ELEC-C8201 - Control and automation

Frequency Response Methods

Elham Abolfazli
Office: room 1305a, Otakaari 5
Email: [Link]@[Link]
 In the previous lecture...

You:

I Understood the concept of the root locus and its role in control system design

I Knew how to obtain a root locus plot by sketching or using MATLAB

I Got familiar with the PID controller as a key element of many feedback systems

Elham Abolfazli
ELEC-C8201 - Control and automation
1/26
 Learning outcomes...

...the student will:

I Understand the powerful concept of frequency response and its role in control
system design

I Know how to sketch a Bode plot and also how to obtain a computer-generated
Bode plot

I Become familiar with log magnitude and phase diagrams

Elham Abolfazli
ELEC-C8201 - Control and automation
2/26
 Response to a Sinusoidal Input Signal

u(t) = A sin(ωt) , y(t) = B sin(ωt + θ)

where

B = A|G(jω)| , θ = ∠G(jω)

I The response of a linear constant coefficient system to a sinusoidal input signal is

an output sinusoidal signal at the same frequency as the input.
I However, the magnitude and phase of the output signal differ from those of the
input sinusoidal signal, and the amount of difference is a function of the input
frequency.

Elham Abolfazli
ELEC-C8201 - Control and automation
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 Frequency Response Plots
The transfer function of a system G(s) can be described in the frequency domain by:

1)
G(jω) = G(s)|s=jω = R(ω) + jX(ω), (1)
where
R(ω) = Re[G(jω)] and X(ω) = Im[G(jω)].

2)
G(jω) = |G(jω)|ejφ(ω) = |G(jω)|∠φ(ω), (2)
where
X(ω)
φ(ω) = tan−1 and |G(jω)|2 = [R(ω)]2 + [X(ω)]2
R(ω)

Elham Abolfazli
ELEC-C8201 - Control and automation
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 Bode Plots
The limitations of polar plots are readily apparent:
I The addition of poles or zeros to an existing system requires the recalculation of
the frequency response
I Calculating the frequency response in this manner is tedious and does not indicate
the effect of the individual poles or zeros.

I Logarithmic plots, often called Bode plots, simplifies the determination of the
graphical portrayal of the frequency response!

Elham Abolfazli
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 Bode Plots - Generalized transfer function

QQ
K (1 + sτi )
G(s) = QM QR i=1
 (3)
(s)N m=1
(1 + sτm ) k=1
1 + (2ζk /ωnk ) s + (s/ωnk )2

After substituting s by jω:

QQ
K (1 + jωτi )
G(jω) = QM QRi=1
 (4)
(jω) N
m=1
(1 + jωτm ) k=1
1 + (2ζk /ωnk ) jω + (jω/ωnk )2

Elham Abolfazli
ELEC-C8201 - Control and automation
6/26
 Bode Plots - Generalized transfer function

QQ
K (1 + sτi )
G(s) = QM QR i=1
 (3)
(s)N m=1
(1 + sτm ) k=1
1 + (2ζk /ωnk ) s + (s/ωnk )2

After substituting s by jω:

QQ
K (1 + jωτi )
G(jω) = QM QRi=1
 (4)
(jω) N
m=1
(1 + jωτm ) k=1
1 + (2ζk /ωnk ) jω + (jω/ωnk )2

Standard form of

20(s + 5)
G(s) =
s2 (s + 3)(s + 10)
is

Elham Abolfazli
ELEC-C8201 - Control and automation
6/26
 Bode Plots - Generalized transfer function

QQ
K (1 + sτi )
G(s) = QM QR i=1
 (3)
(s)N m=1
(1 + sτm ) k=1
1 + (2ζk /ωnk ) s + (s/ωnk )2

After substituting s by jω:

QQ
K (1 + jωτi )
G(jω) = QM QRi=1
 (4)
(jω) N
m=1
(1 + jωτm ) k=1
1 + (2ζk /ωnk ) jω + (jω/ωnk )2

Standard form of

20(s + 5)
G(s) =
s2 (s + 3)(s + 10)
is
10 1
( s + 1)
3 5
G(s) = 1 1
2
s ( 3 s + 1)( 10 s+ 1)

Elham Abolfazli
ELEC-C8201 - Control and automation
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 Bode Plots - Generalized transfer function

I The transfer function in the frequency domain is

G(jω) = |G(jω)|ejφ(ω) (5)

I The magnitude is normally expressed in terms of the logarithm to the base 10, so
we use
Logarithmic gain = 20 log10 |G(jω)|dB (6)

I what is the advantage of the logarithmic plot??

Elham Abolfazli
ELEC-C8201 - Control and automation
7/26
 Bode Plots - Generalized transfer function

I The transfer function in the frequency domain is

G(jω) = |G(jω)|ejφ(ω) (5)

I The magnitude is normally expressed in terms of the logarithm to the base 10, so
we use
Logarithmic gain = 20 log10 |G(jω)|dB (6)

I what is the advantage of the logarithmic plot??

the conversion of multiplicative factors, into additive factors.

Elham Abolfazli
ELEC-C8201 - Control and automation
7/26
 Bode Plots - Logarithmic magnitude & Angle plot

QQ
K (1 + jωτi )
G(jω) = QM QRi=1

(jω)N m=1
(1 + jωτm ) k=1
1 + (2ζk /ωnk ) jω + (jω/ωnk )2

The logarithmic magnitude of G(jω) is

Q
X
20 log |G(jω)| =20 log Kb + 20 log |1 + jωτi |
i=1
M
X
− 20 log (jω)N − 20 log |1 + jωτm |
m=1
R 2
2ζk jω
X 
− 20 log 1 + jω + (7)
ωnk ωnk
k=1
Furthermore, the separate phase angle plot is obtained as :
Q M R
X X X 2ζk ωnk ω
φ(ω) = + tan−1 (ωτi ) − N (90◦ ) − tan−1 (ωτm ) − tan−1 2 − ω2
ωnk
i=1 m=1 k=1
(8)
Elham Abolfazli
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Bode Plots Using Separate Factors of Transfer Functions

I Constant gain

I Poles (or zeros) at the origin

(jω)±1

I Poles (or zeros) on the real axis

(1 + jωτ )±1

I Complex conjugate poles (or zeros)

(1 + (2ζ/ωn )jω + (jω/ωn )2 )±1

Elham Abolfazli
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 Constant Gain K

I The logarithmic gain is:

20 log10 K = constant in dB
I The phase angle is:

φ(ω) = 0
I Example: For G(s) = 5:
Bode Diagram
15

14.5
Magnitude (dB)

14

13.5

13

12.5
1

0.5
Phase (deg)

-0.5

-1
100 101
Frequency (rad/s)

Elham Abolfazli
ELEC-C8201 - Control and automation
10/26
 Poles at the origin 1/(jω)
I The logarithmic gain and the phase angle are
1
20 log = −20 log ω dB , φ(ω) = −90◦
jω
I The slope of the magnitude curve is -20 dB/decade for a pole
I For a multiple pole at the origin, we have :
1
20 log = −20N log ω dB , φ(ω) = −90◦ N
(jω)N
1
I Example: For G(s) = s
:
Bode Diagram
5

0
Magnitude (dB)

-5

-10

-15

-20
-89

-89.5
Phase (deg)

-90

-90.5

-91
100 101
Frequency (rad/s)

Elham Abolfazli
ELEC-C8201 - Control and automation
11/26
 Zeros at the origin (jω)

I The logarithmic gain and the phase angle are

20 log |jω| = +20 log ω dB , φ(ω) = +90◦
I The slope of the magnitude curve is +20 dB/decade for a zero
I For a multiple zero at the origin, we have :
20 log (jω)N = +20N log ω dB , φ(ω) = +90◦ N
I Example: For G(s) = s2 :
Bode Diagram
40

30
Magnitude (dB)

20

10

-10
181

180.5
Phase (deg)

180

179.5

179
100 101
Frequency (rad/s)

Elham Abolfazli
ELEC-C8201 - Control and automation
12/26
 Poles on the real axis 1/(1 + jωτ )
I The logarithmic gain and the phase angle for 1/(1 + jωτ ) are
1
20 log = −10 log(1 + ω 2 τ 2 ) dB , φ(ω) = −tan−1 (ωτ )
1 + jωτ
I Break Frequency or Corner Frequency: ω = 1/τ
I The asymptotic curve for ω  1/τ is 20 log 1 = 0
I The asymptotic curve for ω  1/τ is −20 log(ωτ ), which has a slope of -20
dB/decade
1
I Example: For G(s) = 1+2s
: (ω = 1/2 is the break frequency)
X 0.5 Break
Bode Diagram
Y0 Frequency
0
-4
Magnitude (dB)

-8
-12
-16
-20
-24
-28
0
Phase (deg)

-45

-90
0.01 0.1 1 10
Frequency (rad/s)

Elham Abolfazli
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13/26
 Example 1

1
I Bode plot of G(s) = 10s(s+10)

Elham Abolfazli
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 Example 1

1
I Bode plot of G(s) = 10s(s+10)
I Break frequencies: ω = 10 rad/s

Bode Diagram
-20
-40
Magnitude (dB)

-60
-80
-100
-120
-140
-160
-90
-105
Phase (deg)

-120
-135
-150
-165
-180
0.1 1 10 100 1000
Frequency (rad/s)

Elham Abolfazli
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 Example 2

10
I Bode plot of G(s) = (s+1)(10s+1)

Elham Abolfazli
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 Example 2

10
I Bode plot of G(s) = (s+1)(10s+1)
I Break frequencies: ω = 0.1 and ω = 1

Bode Diagram
20
0
Magnitude (dB)

-20
-40
-60
-80
-100
0
-30
Phase (deg)

-60
-90
-120
-150
-180
0.001 0.01 0.1 1 10 100
Frequency (rad/s)

Elham Abolfazli
ELEC-C8201 - Control and automation
15/26
 Zeros on the real axis (1 + jωτ )
I The logarithmic gain and the phase angle for (1 + jω) are
20 log |1 + jωτ | = +10 log(1 + ω 2 τ 2 ) dB , φ(ω) = +tan−1 (ωτ )
I Break Frequency or Corner Frequency: ω = 1/τ
I The asymptotic curve for ω  1/τ is 20 log 1 = 0
I The asymptotic curve for ω  1/τ is 20 log(ωτ ), which has a slope of +20
dB/decade
For G(s) = 3(s + 1) : (ω = 1 is the break frequency)
Bode Diagram
50
Magnitude (dB)

40

30

20

10
90
Phase (deg)

45

0
10-2 10-1 100 101 102
Frequency (rad/s)

Elham Abolfazli
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 Example 3
I Bode plot of
1
4( 12 s + 1)( 10 s + 1)
G(s) = 1 1
2
s ( 50 s + 1)( 100 s + 1)

Elham Abolfazli
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 Example 3
I Bode plot of
1
4( 12 s + 1)( 10 s + 1)
G(s) = 1 1
2
s ( 50 s + 1)( 100 s + 1)

I Break frequencies: ω = 2, ω = 10, ω = 50 and ω = 100.

Bode Diagram
60
40
Magnitude (dB)

20
0
-20
-40
-60
-80
-100
-120
0
-30
Phase (deg)

-60
-90
-120
-150
-180
0.1 1 10 100 1000 10000
Frequency (rad/s)

Elham Abolfazli
ELEC-C8201 - Control and automation
17/26
Complex Conjugate Poles or Zeros (1 + (2ζ/ωn )jω + (jω/ωn )2 )±1

I The logarithmic gain and the phase angle are

ω2 2 ω 2

|G| = −10 log10 (1 − ) + 4ζ 2 ( ) dB
ωn 2 ωn

2ζ( ωω )
φ(ω) = − tan−1 n
ω2
1− ωn 2

I Break Frequency or Corner Frequency: ω = ωn

I For ω  ωn : |G| = 0 , ∠G = 0
ω
I For ω  ωn : |G| = −40 log ωn
, ∠G = −180◦

I The asymptotic curve has a slope of -40 dB/decade

I Phase at break frequency is −90◦ .
I The magnitude asymptotes meet at the 0 dB

Elham Abolfazli
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Complex Conjugate Poles or Zeros (1 + (2ζ/ωn )jω + (jω/ωn )2 )±1
1
√
Bode plot for G = s2 +s+5
→ω= 5 = 2.23 is the break frequency and ζ = 0.22

Bode Diagram
0
-10

Magnitude (dB)
-20 X 2.236
-30 Y -13.98
-40
-50
-60
-70
-80
0
-30
Phase (deg)

-60
-90
-120
-150
-180
0.1 1 10 100
Frequency (rad/s)

I For ζ < 0.7, there is difference between the actual magnitude curve and the
asymptotic approximation, which is a function of the damping ratio.

Elham Abolfazli
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 Resonant Frequency
p
Resonant frequency: ωr = ωn 1 − 2ζ 2 ζ < 0.7
p
Maximum value of the magnitude |G(jω)|: Mpω = |G (jωr )| = (2ζ 1 − ζ 2 )−1
Bode Diagram
20
=0.1
10 0.2
0.3
Magnitude (dB) 0 0.4

-10

-20 =1

-30

-40
0
=0.1
0.2
-45 0.3
Phase (deg)

0.4

-90 =1

-135

-180
10-1 100 101
Frequency (rad/s)

Elham Abolfazli
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20/26
 Example 4
I Bode plot of
5(1 + j0.1ω)
G(jω) =
jω(1 + j0.5ω)(1 + j0.6(ω/50) + (jω/50)2 )

Elham Abolfazli
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 Example 4
I Bode plot of
5(1 + j0.1ω)
G(jω) =
jω(1 + j0.5ω)(1 + j0.6(ω/50) + (jω/50)2 )

I Break frequencies: ω = 2, ω = 10 and ω = 50.

Bode Diagram
40
20
Magnitude (dB)

0
-20
-40
-60
-80
-100
-120
-90
-120
Phase (deg)

-150
-180
-210
-240
-270
0.1 1 10 100 1000
Frequency (rad/s)
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 Minimum Phase Functions

I A transfer function is called a minimum phase transfer function if all its zeros lie in
the left-hand s-plane.
I It is called a non-minimum phase transfer function if it has zeros in the right-hand
s-plane.
s+z s−z
I Two systems G1 (s) = s+p
and G2 (s) = s+p
:
- have the same amplitude characteristics
- the phase characteristics are different
I Meaning of the term minimum phase:
The range of phase shift of a minimum phase transfer function is the least
possible to a given amplitude curve. (The overall average slope of the
lines with the minimum phase system is less than the non-minimum
phase system.)

Elham Abolfazli
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 Minimum Phase Functions

Bode Diagram

Phase (deg) Magnitude (dB)

0
G1

-2

-4
10

0
10-1 100 101 102
Magnitude (dB)

0
G2

-2

-4
180
Phase (deg)

90

0
10-2 10-1 100 101 102
Frequency (rad/s)

Elham Abolfazli
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 Stability Analysis using Bode Plot

I The closed loops system is stable, if the magnitude at the frequency with phase of
−180◦ satisfy 20 log |GH| < 0.

Bode Diagram
100

Magnitude (dB) Frequency (rad/s): 0.546

50
Magnitude (dB): 20.7

-50

-100
-90

-135
Phase (deg)

Frequency (rad/s): 0.547

Phase (deg): -180
-180

-225

-270
10-3 10-2 10-1 100 101 102
Frequency (rad/s)

Elham Abolfazli
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 Comments on sketching Bode diagrams
I A alternative technique would be to ignore the asymptotes, and just calculate and
plot the true gain and phase over a grid of frequencies. This is not recommended
for a number of reasons:
1) a lot more points are required to get the same accuracy (particularly when the diagram
is to be used for control system analysis and design, as only a small region is required
accurately in this case);

2) the structure of the diagram is then lost. A control engineer will often prefer a good
sketch, with the asymptotes shown, to an accurate computer generated diagram – since
this gives a better idea of how things can be changed to improve the behavior of the
controlled system.

I When a question asks you to “draw” a Bode diagram, it is basically asking you to
produce a drawing showing the straight line asymptotes and a rough
approximation to the true gain and phase by rounding the corners appropriately.

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 Learning outcomes...

...the student will:

I Understand the powerful concept of frequency response and its role in control
system design

I Know how to sketch a Bode plot and also how to obtain a computer-generated
Bode plot

I Become familiar with log magnitude and phase diagrams

Elham Abolfazli
ELEC-C8201 - Control and automation
26/26