FEI4306 Control System

Fourteenth Edition

TOPIC 4

Frequency Response
Method

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Outline

4.1 Introduction
4.2 Bode Diagram Concept
4.3 ?

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4.1 Introduction

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4.1 Introduction
• Frequency response technique is a control system design approach that
uses only the information of the open loop transfer function along
positive imaginary axis.
• Root locus gives us direct information on the performance of the
system’s transient response, while frequency response gives us the
information on the steady state and stability margins.
• Therefore, root locus and frequency response technique compliment
each other.
• Theoretically, frequency response covers the entire frequency spectrum
from zero to infinity

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4.1 Introduction
FREQUENCY RESPONSE PLOT (Dorf. P566)

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4.1 Introduction

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4.1 Introduction

Example of polar plot

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4.1 Introduction

Example of polar plot of an RC filter

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4.1 Introduction
What is frequency response analysis?
• The frequency response of a system is a frequency dependent
function which express how the sinusoidal signal of a given
frequency on the system input is transferred through the system
• From frequency response analysis, we can have frequency
response data when we vary ω from 0 to ∞ and measure
magnitude and phase angle.
• Frequency response technique use sinusoidal input function as
when a system is excited by a sinusoidal function at input, the
output (response) has the properties of change in amplitude and
shifted in phase but doesn’t change in shape (frequency
unchanged)
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4.1 Introduction

What is frequency response analysis?

• In control system frequency response analysis method, we have
three methods developed since 1930-1940. a) polar plot, b) Nyquist
stability criterion and c) Bode plot
• Frequency response methods are used in both conventional control
theory as well as Robust control theory.
• One of a typical example of using the graphical representation of
frequency response plot is by using Bode Diagram.

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4.2 Bode Diagram Method

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4.2 Bode Diagram Method

Bode Plot, alternative to polar plot

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4.2 Bode Diagram Method
Introduction to Bode Diagram Method
• Bode diagram use Amplitude representation in the for of Desibel
(dB)
• Convert to power and represent power gain in dB
• dB = 20 log A/A0

• MATLAB can be used to plot Bode Diagram, but we can also

estimate Bode Diagram Manually through analysis build up factors
in the transfer fucntion

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4.2 Bode Diagram Method
a) Constant Factor (Gain)
b) Integral and Derivative factors
c) First order factors

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4.2 Bode Diagram Method

Linear Approximation for Magnitude Plot

• How do we approximate line of the magnitude plot?
• Bode Plot use  straight lines (asymptotes)
• Some useful logarithm properties can be used in hand sketching
bode plot
• For example, Log AB = Log A + Log B. i.e, multiplication of
magnitude factors  addition

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4.2 Bode Diagram Method

a) Constant Factor
• Here we express magnitude of constant factor K as
• 20 log K
• K=magnitude value in real number

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4.2 Bode Diagram Method

b) Integral Derivative Factors

• For integral factor, It’s about number with its reciprocal relationship
• Example G(s) = 1/jω  how do we sketch magnitude and phase of
this function?. i.e Bode diagram for integral factor
• For derivative factor, it is straightforward
• Example G(s) = jω  sketch this derivative factor of G(s)
• Notice from the both 1/s and s plots that,
• 1) magnitude plot opposite one another in terms of slope
• 2) for phase angle they differed in their sign

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4.2 Bode Diagram Method

c) First order factors

• Sketching of first order transfer function G = 1/(1+sT)
• Sketching of first order transfer function G=1+sT. for this type of 1st
order factor, we shall have the similar but opposite magnitude plot
and opposite sign of phase angle

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4.2 Bode Diagram Method
Example 6.1 (ZEx6.1 pp.169)
Sketch the Bode Diagram of an electrical amplifier which has the open
loop transfer function
G(s) = 200 / (s+20)

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