Linear Control Theory (EE 326):
6.4 Example Problems – Frequency
Response
Krishnan C.M.C.
Dept. of Electrical and Electronics Engineering
NITK Surathkal
Example:1
Draw the bode plot for the transfer function 𝐺 𝑠 = (𝑠 + 3)Τ𝑠(𝑠 + 1)(𝑠 + 2)
Step-1: Normalization and splitting of individual terms
𝑠
3 +1
𝐺 𝑠 = 3
2𝑠 𝑠 + 1 𝑠 + 1
2
Step-2: Finding the Fourier transform
𝑗𝜔
3 +1
𝐺 𝑗𝜔 = 3
2𝑗𝜔 𝑗 𝜔 + 1 𝑗𝜔 + 1
2
Step-3: Deciding on the range of values for 𝜔 (x-axis)
1
≤ 𝜔 ≤ 3 × 10
10
EE326 Dept. of E & E, NITK Surathkal
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Example:1
Draw the bode plot for the transfer function 𝐺 𝑠 = (𝑠 + 3)Τ𝑠(𝑠 + 1)(𝑠 + 2)
Step-4: Expression for magnitude (dB) and Phase
20 log 𝐺 𝑗𝜔
3 𝑗𝜔 𝑗𝜔
= 20 log + 20 log +1 − 20 log 𝑗 𝜔 + 1 − 20 log +1
2𝜔 3 2
𝜔 𝜔 𝜔
∠𝐺 𝑗𝜔 = −90° + tan−1 − tan −1 − tan −1
3 1 2
EE326 Dept. of E & E, NITK Surathkal
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Example:1
Draw the bode plot for the transfer function 𝐺 𝑠 = (𝑠 + 3)Τ𝑠(𝑠 + 1)(𝑠 + 2)
Step-5: Magnitude Asymptotes for each term
3 𝑗𝜔 𝑗𝜔
20 log + 20 log + 1 − 20 log 𝑗 𝜔 + 1 − 20 log +1
2𝜔 3 2
23 𝑑𝐵
−36 𝑑𝐵
𝜔↑⇒ then then followed by
1 2 3 10 20 30
EE326 Dept. of E & E, NITK Surathkal
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Example:1
Draw the bode plot for the transfer function 𝐺 𝑠 = (𝑠 + 3)Τ𝑠(𝑠 + 1)(𝑠 + 2)
Step-5: Magnitude Asymptotes for each term
3 𝑗𝜔 𝑗𝜔
20 log + 20 log + 1 − 20 log 𝑗 𝜔 + 1 − 20 log +1
2𝜔 3 2
23 𝑑𝐵
−20 𝑑𝐵/𝑑𝑒𝑐
3 𝑑𝐵
−40 𝑑𝐵/𝑑𝑒𝑐
−9 𝑑𝐵
𝜔↑⇒ then then followed by
−40 𝑑𝐵/𝑑𝑒𝑐
−60 𝑑𝐵/𝑑𝑒𝑐
−69 𝑑𝐵
1 2 3 10 20 30
EE326 Dept. of E & E, NITK Surathkal
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Example:1
Draw the bode plot for the transfer function 𝐺 𝑠 = (𝑠 + 3)Τ𝑠(𝑠 + 1)(𝑠 + 2)
Step-6: Phase Asymptotes for each term
−1
𝜔 −1
𝜔 −1
𝜔
∠𝐺 𝑗𝜔 = −90° + tan − tan − tan
3 1 2
−105°
−120° −45°/𝑑𝑒𝑐
−90°/𝑑𝑒𝑐
−45°/𝑑𝑒𝑐
−180°
−195° +45°/𝑑𝑒𝑐
0°/𝑑𝑒𝑐
−165°
𝜔↑⇒ then then followed by
EE326 Dept. of E & E, NITK Surathkal
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Asymptotic approximation of Bode plots
TF with a two complex conjugate zeros 𝐺 𝑠 = 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2
2
𝜔 𝑗2𝜁𝜔
𝐺 𝑗𝜔 = −(𝜔)2 + 𝑗2𝜁𝜔𝑛 𝜔 + 𝜔𝑛2 = 𝜔𝑛2 − + +1
𝜔𝑛 𝜔𝑛
Low frequency approximation High frequency approximation
2
𝜔
𝜔≈0 ⇒ 𝐺 𝑗𝜔 ≈ 𝜔𝑛2 𝜔 → ∞ ⇒ 𝐺 𝑗𝜔 → 𝜔𝑛2 − =− 𝜔 2
𝜔𝑛
Magnitude (dB)
20 log 𝐺 𝑗𝜔 = 40 log 𝜔𝑛 20 log 𝐺 𝑗𝜔 = 20 log 𝜔2 = 40 log 𝜔
Phase
∠𝐺 𝑗𝜔 ≈ 0 ∠𝐺 𝑗𝜔 → 180°
Observations:
• At low freq, the magnitude is almost a constant.
• At high freq, the magnitude varies linearly w.r.t. log 𝜔
• At high freq, magnitude change at the rate of 40 dB/decade
• When 𝜔 = 𝜔𝑛 ; low freq approx. = high freq approx. in magnitude
• 𝜔𝑛 for this system is hence called as the break frequency
EE326 Dept. of E & E, NITK Surathkal
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Asymptotic approximation of Bode plots
TF with a two complex conjugate zeros 𝐺 𝑠 = 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2
EE326 Dept. of E & E, NITK Surathkal
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Asymptotic approximation of Bode plots
1
TF with a two complex conjugate poles 𝐺 𝑠 = 𝑠2+2𝜁𝜔 2
𝑛 𝑠+𝜔𝑛
1 1
𝐺 𝑗𝜔 = = 2
− 𝜔 2 + 𝑗2𝜁𝜔𝑛 𝜔 + 𝜔𝑛2 𝜔 𝑗2𝜁𝜔
𝜔𝑛2 − 𝜔 + 𝜔 +1
𝑛 𝑛
Low frequency approximation High frequency approximation
1
𝜔≈0 1 𝜔 → ∞ ⇒ 𝐺 𝑗𝜔 → 1
⇒ 𝐺 𝑗𝜔 ≈ 2 𝜔 2 =−
𝜔𝑛2 𝜔𝑛 − 𝜔 𝜔 2
Magnitude (dB) 𝑛
20 log 𝐺 𝑗𝜔 = −40 log 𝜔𝑛 20 log 𝐺 𝑗𝜔 = −20 log 𝜔2 = −40 log 𝜔
Phase
∠𝐺 𝑗𝜔 ≈ 0 ∠𝐺 𝑗𝜔 → −180°
Observations:
• At low freq, the magnitude is almost a constant.
• At high freq, the magnitude varies linearly w.r.t. log 𝜔
• At high freq, magnitude change at the rate of −40 dB/decade
• When 𝜔 = 𝜔𝑛 ; low freq approx. = high freq approx. in magnitude
• 𝜔𝑛 for this system is hence called as the break frequency
EE326 Dept. of E & E, NITK Surathkal
9
Asymptotic approximation of Bode plots
1
TF with a two complex conjugate poles 𝐺 𝑠 = 𝑠2+2𝜁𝜔 2
𝑛 𝑠+𝜔𝑛
EE326 Dept. of E & E, NITK Surathkal
10
Asymptotic approximation of Bode plots
1
TF with a two complex conjugate poles 𝐺 𝑠 = 𝑠2+2𝜁𝜔 2
𝑛 𝑠+𝜔𝑛
−90°/𝑑𝑒𝑐
EE326 Dept. of E & E, NITK Surathkal
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Example:2
Draw the bode plot for the transfer function 𝐺 𝑠 =
(𝑠 + 3)Τ(𝑠 + 2)(𝑠 2 + 2𝑠 + 25)
Step-1: Normalization and splitting of individual terms
𝑠
3 +1
𝐺 𝑠 = 3
2 × 25 𝑠 𝑠 2 2𝑠
2 + 1 25 + 25 + 1
Step-2: Finding the Fourier transform
𝑗𝜔
𝐺 𝑗𝜔 =
3 3 +1
2 × 25 𝑗𝜔 −𝜔 2 2𝜔
2 +1 +𝑗 +1
25 25
Step-3: Deciding on the range of values for 𝜔 (x-axis)
2
≤ 𝜔 ≤ 5 × 10
10
Note: 𝜔𝑛 = 25 = 5 𝑟𝑎𝑑/𝑠
EE326 Dept. of E & E, NITK Surathkal
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Example:2
Draw the bode plot for the transfer function 𝐺 𝑠 =
(𝑠 + 3)Τ(𝑠 + 2)(𝑠 2 + 2𝑠 + 25)
Step-4: Expression for magnitude (dB) and Phase
20 log 𝐺 𝑗𝜔
3 𝑗𝜔 𝜔 −𝜔2 2𝜔
= 20 log + 20 log +1 − 20 log 𝑗 + 1 − 20 log +𝑗 +1
50 3 2 25 25
2𝜔
𝜔 𝜔 25
∠𝐺 𝑗𝜔 = 0° + tan−1 − tan−1 − tan−1
3 2 𝜔2
1−
25
EE326 Dept. of E & E, NITK Surathkal
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Example:2
Draw the bode plot for the transfer function 𝐺 𝑠 =
(𝑠 + 3)Τ(𝑠 + 2)(𝑠 2 + 2𝑠 + 25)
Step-5: Magnitude Asymptotes for each term
3 𝑗𝜔 𝜔 −𝜔2 2𝜔
20 log + 20 log + 1 − 20 log 𝑗 + 1 − 20 log +𝑗 +1
50 3 2 25 25
𝜔↑⇒ then then followed by
−24.4 𝑑𝐵
−20 𝑑𝐵/𝑑𝑒𝑐 −44.4 𝑑𝐵
−40 𝑑𝐵/𝑑𝑒𝑐
0.2 0.3 0.5 2 3 5 20 30 50
EE326 Dept. of E & E, NITK Surathkal
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Example:2
Draw the bode plot for the transfer function𝐺 𝑠 = (𝑠 + 3)Τ(𝑠 + 2)(𝑠 2 + 2𝑠 + 25)
Step-6: Phase Asymptotes for each term 2
𝜔 𝜔 2𝜔 𝜔
∠𝐺 𝑗𝜔 = 0° + tan−1 − tan−1 − tan−1 ൘ 1−
3 2 25 25
𝜔↑⇒ then then followed by
−45°/𝑑𝑒𝑐
−90°/𝑑𝑒𝑐
−45°/𝑑𝑒𝑐
0.2 0.3 0.5 2 3 5 20 30 50
−90°/𝑑𝑒𝑐
EE326 Dept. of E & E, NITK Surathkal
15