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METR4202/7202 – Control Theory
Lecture 1
Frequency Response Techniques
Chapter 10 Nise
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 1
(10.1 – 10.6)
G. Hovland
2004-2006
Prerequisite Material from METR3200
1. Modelling in the Frequency Domain
2. The Laplace Transform
Good reference sources for this material are:

• Chapter 2 Nise
• Study Guide No. 2 from METR3200
http://www.itee.uq.edu.au/~metr4202/_doc/METR3200_topic02.pdf
Why Frequency Response Techniques?
• Can easily determine models from data

Frequency response techniques more effective in the laboratory
than root-locus
• Frequency in = Frequency out for linear models

Hence, model fully described by amplitudes and phase angles
• Graphical analysis
very elegant
Asymptotic Approximations
Sinusoidal Frequency Response
Figure 10.2
a. system;
b. transfer
function;
c. input and
output
waveforms
Frequency Response Definitions
M o ( w)∠φo ( w) = M i ( w) M ( w)∠[φi ( w) + φ ( w)]
Measured Outputs Inputs The System’s

Frequency Response
M o ( w)
M ( w) = Gain
M i ( w)
φ ( w) = φo ( w) − φi ( w) Phase
Example Magnitude Response

Frequency Response ⇔ Transfer Function
We will now prove the relation between the
frequency response and the transfer function.
If you understand the proof, you are doing well!

For practical use, it will suffice to remember the
final result.
s → jω
Proof Page 1
r (t ) = A cos( wt ) + B sin( wt )
= A2 + B 2 cos[ wt − tan −1 ( B / A)]
= M i ∠ − φi Phasor Representation
= A + jB Rectangular Form
= M i e − jφi Euler’s Formula

METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 10 METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 9
= 2
As
Proof Page 3
Proof Page 2
s +w 2
+ 2
Bw
s + w2
L[ A cos( wt ) + B sin( wt )]
Laplace transform of sinusoids (Table 2.1 Nise):
METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 11 Proof Page 4
Steady-State
Solution
End Result (You Need to Remember This!)
c(t ) = M i M G cos( wt + φi + φG )
In Phasor Form:
M o∠φo = ( M i ∠φi )( M G ∠φG )

From Eq. (10.7) and (10.8) we have:
M G ∠φG = G ( jw) !!!!!!!!
End Result:
Frequency Response = G(jw) = G(s) | s→ jw

Frequency Response Plots (Bode)
Figure 10.4
Frequency
response
plots for G(s) =
1/(s + 2):
separate
magnitude
and phase
In Matlab type: bode(1,[1 2])
Frequency Response Plots (Polar)
Figure 10.5
Frequency response
plots for G(s)
= 1/(s + 2): polar plot
Class Exercise
Find the analytical frequency response of
G(s) = 1 / ( s + 2 )
Answer on the whiteboard

Asymptotic Approximations (10.2)

Consider the following transfer function:
The magnitude frequency response:

Below you see the main reason why Bode plots are logarithmic:
Bode plots of (s+a) = a (s/a + 1)
Figure 10.6
a. magnitude
plot;
b. phase plot.
Frequency Response of (s+a)
w
G ( jw) = ( jw + a ) = a j +1
a Angle zero
At low frequencies (w → 0): G(jw) ≈ a
The magnitude response in dB is: 20 log | G(jw) | = 20 log a

Angle 90
At high frequencies where w >> a: G(jw) ≈ jw = w∠90o

The magnitude response in dB is: 20 log | G(jw) | = 20 log w
Hence, 20dB per decade

In Matlab type: bode([1 a],1)
Asymptotic and Actual Phase for (s+a)

Asymptotic and Actual Magnitude for (s+a)
Common Asymptotes
Figure 10.9
Normalised and
scaled
Bode plots for
a. G(s) = s;
b. G(s) = 1/s;
c. G(s) = (s + a);
d. G(s) = 1/(s + a)
Class-Exercise
Example 10.2
Draw the open-loop asymptotic bode plot for the system below,
where G(s) = K (s+3) / [ s (s+1) (s+2) ]

What is the corresponding Matlab function call?

Second-Order Asymptotes
Figure 10.13
Bode asymptotes
for normalised
and scaled G(s) =
s2 + 2ζω
a. magnitude;
b. phase
Second-Order Asymptotes
s2 s
G ( s ) = s + 2ςwn s + w = w
2 2
n
2
n 2
+ 2ς +1
wn wn
Damping factor Resonance (natural)

Frequency
At low frequencies: G(s) ≈ wn2 = wn2∠0o

At high frequencies: G(s) ≈ s2, hence G(jw) ≈ -w2 = w2∠180o
The log-magnitude is: 20 log | G(jw) | = 20 log w2 = 40 log w
(Disappears at w=wn)
Phase at resonance frequency:
G ( jw) = s 2 + 2ςwn s + wn2 |s→ jw = ( wn − w2 ) + j 2ςwn w
2
90o
Corrections to Second-Order Magnitude Plot
M= (w n
2
)
− w2 + (2ςwn w )
2 2 In Matlab:
wn=1; rho=0.1;
2ςwn w w=logspace(-1,1);
φ = tan −1 M=sqrt((wn^2 - w.^2).^2 + (2*rho*wn.*w).^2);
wn − w2
2
semilogx(w,20*log10(M));
Corrections to Second-Order Phase Plot

In Matlab:
Scaled phase wn=1; rho=0.1;
w=logspace(-1,1);
response for phi=atan2(2*rho*wn*w,wn^2-w.^2);
semilogx(w,180/pi*phi);
!!!!!
response for
Figure 10.16
Figure 10.17
Second-Order Pole
Scaled phase response for

Normalised and scaled log magnitude
Second-Order Pole Phase Plot

METR4202/7202 – Advanced Control & Robotics, Semester 2, 2006. Page: 29 Example: Elasticity in Gearbox
Gearbox Model
J mθ m + D (θ m − θ a ) + K (θ m − θ a ) = τ Newton’s
2nd law
J aθ a + D (θ a − θ m ) + K (θ a − θ m ) = 0
Important to remember: the Laplace number s models a time-derivative
J m s 2θ m + Ds (θ m − θ a ) + K (θ m − θ a ) = τ
J a s 2θ a + Ds (θ a − θ m ) + K (θ a − θ m ) = 0
2nd order zero
Ja 2 D
θm 1 s + s +1 2nd order pole
( s) = 2 K K
τ s ( J m + J a ) J m J a s2 + D s + 1
Jm + Ja K
Data Collection and Model Matching
Resonance
(from poles)
Dots are sinusoidal

measurements from lab
Anti-resonance
(from zeros)
Estimated Parameters
(Solid frequency response

in graph)
Summary So Far
We can find the analytical frequency response (s→jw)
We can quickly draw asymptotic approximations of bode

plots, both for 1st and 2nd order poles and zeros
The beauty of logarithmic plots is the fact that

asymptotes can be added
If poles/zeros are scaled (s/a + 1), then the initial

amplitude stays at 0 Decibel
We can estimate system parameters by matching the

analytical Bode plots with measured data
Stability: First Requirement of a Control System
Introduction to the Nyquist Criterion (10.3)
The Nyquist criterion relates stability of a closed-loop system
to the open-loop frequency response and the open-loop pole
location.
Open-loop system: G(s) H(s)

Closed-loop system: G(s) / [ 1 + G(s) H(s) ]
Four Important Concepts
Poles of 1 + G(s) H(s) ⇔ Poles of G(s) H(s)
Zeros of 1 + G(s) H(s) ⇔ Poles of G(s) / [1 + G(s) H(s) ]
The Concept of Mapping Points

The Concept of Mapping Contours
Poles and Zeros

N Zeros
G( s) = G
DG Poles
NH
H ( s) = Open-Loop Transfer Function
DH
NG N H
G( s) H ( s) =
DG DH
DG DH + N G N H
1 + G( s) H ( s) =
DG DH
G( s) N G DH
T ( s) = =
1 + G ( s ) H ( s ) DG DH + N G N H
Closed-Loop Transfer Function
contour
mapping
Figure 10.22
Figure 10.21
Examples of
to contour B
Mapping Points
Mapping Contours
Mapping contour A
through function F(s)
Vector Representation of Mapping
Assume mapping function F(s) = 1 + G(s) H(s)
P equals number of poles inside contour A ( = 1 in this example)

Z equals number of zeros inside contour A ( = 2 )
N = P – Z = -1 equals number of counter-clockwise rotations
of contour B around the origin
The Nyquist Criterion
Z=P–N
P is the number of poles inside A of 1+GH

(which also equals open-loop poles inside A)
P is known from the open-loop pole locations !

N (the number of encirclements) can be found graphically
The zeros of 1+GH equal the poles of G / (1+GH)
Hence, Z tells us the number of closed-loop poles inside the contour A !!!
The Final Statement of the Nyquist Criterion
The number of closed-loop

poles, Z, in the right half-plane
equals the number of open-
loop poles, P, that are in the
right half-plane minus the
number of counter-clockwise
revolutions, N, around -1 of
the mapping GH
Z=P–N
Only if Z=0, the system is
stable
Remember this !
Zeros of 1 + G(s) H(s) ⇔ Poles of G(s) / [1 + G(s) H(s) ]
Examples
Frequency Response
Polar Plots
Z=P-N
Figure 10.25
Mapping examples:
a. contour does
not enclose
closed-loop poles;
b. contour does
enclose
closed-loop poles
Class Question:
Are the closed-loop systems a,b stable or unstable?
Sketching the Nyquist Diagram (10.4)
Figure 10.26
a. Turbine and
generator;
b. block diagram
of speed control
system for
Example 10.4
Vector Evaluation of the Nyquist Diagram

Compare the Nyquist diagram with
the Polar Plot, slide 14 !!
a. vectors on contour
at low frequency;
b. vectors on contour
around infinity;
c. Nyquist diagram
Class Question:
Is the closed-loop system stable?
Matlab Exercise: Try this yourself!
n=500; %Nominator
d=conv([1 10],[1 3]);
d=conv(d,[1 1]); %Denominator
G=tf(n,d); %Transfer function

nyquist(G); %Draw Nyquist diagram
Detour Around Open-Loop Poles
a. poles on contour;
b. detour right;
c. detour left
Example 10.5
a. Contour for G(s) = (s+2) / s2

b. Nyquist diagram
Stability via the Nyquist Diagram (10.5)

a. system;
b. contour; Self-Study: Use Matlab function nyquist iteratively
c. Nyquist diagram
to find the value of K where system goes unstable !!
Example 10.6
K
G( s) =
s( s + 3)( s + 5)
− 8w2 − j (15w − w3 )
a. Contour G ( jw) |K =1 =
64 w4 + w2 (15 − w2 )2
b. Nyquist diagram
G ( j 0+ ) |K =1 = −0.0356 − j∞
Stability via Mapping only Positive jw-Axis
Figure 10.32
a. Contour and root locus of system that
is stable for small gain and unstable for large gain;
b. Nyquist diagram
System is stable if open-loop magnitude is less than 1 at that frequency where phase is -180o
Example 10.7
K Double-check
G( s) = 2
( s + 2 s + 2)( s + 2) this calculation
4 K (1 − w2 ) − jwK (6 − w2 ) yourself!
G ( jw) =
16(1 − w2 ) 2 + w2 (6 − w2 ) 2
Class Questions (use only positive jw axis):
a) Find the range of gain for stability and instability

b) For marginal stability find the radian frequency of oscillation
Example 10.7 - Solution

K
G( s) =
( s 2 + 2 s + 2)( s + 2)
4(1 − w2 ) − jw(6 − w2 )
G ( jw) =
16(1 − w2 ) 2 + w2 (6 − w2 ) 2
Stabilisation of Unstable System
a. Contour and root locus of system that is unstable for small gain
and stable for large gain;
b. Nyquist diagram
System is stable if open-loop magnitude is larger than 1 at that frequency where phase is -180o
Gain and Phase Margin via Nyquist (10.6)
Figure 10.35
Nyquist diagram
showing gain
and phase
margins
Matlab Example
n=500; %Nominator
d=conv([1 10],[1 3]);
d=conv(d,[1 1]); %Denominator
G=tf(n,d); %Transfer function

nyquist(G); %Draw Nyquist diagram
[Gm,Pm,Wcg,Wcp]=margin(G)
Returns gain margin Gm, phase margin Pm,
frequency Wcg where phase is -180o and frequency
Wcp where gain is 1.
Summary So Far
• Contour Mappings: Clockwise and counter-clockwise
• Nyquist: Determine stability from open-loop poles and

open-loop polar plot
• Gain and Phase margins via the Nyquist plot

• Matlab functions for Nyquist analysis
If you find this material difficult, review Nise pages 590-637

before next lecture. I am also available for individual
consultation Thursdays after the Tutorial.
Tutorials Begin Week 2
Problems P1 – P10 in Nise Chapter 10
You can hand in your answers for grading, but

the result will not count towards final grade.
Tutorials: work alone or in groups of 2.

Use Matlab as much as possible
Computer Lab in Axon 210
Lecture 2
• Completion of Nise Chapter 10 (10.7 – 10.13)
• Try and read the material before the lecture
• If time permits, the whole Chapter 10 will be reviewed

and a number of problems typical for the

mid-term class test will be presented and solved.

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METR4202/7202 – Control Theory

Frequency Response Techniques

Prerequisite Material from METR3200

1. Modelling in the Frequency Domain

2. The Laplace Transform

Good reference sources for this material are:

• Study Guide No. 2 from METR3200

• Can easily determine models from data

• Frequency in = Frequency out for linear models

Sinusoidal Frequency Response

M o ( w)∠φo ( w) = M i ( w) M ( w)∠[φi ( w) + φ ( w)]

Measured Outputs Inputs The System’s

Example Magnitude Response

We will now prove the relation between the

frequency response and the transfer function.

If you understand the proof, you are doing well!

For practical use, it will suffice to remember the

= M i e − jφi Euler’s Formula

End Result (You Need to Remember This!)

M o∠φo = ( M i ∠φi )( M G ∠φG )

M G ∠φG = G ( jw) !!!!!!!!

Frequency Response = G(jw) = G(s) | s→ jw

In Matlab type: bode(1,[1 2])

Frequency Response Plots (Polar)

Find the analytical frequency response of

Answer on the whiteboard

Asymptotic Approximations (10.2)

The magnitude frequency response:

Frequency Response of (s+a)

The magnitude response in dB is: 20 log | G(jw) | = 20 log a

At high frequencies where w >> a: G(jw) ≈ jw = w∠90o

Hence, 20dB per decade

In Matlab type: bode([1 a],1)

Asymptotic and Actual Phase for (s+a)

where G(s) = K (s+3) / [ s (s+1) (s+2) ]

What is the corresponding Matlab function call?

Damping factor Resonance (natural)

At low frequencies: G(s) ≈ wn2 = wn2∠0o

Corrections to Second-Order Phase Plot

Scaled phase response for

Second-Order Pole Phase Plot

Important to remember: the Laplace number s models a time-derivative

Dots are sinusoidal

(Solid frequency response

We can quickly draw asymptotic approximations of bode

The beauty of logarithmic plots is the fact that

asymptotes can be added

If poles/zeros are scaled (s/a + 1), then the initial

We can estimate system parameters by matching the

Introduction to the Nyquist Criterion (10.3)

The Nyquist criterion relates stability of a closed-loop system

to the open-loop frequency response and the open-loop pole

Open-loop system: G(s) H(s)

Poles of 1 + G(s) H(s) ⇔ Poles of G(s) H(s)

Zeros of 1 + G(s) H(s) ⇔ Poles of G(s) / [1 + G(s) H(s) ]

The Concept of Mapping Points

The Concept of Mapping Contours

Poles and Zeros

P equals number of poles inside contour A ( = 1 in this example)

N = P – Z = -1 equals number of counter-clockwise rotations

of contour B around the origin

The Nyquist Criterion

P is the number of poles inside A of 1+GH

P is known from the open-loop pole locations !

Adv Control & Robotic Lec1b

Adv Control & Robotic Lec1b