Unit 8

Frequency-domain Analysis of Control System

Open

MCB3013/rmz/jan13
 Lec24: Objectives

At the end of the lecture, I should be able to:

Analyze the frequency response of systems
subject to sinusoidal inputs.
Plot and interpret Bode plots, using such plots
for performance specifications.
Determine stability of systems by means of
Bode plots.
Plot Bode plots using MATLAB
Open

MCB3013/rmz/jan13
 Frequency response of higher
order response
Method 1: Computer simulation Matlab
Try this in your time using example in the text book. Make
sure you can do it!
It is a good way of checking your calculations

Method 2: Multiply out the numerator and denominator

and reduced it to a complex number form a + jb. Find
phase and magnitude at several frequency (i.e. at
various values of )
Method 3: Break the transfer function into its constituent
parts and calculate the magnitude and phase of the
individual components. In complex algebra when we
multiply two complex numbers the overall magnitude is
the product of individual magnitudes and the overall
Open phase is the sum of the individual phase angles.
MCB3013/rmz/jan13
 Method 3: Building up Bode Plots

G(s) = G1(s)G2(s)G3(s)etc
The frequency response: G(j) = G1(j)G2(j)G3(j)

Magnitude: G(j) = G1(j) G2(j) G3(j)

Phase angle: = 1 + 2 + 3 +

Now, considering the Bode Plots where the logarithms of the

magnitude is plotted:

log G(j) = logG1(j) + log G2(j) + logG3(j)

Open

MCB3013/rmz/jan13
 Example 33

On Transparency

Open

MCB3013/rmz/jan13
 Summary so far

Open

MCB3013/rmz/jan13
 Performance Specifications

Magnitude in dB, M

Mp
Frequency,
0 dB (M=1)
p 3dB

3 dB (M=0.707)
Bandwidth

Open

MCB3013/rmz/jan13
 Performance Specifications

Peak Magnification Mp :
Overdamped systems will have no peak value.
For good transient response the peak should be
no higher that around 1.5 (i.e 3.5 dB).
The frequency at which peak magnification
occurs is denoted by p. For lightly damped
systems this will be approximately the same as
n
Bandwidth:
The frequency at which the amplitude of the
output drops below 70.7% of its value at low
Open
frequencies (i.e. drops by 3dB)
MCB3013/rmz/jan13
 Determining Stability via Bode
Plots
For stability: Magnitude at -180 must be < 1
(i.e. magnitude in dB < 0)

Magnitude plot
is -20dB when
phase plot is -
180.
Thus the close-
loop system is
STABLE

Open

MCB3013/rmz/jan13
 Gain Margin and Phase Margin via
Bode Plots

Gain
Margin, GM

Phase
Margin, M
Open

MCB3013/rmz/jan13