Feedback Control Systems

(KON 313E)
Week 9

Prof.Dr. Volkan Sezer

Control and Automation Engineering Department

Frequency Domain
Analysis
The Concept of Frequency Response
• In steady state, sinusoidal inputs to a
linear system generate sinusoidal
responses of the same frequency.
• These responses are of the same
frequency as the input, they differ in
amplitude and phase angle from the
input.
• These differences are functions of
frequency.
The Concept of Frequency Response

Magnitude frequency response Phase frequency response

Frequency response
 The Concept of Frequency Response (Why s→jw?)
Let us assume that the input signal is given by And let the system be:

Partial Fraction

(steady state response)

Steady state response can be written as:
The constants 𝑎 and 𝑎ത can be evaluated from partial fraction

Since G(jw) is a complex quantity, it can be written in the following form: (Remembering Euler Equation: )

So;
The Concept of Frequency Response (Why s→jw?)
Let us assume that the input signal is given by And let the system be:

Hence, the steady-state response characteristics of a system to a

sinusoidal input can be obtained directly from:

• The function G(jw) is called the sinusoidal transfer function. It is the ratio of Y(jw) to X(jw), is a complex quantity, and can be
represented by the magnitude and phase angle with frequency as a parameter.
• The sinusoidal transfer function of any linear system is obtained by substituting jw for s in the transfer function of the system
• A positive phase angle is called phase lead, and a negative phase angle is called phase lag.
The Concept of Frequency Response

The amplitude ratio of the output to the input is

While the phase angle is

as:

• It can be seen that for small 𝜔, the amplitude of the steady-state output 𝑦𝑠𝑠 (𝑡) is almost
equal to K times the amplitude of the input.
• The phase shift of the output is small for small 𝜔.
• For large 𝜔, the amplitude of the output is small and almost inversely proportional to 𝜔.
• The phase shift approaches -90deg as 𝜔 approaches infinity.
• This is a phase-lag network.
The Concept of Frequency Response
Consider the network given by Determine whether this network is a lead network or lag network.

Thus the steady-state output is:

Plotting Frequency Response

• As a function of frequency, with separate magnitude and phase plots;

• As a polar plot, where the phasor length is the magnitude and the phasor angle is
the phase.

When plotting separate magnitude and phase plots;

• The magnitude curve can be plotted in decibels (dB) vs. log 𝜔, where dB = 20 logM
• The phase curve is plotted as phase angle vs. log 𝜔.
Plotting Frequency Response
Find the analytical expression for the magnitude frequency response and the phase frequency response for
1
a system G s = 𝑠+2. Also, plot both the separate magnitude and phase diagrams and the polar plot.

Separate magnitude and phase plots (Bode Plots): Polar plot:

Plotting Frequency Response
Separate magnitude and phase plots(Bode Plots): Polar plot:

• We defined frequency response and saw how to obtain an analytical expression for the
frequency response of a system simply by substituting s =jw into G(s). We also saw how to
make a plot of G(jw).
• The next section shows how to approximate the magnitude and phase plots in order to
sketch them rapidly.
Asymptotic Approximations: Bode Plots

• The log-magnitude and phase frequency response curves as functions

of log𝜔 are called Bode plots or Bode diagrams.
• Sketching Bode plots can be simplified because they can be
approximated as a sequence of straight lines.
• Straight-line approximations simplify the evaluation of the magnitude
and phase frequency response
Asymptotic Approximations: Bode Plots
Consider the following transfer function

The magnitude frequency response is the product of the

magnitude frequency responses of each term, or

Thus, if we know the magnitude response of each pole and zero term, we can find the total
magnitude response.

if we could make an approximation of each term that would consist only of straight lines, graphical
addition of terms would be greatly simplified.

Similar to the magnitude frequency response, the phase frequency response is the sum of the phase frequency
response curves of the zero terms minus the sum of the phase frequency response curves of the pole terms.
Asymptotic Approximations: Bode Plots for G(s)=(s+a)
At low frequencies when w approaches zero
𝐺 𝑠 = (𝑠 + 𝑎) The magnitude response in dB is

At high frequencies where w>> a,

The magnitude response in dB is
Asymptotic Approximations: Bode Plots for G(s)=(s+a)
𝐺 𝑠 = (𝑠 + 𝑎)

We call the straight-line approximations asymptotes. The low-frequency approximation is called the low-frequency asymptote,
and the high-frequency approximation is called the high-frequency asymptote. The frequency, a, is called the break frequency
because it is the break between the low- and the high-frequency asymptotes.
Asymptotic Approximations: Bode Plots for G(s)=(s+a)
At low frequencies when w approaches zero Phase angle: 0
𝐺 𝑠 = (𝑠 + 𝑎)
At break frequency when w = a 𝐺 𝑗𝑤 = 1 + 𝑗 = 2‫ہ‬45 Phase angle: 45

At high frequencies where w>> a, Phase angle: 90

To draw the curve, start one decade (1/10) below the break frequency, 0.1a, with 0deg phase, draw a line of slope +45deg/decade
passing through 45deg at the break frequency and continuing to 90deg one decade above the break frequency, 10a.
Asymptotic Approximations: Bode Plots for G(s)=(s+a)
𝐺 𝑠 = (𝑠 + 𝑎)
Asymptotic Approximations: Bode Plots for G(s)=(s+a)
It is often convenient to normalize the magnitude and scale the frequency so that the log-magnitude plot will be 0
dB at a break frequency of unity.

To normalize (s+a), we factor out the quantity a and

form a[(s/a)+1]. The frequency is scaled by defining
a new frequency variable, 𝑠1 = 𝑠/𝑎.

Then the magnitude is divided by the quantity a to yield 0

dB at the break frequency.

Hence, the normalized and scaled function is (𝑠1 +1).

To obtain the original frequency response, the

magnitude and frequency are multiplied by the
quantity a.
Asymptotic Approximations: Bode Plots for G(s)=(s+a)
(Normalized and Scaled)
Asymptotic and actual frequency response data for (s + a)
Asymptotic Approximations: Bode Plots for s and 1/s
(Normalized and Scaled)
Asymptotic Approximations:Bode Plots for (s+a) and 1/(s+a)
(Normalized and Scaled)
Bode Plots for Ratio of First-Order Factors

• We have covered four functions that have first-order polynomials in s

in the numerator or denominator.

• Bode plots for a function that consists of the product of first-order

polynomials in the numerator and denominator can be made by
adding together the individual frequency response curves
Bode Plots for Ratio of First-Order Factors

• We have covered four functions that have first-order polynomials in s

in the numerator or denominator.

• Bode plots for a function that consists of the product of first-order

polynomials in the numerator and denominator can be made by
adding together the individual frequency response curves
Bode Plots for Ratio of First-Order Factors
𝐾(𝑠+3)
Draw the open-loop asymptotic bode plot for the system below, where 𝐺 𝑠 = 𝑠(𝑠+1)(𝑠+2)

3 𝑠
𝐾 +1 Lets examine first the Bode magnitude plot. Thus, the slope
Let us normalize the TF 𝐺 𝑠 = 𝑠2 3
𝑠 contribution from each pole and zero are:
𝑠 1+1 2+1

The effect of K is moving the magnitude curve up or down by the amount of 20logK.
For 𝐾 = 1, the magnitude curve will be shifted up by the amount of 20log 3/2 = 3.52𝑑𝐵 .
Bode Plots for Ratio of First-Order Factors

3
Effect of gain K:3/2 : (2𝑠)
3
20log( )ฬw→0.1
2𝑗𝑤

15
= 20log( )
𝑗
= 20 log 15 = 23.52
Bode Plots for Ratio of First-Order Factors
Bode Plots for Ratio of First-Order Factors
𝐾(𝑠+3)
Draw the open-loop asymptotic bode plot for the system below, where 𝐺 𝑠 = 𝑠(𝑠+1)(𝑠+2)

Now, lets examine the Bode phase plot. Thus, the slope contribution from each pole and zero are:
Bode Plots for Ratio of First-Order Factors
Bode Plots for Ratio of First-Order Factors
Bode Plots for Ratio of First-Order Factors
𝐾(𝑠 + 3)
𝐺 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 2)