  an ( j ) n
 ..
• or b0  b2 2  jb1  jb3 3 .....  j m bm j m
G( j ) 
a0  a2 2  ja1.....  j n an n

(b0  b2 2  b4 4  ....)  j (b1  b3 3  b5  ...) 5

G( j ) 
(a0  a2 2  a4 4  ....)  j (a1  a3 3  a5 5  ....)

• Hence:
G( j)  X ()  jY ()  G( j) e j ( )  G( j)  ()
 GENERAL EXPRESSION S FOR
MAGNITUDE AND PHASE
• Consider N1 ( s ) xN2 ( s ) xN3 ( s ) x......xNn ( s )
G( s) 
D1 ( s ) xD2 ( s ) xD3 ( s ) x......xDm ( s )

• or N1 ( j ) xN2 ( j ) xN3 ( j ) x......xNn ( j )

G ( j ) 
D1 ( j ) xD2 ( j ) xD3 ( j ) x......xDm ( j )
• Magnitude:
N1 ( j ) x N 2 ( j ) x N 3 ( j ) x......x N n ( j )
G( j ) 
D1 ( j ) x D2 ( j ) x D3 ( j ) x......x Dm ( j )

• Phase:

 ( j )  N1 ( j )  N 2 ( j )  N 3 ( j )  ......  N n ( j )
 D1 ( j )  D2 ( j )  D3 ( j )  .....  Dm ( j )
 Example
2( s  2)( s  10)
G( s) 
s( s  3)( s  5)
• For frequency analysis:
2( j  2)( j  10)
G( j ) 
j ( j  3)( j  5)

• dd
 • Magnitude;
2 x j  2 x j  10 2 x  2  4 x  2  100
G( j )  
j x j  3 x j  5 x  2  9 x  2  25

• Phase:
G( j )  2  ( j  2)  ( j  10)  j  ( j  3)  ( j  5)

1 1  1  1 
 tan ( )  tan ( )  90  tan ( )  tan ( )
0

2 10 3 5
 MINIMUM PHASE AND NON-MINIMUM-
PHASE FREQUENCY RESPONSE
• YOU MAY WISH TO STUDY THIS
FREQUENCY RESPONSE VERSUS TIME DOMAIN
PERFORMANCES INDICES
 FREQUENCY RESPONSE OF FIRST
ORDER SYSTEMS
• Consider the first-order system

b K
G( s)   ; K  b / a,  1 / a
s  a s  1

• For the frequency response, re-write:

K
G ( j ) 
j  1
 ..
• The magnitude response yields:

K
G (s) 
1  ( ) 2

• Tabulate:
W(rad/s) 0 .. 1 ….
  c 

G ( j ) / K 1 … 1 … 0
2
MAGNITUDE PLOT OF FIRST ORDER
FREQUENCY RESPONSE
 CORELATING FIRST FREQUENCY
RESPONSE WITH TIME RESPONSE
• Rise time of the given system:
2.2 2.2
Tr  
a 0
• The settling time of the given system:

4 4
Ts  
a c
 NOTE
•  is the cut-off frequency of the given
0

first-order system.
1
• and that:  c  ;  1 / a

 c  a
• And: G (s)

1

1
 G (s) 
K
K s  a s  c s  c
• Also: step response y (t ) 
K
(1  e 0t )
0
 EXAMPLE
• Evaluate the rise time,
settling time and
transfer function of the 0.95

0.9

system with the shown 0.85

0.8

magnitude-frequency 0.75

0.7

plot 0.65

0.6

0.55

0.5

0 5 10 15 20 25
 QUIZZ
• What general comment can you make about
the speed of a first order system with a large
cut-off frequency?

• NOTE ALSO, THAT THE ABOVE FORMAULAE

ARE ONLY VALID FOR FIRST ORDER SYSTEMS
 FREQUENCY RESPONSE OF SECOND-ORDER CLOSED-LOOP
SYSTEMS VERSUS THEIR TIME PERFORMANCE INDICES

Consider the block diagram below:

BLOCK DIAGRAM REPRSENTATION OF A
CLOSED-LOOP SECOND ORDER SYSTEM
 CLOSED_LOOP TRANSFER FUNCTION:
2nd ORDER
• Recall the closed-loop transfer function:
C (s) n2
 T (s)  2
r (s) s  2n s  n2

• For the frequency response, substitute s=jw

n2 n2
T ( j )   2
( j )  2n ( j )  n n   2  j 2n
2 2
 THE MAGNITUDE RESPONSE

 2
M  T ( j )  n

(   )  4  
2
n
2 2 2 2
n
2
PLOT OF THE SECOND-ORDER MAGNITUDE
RESPONSE(against a log frequency axis)
 NOTE
• Mp: The peak value of the magnitude plot.

• and P , the frequency at which the

peak magnitude occurs

• And the bandwidth frequency  BW

 THE PEAKE MAGNITUDE MP
• It can be easily shown, that: 1
MP 
2 1   2
M P  ;   0
• Obviously: , so that,
the lower the damping value, the higher the value
of Mp
• Also M P  1or 0dB;  1 / 2 
• and so that the peak does not exist past the
  1/ 2
 MP AS AN INDICATOR OF TIME
RESPONSE PERFORMANCE
1
MP 
• Recall: 2 1   2

• Depend only on the damping factor, and is

comparable to percentage overshoot. Larger
MP values corresponds to higher percentage
overshoot values (both large MP and large
OS% indicate low damping)
PLOT OF MP VERSUS PERCENTAGE
OVERSHOOT
 P THE FREQUENCY AT WHICH THE
PEAK MAGNITUDE RESPONSE HAPPENS
•
 P  n 1  2 2

• Note that P is not the same as the natural

frequency n
 ..
• When the damping in the system is extremely
small, then:
 P  n ;   0
1
  , P  0
• When 2
• Hence, there are no peak frequencies above
1
 
2
 ..
• By comparison with time response, P
contains all the information required to determine the
settling time.

• In fact, combining the information on P and M P

from the frequency plot, provides all the data required to
evaluate the damping factor, % overshoot, peak time,
settling time, a good approximation of the rise time; and
phase margin for second-order systems
 THE BANDWIDTH  BW

1
MP 
• Is the frequency point for which 2
  BW AND RELATIONSHIP WITH
TIME RESPONSE

 BW  n 1  2  2
4 4
 4 2
2

 BW 
4
Ts
1  2  
2
4 4  4 2  2


 BW  1  2  
2
4 4  4 2  2
TP 1  2
ILLUSTRATIVE PLOT FOR BANDWIDTH
 EXAMPLE
• Determine the closed-loop bandwidth for a
system that has a 20% overshoot
 SOLUTION

 BW  5.79rad / s
 EXAMPLE
• Determine MP Wp and WBW for the system
with the closed-loop transfer function given
by:

25
T (s)  2
s  4 s  25
 PART SOLUTION
25 52
T (s)  2  2
s  4 s  25 s  2 x5 xxs  5 2

 n  5;   0.4

1
MP 
2 1   2  P  n 1  2 2

 BW  n 1  2  
2
4 4
 4 2
2