UCK303E Automatic Control

Lecture 10 and 11:

Frequency Response Analysis
and Design Techniques I, II
 Textbook References and Reading Assignment

• In this lecture we will cover the topic mainly

from FPE, Dorf and Ogata.

• This week’s reading assignment :

– FPE : Chapter 6 (pgs. 314-413)
– Ogata : Chapter 8,9
 Why Frequency Design Methods?

• Devise methods that can handle uncertainty in

plant model
– Aircraft Example
• Direct transition from raw data => controller
design
• However, mostly effective for systems which are
stable (or neutrally stable) in open-loop
– Helicopter Example
• Simple methods => Effective Designs
 Frequency Response

• Frequency response is a linear system’s response to

sinusoidal inputs.
 Frequency Response

Partial Fraction Expansion (Assuming distinct poles)

Inverse Laplace Transform

Homogenous Response
Forced Response
 Example

Notice the effect of the exponential decay term…

 Forced Response

• In most general form for a particular w0:

where

: magnitude

: phase

We have found a way to identify the plant in the frequency domain…

Frequency Identification
SISO Understanding of Frequency Sweeping

Gives an understanding of
The frequency characteristics
But not the biases
 Bode Plots

We will do open-loop analysis for closed-loop results….

 In-class example

• Lead Compensator

Analytically : Substitute s=jw and here we go…

Gain Phase

What do you expect for M and phi @ low and high frequencies?
 Now the computer evaluation for

• K=1, T=1 and

alpha=0.1
 Generic Second Order System – Bode Plot

Notice that …
 Mathematical Basis of Bode Plots
Coming from complex polar-phasor notation Im

Polar/Phasor Form
s1

r1

s4 Theta1

Re

s2

s3

Notice the following :

 For general description

Gain Phase

Decibel : (.)

Comes from power electrics….

 Bode Plots

Open-loop analysis for closed-loop results….

 Example

Start in Bode Form :

Phase :

Gain :
Types of Transfer Function Components

sn

s+a
Class I - sn
Class II
Class II
 Type III

Notice that …
Summary
Summary Contd.
In-class Example

Bode Form
In-class Example
In-class Example
Neutral Stability
Neutral Stability- Frequency Perspective
 Stability Criterion

• Increasing Gain => Stability to instability

• Increasing Gain => Instability to stability (Rare)

 Bandwidth and Resonant Peak

Gain @ wbw = 0.707

Notice that this is a closed-loop explanation of frequency response.

However do not confuse it for the open-loop analysis and synthesis

techniques in the next sections : Bode and Nyquist.
 Bode Plots Overview

• Can you see how much gain and phase difference that
one can tolerate?
– PM,GM => basic robustness criteria to be touched on the
next lecture

• In summart, Bode plots are elegant and simple analysis

(and synthesis) tool, but
– What happens when there are multiple crossings of 0 dB?

• Need a more concrete way of understanding the closed

loop stability…
 Nyquist Stability Criterion

• Relates open-loop
frequency response to
number of closed-loop
poles on the right hand-
plane.

• Argument hinges on
region mapping =>
“Argument Principle”
Closed Loop Results Using Open-loop Analysis
The Basic Procedure
 In-class Example

Root-locus Bode
As expected…
In Class Example
In Class Example

K<2 : Stable
K>2 : Unstable
 Phase Margin – Gain Margin

• Direct notion of
“robustness” to model
uncertainty.
– Gain Margin : How much
the gain can raise before
instability

– Phase Margin : How

much the phase can shift
in the – direction before
instability occurs.
 In the Bode Plot

With Unity Feedback, the system

Reduces to
Second Order Performance