06-01-2024

Process Exposed to a Sinusoidal

Frequency Response
Input

Bode Plot: A Convenient Means of Presenting Ar

and f versus w Ways to Generate Bode Plot
10
• Direct excitation of process.
1
• Combine transfer function of the process
Ar

0.1 with sinusoidal input.

0.01
• Substitute s=i w into Gp(s) and convert into
0
0.01 0.1 1
w
10 100 real and imaginary components which
-90
yield Ar(w) and f(w).
-180
• Apply a pulse test.
-270

-360
0.01 0.1 1 10 100
w

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Developing a Bode Plot from the Derivation of the Bode Plot for a
Transfer Function First Order Process
Kp Kp
G p (s)  G p (i w ) 
G p (i w )  R (w )  i I w   p s 1 iw p  1
After rationalization
Kp K pw  p
Ar (w )  R 2 (w )  I 2 (w ) G p (iw )  i
w  1
2 2
p w 2 2p  1
K p2  K p2w 2 2p Kp
Ar (w )  
 I (w )  w  1
2 2
w  1
2 2
f (w )  tan 1  
p p

 R (w )  f (w )  tan (w p )
1

Properties of Bode Plots Gain Margin

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1
G ( s ) Gb ( s ) M

Ar
Consider : G p (s)  a
Gc ( s ) Gd ( s) 0.1

Ga ( s ) Gb ( s ) 0.01
Ar  or 00.01 0.1 1 10 100
Gc ( s ) Gd ( s ) w
-90
ln[ Ar (w )]  ln Ga (iw )  ln Gb (iw )  ln Gc (iw )  ln Gd (iw )
-180

-270
f (w )  Ga (iw )  Gb (iw )  Gc (iw )  Gd (iw )
-360
wc
0.01 0.1 1 10 100
w

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Gain Margin Phase Margin

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1
• Gain Margin = 1/Ar* 0.1

Ar
– Where Ar* is the amplitude ratio at the critical 0.01
frequency. 0.001

– Controllers are typically designed with gain 0.0001

w co
margins in the range of 1.4 to 1.8 which 0
0.01 0.1 1
w
10 100

implies that Ar at the critical frequency varies -45

between 0.7 and 0.55, respectively.
-90

-135
PM
-180
0.01 0.1 1 10 100
w

Phase Margin Gain and Phase Margin

• PM = f*  180
– Where f* is f at the crossover frequency.
– Controllers are typically designed with a PM
between 30º to 45º.

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Graphic expression of the frequency response Frequency Response of The Typical

The shortage of the polar plot and the rectangular
Elements
The typical elements of the linear control systems —
coordinates plot: to synchronously investigate the cases refer to Chapter 2.
of the lower and higher frequency band is difficult.
Idea: How to enlarge the lower frequency band and shrink 1. Proportional element
(shorten) the higher frequency band？ Transfer function: C ( s)
G( s)  K
R( s )
Bode diagram(logarithmic plots)
Frequency response:
Plot the frequency characteristic in a semilog coordinate:  G ( jw )  K  L(w )  20 log G ( jw )  20 log K
G ( jw )  K  
Magnitude response — Y-coordinate in decibels: 20 log G ( jw )   (w )  G ( jw )  0 o
X-coordinate in logarithm of ω: logω
Im L(w ),  (w )
Phase response — Y-coordinate in radian: G( jw )  (w )  0o
K Re
X-coordinate in logarithm of ω: logω L(w )  20 log K dB
0dB, 0o w (log w )
First we discuss the Bode diagram in detail with the frequency 0.1 1 10 100
response of the typical elements. Polar plot Bode diagram

Frequency response of the typical Frequency response of the typical elements

elements 3. Inertial element
2. Integrating
element C ( s) 1 1
C ( s) 1 Transfer function: G ( s )   G ( jw ) 
Transfer function: G ( s )   R( s ) Ts  1 jw T  1
R( s ) s
Frequency response: 0 w  1 T
1 
 1 G ( jw )   L(w )  20 log 1  (wT ) 2    3dB w 1 T
1  G ( jw )   L(w )  20 log G ( jw )  20 log w 1  (wT ) 2  20 log(wT ) w  1 T
G ( jw )   w 
jw   (w )   tg 1 (wT )
  (w )  G ( jw )  90o K
1/T: break frequency G(s)  :1
L(w ),  (w ) T2s 1 T2
w  Im L(w ),  (w )
1
Im w 0 20 log K
Re L(w ) :  20dB / dec w  T
w (log w )
0dB, 0o
1 Re 0.1 1 10 100
w (log w )
0dB, 0o
10  45 o  20 dB / dec
w 0 0.1 1 100  (w )  90o
 90 o
Polar plot
Bode diagram Polar plot Bode diagram

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Exercise Solution
• Sketch Bode plot for the following transfer
function
• Determine the system gain K for the gain
cross over frequency to be 5 rad/sec

Magnitude Plot
Solution
• Let ωl = 0.5 rad/sec and ωh = 100 rad/sec
• Let A = |G(jω)| in db
• Let us calculate A at ωl, ωc1, ωc2 and ωh

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Phase Plot Determination of K

• At = 5 rad/sec the gain is 28 db

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Polar Graph
• The plot is usually plotted on a polar graph
sheet
• Polar graph sheet has concentric circles
and radial lines
• Circles represent the magnitude and the
radial lines represent the phase angles
• Each point on the polar graph has the
magnitude and phase angle

Steps to draw Polar Plot Steps to draw Polar Plot conti…

• Step 7: Put Im [G(jω) ]=0, determine the
• Step 1: Determine the T.F G(s)
• Step 2: Put s=jω in the G(s)
frequency at which plot intersects the real axis
• Step 3: At ω=0 & ω=∞ find G( jw) by lim G( jw ) & lim G( jw ) and calculate intersection value by putting the
w 0 w 

• Step 4: At ω=0 & ω=∞ find G( jw) by lim G( jw ) & lim G( jw
w 0 w
above calculated frequency in G(jω)
• Step 5: Rationalize the function G(jω) and separate • Step 8: Sketch the Polar Plot with the help
the real and imaginary parts of above information
• Step 6: Put Re [G(jω) ]=0, determine the frequency
at which plot intersects the Im axis and calculate
intersection value by putting the above calculated
frequency in G(jω)

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Polar Plot for Type 0 System Type 0 system conti…

• Let K
G (s) 
(1  sT1 )(1  sT2 ) K
lim G ( jw )  K
1  wT1  1  j wT2 
2 2
w
0

• Step 1: Put s=jω K

lim G ( jw )  0
1  wT1  1  j wT2 
2 2
w

K
G ( jw ) 
(1  jwT1 )(1  jwT2 )


K
  tan 1 wT1  tan 1 wT2 • Step 3: Taking the limit of the Phase Angle of
1  wT1  1  wT2 
2 2

G(jω)
lim G ( jw )    tan 1
wT1  tan 1 wT2  0
• Step 2: Taking the limit for magnitude of w0

lim G ( jw )    tan 1
wT1  tan 1 wT2  180
G(jω) w

Type 0 system conti… Type 0 system conti…

• Step 4: Separate the real and Im part of • Step 6: Put Im [G(jω)]=0
G(jω) G ( jw )  K (1  w T T )
j
Kw (T  T ) 2
1 2 1 2
1  w 2T12  w 2T22  w 4T1T2 1  w 2T12  w 2T22  w 4T1T2 Kw (T1  T2 )
 0w  0 & 
1  w 2T12  w 2T22  w 4T1T2
• Step 5: Put Re [G(jω)]=0 So When
K (1  w 2T1T2 ) 1
1  w T1  w 2T22  w 4T1T2
2 2
0w  &w w  0  G ( j w )  K 0 0
T1T2
So When w    G ( jw )  01800
1 K T1T2
w  G ( jw )    90 0
T1T2 T1  T2
& w  G ( jw )  0  1800

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Type 0 system conti… Polar Plot for Type 1 System

• Let K
G( s ) 
s (1  sT1 )(1  sT2 )

• Step 1: Put s=jω

K
G ( jw ) 
jw (1  jwT1 )(1  jwT2 )
K
   90 0  tan 1 wT1  tan 1 wT2
w 1  wT1  1  jwT2 
2 2

Type 1 system conti… Type 1 system conti…

• Step 2: Taking the limit for magnitude of
G(jω) • Step 4: Separate the real and Im part of
lim G( jw ) 
K
 G(jω)  wK (T  T ) j ( Kw T T  K ) 2
w 0 w 1  wT1 2 1  j wT2 2 G ( jw )  1 2
j 1 2

w  w (T1  T  w T1 T )
3 2
2
2 2 2
2
2
w  w (T1  T22  w 2 T12 T22 )
3 2

K
lim G ( jw )  0
w 1  wT1  1  j wT2  • Step 5: Put Re [G(jω)]=0
2 2
w

 wK (T1  T2 )
• Step 3: Taking the limit of the Phase Angle of 0w 
w  w 3 (T12  T22  w 2T12T22 )
G(jω) G ( jw )    90  tan wT  tan wT  90
1 1 So at
lim
0 0
1 2
w
0
w  G ( jw )  0  2700
lim G ( jw )    90 0
 tan wT1  tan wT2  270
1 1 0

w


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Type 1 system conti… Type 1 system conti…

• Step 6: Put Im [G(jω)]=0
j ( Kw 2T1T2  K ) 1
0w  & w  
w  w 3 (T12  T22  w 2T12T22 ) T1T2
So When
1 K T1T2
w  G ( jw )   0 0
T1T2 T1  T2
w G ( jw )  0 0

Stability Analysis Stability Analysis

• Stable: If critical point (-1+j0) is within the plot • Unstable: If critical point (-1+j0) is outside the plot as
as shown, Both GM & PM are +ve shown, Both GM & PM are -ve
GM=20log10(1 /x) dB
GM=20log10(1 /x) dB

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Stability Analysis Exercise

• Marginally Stable System: If critical point (-1+j0) is on
the plot as shown, Both GM & PM are ZERO
GM=20log10(1 /1)=0 dB

Solution Solution
• Magnitude and Phase of G(jω) at various
frequencies

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Determination of K for Specified

GM

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