Contents
• Frequency Response Methods
R(s ) Y (s )
G (s )
r (t ) A sin(t ) y (t ) A | G ( j ) | sin(t G ( jw))
– Three Diagram-representation Methods
• Polar plot -- Real & Imaginary Re[G( j )], Im[G( j )]
-- Magnitude
• Logarithmic Plots (Bode plots) & Phase
• Log Magnitude and Phase Diagrams | G ( j ) |, G ( j )
– System Identification -- Performance specification in
the frequency domain
• Two Examples
1
Example 1 The transfer function with all its ZEROS & POLES in the left-
hand s-plane is called Minimum phase transfer function
• The block diagram of a feedback control system is shown in Figure (a). The
transfer functions of the blocks are represented by the frequency
response curves shown in Figure (b). Assume that the systems have
minimum phase transfer functions.
R(s ) Y (s )
G1 ( s ) G2 ( s )
G3 ( s )
Figure (a)
(1) When G3 ( s) is disconnected from
the system, determine the damping
ratio of the system
(2) Connect G3 ( s) and determine the
damping ratio of the system
2
Figure (b)
Analysis
Block Diagram
Reading the Plots
Transfer Function
Damping Ratio
3
Solution for (1)
Step 1: Polar plot
Re[G1 ( j )] 10
Im[G1 ( j )] 0
G1 ( j ) Re[G1 ( j )] j Im[G1 ( j )] 10 j 0
Fourier transform of G1 (t ) How to get the Laplace transform of G1 (t )
Use j instead of s
G1 ( s ) G1 ( j ) 10 j 0 10
4
Minimum phase transfer function
Solution for (1)
Step 2: Bode Plot
Decompose the Bode Plot into
several Basic Terms of Transfer
Function
1 1 1
G ' ( j ) G '' ( j )
j 1 j / 1 1 j / 0.6
1 1
G2 ( j ) G ' ( j )G '' ( j ) G2 ( s)
j (1 j / 0.6) s(1 s / 0.6) 5
Solution for (1)
Step 3: Log magnitude vs.
Phase plot
Im[G3 ( j )]
1) tan(G3 ( j )) tan(270 ) tan(90 )
Re[G3 ( j )]
Re[G3 ( j )] 0
2) 20 log10 | G3 ( j ) | 20 log10 | Im[G3 ( j )] |
Suppose j Im[G3 ( j )] jk , k 0
20 log10 | k | 9.54 k 3
When 1 , 20 log10 | G3 ( j ) | 9.54
In conclusion, G3 ( j ) 0 3 j G3 ( s) 3s
6
Solution for (1)
When G3 ( s) is disconnected from the system,
determine the damping ratio of the system
Y (s )
G1 ( s ) 10 R(s )
G1 ( s ) G2 ( s )
1
G2 ( s)
s(1 s / 0.6)
G3 ( s) 3s
Y (s) G ( s )G2 ( s ) 6
1 2 Standard Second Order System
R( s ) 1 G1 ( s )G2 ( s ) s 0.6s 6
n 6
0.12
2 n 0.6
7
Solution for (2)
When G3 ( s) is connected to the system, determine
the damping ratio of the system
R(s ) Y (s )
G1 ( s ) 10 G1 ( s ) G2 ( s )
1 G3 ( s )
G2 ( s)
s(1 s / 0.6)
G3 ( s) 3s
G2 ( s )
G1 ( s )
Y (s) 1 G2 ( s)G3 ( s ) 6
2 Standard Second Order System
R( s) 1 G ( s) G2 ( s ) s 2.4s 6
1 G2 ( s )G3 ( s)
1
n 6
0.49
2 n 2.4
8
Example 2
• A spring-mass-damper system is shown in Figure (a). The Bode diagram
obtained by experimental means using a sinusoidal forcing function is
shown in Figure (b). Determine the numerical values of m, b and k.
Figure (a)
Figure (b)
9
Analysis
Model
Transfer Function
Reading the Plots
Coefficients
10
Definitions
• Resonant frequency in Bode
plot
– Frequency at which peak
occurs, peak occurs when
damping ratio is less than 0.707
• Band Width Frequency is the
frequency at which the
frequency response has
declined 3dB from its low-
frequency value
The bandwidth B of a system as indicated on the frequency response can be
approximately related to the natural frequency of system
n 11
Solution
Step 1: Draw free body
diagram of mass
Step 2: Get Differential Equation
my by ky r
Step 3: Get Transfer Function
Y (s) 1
G (s) 2
R( s ) ms bs k
12
Solution
Step 4: Read the Bode plot
Y (s) 1 1
G (s) 2 G ( j )
R( s ) ms bs k m ( j ) 2 b ( j ) k
20 log10 | G ( j 0) |
1
20 log10 | |
k
26
k 19.96
13
The bandwidth B of a system as indicated on the
Solution frequency response can be approximately related to the
natural frequency n of system
Step 4: Read the Bode plot k
1
G ( j ) G ( j )
1 m
m ( j ) 2 b ( j ) k k ( j ) 2 b ( j ) k
m m
k
2
n 52
m
k 19.96
The bandwidth is the
frequency, at which the
frequency response has
declined 3dB from its low-
frequency value
m 0.7984
14
Solution The damping ratio has some relationship with maximum
magnitude M p
Step 4: Read the Bode plot k
1
G ( j ) G ( j )
1 m
m ( j ) 2 b ( j ) k k ( j ) 2 b ( j ) k
m m
b
2 n
m
20 log M p 22 (26)
M p 1.585
15
Solution The damping ratio has some relationship with maximum
magnitude M p
𝑀𝑝 = 𝑒
−(𝜉 𝜋Τ( 1−𝜉 2 )ቁ
Step 4: Read the Bode plot k
1
G ( j ) G ( j )
1 m
m ( j ) 2 b ( j ) k k ( j ) 2 b ( j ) k
m m
b
2 n
m
Aprox. Value of M p
M p (2 1 2 ) 1 ,
0.707
0.33
16
Solution
Step 4: Read the Bode plot k
1
G ( j ) G ( j )
1 m
m ( j ) 2 b ( j ) k k ( j ) 2 b ( j ) k
m m
b
2 n
m
0.33
b 2mn 2.635
17
Another method to get
M p 1.585
0.33
If resonant frequency r is
known, this map could also
use to estimate natural
frequency n . Or use the
following formula
r n 1 2 2
18
More accurate estimation of n
0.33
B B 3.2
1.19 0.33 1.85 1.4573 n 4.66
n 1.4573 1.4573
19
Definitions
• Phase crossover frequency is
the frequency at which the
phase angle first reaches
−180°.
• Gain crossover frequency is
the frequency at which the
open-loop gain first reaches
1.
• The gain margin is the factor
by which the gain must be
multiplied at the phase
crossover to have gain value
1
• Phase margin is the number
of degrees by which the GM & PM positive means GM & PM negative
phase angle is smaller than Stable System means un Stable System
−180° at the gain crossover 20
Supplement 1
Basic Term Magnitude 20log|G| Phase,φ(ω)
21
Supplement 2
Basic Term Magnitude 20log|G| Phase,φ(ω)
22
Supplement 3
Basic Term Magnitude 20log|G| Phase,φ(ω)
23
End
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