Feedback Control Systems

(KON 313E)
Week 10

Prof.Dr. Volkan Sezer

Control and Automation Engineering Department

Frequency Domain
Analysis
Asymptotic Approximations: Bode Plots for 𝑠 2 + 2𝜉𝑤𝑛 + 𝑤𝑛 2

Now that we have covered Bode plots for first-order systems, we turn to the Bode log-magnitude and phase plots
for second-order polynomials in s.

𝑠2 𝑠
𝐺 𝑠 = 𝑠2 + 2𝜁𝑤𝑛 𝑠 + 𝑤𝑛2 = 𝑤𝑛2 + 2𝜁 +1
𝑤𝑛2 𝑤𝑛

Unlike the first-order frequency response approximation, the difference between the asymptotic approximation
and the actual frequency response can be great for some values of 𝜉.
Asymptotic Approximations: Bode Plots for 𝑠 2 + 2𝜉𝑤𝑛 + 𝑤𝑛 2
Second order Asymptotes (Straight Line Approximations)
2
𝑠2 𝑠
𝐺 𝑠 = 𝑠 + 2𝜁𝑤𝑛 𝑠 + 𝑤𝑛2 = 𝑤𝑛2 + 2𝜁 +1
𝑤𝑛2 𝑤𝑛

−𝑤 2 𝑗𝑤
𝐺 𝑗𝑤 = 𝑤𝑛2 + 2𝜁 +1
𝑤𝑛2 𝑤𝑛

At low frequencies 𝒘 → 𝟎 A𝐭 𝒘 = 𝒘𝒏 At high frequencies 𝒘 ≫ 𝒘𝒏

𝐺 𝑗𝑤 ≈ 𝑤𝑛2 = 𝑤𝑛2 ∠0° 𝐺 𝑗𝑤𝑛 = 2𝜁𝑤𝑛2 𝑗 = 2𝜁𝑤𝑛2 ∠90 𝐺 𝑗𝑤 ≈ −𝑤 2 = 𝑤 2 ∠180°
Thus, Thus, Thus,
The angle is 𝟎° The angle is 𝟗𝟎° The angle is 𝟏𝟖𝟎°
The magnitude in dB is: The magnitude in dB is: The magnitude in dB is:
𝟐𝟎 𝒍𝒐𝒈 𝑮 𝒋𝒘 = 𝟒𝟎 𝒍𝒐𝒈 𝒘𝒏 𝟐𝟎 𝒍𝒐𝒈 𝑮 𝒋𝒘 = 𝟐𝟎 𝒍𝒐𝒈(𝟐𝜻𝒘𝟐𝒏 ) 𝟐𝟎 𝒍𝒐𝒈 𝑮 𝒋𝒘 = 𝟒𝟎 𝒍𝒐𝒈 𝒘
Asymptotic Approximations: Bode Plots for 𝑠 2 + 2𝜉𝑤𝑛 + 𝑤𝑛 2
Second order Asymptotes (Straight Line Approximations) for Scaled (𝑮(𝒔)/𝒘𝒏 𝟐 ) Transfer Function
𝑠2 𝑠 𝐺 𝑠 𝑠2 𝑠
𝐺 𝑠 = 𝑠2 + 2𝜁𝑤𝑛 𝑠 + 𝑤𝑛2 = 𝑤𝑛2 + 2𝜁 +1 𝐺′ 𝑠 = 2 = 2 + 2𝜁 +1
𝑤𝑛2 𝑤𝑛 𝑤𝑛 𝑤𝑛 𝑤𝑛

−𝑤 2 𝑗𝑤
𝐺′ 𝑗𝑤 = 2 + 2𝜁 𝑤 + 1
𝑤𝑛 𝑛

At low frequencies 𝒘 → 𝟎 A𝐭 𝒘 = 𝒘𝒏 At high frequencies 𝒘 ≫ 𝒘𝒏

𝐺 𝑗𝑤 ≈ 1 = 1∠0° 𝐺 𝑗𝑤𝑛 = 2𝜁𝑗 = 2𝜁∠90 𝑤2 𝑤2
𝐺 𝑗𝑤 ≈ − 2 = 2 ∠180°
Thus, Thus, Thus, 𝑤𝑛 𝑤𝑛

The angle is 𝟎° The angle is 𝟗𝟎° The angle is 𝟏𝟖𝟎°

The magnitude in dB is: The magnitude in dB is: The magnitude in dB is:
𝟐𝟎 𝒍𝒐𝒈 𝑮 𝒋𝒘 = 𝟎 𝒘
𝟐𝟎 𝒍𝒐𝒈 𝑮 𝒋𝒘 = 𝟐𝟎 𝒍𝒐𝒈(𝟐𝜻) 𝟐𝟎 𝒍𝒐𝒈 𝑮 𝒋𝒘 = 𝟒𝟎 𝒍𝒐𝒈(𝒘 )
𝒏
Asymptotic Approximations: Bode Plots for 𝑠 2 + 2𝜉𝑤𝑛 + 𝑤𝑛 2
−𝒘𝟐
Normalized and scaled 𝑮′ 𝒋𝒘 = 𝒘𝟐𝒏
𝒋𝒘
+ 𝟐𝜻 𝒘 + 𝟏
𝒏
• Low-frequency 𝑤 → 0 : 0
• Break frequency 𝑤 = 𝑤𝑛 : 20 𝑙𝑜𝑔(2𝜁) (𝜁 = 0.5 → 20 log 1 = 0)
w
• High-frequency 𝑤 ≫ 𝑤𝑛 : 40 log( )
wn

Slide 6
Bode asymptotes for normalized and scaled transfer function
Asymptotic Approximations: Bode Plots for 𝑠 2 + 2𝜉𝑤𝑛 + 𝑤𝑛 2
−𝒘𝟐
Normalized and scaled 𝑮′ 𝒋𝒘 = 𝒘𝟐𝒏
𝒋𝒘
+ 𝟐𝜻 𝒘 + 𝟏
𝒏
• Low-frequency 𝑤 → 0 : 0
• Break frequency 𝑤 = 𝑤𝑛 : 20 𝑙𝑜𝑔(2𝜁) (𝜁 = 0.5 → 20 log 1 = 0)
w
• High-frequency 𝑤 ≫ 𝑤𝑛 : 40 log( )
wn

Bode asymptotes for normalized and scaled transfer function

Asymptotic Approximations: Bode Plots for 𝑠 2 + 2𝜉𝑤𝑛 + 𝑤𝑛 2
−𝒘𝟐 𝒋𝒘
Normalized and scaled 𝑮′ 𝒋𝒘 = 𝒘𝟐𝒏
+ 𝟐𝜻 𝒘 + 𝟏
𝒏

•Low-frequency 𝑤 → 0 : 𝟎°
•Break frequency 𝑤 = 𝑤𝑛 : 𝟗𝟎°
• High-frequency 𝑤 ≫ 𝑤𝑛 : 𝟏𝟖𝟎°

Slide 8
Scaled phase response
Asymptotic Approximations: Bode Plots for 𝑠 2 + 2𝜉𝑤𝑛 + 𝑤𝑛 2
−𝒘𝟐 𝒋𝒘
Normalized and scaled 𝑮′ 𝒋𝒘 = 𝒘𝟐𝒏
+ 𝟐𝜻 𝒘 + 𝟏
𝒏

•Low-frequency 𝑤 → 0 : 𝟎°
•Break frequency 𝑤 = 𝑤𝑛 : 𝟗𝟎°
• High-frequency 𝑤 ≫ 𝑤𝑛 : 𝟏𝟖𝟎°

Scaled phase response

 1
Asymptotic Approximations: Bode Plots for
𝑠 2 +2𝜉𝑤𝑛 +𝑤𝑛 2

For asymptote,
the slope is -40dB/decade

1
Normalized and scaled log-magnitude response for 𝐺 𝑠 = 𝑠2+2𝜁𝑤 2
𝑛 𝑠+𝑤𝑛
 1
Asymptotic Approximations: Bode Plots for
𝑠 2 +2𝜉𝑤𝑛 +𝑤𝑛 2

For asymptote,
the slope is -90deg/decade

1
Normalized and scaled phase response for 𝐺 𝑠 = 𝑠2+2𝜁𝑤 2
𝑛 𝑠+𝑤𝑛
Example
(𝑠 + 3)
Draw the open-loop asymptotic bode plot for the system below; 𝑤ℎ𝑒𝑟𝑒, 𝐺 𝑠 =
(𝑠 + 2)(𝑠 2 + 2𝑠 + 25)

3 𝑠
+1
𝐺 𝑠 = 50 3
Let us normalize the TF so that we can spot the breakaway frequencies
𝑠 𝑠2 2
2 + 1 52 + 52 𝑠 + 1
Lets examine first the Bode magnitude plot. Thus, the slope
contribution from each pole and zero are:

The effect of K is moving the magnitude curve up or down by the amount of 20logK.
The magnitude curve will be shifted by the amount of 20log 3/50 = −24.43𝑑𝐵 .
Example
Example
Example
(𝑠 + 3)
Draw the open-loop asymptotic bode plot for the system below; 𝑤ℎ𝑒𝑟𝑒, 𝐺 𝑠 =
(𝑠 + 2)(𝑠 2 + 2𝑠 + 25)

3 𝑠
+1
𝐺 𝑠 = 50 3
𝑠 𝑠2 2
2 + 1 52 + 52 𝑠 + 1
Now, lets examine the Bode phase plot. Thus, the slope contribution from each pole and zero are:

Note that the gain has no contribution on phase angle.

Example
Example