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Frequency Response
Techniques
Frequency Response
Frequency response methods, developed by Nyquist and Bode in the
1930s, are older than the root locus method, which was discovered by
Evans in 1948 (Nyquist,1932; Bode, 1945). The older method, is not as
intuitive as the root locus. However, frequency response yields a new
vantage point from which to view feedback control systems. This
:technique has distinct advantages in the following situations
.When modeling transfer functions from physical data. 1
When designing lead compensators to meet a steady-state error. 2
requirement and a transient response requirement
When finding the stability of nonlinear systems. 3
In settling ambiguities when sketching a root locus. 4
M o( )
M ( )
M i ( )
( ) o( ) i ( )
As B
C (s ) 2
G (s )
2
(s )
As B
=
G (s )
(s j )(s j )
K1
K2
=
s j s j
s j
s j
where M i R ( j ) A 2 B 2
and M
G ( j )
G ( j ) 1 / ( j 2) (2 j )
( 2 4)
The magnitude frequency response is
G ( j ) M ( ) 1 / ( 2 4)
K ( s z1 )( s z 2 )....( s z k )
s m ( s p1 )( s p 2 )....( s p n )
K ( s z1 ) ( s z 2 ) .... ( s z k )
s ( s p1 ) ( s p 2 ) .... ( s p n )
m
s j
G ( j ) a( ) a( )90 o 90 o
a
20 log
a
Table 10.1
Asymptotic and actual normalized and scaled frequency response data for (s + a)
Figure 10.7
Asymptotic and actual normalized and scaled magnitude response of (s + a)
Figure 10.8
Asymptotic and actual normalized and scaled phase response of (s + a)
K (s 3)
G (s )
s (s 1)(s 2)
Solution: The Bode plot is the sum of the Bode plot for each first
order term. To make it easeier we rewrite G(s) as
3
s
K ( 1)
3
G (s ) 2
s
s (s 1)( 1)
2
Table 10.2
Bode magnitude plot: slop contribution from each pole and zero in Example
Table 10.3
Bode phase plot: slop contribution from each pole and zero in Example 10.2
s
s
2
2
2
G ( s) s 2 n s n n 2 2
1
n
n
2
2
o
At low frequencies G(s) becomes G ( s ) n n 0
G (s) s 2
2
2
o
G
(
j
180
And
The log-magnitude is
1
Bode plots for G ( s )
2
2
s
similarly
n
n
to those for
can be derived
G ( s ) s 2 2 n s n2
G (s )
(s 3)
[(s 2)(s 2 2s 25)]
Solution: The Bode plot is the sum of the Bode plot for each first
order term, and the 2nd order term. Convert G(s) to show the
normalized components that have unity low-frequency gain. The
2nd order term is normalized by factoring out
forming s 2
2
n
s
s
( 1)
( 1)
3
3
3
3
Thus, G (s )
(2)(25) s
50 s
s2
2
s2
2
( 1)( s 1)
( 1)( s 1)
2
25 25
2
25 25
s 1
Table 10.6
Magnitude diagram slopes for Example
Table 10.7
Phase diagram slopes for Example
1 G (s )H (s ) DG D H N G N H
We conclude that
The poles of 1+G(s)H(s) are the same as the
poles of G(s)H(s), the open-loop system
The zeroes of 1+G(s)H(s) are the same as the
poles of T(s), the closed-loop system
Nyquist Contour
500
G ( j )
( s 1)( s 3)( s 10)
s j
500
s (s 3)(s 5) K 1
64 4 2 (15 2 ) 2
At =0, G ( j )H ( j ) -0.0356 - j
s j
a. Contour and root locus of system that is stable for small gain and unstable for large gain;
b. Nyquist diagram
a. Contour and root locus of system that is unstable for small gain and stable for large gain;
b. Nyquist diagram
(s 2 23 2)(s 2) s j
16(1 2 ) 2 2 (6 2 ) 2
Setting the imaginary part = zero, we find 6 and substituting yields real part (1/20) =
1 / 20180o
6
6[4(1 2 ) j (6 2 )]
G ( j )H ( j ) 2
(s 23 2)(s 2) s j 16(1 2 ) 2 2 (6 2 ) 2
The Nyquist diagram crosses the real axis at frequency of 6 . The real part is
calculated to be -0.3. Thus, the gain can be increased by (1/0.3) =3.33 before the real part
becomes -1. Hence the gain margin is GM = 20log 3.33 = 10.45 dB.
To find the phase margin, find the frequency for which the magnitude is unity. We need to
solve the equation to find frequency = 1.253 rad/s. at this freq. the phase angle is -112.3o.
The difference between this angle and -180o is 67.7o, which is the phase margin.
Problem: use Bode plots to determine range of K within which the unity feed-back
system with G(s) = K/[(s+2)(s+4)(s+5)] is stable.
Solution: The closed loop system will be stable if the frequency response has a gain
less than unity when the phase is +/-180o
We sketch the Bode plots as shown. The lowfrequency gain of G(s)H(s) is found by
setting s=0. So the Bode magnitude plot starts
at K/40. For convenience let K = 40 so that
the log-magnitude plot starts at 0 dB.
At frequency 7rad/s, when phase is 180o, the
magnitude is -20dB. So an increase in gain of
+20dB is possible before system becomes
unstable.
Since the gain plot was scaled for a gain of
40, +20dB(a gain of 10) represents the
required increase in gain above 40. Hence,
the gain for instability is 40X10 = 400.
0<K<400 for stability. Compare to actual
results 378 at freq. 6.16 rad/s.
Problem: If K =200 in the system of previous example, find the gain and
phase margins
Solution: The Bode plot in Figure
is scaled to a gain of 40. If K=200,
the magnitude plot would be
20log5 = 13.98 dB higher.
At phase = 180, on the magnitude
plot the gain is -20. So the gain
margin = -20 +13.98 = 6.02 dB
To find phase margin, we look
on the magnitude plot for freq
where the gain is 0 dB (-13.98
dB normalized) occurs at 5.5
rad/s freq. At this freq the angle
is 165 so the phase margin is
-165-(-180) = 15 degrees
n2
Using the open loop transfer function G ( s )
s( s 2 n )
2
C
(
s
)
n
And closed-loop transfer function T ( s)
2
R ( s ) s 2 n s n2
We evaluate the magnitude of the closedloop freq response as
M T ( j )
n2
( n2 2 ) 2 4 2 n2 2
MP
1
2 1 2
At a frequency, P of
P n 1 2 2
Since damping ratio is related to
percent overshoot we can plot
MP vs. percent overshoot
We can relate the speed of the time response ( as measured in settling time,
rising time, and peak time) and the bandwidth , BW of the Frequency
response.
The Bandwidth is defined as the frequency at which the magnitude response
curve
is 3 dB down
its value
at zero
frequency.
The Bandwidth
forfrom
a two-pole
system
can
be found by finding that freq for
M=1/2 (that is -3dB)
BW n (1 2 2 ) 4 4 4 2 2
And
BW
BW
TP 1 2
TP 1 2
4
Ts
We get,
(1 2 2 ) 4 4 4 2 2
(1 2 2 ) 4 4 4 2 2
Figure 10.42
Constant M circles
Figure 10.43
Constant N circles
Nichols Charts
Nichols Charts displays the constant M and N circles in dB, so that changes
in gain are as simple to handle as in the Bode plots.
The chart is a plot of the open-loop magnitude in dB vs. open-loop phase
angle in degrees.
Nichols Charts
M 90 tan 1
tan 1
2 2 1 4 4
2
2
2 2 1 4 4