Control Systems-1

Unit 5: Frequency Domain Analysis of

Control Systems

Learning objectives
To state the definition of frequency response
To be able to draw frequency response from the transfer
functions
To relate the open-loop frequency response to time
domain response
To calculate the gain and phase margins of the system
from the frequency response
To understand the concept of bandwidth.

Closed-loop Control System

To design a controller, it is very important to know the

dynamics of the process. The process can be best
modeled in frequency domain.

Process

Concept of frequency response: An example

Consider the following circuit where the input
V1(s) is a sinusoidal signal, the output V 2(s)
will also be a sinusoidal signal with the same
frequency, but different amplitude and phase
shift.

G(s) = Output/input = V2(s)/V1(s)

Frequency domain

Frequency response: Polar plot

Frequency response: Bode

plot

Frequency response of second order system

For the second order system below

The frequency response will depend on the

damping factors

Frequency response of second order system

Time response of second order system

Relationship between time domain and

frequency domain

Gain margin and phase margin

Relative stability in frequency domain: Gain

margin and phase margin

Gain margin and phase margin on the Bode plot

Examples

Calculate the gain and phase margins of the

following system from frequency response

L(s) =

2500
.
s ( s 5)( s 50)

Example (Cont.)

Example (Cont.)

Bandwidth of a system

The bandwidth is the frequency, B , at which the

frequency declined 3 dB from its low-frequency
values.

Summary

Frequency response of the open-loop system

can be used to predict the time domain
response of the system.
The relative stability of the closed-loop system
can be assessed through the notation of gain
margin and phase margin.
The control system design becomes to shape
up the open-loop frequency response.