Académique Documents
Professionnel Documents
Culture Documents
Recommended Reading
Root Locus Diagram
C(s)
R(s)
2n
s2 +2n s+2n
+2n (j)+2n
2n
2n 2 +j(2n )
T(j) =
Let
1
2
1( ) +j2( )
n
n
= u (normalized frequency)
T(j) =
1
1u2 +j2u
Now, if we apply sinusoidal input to second order closed loop transfer function it would
be shown as below
Now, if input to an LTI system is sinusoidal then output is also sinusoidal but with some
change in magnitude and phase.
2|Page
B = A|T(j)| = AM
2 = 1 + T(j) = 1 +
(T(j) = )
T(j) =
M=
1
1u2 +j2u
1
(1u2 )2 +(2u)2
, = tan1 (
2u
1u2
For u = 0; M = 1, = 0
1
u = 1; M = 2 , = 90
u = ; M = 0, = 180
The frequency response of the system will be plotted in the two curves:
(i) Magnitude v/s normalized frequency (M).
(ii) Phase angle v/s normalized frequency ().
dm
|
du u=ur
=0
= ur = 1 22
r = n 1 22
r = tan1 [
122
Mr = |M|u=ur =
1
212
1.
2.
3.
4.
4|Page
Time Response
specifications
d = n 1 2
(
Mp = e
= tan
ts
12
1 2
[
]
1
stability
Frequency Response
specification
r = n 1 22
1
Mr =
21 2
r = tan1 [
1 22
]
0<<1
5.
0<<
1
2
81
s2 +6s+81
= 2 = 3 = 0.33
n
r = n 1 22
2
= 91 9 = 37
R = 7.94 rad/sec
Mr =
1
212
3
1
21
9
33
= 28
Mr = 1.591
r = tan1
122
= tan1 7
= 69.3
In another example, we will witness derivation of frequency response parameters from
time response parameters.
5|Page
Example 2: The step response of a standard second order system having unity feedback
is given as follows.
Now, if the input to system is changed to sinusoidal, find the maximum value of output
with respect to frequency.
Solution:
From the given response, Mp = 1.35 1 = 0.35
Also, we known that
[
Mp = e
]
12
12
12
2
12
12
= 0.35
= ln(0.35) = 1.05
= 1.05
= 0.10638
2 (1.10638) = 0.10638
2 = 0.096
= 0.31
Maximum value of output with respect to frequency is resonant peak,
Mr =
1
212
6|Page
20.311(0.31)2
Mr = 1.6965
So, we studied the basic concepts and significance of frequency response. Next we will
look in to different plots with respect to frequency response and their use in stability
analysis.
7|Page