Course roadmap
ME451: Control Systems Modeling Analysis Design
Laplace transform Time response
1 Design specs
• Transient
Lecture 22 Transfer function • Steady state
Root locus
Frequency response
Models for systems Frequency response 3 Frequency domain
• electrical 3 • Bode plot
• mechanical 1 PID & Lead-
Lead-lag
• electromechanical Stability
Dr. Jongeun Choi Block diagrams • Routh-
Routh-Hurwitz
2 Design examples
Department of Mechanical Engineering Linearization 3 • Nyquist
Michigan State University
(Matlab simulations &) laboratories
1 2
What is frequency response? A simple example
RC circuit
R
System
u(t)
u(t) C y(t)
y(t)
We would like to analyze a system property by
applying a test sinusoidal input u(t) and
observing a response y(t). Input a sinusoidal voltage u(t)
Steady state response yss(t) (after transient dies What is the output voltage y(t)?
out) of a system to sinusoidal inputs is called
frequency response.
3 4
An example (cont’d) An example (cont’d)
1
TF (R=C=1) 0.8
r
y
Derivation of y(t)
0.6
0.4
0.2
u(t)=sin(t) 0 Inverse Laplace Partial fraction expansion
-0.2
-0.4
-0.6
-0.8
0 as t goes to infinity.
-1
0 5 10 15 20 25 30 35 40 45 50
At steady-
steady-state, u(t)
u(t) and y(t)
y(t) has same frequency,
but different amplitude and phase! (Derivation for general G(s)
G(s) is given at the end of lecture slide.)
5 6
Response to sinusoidal input Frequency response function
How is the steady state output of a linear system For a stable system G(s), G(jω) (ω is positive) is
when the input is sinusoidal? called frequency response function (FRF).
y(t)
y(t) FRF is a complex number, and thus, has an
amplitude and a phase.
G(s) First order example Im
Steady state output
Frequency is same as the input frequency Re
Amplitude is that of input (A) multiplied by
Phase shifts Gain
7 8
Another example of FRF First order example revisited
Second order system FRF
Im
Two graphs representing FRF
Bode diagram (Bode plot) (Today)
Nyquist diagram (Nyquist
(Nyquist plot)
Re
9 10
Bode diagram (Bode plot) of G(jω) Bode plot of a 1st order system
Corner frequency
Bode diagram consists of gain plot & phase plot TF 0
-10
-20
-30
-40
-50
-2 -1 0 1 2
10 10 10 10 10
0
Log-
Log-scale
-20
-40
-60
-80
-100
-2 -1 0 1 2
10 10 10 10 10
11 12
Exercises of sketching Bode plot Remarks on Bode diagram
First order system Bode diagram shows amplification and phase
shift of a system output for sinusoidal inputs with
various frequencies.
It is very useful and important in analysis and
design of control systems.
The shape of Bode plot contains information of
stability, time responses, and much more!
It can also be used for system identification.
(Given FRF experimental data, obtain a transfer
function that matches the data.)
13 14
System identification Summary and exercises
Sweep frequencies of sinusoidal signals and Frequency response is a steady state response
obtain FRF data (i.e., gain and phase). of systems to a sinusoidal input.
Select G(s) so that G(jω) fits the FRF data. For a linear system, sinusoidal input generates
Agilent Technologies: FFT Dynamic Signal Analyzer sinusoidal output with same frequency but
different amplitude and phase.
Generate sin signals Collect FRF data Bode plot is a graphical representation of
Sweep frequencies Select G(s)
G(s) frequency response function. (“bode.m”)
Next, Bode diagram of simple transfer functions
Exercise: Read Section 8.
Unknown
system
15 16
Derivation of frequency response
Term having denominator of G(s)
G(s)
0 as t goes to infinity.
17
