Frequency
Response Analysis
The steady state response of a system for an
input sinusoidal signal is known as
the frequency response
What is
If a sinusoidal signal is applied as an input to a
Frequency Linear Time-Invariant (LTI) system, then it
Response? produces the steady state output, which is also
a sinusoidal signal.
The input and output sinusoidal signals have
the same frequency, but different amplitudes
and phase angles.
Signal
representation
resonant peak
Frequency
Domain resonant frequency
Specifications
bandwidth
Resonant Frequency
Resonant
Peak
BANDWIDTH
Bode plot
Frequency
Plots
Polar plot
Nyquist plot
Bode plot
The Bode plot or the Bode diagram consists of two plots −
1. Magnitude plot
2. Phase plot
In both the plots,
x-axis represents angular frequency (logarithmic scale).
y-axis represents the magnitude (linear scale) of open loop TF in the magnitude plot
and the phase angle (linear scale) of the open loop TF in the phase plot
The magnitude of the open loop transfer function in dB is - M=20log|G(jω)H(jω)|
The phase angle of the open loop transfer function in degrees is - ϕ=∠G(jω)H(jω)
Bode plot analysis from TF
Gain Term K
Graphs for N poles
Graph for (1+jwT) zero term
Graphs for term 1/(1+jwT) pole
ω – corner frequency
Basic of
Bode Plots
Initial slope of Bode plot
Rules for Construction of Bode Plots
Represent Represent the open loop transfer function in the standard time constant form.
Substitute Substitute, s=jω in the above equation.
Find Find the corner frequencies and arrange them in ascending order.
Consider the starting frequency of the Bode plot as 1/10th of the minimum corner frequency or 0.1 rad/sec whichever is smaller value and draw the
Consider Bode plot upto 10 times maximum corner frequency.
Draw Draw the magnitude plots for each term and combine these plots properly.
Draw Draw the phase plots for each term and combine these plots properly.
Note Note − The corner frequency is the frequency at which there is a change in the slope of the magnitude plot.
• Draw bode plot and comment on the stability for the system with
10(𝑠+10)
OLTF with unity feedback given by . Find the gain margin
𝑠(𝑠+2)(𝑠+5)
and phase margin.
The TF in time constant form is given by:
10(𝑠/10 + 1)
𝑠(𝑠/2 + 1)(𝑠/5 + 1)
K=10; 1 pole at origin; Two simple poles; One simple zero
• Corner frequencies: (Arrange them in increasing order)
1
• 𝜔𝑐1 = = 2 𝑟𝑎𝑑/𝑠
𝑇1
1
• 𝜔𝑐2 = = 5 𝑟𝑎𝑑/𝑠
𝑇2
1
• 𝜔𝑐3 = = 10 𝑟𝑎𝑑/𝑠
𝑇3
Magnitude plot
Complete
Bode Plot
Rules for Construction of Bode Plots
1. Write the given equation in standard form
2. Substitute, s=jω in the above equation
3. Find the value of constant ‘K’.
4. Find the value of K at ω=1rad/sec
5. Find the resultant phase of the system
6. Arrange frequencies in ascending order with slope
1. For a pole slope=-20n
2. For a zero slope=+20n
7. Arrange frequencies in ascending order with phase starting at ω=0.1
Polar plot is a plot which can be drawn
between magnitude and phase with ω
as the running parameter
Here, the magnitudes are represented
Polar plot by normal values only.
G(jω)H(jω)=|G(jω)H(jω)|∠G(jω)H(jω)
• This graph sheet consists of concentric
circles and radial lines.
• The concentric circles and the radial
lines represent the magnitudes and phase
angles respectively.
• These angles are represented by
positive values in anti-clock wise
direction.
• Similarly, we can represent angles with
negative values in clockwise direction.
• For example, the angle 2700 in anti-
clock wise direction is equal to the angle
−900 in clockwise direction
Rules for Drawing Polar Plots
1. Substitute, s=jω in the open loop transfer function.
2. Write the expressions for magnitude and the phase of G(jω)H(jω).
3. Find the starting magnitude and the phase of G(jω)H(jω) by substituting ω=0. So, the polar plot starts with
this magnitude and the phase angle.
4. Find the ending magnitude and the phase of G(jω)H(jω) by substituting ω=∞. So, the polar plot ends with
this magnitude and the phase angle.
5. Check whether the polar plot intersects the real axis, by making the imaginary term of G(jω)H(jω) equal to
zero and find the value(s) of ω. Find the magnitude and phase angle at that that point
6. Check whether the polar plot intersects the imaginary axis, by making real term of G(jω)H(jω) equal to zero
and find the value(s) of ω. Find the magnitude and phase angle at that that point
7. For drawing polar plot more clearly, find the magnitude and phase of G(jω)H(jω) by considering the other
value(s) of ω.
𝑠3
Example: G(s)=
(𝑠+1)(𝑠+2)
Example
ω magnitude phase
0 0 270
.8 .18 209.5
1.4 .66 180
2 1.26 161.56
5 4.55 123.11
∞ ∞ 90
Gain Margin and Phase Margin
Nyquist plots
• Nyquist plots are the continuation of polar plots for
finding the stability of the closed loop control systems by
varying ω from −∞ to ∞.
• That means, Nyquist plots are used to draw the
complete frequency response of the open loop transfer
function.
Nyquist Stability Criterion
• The Nyquist stability criterion works on the principle of
argument.
• It states that if there are P poles and Z zeros are enclosed by
the ‘s’ plane closed path, then the corresponding G(s)H(s)
plane must encircle the origin P−Z times.
• So, we can write the number of encirclements N as,
N=P−Z
Locate the poles and zeros of open loop transfer function G(s)H(s) in ‘s’
plane.
Draw the polar plot by varying ω from zero to infinity. If pole or zero present
Rules for at s = 0, then varying ω from 0+ to infinity for drawing polar plot.
Drawing Draw the mirror image of above polar plot for values of ω ranging from −∞
to zero (0− if any pole or zero present at s=0).
Nyquist
Plots The number of infinite radius half circles will be equal to the number of poles
or zeros at origin. The infinite radius half circle will start at the point where
the mirror image of the polar plot ends. And this infinite radius half circle will
end at the point where the polar plot starts.
After drawing the Nyquist plot, we can find the stability of the closed loop
control system using the Nyquist stability criterion. If the critical point (-1+j0)
lies outside the encirclement, then the closed loop control system is
absolutely stable.