Frequency-Response

Analysis
Prof. Bidyadhar Subudhi
Dept. of Electrical Engineering
National Institute of Technology Rourkela, India
bidyadhar@nitrkl.ac.in
 Frequency Response of a System
Steady state response of the system to a sinusoidal input
frequency w(0 < w < ). The amount of amplification, together
with the phase shift, are referred to as the frequency response
data.
r(t) = A sin(wt) c(t) = |G(wt)| A sin(wt + q )

G(s)

2
Advantages of the frequency-response approach
1 We can use the data obtained from measurements on the physical system
without deriving its mathematical model.
2. frequency-response tests are, in general, simple and can be made accurately by
use of readily available sinusoidal signal generators and precise measurement
equipment.
3.The transfer functions of complicated components can be determined
experimentally by frequency-response tests.
4. A system may be designed so that the effects of undesirable noise are negligible
and that such analysis and design can be extended to certain nonlinear control
systems.
Why work in the frequency domain ?
Frequency response data, |G(j)| and
can be obtained experimentally so the system
characteristics can be analysed even if the open loop
transfer function, G(s), is unknown.
3
 Definition of Frequency Response
Suppose the input to a plant is a sinusoidal signal, what is
the output ?

Intuitively, the output will also be a sinusoidal signal.

The solution to the system differential equations can be
interpreted using two properties of sinusoidal signal :
Sinusoids can be differentiated indefinitely.
Each differentiation results in another sinusoidal signal.

The result of adding two sinusoids

together is another sinusoid with
different amplitude and phase.
However, the frequency of the signals
is the same.
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 Analysis using Laplace Transform

5
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 Frequency response R
For a RC circuit:
If : ur A sin(wt 0 ) ur C uc

We have the steady-state response:

1
jwC 1
U c ( jw ) U r ( jw ) U r ( jw )
1 jwRC 1
R
jwC
Uc( jw ) 1
Make: G ( jw )
Ur( jw ) jwRC 1

then: Uc ( jw ) G( jw )U r ( jw )

We have: uc (t ) Ucm sin(wt c )

Here: U cm U c ( jw ) G ( jw ) U r ( jw ) c U c ( jw ) G( jw ) U r ( jw )
1 tg -1 ( RCw ) 0
A
( RCw ) 2 1

We call: U c ( jw ) 1
G ( jw )
U r ( jw ) jwRC 1

Frequency Response(or frequency characteristic) of the

electric circuit.
 Definition : frequency response (or characteristic) the ratio
of the complex vector of the steady-state output versus
sinusoid input for a linear system, that is:
C ( jw )
G ( jw )
R ( jw )

Here R( jw ) the complex vector representation of the sinusoidinput

: C ( jw ) the complex vector representation of the output
G ( jw ) frequency response(or characteristic)
And we name:
C ( jw )
A(w ) G( jw ) magnitude response (characteri stic )
R( jw )
(amplitude ratio of the steady-state output versus sinusoid
input)
(w ) G ( jw ) C ( jw ) R( jw ) phase res ponse (characteri stic )
(phase difference between steady-state output and sinusoid input )
Approaches to get the frequency characteristics
1. Experimental discrimination

Input a sinusoid signal to the control system

Measure the amplitude and phase of the steady-state output

Change frequency
Get the amplitude ratio of the output versus
input
Get the phase difference between the output and input

Are the measured data enough N

y
Data processing
Approaches to get the frequency characteristics
2. Deductive approach
Theorem: If the transfer function is G(s), we have:
G( jw ) G( s)
s jw
Proof :
C ( s) M ( s)
assume : G ( s )
R( s ) ( s p1 )( s p2 ) ( s pn )
Aw
and r(t) A sinwt R( s )
s2 w 2
Where pi is assumed to be distinct pole (i=1,2,3n).

then C ( s ) G( s ) R( s )
M ( s) Aw

( s p1 )( s p2 ) ( s pn ) ( s jw )( s jw )
In partial fraction form:
K1 K2 Kn A1 A2
C ( s)
( s p1 ) ( s p2 ) ( s p3 ) ( s jw ) ( s jw )

M ( s)
Here: Ki ( s pi ) R( s )
( s p1 )( s p2 ) ( s p3 ) s p
i

Aw
A1 G ( s ) ( s jw )
( s jw )( s jw ) s jw
A A G ( jw ) j ( G ( jw )90o )
G ( jw ) e
2j 2

A G ( jw ) j ( G ( jw ) 90o )
A2 A1 e
2
Approaches to get the frequency characteristics
Taking the inverse Laplace transform:
n
c( t ) K i e pi t A1e jwt A2 e jwt
i 1
n j (wt G ( jw )90o ) j (w t G ( jw ) 90o
)
e e
Kie pi t
A G ( jw )
2

i 1
n
K i e pi t A G ( jw ) sin(wt G ( jw ))
i 1

For the stable system all poles (-pi) have a negative real parts,
we have the steady-state output signal:
n
lim c( t ) c s ( t ) lim [
t t
K i e pi t A G ( jw ) sin(wt G ( jw ))]
i 1
A G ( jw ) sin(wt G ( jw ))
 Approaches to get the frequency characteristics
the steady-state output:
cs (t ) A G( jw ) sin(wt G( jw ))
Compare with the sinusoid inputr (t ) A sinwt , we have:
The amplitude ratio of the steady-state output cs(t) versus
sinusoid input r(t):
A G( jw ) C ( jw )
G(j) magnitude character istic
A R( jw )
The phase difference between the steady-state output and
sinusoid input:
[wt G ( jw )] wt G ( jw ) C ( jw ) R( jw )
phase characteristic
Then we have :
C ( jw )
G ( jw ) G( s)
R ( jw ) s jw
Example
A unity feedback control system, the open-loop transfer
function: 1
G( s)
0.5 s 1
If : r ( t ) 10 sin(4t 60o ) 20cos(4t 45o )
1) Determine the steady-state response c(t) of the system.
2) Determine the steady-state error e(t) of the system.
Solution:
1) Determine the steady-state response c(t) of the system.

The closed-loop transfer function is:

1
( s)
C ( s)

G( s )
0.5 s 1 1
R( s ) 1 G( s ) 1 1 0.5 s 2
0.5 s 1
 Determine the steady-state error e(t) of the system.

The error transfer function is :

0.5 jw 1
E ( s ) R( s ) C ( s ) E ( jw ) R( jw )
1
C ( s) 0.5 jw 2
R( s ) R( s ) R( s ) 5
j 0.5w 1 10
1 ( s) 1
1 E ( jw ) R ( jw ) 4
j 0.5w 2
0.5 s 2 w 4 5
20
0.5 s 1 4

0.5 s 2 j 0.5w 1
E ( jw ) R ( jw )
The error frequency response: j 0.5w 2 w 4
(63.4 o 45o ) (4t 60o ) 4t 78.4 o

o 45o ) (4t 45o ) 4t 63.4 o
The steady state error e(t) is: ( 63.4

e( t ) 2.5 5 sin(4t 78.4o ) 5 5 cos(4t 63.4o )

The frequency characteristic :

1 1
( jw ) s jw
0.5 s 2 0.5 jw 2
The magnitude and The output response:
phase response :

So we have the steady-state response

c(t) : 5
c( t ) 2 sin(4t 60 45 ) 5 2cos(4t 45o 45o )
o o
2
5
2 sin(4t 15o ) 5 2 cos 4t
2
Graphic expression of the frequency response
Graphic expression for intuition

1. Rectangular coordinates plot

tg 1 ( 2w )
Example 10 10 10
G( s) G( jw )
2s 1 j 2w 1
1 ( 2w ) 2
G ( jw ) G ( jw )
w G ( jw ) G ( jw ) 10

0 10 0o
5
0.5 7.07 45o
1 4.47 63.435o 1
0 w
2 2.4 75.964o 0. 5 1 2 3 4 5

3 1.64 80.538o
4 1.24 82.875o
5 0 .995 84.29o - 90o
 System analysis based on the frequency response
Performance specifications in the frequency domain
1. For the closed loop systems
The general frequency response of a closed loop systems is
shown in Fig
(1) Resonance frequency r: The frequency at which the
amplitude is maximum. A()
G ( jw )
Assume : A(w ) ( jw ) Mr
1 G ( jw ) H ( jw )
d A(0)
w r satisfy : A(w ) 0 0.707A(0)
dw w w r

(2) Resonance peak Mr : 0
r b

M r A(w ) Fig.
w w r
(3) Bandwidth b:
2
w b satisfy : A(w )
w wb
A(0)
2
For the open loop systems
(1) Gain crossover frequency c:
wc satisfy : G ( j) H ( j) 1
c
For the unity feedback systems, c b , because:
G ( jw ) 1 G(j w ) 1
( jw )
1 G ( jw ) G ( jw ) G(j w ) 1
(2) Gain margin Kg:
1
Kg ; K g ( dB) 20 log G ( jw ) H ( jw )
G ( jw ) H ( jw ) w w g
w w g

Here wg satisfies : G( jw ) H ( jw ) w w 1800

g
(3) Phase margin c: c G ( jw ) H ( jw ) w w ( 1800 )
c
Here wc satisfies : G ( jw ) H ( jw ) 1
w wc
Relationship of the performance specifications between the
frequency and time domain

(3) A(0) Steady state error ess

G ( jw )
A( 0 ) A(w ) w 0
1 G ( jw ) H ( jw ) w 0
1
assume : G ( s) KG G0 ( s) H ( s) K H H0 ( s)
v
s
1 For the unity feedback system, H(s) 1 :
K v 1
then : A(0) H 1 v 1

1
v0 A( 0) KG v0
KG K H 1 KG

So for the unity feedback A(0) 1, A(0) ess

systems:
Relationship of the performance specifications between the frequency
and time domain
(4) Reproductive bandwidth M accuracy of Reproducing r(t)
A()
Reproductive bandwidth M : Mr

G ( jw )
A(w ) A(0) A(0)
1 G ( jw ) H ( jw ) w w 0.707A(0)
M

: allowed reproducin g error 0
M r b
Fig. 5.5.2
for a given M , higher accuracy of reproducing r(t) .
for a given , M higher accuracy of reproducing r(t) .
Demonstration
assume : E ( jw ) R( jw ) C ( jw ) e ( jw ) R( jw )
and : e ( jw )
Relationship of the performance specifications between
the frequency and time domain

Relationship of the performance specifications between the

frequency and the time domain: for the typical 2nd-order
system
For the typical 2nd-order system:
wn 2
G( s) 2
s 2wn s wn
2

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 Time & Frequency Correlation

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Relationship of the performance specifications between the
frequency and the time domain: for the typical 2nd-order system
We have:

w b w n (1 2 2 ) 2 4 2 4 4

2
w r w n 1 2 (0
2
)
2 , w n p % , t s , t r ...
1
Mr
2 1 2

wc wn 1 4 4 2 2

2
c tg 1
, w n p % , t s , t r ...
1 4 4 2 2
Kg
 Graphic expression of the frequency response
The shortage of the polar plot and the rectangular coordinates
plot: to synchronously investigate the cases of the lower and
higher frequency band is difficult.
3. Bode diagram(logarithmic plots)
Plot the frequency characteristic in a semilog coordinate:

The log-magnitude and phase frequency response curves as

functions of log w are called Bode plots or Bode diagrams.
Magnitude response Y-coordinate in decibels: 20 log G( jw )
X-coordinate in logarithm of : log
Phase responseY-coordinate in radian: G( jw )
X-coordinate in logarithm of : log
First we discuss the Bode diagram in detail with the
frequency response of the typical elements.
 Some dB Values
dB ratio dB ratio
-20 0.100 20 10.000
-10 0.316 10 3.162
-5 0.562 5 1.778
-3 0.708 3 1.413
-2 0.794 2 1.259
-1 0.891 1 1.122

Engineers are very conservative. A margin of 3dB is a factor of 2

(power)!
Knowing a few logs by memory can help you calculate logs of different
ratios by employing properties of log. For instance, knowing that the
ratio of 2 is 3 dB, whats the ratio of 4?
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 Thus if we know the magnitude response of each term, we
can find the total magnitude response by adding zero
terms magnitude responses and subtracting pole terms
magnitude responses.
Similarly if we know the phase response of each term, we
can find the total phase response by adding zero terms
phase responses and subtracting pole terms phase
responses.
Sketching Bode plots can be simplified because they can be
approximated as a sequence of straight lines.

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 Logarithmic Frequency Scale

50
Bode diagram of the open loop systems
Plotting methods of the Bode diagram of the open loop systems
Assume:
G ( s ) G1 ( s ) G2 ( s ) G3 ( s )...
here : Gi ( s ) the transf er functio n of the t ypical elements
We have:
(w ) G( jw ) G1 ( jw ) G2 ( jw ) G3 ( jw ) ...

L(w ) 20 log G 2o log G1 20 log G2 20 log G3 ...

That is, Bode diagram of a open loop system is the
superposition of the Bode diagrams of the typical elements.
Frequency Response of The Typical Elements
The typical elements of the linear control systems

1. Proportional element
Transfer function: C ( s)
G( s ) K
R( s )
Frequency response:

G( jw ) K L(w ) 20 log G( jw ) 20 log K
G( jw ) K

(w ) G( jw ) 0o

L(w ), (w )
(w ) 0o
L(w ) 20 log K dB
0dB, 0o w (log w )
0.1 1 10 100
Bode diagram
Frequency response of the typical elements
Integrating element
C ( s) 1
Transfer function: G( s)
R( s ) s
Frequency response:
1
1 G ( jw ) L(w ) 20 log G ( jw ) 20 log w
G ( jw ) w
jw o
(w ) G ( jw ) 90
L(w ), (w )
L(w ) : 20dB / dec

0dB, 0o w (log w )
0.1 1 10 100 (w ) 90o

Bode diagram
 - In Bode diagrams, frequency ratios are expressed in terms of octaves or
decades.
- An octave is a frequency band from w1 to 2w1
- A decade is a frequency band from w1 to 10w1

5
4
 - The phase angle of jw is constant and equal to 90.
- The log-magnitude curve is a straight line with a slope of 20
dB/decade.

5
5
 Bode diagram of G(j) = 1/j; Bode diagram of G(j) = j.

5
6
 Thus, the value of -20 log wT
- At w = 1/T, the log magnitude equals 0 dB.
dB decreases by 20 dB for
- At w = 10/T, the log magnitude is -20 dB.
every decade of w

For w 1/T, the log-magnitude curve is thus a straight line

with a slope of -20 dB/decade (or -6 dB/octave).
5
7
Frequency response of the typical elements
Inertial element
C ( s) 1 1
Transfer G( s ) G ( jw )
R( s ) Ts 1 jwT 1
function: w 1 T
0
1
G( jw ) L(w ) 20 log 1 (wT ) 2 3dB w 1 T
1 (wT ) 2 20 log(wT ) w 1 T

(w ) tg (wT )
1
K 1
1/T: break frequency G ( s ) :
T2 s 1 T2
L(w ), (w )
1
20 log K
0dB, 0o
T
w (log w )
0.1 1 10 100
45o 20dB / dec

90o

Bode diagram
 Log-magnitude curve, together with the asymptotes, and phase-angle curve of
1/(1+jT).
5
9
 Corrections

The error at one octave below or above the corner

frequency is approximately equal to -1 dB.
Similarly, the error at one decade below or above the
corner frequency is approximately -0.04 dB.
6
0
 Log-magnitude error in the asymptotic expression of the frequency-response
curve of 1/(1+jT).

6
1
 In practice, an accurate frequency-response curve can be
drawn by introducing a correction of 3 dB at the corner
frequency and a correction of 1 dB at points one octave
below and above the corner frequency and then connecting
these points by a smooth curve.

Note that varying the time constant T shifts the corner

frequency to the left or to the right, but the shapes of the log-
magnitude and the phase-angle curves remain the same.

The transfer function 1/(1 + jwT) has the characteristics

of a low-pass filter.
Therefore, if the input function contains many harmonics,
then the low-frequency components are reproduced
faithfully at the output, while the high frequency
components are attenuated in amplitude and shifted in phase.
6
2
 An advantage of the Bode diagram is that for reciprocal
factors-for example, the factor 1 + jwT-the log-magnitude
and the phase-angle curves need only be changed in sign,
since

6
3
 Log-magnitude curve, together with the asymptotes, and phase-angle curve for
61+jT.
4
 If > 1, this quadratic factor can be expressed as a
product of two first-order factors with real poles.
If 0 < < 1, this quadratic factor is the product of two
complex conjugate factors.
6
5
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6
 Errors obviously exist in the approximation by straight-
line asymptotes. The magnitude of th error depends on the
value of .

67
 Log-magnitude curves, together with the asymptotes, and phase-angle
68 curves of the quadratic transfer function given by Equation (87).
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 Frequency response of the typical elements
Oscillating element
C ( s) 1
Transfer function: G( s ) 0 1
R( s ) T 2 s 2 2Ts 1
1
G( jw )
(1 w 2T 2 ) j 2Tw
2Tw
G ( jw )
1
(w ) tg 1 ( )
1 (w T ) (2Tw )
2 2 2 2
2 2
1w T
0 w w n ( 1 T )

L(w ) 20 log (1 w 2T 2 ) 2 ( 2Tw ) 2 20 log( 2 ) w wn
40 log(wT ) w w
n
maximum value of G( jw )
d 2 2
Make: ( G( jw ) ) 0 w w r w n 1 2 (0 )
dw 2
w r resonant f requency M G( jw ) 1
r r
M r resonant p eak 2 1 2
Frequency response of the typical elements
The Bode diagram: 2

1

L(w ), (w ) 20 log M r

wn 1 / T 20 log( 1 )
2
wr

0dB, 0o w (log w )
0.1 1 10 100

90 o
40dB / dec

180o
Bode diagram
1. w r ( w n ) M r
0 w r w n unstable system
2.
2 w 0 No resonan ce, Optimal Second - order System
r
2
Frequency response of the typical elements
Because of the transfer functions of the differentiating elements
are the reciprocal of the transfer functions of Integrating element,
Inertial element and Oscillating element respectively,
that is: inverse
s 1
s
inverse
Ts 1 1
Ts 1
inverse
T 2 s 2 2Ts 1 1
T 2 s 2 2Ts 1
the Bode curves of the differentiating elements are
symmetrical to the log-axis with the Bode curves of the
Integrating element, Inertial element and Oscillating
element respectively.
Then we have the Bode diagram of the differentiating elements:
Frequency response of the typical elements

L(w ), (w ) L(w ), (w )

180o
L(w ) : 20dB / dec 40dB / dec
(w ) 90o
w (log w ) 90o
0dB, 0o wn 1 T
0.1 1 10 100
0dB, 0o w (log w )
differential 0.1 1 10 100

L(w ), (w )
20 log( 1 )
o 2
90
20dB / dec 20 log M r
o
45
0dB, 0o w (log w ) 2th-order differential
0.1 1 10 100
1th-order differential
Frequency response of the typical elements
Delay element
e s
C ( s)
Transfer G( s )
R( s )
function:
jw G ( jw ) 1 L(w ) 0
G ( jw ) e
(w ) G( jw ) w
L(w ), (w )

0dB, 0o w (log w )
0.1 1 10 100

Bode diagram
 10( s 1)
Bode diagram of the OL system G( s ) H ( s )
Example 1 s 2 (0.01s 1)
G(s)H(s) could be regarded as:

10( s 1) 1 1
G ( s) H ( s) 10 (s 1)
2
s (0.01s 1) s2 0.01s 1
Then we have:
L(w ), (w ) 20dB/de
c
40dB/dec
40dB, 90o

20dB, 45o
20dB/dec
0dB, 0o w (log w )
0.1 1 10 100 20dB/dec
-20dB, -45o
-40dB/dec
-40dB, -90o
40dB/dec
-60dB.-135o

-80dB,-180o
 method to plot the magnitude response of the Bode diagram
Summarizing, we have the facility method to plot the
magnitude response of the Bode diagram:
1) Mark all break frequencies in the -axis of the Bode
diagram.
2) Determine the slope of the L() of the lowest frequency
band (before the first break frequency) according to the
number of the integrating elements:
20dB/dec for 1 integrating element
40dB/dec for 2 integrating elements
3) Continue the L() of the lowest frequency band until to
the first break frequency, afterwards change the the slope of
the L()
which should be increased 20dB/dec for the break frequency
of the 1th-order differentiating element .
The slope of the L() should be decreased 20dB/dec for the
break frequency of the Inertial element
plot the magnitude response of the Bode diagram

Plot the L() of the rest break frequencies by analogy .

Example 2 10( s 1)
G ( s)
s(0.1s 1)( 0.012 s 2 0.01s 1)
20log10 20log (w 1) (w ) 90o tg 1w tg 1 (0.1w )
20log10 20logw
0.01w
(1 w 10) tg 1
20logw
1 ( 0.01w ) 2

L(w ) 20log10 20logw 51.3o
(10 w 100) w 1
20logw 20log(0.1w )
56.5o w 10
20log10 20logw (w )

20logw 20log(0.1w ) (100 w ) 174 . 9 o
w 100
179.6o w 104
40log(0.01w )

The Bode diagram is shown in following figure:

plot the magnitude response of the Bode diagram

L(w ), (w )
G ( s)
20dB/dec
10( s 1) 40dB, 90o 20dB/dec
2 2 1.25dB
s(0.1s 1)( 0.01 s 0.01s 1) 20dB, 45o
0dB, 0o w (log w )
0.1 1 10 100
-20dB, -45o
60dB/dec
-40dB, -90o wr
-60dB.-135o
-80dB,-180o
-100dB,-225o
-120dB,-270o

There is a resonant peak Mr at:w w r w n 1 2 2

1
Mr 1.154 1.25 dB 100 1 2 0.52 70.7
2 1 2
Determine the transfer function in terms of the
Bode diagram
1. The minimum phase system(or transfer function)
Compare following transfer functions:
K (s 1) K (s 1) We have:

G1 ( s) G2 ( s )
(Ts 1) (Ts 1) G1 (w ) G2 (w ) G3 (w ) G4 (w )
T
K ( s 1) K (s 1)
G3 ( s) G4(s) (w ) 2 1
(Ts 1) (Ts 1) K
(Tw ) 2 1
The magnitude responses are the same.
But the net phase shifts are different when vary from zero
to infinite.
Determine the transfer function of the minimum phase
systems in terms of the magnitude response
Definition:
A transfer function is called a minimum phase transfer
func- tion if its zeros and poles all lie in the left-hand s-
plane.
A transfer function is called a non-minimum phase transfer
function if it has any zero or pole lie in the right-hand s-
plane.
Only for the minimum phase systems we can affirmatively
deter- mine the relevant transfer function from the magnitude
response of the Bode diagram .
Determine the transfer function in terms of the
Bode diagram
we can get the G(s) from L(w )
40dB/dec

the Bode diagram : 20dB/dec

w (log w )
0dB, 0o 2 20 200
K ( 0.5s 1) 0.1 1 10 100
G ( s) 40dB/dec
s2 ( 0.005s 1)

and :
L(w ) 2o log K 20 log w 2 20 log( 0.5w ) 0 K 40
w 20
Example.4 L(w )
we can get the G(s) from the 20dB
20dB/dec 20dB/dec
0.5 200
Bode diagram : w (log w )
0dB 10 100
0.1 1
Ks
G ( s)
(T1s 1)(T2 s 1)
 Determine the transfer function in terms of the
Bode diagram
L(w )
we can get the G(s) from the 20dB
20dB/dec 20dB/dec
Bode diagram : 0.5 200
w (log w )
0dB 10 100
Ks 0.1 1
G ( s)
and : (T1s 1)(T2 s 1)
L(w ) 20 log K 20 log w w 0.5 0 K 2
L( ) 20 log 2 20 log w w 1 / T 20 dB T1 0.2
1
L(w ) 20 log 2 20 log w 20 log( 0.2w ) 20 log(T2w ) w 200 0 T2 0.05
Example 5.3.5 L(w )
20dB/dec
we can get the G(s) from
8.136 dB
the Bode diagram : 20 dB
w (log w )
2 0dB
K ( 0.01s 1) 0.1 1 10 100
G ( s) 60dB/dec
20dB/dec
s(T 2 s 2Ts 1)
Determine the transfer function in terms of the
Bode diagram
L(w )
20dB/dec
we can get the G(s) from
8.136 dB
the Bode diagram : 20 dB
0dB w (log w )
K ( 0.01s 1)2 0.1 1 10 100
G ( s) 60dB/dec
20dB/dec
s(T 2 s 2Ts 1)
1
10 T 0.1
T
L(w ) 20 log K 20 log w w 10 20 dB K 100 then :
1 100(0.01s 1) 2
20 log 8.136 0.2 G(s)
2 1 2 s(0.01s 0.04s 1)

For the non-minimum phase system we must combine the

magnitude response and phase response together to
determine the transfer function.
Determine the transfer function in terms of the
Bode diagram
L(w ), (w )
Example 6
20dB/dec
10(0.1s 1) 10(0.1s 1) 0dB, 0o
0.1 100 w (log w )
G1 G2 90o
1 10
( s 1) ( s 1)
180o
10( 0,1s 1) 10(0.1s 1)
G3 G4 ( s )
( s 1) ( s 1)
All satisfy the magnitude response
10(0.1s 1)
But only G4 ( s )
( s 1)
satisfy the phase response sim ultaneously.
10(0.1s 1)
So, we have : G( s)
(s - 1)
The relative stability
(Relative stability of the control systems)
In frequency domain, the relative stability could be described
by the gain margin and the phase margin.
1. Gain margin Kg
1
Kg K g ( dB ) 20 log G ( jw ) H ( jw )
G ( jw ) H ( jw ) w w g
w w g

wg : G ( jw ) H ( jw ) w w 1800 Phase-cros sover freq uency

g
2. Phase margin c
c G ( jw ) H ( jw ) w w ( 1800 ) G ( jwc ) H ( jwc ) 1800
c
c : G( jw ) H ( jw ) 1 Gain-crossover frequ ency
w wc
3. Geometrical and physical meanings of the Kg and c
 Graphical Procedure for Plotting
Bode Diagrams
First rewrite the sinusoidal transfer function G(jw)H(jw) as a
product of basic factors discussed above.
Then identify the corner frequencies associated with these basic
factors.
Finally, draw the asymptotic log-magnitude curves with proper
slopes between the corner frequencies.
The exact curve, which lies close to the asymptotic curve, can be
obtained by adding proper corrections.

The phase-angle curve of G(jw)H(jw) can be drawn by adding

the phase-angle curves of individual factors.

86
 Examples

87
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 Bode diagram of the system considered in Example 73.
89
 Bode Plots and Stability Analysis
Consider the definitions of the gain and phase margins in relation to
the Bode plot of GH(jw) .
Gain Margin: the additional gain required to make
| GH(jw) | = 1 when /GH(jw) = 180 . On the Bode plot this is the
distance, in dB, from the magnitude curve up to 0dB when the angle
curve crosses 180 .
Phase Margin: the additional phase lag required to make /GH(jw) =
180 when | GH(jw) | = 1 . On the Bode plot this is the distance in
degrees from the phase curve to 180 when the gain curve crosses 0dB.

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 Gain and Phase Margin

-180

1
0
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 Sketch Bode Plot

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Plotting of Bode Diagrams using MATLAB

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 EXAMPLE 8-5

124
 Bode diagram of
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 Figure 8-22 Bode diagram of

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 Figure 8-23 Bode diagram of

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Example

138
Frequency Response Methods
Using MATLAB

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3
Frequency Response Methods Using
MATLAB

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Frequency Response
Methods Using
MATLAB

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Frequency Response
Methods Using
MATLAB

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 Bode Plots
Bode plot is the representation of the magnitude and phase of G(j*w)
(where the frequency vector w contains only positive frequencies).
To see the Bode plot of a transfer function, you can use the MATLAB
bode
command.

For example,

bode(50,[1 9 30 40])

displays the Bode plots for the

transfer function:

50 / (s^3 + 9 s^2 + 30 s + 40)

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 Examples Bode

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 Examples - Bode

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 Examples - Bode

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 Examples Bode

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 Questions???

Thank you

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