FREQUENCY DOMAIN NINOS Pgyction BO os ystem vt st Margin 60 introduction : In control system frequency domain refers to the analysis of mathematical function or als with respect to frequency, rather than time. A time domain graph inditaies how oral changes overtime, whereas a frequency domain graph shows how signal les wwihin each given frequency band over a range of frequencies, ‘fequency domain representation can also include information onthe phase shift that must be applied to each wave in order to be able to recombine the frequency components torecover the signal time signal. One of the main reason for using frequency domain relationship of a problem it is to sinplfy the mathematical analysis. The real world application system are converted into mathematical system in terms of differential equation which will be much easier to solve. ih) tn addition system behavior can be characterized by varying inputs like bandwidth, e frequency, response, gain, poles, zero's etc. ||. 64 Relationship between time and frequency response! a ‘Weknow that the frequency of a wave in inversely proportional tothe time period ofthe HE wave, : A) Matematicaly , 1 & fox a { T a where, f= frequency (Herz) T=Time period (See.)frequency domain are two different terms assog;, ated of, ten Time domain and sand systems. Seine domain, @ signal can be seen as a combination of man "ag, smmputses. And the plot ofa signal at any instant represents amplitude gp cued a in frequency domains & signal is suppose t© composed of man the signa Si frequencies and amplitude, ure to get he pot in Fequency domain, . the signal by some ‘mathematical tools like Fourier systems and F; in. We first dit sae pttade ofeach sinusoidal with an arbitrary fren? trang ‘qeney iy A 1 re plot represent H te mathematical 2, Found by using accural 2. Found by less accurate m, < athemany tial Mog model 3, Root focus, Routh Hurwit ‘sed for stability analysis. 7. Performance paramater depends on tz criteria are} 3. Bode plots, polar plot, ts, used for stability analysig Yt pg 4. Performance parameter de ; o Encirelement of-I4j0nen @ Poles - zero's location e Rise time, peak time, setting time, delay] ¢ Bandwidth , Gain GHG) 0 time, natural and damped frequency gain crossover frequen . frequency, resonant frege a 6.2 Polar plot! Plotting the variations of magnitude and phase angle v/s input freq uency jg determine frequency response. These plots are known as magnitude plot Bove suggested fore logarithmic variation offequeny.n po and the phase of "G(jo) HGw)" is plotted against the phase angle of G(jo) HGo) vir Magni Magnitude , M = [GGo) HGa)) S vale Phase, $= ZG(jo) Ho) Itcan be calculated the value of magnitude (M) and ph ofa" from "0 to", (M) and phase angle (4) by varying they For every change in value of “wo” corresponding value of "M" and" ” plotted on a graph as below : ponding value of "MM" and” are tabulatedlar graph can be plotted in graph as x., _900d is as below Figure 6.1 below. ws Peig rel ens snd ina Far ean describe asilo ‘olar Fsponding phase angl i rates" constructing polar plot gt “anive the open Toop transfer function in the form of G(s) H(6) step! : peploce "S" DY "jo" in the open loop transfer function. se * te the expression for magnitude and phase angle of Gia) HGa). "ind the value of magnitude and phase angle by varying the value of w from O(zero) t0. 2. {Note ? Polar plot starts at @ = 0 and ends at « = co} 51 Plot the value of magnitude with corresponding phase angles for different values of "a". sip 6: Check whether the polar plot intersects the imaginary axis by making real axis, by making the imaginary term of G(j@) H(jo) equal to zero and find the value of %@". suep7: Check whether the polar plot intersects the imaginary axis by making the real term of G(j@) HGa) equal to zero and find value of "a", sep 4! stepIllustrations F, forthe ope Joop transfer functi Ty od ction for Typ i io ol 1 where Tis # const nt _— ° “on , aces BY je got BoP i ceP jo)= f (oR) TTo satwae M=[0(50) Lo) = : wae VitoT sie ™ ~() p=IG io) ; wa(2) tan oT pascalExample 2: Obtain polar plot for open loop transfer fy G(s) H(s) wa ction for Atpeg 7 4 tm, Solution Step 1: Replace 's' by "jo" S66 GTS Step 2: Magnitude, M =|G(jo) H(jo)| = ! ovisaa? tan"! Step 3: Phaseangle,¢ =| eum tan'| Je tan 2 1 Ona 90+ tan (eT) $=0° -90° ~tan oT Since open loop pole are present in denominator, magnity “eo =O" and "op =e0". » Magnitude ‘o = 0" and "w = oo", But we can find th ann © values of Phase angie. P®foung a feet = 0(angle - 90°) atw=0—> = 0(angle-180°) ~. Rotation of plot=-180° —(-90") =-90° 90° 180° 90° clockwise directionyi (0) "7+ Te) ot elt) Goh OT) on 1 ain -[6Ue)HGell= ovieTar git «(i seared = JG (jo) Hla) = ) Tahal) a eo (5 Jaw (@)s w(F 0 T: —— — 90° +90° + tan" (oT) [p= 0° -180° - tan"! o® | an loop poles are present in denominator maj se vo : ‘identify Phe values of phase angle at "« = 0" mites a ‘eon aoe oo(-180°) a 20: . senetnt7) sation pote 27 ~(-180") Re =-90° 2 i 70° Imaginary axis 90° clockwiseExample 4: Obtain polar plot for 6(s)8()- a open loop transfer function, Solution | Step 1: Replace's'by ‘jo’ G(io)H(i0)=F— Step 2: Magnitude, M =|G(jo)H (ja) a (a (6) o 90° o=-90° ° wae) Step 3: Phaseangle, 6=|G (jo) H (jo) = an tan” For various value of ‘a! it can be plotted as, Polar plot : 0° Real axisjot for open loop transfer function, fie W a pe" 2 2 , s) ee?) (Pee. 2005390. 2010, nelly 2047 _popieee's PF *, a yaGe)* GoyGio Dlie*?) ali® ude, =|6(0) (io) = : sep ?* nitude 90) tel ofr) [dera) : tan? op 3? -lo(i jo)= () proseanate d= GLO) HGe we swim §=-90° - tan"'o- tan” (3) = 270° -(-90°) =-180° clockwise -Rotaiton of plot Jo find intersection, rationalise the given equation, . 5(-jo)(1~jo)(2~ ja) jo) (JO) =§ (ja) H(4) =F Fay(1+ jo)(0—j0)(2+ ja)(OFo) _5(-ja)[2-2jo-jo+ fa") ~~ al(1+0")(4+0") _5(-ie)[2-330-0"] © of (l+a*)(440°)_-10jo-150"-5ja” ~o(lre')(4r0") seo) i -150* S(jo)(2-0? 6(i0) 89)“ aera) Tor aay ae Substitutingimaginary factor as zero in above equation 5(jo)(2-«") o (1+0*)(4+0) 2-aF =0 w= o= VW) Substituting real part as zero -150" a'(I+0°)(4+07) alsow= V2 -15 (12)(442) ‘Therefore polar plot can be draws as 0.833 FO Imaginary axis 180° clockwise rotation Example 6: ‘Sketch the polar plot for the unity feedback closed loop transfer funetio 6()=-1* ° (10+s)PD = T0158) sit? © gli) (roe) 1 ide 16 Gol Fone Moe 270 Imaginary axis <2 O50, Real axis clockwise rotation 50°6.3 Nyquist plot: plot isan alternative way of representing the frequen, ANyquist 7 . di . Ituses cartesian co-ordinates in two dimensions where y-axis rep, Ponge, and x-axis represents real axis. resents th hata, ing ist plot are the continuation of polar plot for fin, in ‘Also Nya the values of 'o' from " to o>? getan Section Al ‘Starting point Terminating point keetion BC: S= *j010S=—J0 Gr@2+0 ¢=—180" too = +180" tation of angle,+180°~(—180" )= +360° (Anticlockwis ) ise Section CD : $=~j0 10 S=-jo ‘Also it is mirror of section AB Section DA : Not required Step 5: Rationalising, the given equation (4j0+1)(1- jo)(1-2jo) G(jo)H(1)= 37+ jo)(1- j@)(1+2}0)(1—2j0) (4jo+1)[1-3i0-20" ] ~o'(1+0°) (1+ 40") _ (1100) + jo(!-80") =o (1+ 0*)(1+ 40") Equatingimaginary part as zero (1-807) 1-80" =0 god 8 =0.3535 rad/sis encircled twic ¢ in antic roots in right half pesinect “hee nce N=2, cal point ste? so the ee system is unstal (2), N= 0. Hence the sy bl 4 le, critical ta ane comples m3 : yyquist plot for a unity feedbs ac] ae nsfer fonction is G(s)H(s) na aaa (e+ sweet #1" wich the system is stable i aia son k ‘ sol! 79040) Gls)" +25+2) pela’ BY" ie Ge) #09)" F(a +2042) jo(- +2jo+2) a idee Pe] step 1 No open loop is loo present in right hand side of seplane step 2 : For stability, N= -P= 'yquist plot shoul i : ; P=0 lot ie., Nyquist plot should. not encircle’ 140° poi point,Step 3 : Nyquist path can be plot as Step 4: MognitudesM =[G (jo) (ja) = : (3) Phaseplot,$=|G(jo)H (jo a wn(5 a (2) 2 aaa =0-90°tan”{ 2 ‘ (25 Section AB : s = +j20 tos=si0 lose [eae [o> 70 | = ~90° Rotation of angle = -90°— a =r) = +180° Anticlockwise Section BC: s = 4j0 to s=-j0 at [o>+0 [¢=~90 a__lo>-0 |o=90° Rotation of angle = +90° - C50) = +180° Anticlockwise| on AB for tice Loop stability oo: ae a et equation 0)[(2- o)-20] shown below -270° 6 nyquist plot is asstep 7: Forstailty N=0 Le. -L4f0 must be on e le ie, |OQ)<1 Ae ic,k<4 4 Hence range of k can be given a8 OS K <4 for stab Stability gg, Nitig n, ie. 6.4 Bode plots Generally, the frequency response analysis of a cont magnitude (M) and phase angle () against the input fy Ol system, phase angle of the system can be plotted on a lineat scat, ueney ‘ot is fora lager band gn pS the Ma Wien Epa geting But when the input frequency thenitis quite dificult to plot the variations of magnitude ane) on ® vane and ‘ari Ale, OM py Wade Bode (H.W. Bode) suggested the method in which in decibels and phase angle in degreces is plotted agains logarithje Heng such plots are called as "Logarithmic plots" or "Bode logarithm, tes tgs? range of Variations in frequency. Plots", Which Values op Alloyye th 5 ty Plo Bode plots consists of two parts, 1. Magnitude plot (M): The magnitude of GGa)H ( ; : H Gun i against the logarithmic values of frequency, i Se) 'S &XPressed in Magnitude in decibels, M = 20log,,|G (Ge) HGo)| aB, of magnitude “Sit, . 'S deca 2. Phase plot (8): The phase angle in degrees is plotted apa; sb of frequency. 4 against the 1, : CBarith Mic. va <. Phase angle, 6 = 2G(iwo) H(ja) My Note: Logarithmic scale or semi-log paper To sketch magnitude (M) in decibels ignitude ( and phasi fequency (o) te logarithmic scale is used, Because ® ansle (4) ind divided int a logarithmic seale which is non-linear crate Semlog shea he linear scale. Sand Yaxis is di ‘i at a vided nt . In xxi, the distance between the fst value and the = "Decade". This is because Log.gl = 0 and Log,,10 = 1, The di tenth value ig is divided into 10 parts based on the logarithmic scale. stance is 1 decage,* 7 “© Whish|ee pode plots using Galn Margin (GM) ana pp, LAS ich consists of both magnitude and phase p ¢ Margin (PM) ase ploy, + Plotted against 10 $0 1000 = 1000 180° ic : Figure 6.2. Typical Bode Plot GM = Gain margin GCF = Gain crossover frequency pM = Phase margin PCF = Phase crossover frequency ws i between the O(zero) decible line and the jffere! it Ho see i ase sore ot magnitude (Gu) Hin deca a me (Gat) in magnitude plot IF guin margin is below decibels i i alle low decibels line is called ot pari ‘ibels Ii Mars! gin and above 0-decibels line is called negative gain margi in, jive eney (GCF): ° ot which the resultant magnitude plot |GQGja) H(j point at * de plot |G(ja) HGu) int aes tines is known as gain cross over point and camespentan frequents he Zeal) gneve? frequency (©,.) ee ross fF margin (PM): js the difference between the -180° line and the point at which gait sequent intersects the phese angle (4) curve is known as phase oe Suc lot.ase cross-over frequency (PCF): Phi The point at which the phase angle plot crosses 180° crossover point and corresponding frequency is called as phage orate ling ; ‘The requirements of: stability in Bode plot are Over fy dep” by # The magnitude plot {G(ja) HG) should be very close ty iy we «The phase angle plot 24, should be around of 180 op, ibe, ie, 6.4.2 Terms used in Bode plat for open loop transfer functi, Consider a open loop transfer function in standard time co, a K(1+sT,)(1+sT,) ie, SH)" St panyaest). (@+2asralj Where, K is the constant gain of the system nis the type of system Ty Ty ToT are time constant of different po Oles an, The above time Gominant system can be converted into fr 2 et0, 'S! by ‘ja’, then eWMency don Os, nan St2Dt fom, K(1+T,jo)(1+T, jo) ™ (jo) (14 7,j0)(1+ Tio) fis 2( 2) joy ®, , ‘Thus the above equation gives information about differen; fato function they are: TS Of open — 1. Constant system gain (K). 2. Poles or Zero's at origin (s"*) 3. Poles or Zero's on real axis (1 + sT)* 4, Complex conjugate Pole's or Zero's (s+ 25, + «@?) where ‘+ indicates presence of 'poles' and ‘~" indicates the presence of ‘nero. s', 1. Constant system gain (K); This term indicates that magnitude ig ; frequency. It is a complex number with zero imaginary part, 1S independen Let, G(s) H(s)=K Replace's' by ‘jo’ G(ja) Hj) = K +j0 - Magnitude [G(jo)H(jo)| = fk? +(jo)' =Kis given by ne toe wail oo ; ‘a Ae gid lt or conan factor is a horizontal line parallel to oi ae of 2010810 ysl dist ait f al Imaginary P: } ' yew Real part ingle « fH 0° when K is positive and th ephase angle value is 180° when angles eps & = y eS s v gt by "IO" "8 pel oit8)° 1 0+(ja) in decibels is given by, jitude in deci! ‘then a8 1 (io) 9a able a8 =20log,,(0") el- Magnitude |e (jo) Go| = =-201og,,0 snagnitude for poles oF zeros at origin in general is given by ‘Thea iM 200g, 04} punt slope ofthe magnitude plot for poles or eos at origin is given by "za20" Tl 1405. also, (50) BG@)= 955,~() “i 0° 908 Then, phase angle, ¢= b= -907 Tn general the phase ange for poles o eras at org is Biven ag [p= 2n90" 3. Poles or Zero's at real axis (1 + sT); 1 Let, G(s) H(s) = Test Replace's’ by ‘ja! 5) H(i; 1 av =—afI Go) HGo) =e = (1+ jor) + Magnitude, |GGo) HGa)] =(/+Gen y “(ray Then magnitude in decibels is given by, (Glo) Ho), =-20108,(Ji+(oT} Ja ‘Therefore the magnitude of poles or zero's on real axis is given by, M= £n20I0g,(1+(oT)')aB| Phase angle, 6 = tan-!{ Zmaginary part tw (CO Real part 1 oele of poles or 2270's on real axis is given b Ys ™ or Zero's (S* + 28,5 + wi): wit ‘ pane & tiesrel #) eoy iO # (or +280, (jo)S+02)" ery foetal] _ Megnimdl> [GGo) HG)! / 1 (2) (ey } tude in decibels is given by ce a? 409) yen 00 ja) GONE cee (2) h{a(2)) | wel gortow values of frequency 0, ‘Je[a(S (2) Since & is very low then it can beneplecteg, Also, ~20 log,,1 = 0 Then the equation for magnitude j 8 Given ag [e) HC =a, (2) eo, , On, ( 2) Therefore the magnitude oFeomplex conjugate ot -1{ Imaginary Part Phase angle, § = tan (Se) (a) les op Zero, aon vd eins,“o (3) Bol op ur = WH (2 + 8 “O97 + 8) (10) + 1h'010zuF = W e(LS+1) Zo] OcUF = W oS aa- = AH OBI =H x0 Dat HAND =O 3°80] 0Z = WL 6.4.3 Procedure to construct bode plot : ‘Arrange open loop transfer function in time ¢o, Step 1 Step 2: Replace "s" by "jo". stant form; Step 3: Calculate comer frequency of each factor ay Step 4: Arrange comer frequency in increasing order, a) Step 3: Draw straight lines with proper slopes between . Step 6: Phase angle curve is obtained by plotting the an Comer fre Caleulate at various frequencies phase ayte® °F Open jes exceeds -180°. Ble showy eg tea, Step 7: To find gain Margin (GM) : Caley Draw a vertical line from phase cross-over ff : ‘ magnitude plot. Measure the value from the WaRteY at som, ] gain margin. © From zorg 1° Poiny GM =-(X) 4B. deci eg, Step 8 : To find phase margin (GM) : Mag M4 From the gain cross-over frequency draw a vertical ling the phase plot. Measure that value from ~180° line and find 9 dat some). nese the plot above -180° line then read the value ag "ree HS Mary th Step 9 : For system to be stable both GM and PM must b Phase mari PM) pM, then system is unstable. ie Illustrations 8 Example 9: ‘hy Determine the Generalised equation of Magnitude for the open loop transfer function given by <)H(s)= K(1+sT) G(5)H(5) s(s' +2&0,s+ 03) OD and phase ang "Stat, Solution K(1+sT) Given: G(s)H(s, (al s(s?+2Ea,s +03) Step 1: Convert time dominant equation into fre : 's' by jo" ment dominate AUation byrne . ap G(jo)H( _—_Kllsjot) (i0)((io) +2E@, (jo) +07) K(1+joT)jagnitude (Mp equation. on pnd a applying rot to equation 1, st sq et set Kji+(oT) ue [UBT To) sae 2) oe f(-(2} } e(2)] mi gaitude in decibels apply logarithm then qofnd , (GC) yH(ja),.=2!80] (/ 7 ayy oy) agai f{i-(2) } +#(2] =201og;9K + 201084 (fl+(aT))-20108,,0 0 20 "y a [{2)) + (2) . a ®, ()«! and if, is less than 1 then, el yoreole= 201081) K-20108,90+ 20log9( t+ (aT) }- 200g (2 i jtude in dB, = 7 gritade in GB, M = 20l0g,. K ~20og,, 0+ 20log,, 1+ (oT) ~ 40 og, (2) of — ©, ‘since Develop phase angle () equation step 3 Phase angle, = wn"( RealpartTherefore using equation phase angle canbe given Example 10: Theopenloaptransferfunctionofasystemis given a ¥ S(s)yy Draw Bode diagram. Find Gain cross - over (8) frequency (PCF), Gain margin (GM), Phase mare meine lency Ger, EN ‘ Solution ™D-Fings2, oe i Step 1: Convert the given equation into time constant form may 10x10(1+0.1s) G(s)H(s)= 521+ 058) x5%(1+ 025) 10(1+0.1s) G(S)H(8)= S75 0.55) 025) Step 2: Convert the time constant equation into s frequen replacing 's' by jo" "Y dominant 10(1+0.1ja) (jo)(1+-0.5j)(1+ 0.2ja) G(jo) AG Step 3: Find comer frequency (5) WKT, Oe =F Factor CF 10 Nil (i0)" (140.1j) Oe == (1+05j0) Og = (14+02jo) — @ce=(10)-20o8(0)-20!08 d{i+ (0.50) yoy! +(0.50)" ~20log,,y1+(0.20) Mz 20l0B {201g 1-+(0-10)"From above graph determine the value of Gain crossover frei = quency (GC. crossover frequency (PCF) F) 20d Pha_8) dB/decade Gwe 8 dBidecade PCF = 5.9 rad/sec. prs gin, PM = 18° sc nai gi ‘ tit . me since poth Gain margin and Phase margin are positive, the system is said to nen com ; tll ye 14 Margin, Phase margin, Gai .sP ¢ Gain Margin, ‘gin, Gain cross over fr SF peter aot frequency by using bode plot for the system below requency, Phase r 0850" 10 ee rrr (a) )* sf 055)(1+ 045) (GunedSuly 2013) io" |. Convert the time constant equation into fr * ototietep CONE equency dominant equati s nacil vs’ by 'j0 -quation by G(6)#G9) Gayl O5}e)(1+0-50) 2: Find comer frequency (We,) ap Factor cE 10 Nil (ey Nil att 140.5jo)) —= (1+05jo)" | 7 g=2md/s att (1+0.1j0) ’ Ooms Step 3+ Arranging CF in increasing order : Factor. |) CF (rad/s), Magnitide™ | UPhave | (6B) © |. angle 10 Nil oe cee oy" Nil 20 log, (10) 0 (aegre (140.53ay" |2 20 log, (0) a -20)og, fi +(050F° (40.1joy' }10 20 a ; 200g, 1+ (0.40) (2)Step 4: Magnitude (M): M=2010g; 10~2010g,,09- 20108, Yi +(0.5ca)* Step 5: Find Phase angle (4) : g-0-90 (232) an Out we)rain (GM) and Phase margin (PI) w (rad’/sec) —>T——_. Gain ma above graph determine the value of Gain Crossover freque, ee anacten a Sooes quency (GCF) and gcr=3.2 mdlsee. "Gain margin, GM = ~(X) dB/decade * GM =~(-6) dB/decade |GM = 6dB/decade| phase crossover frequency, PCF = 4.6 rad/seo, Phase margin, [PM =16°] Comment: Since both gain ‘margin and nt phase margin are Positive, the system is said to be stable.Example 12: Solution Construct Bode suyee for the given transfer function G(s)H(*)= Tan sie) Comment on the “Abin, », of "k" so that the gain margin Is 20 decibels, ng the given equati Step J : Rearrange the given equation into time Constant fom , G(s}H(5)= ——_—s = 10(1+0. wrens) vet Assume constant, = T6000 then the above equation becomes G(s)H(s)= 16 7 5 104015) 1+ toe Step 2: Convert the time constant equation into f; replacing! by So! IY doin 1 yy G( ju) H(jo)=—— ( 7 (jo) (1+ 0.150) ie a 1 vontons[ie2arcg-(B)) G{ jo) B{jo) = Step 3 + Find Comer frequency : Factor CF(rad/s) 1 Nil (joy Nil (140.1joy" af jy a7” (re2voel 2 (ay) y= 0, = 40 w,Gp 6 Phase ane): (010). geo" (22ao(deg)-240°, 270°! From the above graph, determine the value of gaj and phase cross over frequency (PCF) Bain crossoye, fe ue, GCF = 10.5 rad/sec. (Cy) +. Gain margin, GM = ~(X) dB/decade GM=~(-16) dB/decade GM =16 dB/decade| .. Phase crossover frequency, PCF = 24 rad/see, ~. Phase margin, [PM = 38°|sath gan margin and phase margin are positive, the system ssid sample 33? x sketch the bode plot for SOO =a Find k for the Gain margin of 10 deeibles. lution . a Step 1 ¢ Re-arrange the given equation into time constant form 50k sx 10(1+0.1s)6(1+0.16s)(1+s) 5k 65(1+0.1s)(1+0.16s)(I+s) G(s)H(s)= Replace Bay =I 1 SU)H()= Sarai areeyies)Conyers tie Sime camitatl CHAE In Frozen, fil a posi ‘by il ajay (ir) Polini 0.49) pep 36 Pind corner, frequency Pactot oF J nit Nil ony 1d (180.50) 7 agi tonal aw Ora ls (140.16) ' #¢ ' (1s 30)" aqriedss sep Arrange corner freuen 0 Iercaslay onder Gin fi, isi" Step 5+ Mind. Magnitude (M) ¢ M20 (1) 200 20 ou, Ih +e! ~ 20 of (0, V6un) 40 Woy. fo. @ | Magnitude | "on stag , (rad./ace.) Midnymargin (GM) and Phase margin (PM) 9) —————_ on (rallye) a1 (deg) 271 00"From the above graph, determine the value o and phase eross over frequency (PCR) Gain crossover frequency, GCF = 1.1 rad/seg <. Gain margin, GM = ~(X) dB/decade GM =~(-12) dB/decade IGM =12 dB/decade| . Phase crossover frequeney, PCF *. Phase margin, Step 8: To find "K" for Gain margin at 20 dB, 20log,,K' = (12 - 10) log,,K' = 0.1 Taking anti logarithm, K!=10" Sy a1.258 6 = 1.9 radiseo, [K = 1.51) Comment: Since both gain margin and phase margi to be stable. SO AEE Positive ty 4 i, Example 14: aT Unity feedback system has G(s)=——Ke** s(t +8)(1¥0i5) dray boa determine the value of k, ifthe Gain cross over frequen, lag Ic YAS rade Solution sa, Step 1: Rearrange the given equation ) 01s of ke s(i+s)(1+ 0.18) putk=1 as o()-—2# © s(1+s)(1+0.1s)¢ time constan t equation into frequency dominant equation by 1 (143) I 1 (140.130) 10 4: Arrange corner frequency in increasing order tep ** — a . eae eee | coe a (endis) | (aB/decade) — nil [0 L wi [0 0 0 — Ko 79 2 2008, 0 oe 20 40 | joo | , log. Vi+ar ~=(2) rer [10 | 20 ~60 (0.jey ~2logyyl+(0.00)° w(t —_| Le step 5 : Find Magnitude (0) M=20l0g,1+0~ 201090 20!og Visa ~20h, ors (Bay? @(radisec), || “Magnitude M(B), | ota Ol 70 1 0 10 40 a Step 6 : Find phase angle (6) -0-(973%0.0)-90-t" (2) an)aes Determine Gain margin (GM) and Phase margin cys Step 7: Peter ta lradlece) adn (ayy From the above graph, determine the value of gain crossoy, 3 and phase eross over frequency (PCF) rfrequeney(ggpow pnt greoqurttoy, OF = I redisec, Ge a GM= Ah) dBideade 1 Pg 2-14) aBldecede aha aj decade, pase OF frequency. PCF = D2 radlsec. pase oars ELE Bi , 70 find, gain crossover frequency at S rad/sec. fo find 22" crossover frequency at 5 rad/sec., then ‘ then the magni Toy eis 25 ine y oe in ihe mapinds is tbe Gain margin = 28 then, 200g, 6 = 26 toe k= 14 ‘faking ami logarithm comment: Since both gain mar ; je said 10 be stable, in and phase margin both are posi Positive, the system 6 dB ample 15+ sketch Bode Plot For G(s)H(s)= 0 sssover frequency. s(i404s)(14 05) 74 obtain gain and ph pl ution: (June /Jaly a019) Given, a(s)3(s)>= > —_ s(1+0.4s)(1+0.1s) Step 1: Convert the time 1: Convert constant equation i acing’ By equation into fire " requency dominant equati equation by 10 G(jo)H(jo)=-——_>__ Jo)A(jo) (jo)(1+04j0)(+ 0.170)Step 2: Find corner frequency of the system Factor Corner Frequency ey (rads 10 Nil (oy Nil (140.4 jo)" 25 rad / sec .1 joy" cas) gy 7l0 rad / see Step 3: Arrange comer frequency in increasing order, Corner Slope | Net Slope Factor | Frequency | (ap/decade) | (dB/decade) Magnitu de {rad/sec) (ny) (dB) (404 joy"} 2. a a (1+0.1 joy" 10 -20 Step 4: Find Magnitude (M) M=20 ogy, 10-20 log. (0)- 20 oe. (04a)? ~ Slog. Vis gt "+ (01g) Wiad Magnitude (M) decibles Ol 39.98 2.5 ~5.43 10 30.63 a Step 5: Find phase angle (3) orn em-150* -180% 2104 240" o(dce) -2704 oradisec | 4 (degree) 25 =149.03° 3 =180° 10 =210.96° [20 | —236a1- 30 -255.83° 100 262.86" (PM) 300" From the above Graph gain margin (GM) and phase margin (PM) can be found.Gain Cross over frequency, GCF = 3rad/see - Gain Margin, GM = -(X) decibles =-(-13) GM =13 decibles Phase crossover frequency, PCF = Srad/sec . Phase margin, [PM = 24°| Comments Since both gain margin and phase margi Bin is stable. both a Posi Ve, Example 16: ty, Draw the Bode plot for the following transfer Funct) 105 On aN dete ssrien mn OMOEA SORTESTI ayy Sy ution: Solution: th Step 1; Convert the given system into time constant form 105 S(s)H(s)= Tea Tsay 255)(1F Os) 6.5625 -5s)(1+1.255)(I-+ 0.18) G(s)H(s Step 2: Convert the time constant equation into frequen, replacing’ by ‘jo" °Y dominant “g, 6.5625 (15}0)(1+1.25jo)(1+0.1ja) G(jo)H(j(+57 _— 4125 joy" _— (40.1 jo)" Step 5: Find Magnitude (M) M=20log,,(6.5625)~2010g,, f+ (50° ~ 2g fi (1.250) 2010, 71d phase angle (4) Step 7: Find Gain Margin (6M) and Ph ‘@ (rad/sec) a Mersin ig otdee) 2168 240" oteGain Margin (GM) and Phase Margin (PM) canbe found a ind, ne ene = = 0,34 radi/see ' co rae ve GM = -(X) decibels “nn (64) IGM = 64 decibels| ven requenes, PCF = 3:3 ree A 100 nt sot forte system having @(8)1(8) = 7 Oo o s(s+1)(5#2) 4@ Gain margin fin iy Phase margin ay Gain crossover frequency i) Phase crossover frequency (Dee. 2018 / Jan. 2019) olution 100 Givens a(s)HU)= Fea ny(6+2) step! = Convert the given system into time constant form 100 ol) GR JEFOS) so s(J+s)(1+0.5s) G(s)H(s Step 2: Convert the time constant equation into fr os frequency dominant equation by replacing 's by jo’ G(jo)HI (io) Gs faysT)Step 3 Fin the corner fremency of the system fact ner Frequen “50 Gey! (tio) 1 T=! Gad/see) (+05 jay" 1 (aasee) 5 irrange corner frequency in increasin order, Gey" (tjoy" (140.5 joy" Step 5: Find Magnitude (M) M= 20log,,(50) ~ 20log,,0-20log,, v1+0* ~ 20log,, 050)" 10 54.40 Step 6: Find phase angle (4) sonar (3) a(t—123.11° —150.46° =161.56° =198.34° =236.88° -252.97° rind Gain margin and phase margin gen BOP ep (radlsee) 4Gai margin, Phase crossover frequency, PCF = 1.4 rad/see Phase margin, |PM = 28°| Comment: Since the value of gnin margin is ~16 decibels, the syst, Mis Sab ke FoGain margin, Phase crossover frequency, PCF = 1.4 rad/sec Phase margin, Comments Since the value of gain margin is -16 decibels, th mine S¥stey From the above graph gain margin and phase margin ¢. Gain cross over frequency, PM = 28°| GCF =2.4 rad /so¢ 8° foun GM =~ (X) decibieg ‘ GM =~(16) IGM 6 decibels "aby,EW QUE oa 0.1258) (“erat O) d determine, . . paw pole plot ork so that the Gain margin of the system is 32 dB. o- THe aye Oc go thatthe Phast margin of the system is 6°. (Mayiune 2010) vi ° - mn plot forthe following system aw is+5) (Dec. 2012) polar plot of transfer function sketd 3. a G(s) 48) (145s)(1+ 105) oonesiy 209 sketch polar plot for the transfer function — oe s+) (Dec.2014/Jan. 2015) +n polar plot for the transfer function. 5, _ Sketch polar Fl OCEANA 99 6, For the S(S)= Gas) 0255) $45 )(1+ 0.255) ° estimate the value of phase and gain margin using bode plot. (June/July 2012) = Draw bode plot and find k. 2 a. Avmity feedback system has G(s)= ks (Troa)( on) DW bode plot. Find k when gain cross over frequency is 5 rad/s. Sketch bode plot for the following transfer function and determine the phase margin and gain margin. ob)=z 2010, Construct Bode plot for feedback control system Gus. 1 0 SSF ogress y {Also determine the gain margin and phase margin commong Ney j ) OF Stab a y Apply Nyquist stability criteria for the system with transfer fine in 4s+1 Netig, 4 ———andascentain itsst: mn 0 G(s)H(s)= any itsstability ly for the open | Pee. 2014, Plot the Nyquist digam for the open loop transfer function, Jena yy G(s)H(s)= ery eminent sab, De . (Deg, 2017/5 Sketch the Nyquist plot for 25 ! oH) =e Determine the stability of system. Gune/ty, Analyse the Nyquist plot forthe system whose open loop transfer fu : Metion G(s)H(3)= ut am +2)(s-+10) Determine the range of k for which the closed loop system is stable oo00