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Frequency Response
with Python
Hans-Petter Halvorsen
 Free Textbook with lots of Practical Examples

https://www.halvorsen.blog/documents/programming/python/
 Additional Python Resources

https://www.halvorsen.blog/documents/programming/python/
 Contents
• Introduction to Frequency Response
• Python Examples:
2 different Python libraries will be used:
– SciPy (SciPy.Signal)
– The Python Control Systems Library
• Introduction to Filter Design and Stability
Analysis in Control Systems with Examples
It is recommended that you know about Transfer Functions. If not, take a closer look at my Tutorial “Transfer Functions with Python”
 Frequency Response
• The frequency response of a system is a frequency dependent
function which expresses how a sinusoidal signal of a given frequency
on the system input is transferred through the system. Each
frequency component is a sinusoidal signal having certain amplitude
and a certain frequency.
• The frequency response is an important tool for analysis and design
of signal filters and for analysis and design of control systems.
• The frequency response can be found experimentally or from a
transfer function model.
• The frequency response of a system is defined as the steady-state
response of the system to a sinusoidal input signal. When the system
is in steady-state, it differs from the input signal only in
amplitude/gain (A) and phase lag (𝜙).
 Frequency Response

Input Signal
Dynamic Output Signal
𝑢 𝑡 = 𝑈 % sin(𝜔𝑡) System 𝑦 𝑡 = 𝑈𝐴 % 𝑠𝑖𝑛(𝜔𝑡 + 𝜙)

Amplitude Frequency
Gain Phase Lag

The frequency response of a system expresses how a sinusoidal signal

of a given frequency on the system input is transferred through the
system. The only difference in the signal is the gain and the phase lag.
 Frequency Response - Example
Outside Temperature

T = 1 year

frequency 1 (year)
Dynamic System frequency 1 (year)
Inside Temperature

Note! Only the

gain and phase
are different
Assume the outdoor temperature is varying like a sine function during a year (frequency 1) or for 24 hours (frequency 2).
Then the indoor temperature will be a sine as well, but with different gain. In addition it will have a phase lag.
 Frequency Response
Below we see a plot for the input and output sine signals for a given frequency 𝜔 𝑟𝑎𝑑/𝑠 :
!
The gain is given by: 𝐴 =
"
Input Signal: The phase lag is given by: 𝜙 = −𝜔Δ𝑡 [𝑟𝑎𝑑]
𝑢 𝑡 = 𝑈 % sin(𝜔𝑡)

𝑈
𝑌 𝑡[𝑠]
Δ𝑡

Output Signal: 𝑦 𝑡 = 𝑈𝐴 % 𝑠𝑖𝑛 𝜔𝑡 + 𝜙 = 𝑌 % 𝑠𝑖𝑛(𝜔𝑡 + 𝜙)

 Bode Diagram
• The Bode diagram gives a simple Graphical
overview of the Frequency Response for a
given system.
• The Bode Diagram is tool for Analyzing the
Stability properties of the Control System.
• You can find the Bode diagram from
experiments on the physical process or from
the transfer function (the model of the
system).
 Bode Diagram
The Bode diagram gives a simple
Graphical overview of the
Frequency Response for a given
𝜔𝑐
0𝑑𝐵 ∆𝐾
𝐿𝑜𝑔 𝜔 ω [rad/s] system. A Tool for Analyzing the
Stability properties of the Control
System.

With Python you can easily create

Bode diagrams from the Transfer
𝜑 𝜔180
𝐿𝑜𝑔 𝜔 ω [rad/s] function model using the bode()
function
Bode Diagram Example
𝐻 𝑠 =
3
4𝑠 + 1
 Bode Diagram Explained
The 𝑦-scale is in [𝑑𝐵]

Normally, the unit for

Magnitude/ frequency is Hertz [Hz],
Gain Plot but in frequency response
and Bode diagrams we use
Phase Plot radians 𝜔 [𝑟𝑎𝑑/𝑠].

The 𝑦-scale is in [𝑑𝑒𝑔𝑟𝑒𝑒𝑠] The 𝑥-scale is in radians 𝜔 [𝑟𝑎𝑑/𝑠]

The 𝑥-scale is logarithmic
 Conversion Formulas
The 𝑦-scale is in 𝑑𝐵 . So we typically need to use the following formula:

𝑥 𝑑𝐵 = 20𝑙𝑜𝑔CD𝑥

The 𝑦-scale is in [𝑑𝑒𝑔𝑟𝑒𝑒𝑠] The 𝑥-scale should be in radians 𝜔 [𝑟𝑎𝑑/𝑠]

We know that the relationship The relationship between the frequency 𝑓

between radians and degrees are: in 𝐻𝑒𝑟𝑡𝑧 [𝐻𝑧] and the frequency 𝜔 in
radians [𝑟𝑎𝑑/𝑠] is:
2𝜋 𝑟𝑎𝑑 = 360° 𝜔 = 2𝜋𝑓
This gives the following conversion formulas:
180 𝜋
𝑑 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 = 𝑟[𝑟𝑎𝑑𝑖𝑎𝑛𝑠] % 𝑟 𝑟𝑎𝑑𝑖𝑎𝑛𝑠 = 𝑑 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 %
𝜋 180
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Python Examples

Hans-Petter Halvorsen
 Python Examples
2 different Python libraries will be
used:
• SciPy (SciPy.Signal)
–Included with Anaconda Distribution
• The Python Control Systems Library
–You must install it using PIP
https://www.halvorsen.blog

SciPy.signal

Hans-Petter Halvorsen
 SciPy.signal
• The SciPy.signal contains Signal Processing functions
• SciPy is also included with the Anaconda distribution
• If you have installed Python using the Anaconda
distribution, you don’t need to install anything
• https://docs.scipy.org/doc/scipy/reference/signal.html
Basic Example import numpy as np
import scipy.signal as signal
import matplotlib.pyplot as plt
Transfer Function: 3
𝐻 𝑠 =
4𝑠 + 1 num = np.array([3])
den = np.array([4 , 1])

H = signal.TransferFunction(num, den)
Magnitude Plot print ('H(s) =', H)

w, mag, phase = signal.bode(H)

plt.figure()
plt.semilogx(w, mag) # Magnitude Plot
plt.grid()
plt.figure()
plt.semilogx(w, phase) # Phase plot
plt.grid()
Phase Plot plt.show()
 Modified
import numpy as np
import scipy.signal as signal
import matplotlib.pyplot as plt

# Define Transfer Function

num = np.array([3])
den = np.array([4 , 1])
Transfer Function:
3
H = signal.TransferFunction(num, den)
print ('H(s) =', H)
𝐻 𝑠 =
4𝑠 + 1 # Frequencies
w_start = 0.01
w_stop = 10
step = 0.01
N = int ((w_stop-w_start )/step) + 1
w = np.linspace (w_start , w_stop , N)

# Bode Plot
w, mag, phase = signal.bode(H, w)

plt.figure()

plt.subplot (2, 1, 1)
plt.semilogx(w, mag) # Bode Magnitude Plot
plt.title("Bode Plot")
plt.grid(b=None, which='major', axis='both')
plt.grid(b=None, which='minor', axis='both')
plt.ylabel("Magnitude (dB)")

plt.subplot (2, 1, 2)
plt.semilogx(w, phase) # Bode Phase plot
plt.grid(b=None, which='major', axis='both')
plt.grid(b=None, which='minor', axis='both')
plt.ylabel("Phase (deg)")
plt.xlabel("Frequency (rad/sec)")
plt.show()
2.order System
import numpy as np
import scipy.signal as signal
import matplotlib.pyplot as plt

# Define Transfer Function

num = np.array([3])
den = np.array([4 , 5, 6])
Transfer Function
H = signal.TransferFunction(num, den)
print ('H(s) =', H)

3 # Frequencies
𝐻 𝑠 = # w_start = 0.01
4𝑠 + 5𝑠 + 6 w_stop = 10
step = 0.01
N = int ((w_stop-w_start )/step) + 1
w = np.linspace (w_start , w_stop , N)

# Bode Plot
w, mag, phase = signal.bode(H, w)

plt.figure()

plt.subplot (2, 1, 1)
plt.semilogx(w, mag) # Bode Magnitude Plot
plt.title("Bode Plot")
plt.grid(b=None, which='major', axis='both')
plt.grid(b=None, which='minor', axis='both')
plt.ylabel("Magnitude (dB)")

plt.subplot (2, 1, 2)
plt.semilogx(w, phase) # Bode Phase plot
plt.grid(b=None, which='major', axis='both')
plt.grid(b=None, which='minor', axis='both')
plt.ylabel("Phase (deg)")
plt.xlabel("Frequency (rad/sec)")
plt.show()
 Phase Plot and Transfer Functions
𝐾
Integrator: 𝐻 𝑠 = The phase goes to −90°
𝑠
𝐾
1.order System: 𝐻 𝑠 = The phase goes to −90°
𝑇𝑠 + 1

𝐾
2.order System: 𝐻 𝑠 = The phase goes to −180°
(𝑇$ 𝑠 + 1)(𝑇# 𝑠 + 1)

Derivator: 𝐻 𝑠 = 𝐾𝑠 The phase goes to +90°

Zero Part: 𝐻 𝑠 = 𝐾(𝑇𝑠 + 1) The phase goes to +90°

𝐾 = Gain, 𝑇 = Time Constant(s)
Phase Plot and Transfer Functions
Zeros in the Numerator
The phase goes to +90° for each zero

𝑇%$ 𝑠 + 1 𝑇%# 𝑠 + 1 ⋯ 𝑇%& 𝑠 + 1

𝐻 𝑠 =
𝑇'$ 𝑠 + 1 𝑇'# 𝑠 + 1 ⋯ 𝑇'( 𝑠 + 1

The phase goes to −90° for each pole

Poles in the Denominator
 Zeros/Poles
import numpy as np
import scipy.signal as signal
import matplotlib.pyplot as plt

# Define Transfer Function

num1 = np.array([3])
num2 = np.array([2, 1])
num = np.convolve(num1, num2)
Transfer Function: 3(2𝑠 + 1)
𝐻 𝑠 = den1 = np.array([3, 1])

(3𝑠 + 1)(5𝑠 + 1)
den2 = np.array([5, 1])
den = np.convolve(den1, den2)

H = signal.TransferFunction(num, den)
print ('H(s) =', H)

# Frequencies
w_start = 0.01
w_stop = 10
step = 0.01
N = int ((w_stop-w_start )/step) + 1
w = np.linspace (w_start , w_stop , N)

# Bode Plot
w, mag, phase = signal.bode(H, w)

plt.figure()
plt.subplot (2, 1, 1)
plt.semilogx(w, mag) # Bode Magnitude Plot
plt.title("Bode Plot")
plt.grid(b=None, which='major', axis='both')
plt.grid(b=None, which='minor', axis='both')
plt.ylabel("Magnitude (dB)")

plt.subplot (2, 1, 2)
plt.semilogx(w, phase) # Bode Phase plot
plt.grid(b=None, which='major', axis='both')
plt.grid(b=None, which='minor', axis='both')

The phase goes to −90° (There are 1 zero and 2 poles) plt.ylabel("Phase (deg)")
plt.xlabel("Frequency (rad/sec)")
plt.show()
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Python Control
Systems Library
Hans-Petter Halvorsen
Python Control Systems Library
• The Python Control Systems Library (control) is a
Python package that implements basic operations
for analysis and design of feedback control systems.
• Existing MATLAB user? The functions and the
features are very similar to the MATLAB Control
Systems Toolbox.
• Python Control Systems Library Homepage:
https://pypi.org/project/control
• Python Control Systems Library Documentation:
https://python-control.readthedocs.io
 Installation
The Python Control Systems Library
package may be installed using pip:
pip install control

• PIP is a Package Manager for Python

packages/modules.
• You find more information here:
https://pypi.org
• Search for “control“
• The Python Package Index (PyPI) is a
repository of Python packages where
you use PIP in order to install them
 Anaconda Prompt
If you have installed Python with Anaconda Distribution, use the Anaconda Prompt in order
to install it (just search for it using the Search field in Windows).

pip install control

pip list
 Command Prompt - PIP
pip install control

C:\Users\hansha\AppData\Local\Programs\Python\Python37-32\Scripts\pip install control

pip list or “Python37_64“ for Python 64bits

 Basic Example
Transfer Function
3
𝐻 𝑠 = import numpy as np
4𝑠 + 1
import control

num = np.array([3])
den = np.array([4 , 1])

H = control.tf(num , den)
print ('H(s) =', H)

control.bode_plot(H, dB=True)
control.bode_plot()

https://python-control.readthedocs.io
From “Scratch“
import numpy as np
import matplotlib.pyplot as plt
import control

num = np.array([3])
den = np.array([4 , 1])

H = control.tf(num , den)
Transfer Function print ('H(s) =', H)

# Frequencies
3 w_start = 0.01

𝐻 𝑠 = w_stop = 10

4𝑠 + 1
step = 0.01
N = int ((w_stop-w_start )/step) + 1
w = np.linspace (w_start , w_stop , N)

# Get Array of of Magnitudes and Phases

mag , phase_rad , w = control.bode_plot(H, w, dB=True, Plot=False)
In this Example we still use the # Convert to dB
control.bode_plot() function, mag_db = 20 * np.log10(mag)

but we don’t use the function for # Convert to Degrees

phase_deg = phase_rad * 180/np.pi;

plotting. # Plot Bode Plot

plt.figure()

plt.subplot (2, 1, 1)
We make our own Bode plot using the plt.semilogx(w, mag_db)
plt.title("Bode Plot")
# Bode Magnitude Plot

functions in the Matplotlib library plt.grid(b=None, which='major', axis='both')

plt.grid(b=None, which='minor', axis='both')
plt.ylabel("Magnitude (dB)")
plt.subplot (2, 1, 2)
plt.semilogx(w, phase_deg) # Bode Phase plot
plt.grid(b=None, which='major', axis='both')
plt.grid(b=None, which='minor', axis='both')
plt.ylabel("Phase (deg)")
plt.xlabel("Frequency (rad/sec)")
plt.show()
 2.order System
import numpy as np
import control Modified
# Transfer Function
num = np.array([3])
3 den = np.array([4, 5, 6])
Transfer Function: 𝐻 𝑠 =
4𝑠 # + 5𝑠 + 6 H = control.tf(num , den)
print ('H(s) =', H)
import numpy as np
import control # Frequencies
w_start = 0.01
w_stop = 100
num = np.array([3]) step = 0.01
den = np.array([4, 5, 6]) N = int ((w_stop-w_start )/step) + 1
w = np.linspace (w_start , w_stop , N)
H = control.tf(num , den) # Bode Plot
print ('H(s) =', H) control.bode_plot(H, w, dB=True)

control.bode(H, dB=True)

Default
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Filter Design

Hans-Petter Halvorsen
 Lowpass Filter
The Transfer Function for a Low-pass filter is given by:

𝑦(𝑠) 1
𝐻 𝑠 = = Where 𝑇) is the Filter Time Constant
𝑢(𝑠) 𝑇S 𝑠 + 1
Why Lowpass Filter?
• In Measurement systems and Control Systems we typically need to deal with
noise
• Noise is something we typically don’t want
• Lowpass Filters are used to remove noise from the measured signals
• Noise is high-frequency signals
• A Lowpass Filter make sure the low frequencies pass and removes the high
frequencies (the noise)
 Lowpass Filter
Below we see an Ideal Lowpass Filter:
1 1
𝐻 𝑠 = =
Amplitude Gain 𝑇! 𝑠 + 1 1
𝑠+1
𝜔"
0 𝑑𝐵 1
Where 𝜔* is the Bandwidth
(or the cut-off frequency) of
the Lowpass Filter
Frequency
0
Bandwidth 𝜔*

High frequencies (above 𝜔* ) are removed (or reduced)

 Python
import numpy as np
import scipy.signal as signal
import matplotlib.pyplot as plt

# Define Transfer Function

wb = 10 #rad/s
1 1 Tf = 1/wb
𝐻 𝑠 = =
𝑇) 𝑠 + 1 1 num = np.array([1])
𝑠+1 den = np.array([Tf , 1])
𝜔*
H = signal.TransferFunction(num, den)
We set 𝜔* = 10 [rad/s] in this example print ('H(s) =', H)

# Frequencies
w_start = 0.01
w_stop = 100
step = 0.01
N = int ((w_stop-w_start )/step) + 1
w = np.linspace (w_start , w_stop , N)

# Frequency Response Plot

w, mag, phase = signal.bode(H, w)

plt.figure()
plt.semilogx(w, mag)
plt.title("Lowpass Filter")
plt.grid(b=None, which='major', axis='both')
plt.grid(b=None, which='minor', axis='both')
plt.ylabel("Magnitude (dB)")
 Bandwidth
1 1 Bandwidth (or the cut-off frequency)
𝐻 𝑠 = =
𝑇) 𝑠 + 1 1
𝑠+1
𝜔*
We set 𝜔* = 10 [rad/s] in this example

−3𝑑𝐵

𝜔* is also referred to as the −3𝑑𝐵 Bandwidth

 Filters
Low-pass Filter High-pass Filter
1 Frequencies above 1
𝜔# are reduced
Frequencies below
𝜔! are reduced

0 0
𝜔* 𝜔+

Band-pass Filter Band-stop Filter

Frequencies below
1 𝜔! and above 𝜔" 1
are reduced Frequencies
between 𝜔! and
𝜔" are reduced
0 0
𝜔+ 𝜔, 𝜔+ 𝜔,
 Filters
Low-pass Filter High-pass Filter
1 1
1 1 1
𝐻 𝑠 = =
𝑇𝑠 + 1 1 𝑇𝑠 𝜔! 𝑠
𝜔# 𝑠 + 1 𝐻 𝑠 =
𝑇𝑠 + 1
=
1
𝑠+1
𝜔!
0 0
𝜔* 𝜔+

Band-pass Filter Band-stop Filter

1 1

Series
0 0 Parallel
𝜔+ 𝜔, 𝜔+ 𝜔,
High-pass Filter
import numpy as np
import scipy.signal as signal
import matplotlib.pyplot as plt

# Define Transfer Function

wb = 10 #rad/s
Tf = 1/wb
1
𝜔! 𝑠
num = np.array([Tf, 0])
𝑇𝑠 den = np.array([Tf , 1])
𝐻 𝑠 = =
𝑇𝑠 + 1 1
𝑠+1
𝜔! H = signal.TransferFunction(num, den)
print ('H(s) =', H)

# Frequencies
w_start = 0.01
w_stop = 1000
step = 0.01
N = int ((w_stop-w_start )/step) + 1
w = np.linspace (w_start , w_stop , N)

# Frequency Response Plot

w, mag, phase = signal.bode(H, w)

plt.figure()
plt.semilogx(w, mag)
plt.title("Highpass Filter")
plt.grid(b=None, which='major', axis='both')
plt.grid(b=None, which='minor', axis='both')
plt.ylabel("Magnitude (dB)")
Band-pass Filter
import numpy as np
import control
import matplotlib.pyplot as plt

# Low-pass Transfer Function

wl = 0.1 #rad/s
Tfl = 1/wl
num = np.array([1])
den = np.array([Tfl , 1])
HL = control.tf(num, den)

# High-pass Transfer Function

wh = 100 #rad/s
Tfh = 1/wh
num = np.array([Tfh, 0])
den = np.array([Tfh, 1])
HH = control.tf(num, den)

# Band-pass Transfer Function

HBP = control.series(HL, HH)

# Frequencies
w_start = 0.01
w_stop = 1000
step = 0.01
N = int ((w_stop-w_start )/step) + 1
w = np.linspace (w_start , w_stop , N)

# Frequency Response Plot

mag , phase_rad , w = control.bode_plot(HBP, w, dB=True,
Plot=False)

# Convert to dB
mag_db = 20 * np.log10(mag)

plt.figure()
plt.semilogx(w, mag_db)
plt.title("Lowpass Filter")
plt.grid(b=None, which='major', axis='both')
plt.grid(b=None, which='minor', axis='both')
plt.ylabel("Magnitude (dB)")
Band-stop Filter
import numpy as np
import control
import matplotlib.pyplot as plt

# Low-pass Transfer Function

wl = 1 #rad/s
Tfl = 1/wl
num = np.array([1])
den = np.array([Tfl , 1])
HL = control.tf(num, den)

# High-pass Transfer Function

wh = 10 #rad/s
Tfh = 1/wh
num = np.array([Tfh, 0])
den = np.array([Tfh, 1])
HH = control.tf(num, den)

# Band-stop Transfer Function

HBS = control.parallel(HL, HH)

# Frequencies
w_start = 0.01
w_stop = 1000
step = 0.01
N = int ((w_stop-w_start )/step) + 1
w = np.linspace (w_start , w_stop , N)

# Frequency Response Plot

mag , phase_rad , w = control.bode_plot(HBS, w, dB=True,
Plot=False)

# Convert to dB
mag_db = 20 * np.log10(mag)

plt.figure()
plt.semilogx(w, mag_db)
plt.title("Lowpass Filter")
plt.grid(b=None, which='major', axis='both')
plt.grid(b=None, which='minor', axis='both')
plt.ylabel("Magnitude (dB)")
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Frequency Response
Stability Analysis of Control
Systems
Hans-Petter Halvorsen
 Stability Analysis Example
Given the following 𝐾! (𝑇# 𝑠 + 1) 3
Control System: 𝐻" 𝑠 = 𝐻! 𝑠 =
𝑇# 𝑠 4𝑠 + 1
𝑟 𝑒 𝑢 𝑥
Controller Process
−
𝑦S
Filter Sensor
1 1
𝐻% 𝑠 = 𝐻$ 𝑠 =
𝑇% 𝑠 + 1 𝑇$ 𝑠 + 1
In Frequency Response Stability Analysis we use the Loop Transfer Function:

𝐿 𝑠 = 𝐻" (𝑠)𝐻! (𝑠)𝐻$ (𝑠)𝐻% (𝑠)

 Frequency Response Analysis
A dynamic system has one of the following stability properties:
• Asymptotically stable system
• Marginally stable system
• Unstable system

Gain Margin - GM (∆𝐾) and Phase Margin – PM (𝜙) are important

design criteria for analysis of feedback control systems.
• The Gain Margin – GM (Δ𝐾) is how much the loop gain can
increase before the system become unstable.
• The Phase Margin - PM (𝜙) is how much the phase lag function
of the loop can be reduced before the loop becomes unstable.
import numpy as np # The Loop Transfer function
import control L = control.series(Hc, Hp, Hf, Hm)
print ('L(s) =', L)
# Transfer Function Process
K = 3; T = 4 # Bode Diagram with Stability Margins
num_p = np.array ([K]) control.bode(L, dB=True, deg=True, margins=True)
den_p = np.array ([T , 1])
Hp = control.tf(num_p , den_p) # Calculating stability margins and crossover frequencies
print ('Hp(s) =', Hp) gm , pm , w180 , wc = control.margin(L)

# Transfer Function PI Controller # Convert gm to Decibel

Kp = 0.4 gmdb = 20 * np.log10(gm)
Ti = 2
num_c = np.array ([Kp*Ti, Kp]) print("wc =", f'{wc:.2f}', "rad/s")
den_c = np.array ([Ti , 0]) print("w180 =", f'{w180:.2f}', "rad/s")
Hc = control.tf(num_c, den_c)
print ('Hc(s) =', Hc) print("GM =", f'{gm:.2f}')
print("GM =", f'{gmdb:.2f}', "dB")
# Transfer Function Measurement print("PM =", f'{pm:.2f}', "deg")
Tm = 1
num_m = np.array ([1]) # Find when System is Marginally Stable (Kritical Gain -
den_m = np.array ([Tm , 1]) Kc)
Hm = control.tf(num_m , den_m) Kc = Kp*gm
print ('Hm(s) =', Hm) print("Kc =", f'{Kc:.2f}')

# Transfer Function Lowpass Filter

Tf = 1
num_f = np.array ([1])
den_f = np.array ([Tf , 1])
Hf = control.tf(num_f , den_f)
print ('Hf(s) =', Hf)
 Frequency Response Analysis
𝐾- = 0.4
𝑇. = 2𝑠 Gain Margin (GM): Δ𝐾 ≈ 11. 𝑑𝐵

𝜔! and 𝜔#$% are called

𝜔/ ≈ 0.37𝑟𝑎𝑑/𝑠 Crossover Frequencies

wc = 0.37 rad/s
𝜔$01 ≈ 0.77 𝑟𝑎𝑑/𝑠 w180 = 0.77 rad/s
Phase Margin (PM): φ ≈ 30° GM = 3.57
GM = 11.06 dB
𝜔$01 = 0.26𝑟𝑎𝑑/𝑠
As you see we have an Asymptotically Stable System PM = 30.09 deg
Kc = 1.43
The Critical Gain is 𝐾! = 𝐾" × Δ𝐾 = 1.43
Frequency Response Analysis
We have an Asymptotically Stable System when 𝐾/ < 𝐾0
𝜔0 < 𝜔123

We have a Marginally Stable System when 𝐾/ = 𝐾0

𝜔0 = 𝜔123

We have an Unstable System when 𝐾/ > 𝐾0

𝜔0 > 𝜔123
 Additional Python Resources

https://www.halvorsen.blog/documents/programming/python/
Hans-Petter Halvorsen
University of South-Eastern Norway
www.usn.no

E-mail: [email protected]
Web: https://www.halvorsen.blog