Frequency Response analysis
&
Bode plot
mySys=tf(100*[1 1],[1 110 1000])
mySys =
100 s + 100
------------------
s^2 + 110 s + 1000
>> bode(mySys)
Frequency Response method
• Developed in 1930 to 1940
• Frequency response
– To plot Magnitude and Phase angle against
frequency
Advantages
• Without knowledge of transfer function, the frequency
response of stable open loop system can be obtained
experimentally.
• Easy to use for designing of control system.
• Easy to find stability.
• Calculations are simple
• Can be used to obtained the transfer function experimentally
in the lab.
• Frequency response tests are simple and accurate.
• Moderate non-linearity can also be incorporated
• Can also be applied to the system does not having rational TF.
• Close relation between frequency response and step response
• Apparatus required for frequency response test is simple,
inexpensive and easy to use
Limitations
• When method is applied to nonlinear system,
the results are approximate.
• More ‘OLD’ method
• Only suitable if time constants of the systems
are up to some minutes.
Steady state response to frequency
• Input is sinusoidal.
r (t ) A sin t
A
R( s)
s2 2
N ( s)
if G ( s )
( s s1 )( s s2 )........( s sn )
A N (s)
C ( s ) R( s ).G ( s )
s 2 2 ( s s1 )( s s2 )........( s sn )
a a b b
C (s) 1 .............. n
s j s j s s1 s sn
• Taking Inverse Laplace and finding steady state
output.
Css (t ) A G( j) sin( t )
• Here
– A = Magnitude of Input
– |G(jω)| = Magnitude of Gain= [(Real)2+(Img)2]1/2.
– ωt = Phase angle of input
– φ = Phase angle = tan-1[img(G(jω))/real(G(jω))]
• G(jω) = G(s)|s=jω = Frequency domain TF.
Method of Frequency response
• Bode Plot
• Polar Plot
• Nyquits Plot
• M-φ Plot.
Bode Plot
• H W Bode
• Logarithmic values of magnitude are plotted
against logarithmic values of frequencies.
• Bode Plot consists
– Magnitude Plot
– Phase Plot
Magnitude plot and Phase Plot
• For Bode plot
Magnitude 20 log 10 G( j) dB
dB = decibel (Unit of magnitude)
img part
Phase Angle tan
1
in deg ree
real part
Standard form
K (1 T1s )(1 T2 s )....
G( s) H (s) p
s (1 Ta s )(1 Tb s )......
K (1 T1 j )(1 T2 j )....
G ( j ) H ( j )
( j ) (1 Ta j )(1 Tb j )......
p
Base factors
• Resultant system gain – K
• Poles or zeros at origin
• Simple poles and zeros
• Complex poles and zeros
Procedure to draw Bode plot
• Obtain standard form of open loop transfer
function
• Replace ‘s’ by ‘jw’
• List out all basic factors
• For each factor do following
– Find its magnitude as a function of ‘w’
– Express magnitude in ‘dB’
– Find phase angle in degrees
– Plot magnitude and phase angle
System gain ‘K’
G( s) H ( s) K
G ( j ) H ( j ) K j 0
G ( j ) H ( j ) K 2 0
20 log 10 G ( j ) H ( j ) 20 log 10 K dB
List
• Constant Gain K
– Straight horizontal line at 20 log 10 K
– Phase angle is zero for K>1 and 1800 for K<1
• Pole at origin
– (- 20)dB/decade slope line passing through w=1 on 0
dB line (For single pole)
– For P pole at origin (-20P) dB/decade slope line
– Phase angle = -900 (For single pole)
– Phase angle = -900 P (For P poles at origin)
• Zero at origin
– Same like Poles but instead of –ve use +ve values.
• Simple Pole
1
G ( s) H ( s)
1 T1s
1
G ( j ) H ( j )
1 T1 ( j )
Magnitude 0 dB for c
20 dB / decade line for c
1
c Corner Frequency
T1
• Simple Zero
– Same like pole but consider +ve value
Final steps
• Draw lines for each factors
• Draw final line as resultant of all lines
• Complete the Phase plot also
• Find Gain Margin (G.M.), Phase Margin (P.M.)
• Gain cross-over(Wgc) and Phase cross-over(Wpc)
• G.M > 0 and P.M. > 0 Stable system
• G.M < 0 OR P.M. < 0 Unstable system
• G.M = 0 and P.M. = 0 Marginally Stable system
Example
20( s 1)
G ( s) H ( s) 2
s ( s 2)( s 4)
(20 / 8)(1 s )
G ( s) H ( s) 2
s (1 0.5s )(1 0.25s )
(20 / 8)(1 j )
G ( j ) H ( j )
( j ) (1 0.5 j )(1 0.25 j )
2
Factors
Sr No Factors Magnitude Phase
1 Gain - K K=20/8 20log(20/8) = 7.95 dB 00
2 Two poles at 1/(jw)2 -40 dB/decade slope line -1800
origin passing through w=1
3 Simple pole T=0.5 0 dB/decade line w < 2 -tan-1(0.5w)
1/(1+0.5jw) wc = 2 r/s -20 dB/decade line w> 2
4 Simple Pole T=0.25 0 dB/decade line w < 4 -tan-1(0.25w)
1/(1+0.25jw) wc = 4 r/s -20 dB/decade line w> 4
5 Simple zero T=1 0 dB/decade line w < 1 tan-1(w)
(1+jw) wc = 1 r/s 20 dB/decade line w> 1
Log scale (Semi log paper)
Decade 1 Decade 2 Decade 3 Decade 4
Linear
Y axis
w
0.1 1 10 100 1000
Magnitude in dB
60
40 Zero
20
Gain K
2 4
0
Pole 2
Poles at Origin
Pole 1
Phase angle
Log w
0.1 1 10 100 1000
Phase plot
W 1 2 3 4 5 Resultant
0.1 0
-180 -3 -1 6 -179
0.5 0
-180 -14 -7 27 -175
1 0
-180 -27 -14 45 -176
2 0
-180 -45 -27 63 -188
3 0
-180 -56 -37 72 -202
10 0
-180 -79 -68 84 -243
20 0
-180 -84 -79 87 -256
100 0
-180 -89 -88 89 -267
Magnitude in dB
60
G.M.
40 Zero
20
Gain K
2 4
0
Pole 2
Poles at Origin
-1750 Pole 1 -1800
-2050
P.M.
-2350
-2650
Log w
0.1 1 10 100 1000
Example 2
• Determine marginal value of K for which
system will be marginally stable.
k
G( s) H ( s)
s( s 2)( s 10)
Solution
k / 20
G( s) H ( s)
s(1 0.5s)(1 0.1s)
k / 20
G ( j ) H ( j )
( j )(1 0.5( j ))(1 0.1( j ))
• Assume (k/20) =k’
Magnitude Plot
SR No Factor Magnitude Phase angle
1 Gain K’ Unknown 20 log K’ 00
2 Pole at zero 1/(jw) -20 dB/decade -900
Passing through w=1 on 0dB
line
3 Simple pole T=0.5 0 dB/decade for w<2 -tan-1(0.5*w)
1/(1+0.5(jw)) wc = 2 -20 dB/decade for w>2
4 Simple pole T=0.1 0 dB/decade for w<10 -tan-1(0.1*w)
1/(1+0.1(jw)) wc = 10 -20 dB/decade for w>10
Phase plot
W 1 2 3 4 Resultant
0.1 0 -90 -3 -1 -93
0.2 0 -90 -6 -1 -97
1 0 -90 -27 -6 -122
2 0 -90 -45 -11 -146
10 0 -90 -79 -45 -214
100 0 -90 -89 -84 -263
20 log k ' 22
Magnitude in dB
20
G.M. +ve k ' 12.58
0 k
12.58
20
k 251.78
-900
-1200
P.M. +ve
Phase angle
-1500
-1800
-2100
Log w
0.1 1 2 10 100 1000
