UNIT – IV

FREQUENCY RESPONSE ANALYSIS

Topics: Introduction to frequency domain specifications – Bode diagrams –

transfer function from the Bode diagram –Polar plots, Nyquist stability
criterion- stability analysis using Bode plots (phase margin and gain
margin).
Classical Control Design Techniques: Lag, lead, lag-lead compensators -
physical realization - design of compensators using Bode plots.

INTRODUCTION:

The frequency response is the steady state response (output) of a

system when the input to the system is a sinusoidal signal. i.e. It is the
magnitude and phase relationship between sinusoidal input and steady
state output of a system.

In the system transfer function T(s), if the 's' is replaced by 'jω' then
the resulting transfer function T(jω) is called sinusoidal transfer function.
The frequency response of the system is directly obtained from the
sinusoidal transfer function T(jω) of the system. The transfer function T(jω)
is a complex function of frequency.

The magnitude and phase of T(jω) are the functions of frequency and
can be evaluated for various values of frequency.
Let

Put s = jω

Where M = Magnitude of |T(jω)|

Ф = Phase of ∠T(jω)

ADVANTAGES OF FREQUENCY RESPONSE ANALYSIS

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DISADVANTAGES OF FREQUENCY RESPONSE ANALYSIS

PLOTTING OF FREQUENCY RESPONSE

Frequency Response = Magnitude Response + Phase Response

= |G(jω )| + ∠G(jω) [ ω is from 0 to ∞ ]

EXAMPLE: Draw the frequency response for

SOL:
The sinusoidal transfer function,
The magnitude response is
The Phase response is ∠G(jω) = –tan-1(2ω)
Now vary the frequency ω from 0 to ∞ and tabulate the values

ω 0 1 2 5 10 20 50 100 ∞
|G(jω )| 1 0.4472 0.2423 0.099 0.05 0.025 0.01 0.005 0
∠G(jω) 00 -63.430 -75.960 -84.290 -87.130 -88.560 -89.420 -89.70 -900

The magnitude response and phase response are shown in the following
fig(s).
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FREQUENCY DOMAIN SPECIFICATIONS

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 PROBLEMS
1) The open-loop transfer function of a unity feedback system is

Determine the resonant frequency and resonant peak for the system.
SOL:

2) The closed loop poles of a system are at s = –2 ± j3.

Determine i) Bandwidth ii) Normalized peak driving signal frequency
iii) Resonant peak for the system.
SOL:
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3) Determine the frequency specification of a second order system whose
closed loop transfer function is given by

SOL:
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GRAPHICAL REPRESENTATION OF FREQUENCY RESPONSE

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BODE PLOT

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DETERMINATION OF GAIN MARGIN, PHASE MARGIN AND
STABITY FROM BODE PLOT

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PROCEDURE TO DRAW BODE PLOT

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DETERMINATION OF TRANSFER FUCNTION FROM BODE PLOT

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 PROBLEMS

1) For the Bode plot shown in the fig., Find the transfer function.

SOL:
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2) Sketch the Bode plot for

Determine the GM and PM of the system.

SOL:

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3) Find the open-loop transfer function of a system whose approximate Bode
plot is shown in Figure below.

SOL:

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4) Draw the Bode plot for a control system having transfer function,

Determine the following from the Bode plot:

(1) Gain margin; (2) Phase margin; (3) Gain crossover frequency and
(4) Phase crossover.
SOL:

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Figure shows the Bode plot for magnitude and phase angle drawn on log
scale. The gain margin is calculated at the phase crossover frequency and
phase margin is calculated at gain crossover frequency. The results as found
are
Gain margin = 15 dB; Phase margin = 20°
Gain crossover frequency = 2.2 rad/sec;
Phase crossover frequency = 1.45 rad/sec.

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5) Draw the Bode plot for a control system having transfer function,

Determine the Gain margin & Phase margin from the Bode plot. State the
system is stable or not.
SOL:

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6) Sketch the bode plot for the following transfer function and determine
gain cross over frequency and phase cross over frequency
5(1 + 2s)
G( s) =
(1 + 4s)(1 + 0.25s)
SOL:

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 .

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7) Sketch the bode plot for the following transfer function and determine
phase margin and gain margin.
75(1 + 0.2s)
G( s) =
s( s 2 + 16s + 100)
SOL:

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POLAR PLOT

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PROCEDURE TO SKETCH POLAR PLOT

TYPICAL SKETCHES OF POLAR PLOT

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DETERMINATION OF PHASE MARGIN(PM), GAIN MARGIN(GM)
AND STABILITY FROM POLAR PLOT

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PROBLEMS

1) The open loop transfer function of a unity feedback system is given by

1
G( s) = . Sketch the polar plot and determine gain margin and
s(1 + s)(1 + 2s)
phase margin.
SOL:

From Graph,

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2) A system is given by

Determine the magnitude and phase angle at zero and ∞ frequencies. Sketch
the polar plot.
SOL:

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3) Determine the gain crossover frequency, phase crossover frequency, gain
margin and phase margin of a system whose open loop transfer function is

SOL:

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4) The open loop transfer function of a unity feedback system is given by

Sketch the polar plot and determine GM & PM.

SOL:

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5) The open loop transfer function of a unity feedback system is given by

Sketch the polar plot and determine the value of K so that (i) Gain margin
is 20 db and (ii) Phase margin is 300.
SOL:

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NYQUIST PLOT

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PRINCIPLE OF ARGUMENT

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NYQUIST STABILITY CRITERIA

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STATEMENT OF NYQUIST STABILITY CRITERIA

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 PROBLEMS
1) Draw the Nyquist plot for the system whose open loop transfer function is

Determine the range of ‘K’ for which the closed loop system is stable.
SOL:

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2) Draw the Nyquist plot and comment on stability for the system

SOL:

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3) Draw the Nyquist plot and comment on stability for the system

SOL:

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4) Draw the Nyquist plot and comment on stability for the system

SOL:

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5) Draw the Nyquist plot and comment on stability for the system

SOL:

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COMPENSATING NETWORKS

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 The frequency response of lead compensator is shown in the fig.

EFFECTS OF LEAD NETWORK

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LIMITATIONS OF LEAD NETWORK

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 The frequency response of lag compensator is shown in the
fig.

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 The frequency response of lead-lag compensator is shown in
the fig.
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Design Steps of Lead Compensator using Bode plot

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Design Problem:

SOL:

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Design Steps of Lag Compensator using Bode plot

Design Steps of Lag-Lead Compensator using Bode plot

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