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EEE 102 Control 07

Lecture 7 covers frequency domain analysis in linear systems, focusing on frequency response, Bode plots, cut-off frequency, gain and phase margins, and Nyquist stability criteria. Key concepts include the steady-state response to sinusoidal inputs, the significance of gain crossover and phase crossover frequencies, and the conditions for stability in feedback systems. The lecture also emphasizes the importance of understanding system behavior through graphical representations like Bode and Nyquist plots.

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5 views16 pages

EEE 102 Control 07

Lecture 7 covers frequency domain analysis in linear systems, focusing on frequency response, Bode plots, cut-off frequency, gain and phase margins, and Nyquist stability criteria. Key concepts include the steady-state response to sinusoidal inputs, the significance of gain crossover and phase crossover frequencies, and the conditions for stability in feedback systems. The lecture also emphasizes the importance of understanding system behavior through graphical representations like Bode and Nyquist plots.

Uploaded by

gloryjsingh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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EEE-102

Linear Systems and Control


EED, IITR
Dr. Sohom Chakrabarty

Lecture 7 – Frequency Domain Analysis


Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25
Frequency Response
𝐴 sin 𝜔0 𝑡 Y(s)
𝐺(𝑠)

• Frequency response is studied only in case of sinusoidal inputs.


• We are concerned with the steady-state response in this case and not the transient.
Thereby 𝐺 𝑠 can be replaced by 𝐺 𝑗𝜔 in further study.

• 𝐺 𝑗𝜔 = 𝐺 𝑗𝜔 ∠𝐺(𝑗𝜔) represents a phasor quantity that can be evaluated at any


particular frequency 𝜔.

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Frequency Response
Let 𝑟(𝑡) = 𝐴 sin 𝜔0 𝑡.

At 𝜔 = 𝜔0 ,
𝐺 𝑗𝜔0 = 𝐺 𝑗𝜔0 ∠𝐺 𝑗𝜔0

𝑦 𝑡 = 𝐴 𝐺 𝑗𝜔0 sin 𝜔0 𝑡 + ∠𝐺 𝑗𝜔0

• Output is also a sinusoid of same frequency but phase shifted by ∠𝐺 𝑗𝜔0 and
amplitude modulated by 𝐺 𝑗𝜔0 .

• It is helpful to know the magnitude and phase generated by the system transfer
function at the various frequencies 𝜔.
Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25
Bode Plot
It is the plot of the magnitude 𝐺 𝑗𝜔 and phase ∠𝐺(𝑗𝜔) of the OLTF 𝐺 𝑗𝜔 for
various frequencies 𝜔.

The magnitude is given in dB as


𝑀 = 20 log 𝐺 𝑗𝜔

The phase angle is given in degrees as


𝜙 = ∠𝐺(𝑗𝜔)

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Example Bode Plots
https://lpsa.swarthmore.edu/Bode/BodeExamples.html

https://wonjongkim.tamu.edu/MEEN364/E17.pdf

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Cut-off Frequency and Bandwidth
The frequency at which the 𝐺 𝑗𝜔 = 0.707 is called the cut-off frequency.

For typical control systems, usually 𝐺 0 = 1. Hence there is a single cut-off


frequency as the gain falls off with higher frequency.
However, there could be multiple (usually two) cut-off frequencies.

The width between two cut-off frequencies is called the bandwidth of the system. For
typical control systems, it is equal to the cut-off frequency.

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


GCF and PCF
The frequency at which the 𝐺 𝑗𝜔 = 1 is called the gain crossover frequency or GCF
and is represented as 𝜔𝑔 .

In Bode plot, this is the frequency when the magnitude plot (in dB) crosses zero.

The frequency at which the ∠𝐺 𝑗𝜔 = −180° is called the phase crossover frequency
or PCF and is represented as 𝜔𝑝 .

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Gain Margin and Phase Margin
1
𝐺𝑀 =
𝐺 𝑗𝜔𝑝

𝑃𝑀 = 180° + ∠𝐺 𝑗𝜔𝑔

• GM is evaluated at PCF
• PM is evaluated at GCF

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Nyquist Stability Criteria
Cauchy’s Principle of Argument:

Consider a function 𝑞(𝑠) of the complex variable 𝑠.

For a closed contour in the 𝑠-plane in clockwise direction enclosing 𝑍 number of zeros,
the contour in the 𝑞(𝑠)-plane encircles the origin in the clockwise direction 𝑍 times.

For a closed contour in the 𝑠-plane in clockwise direction enclosing 𝑃 number of poles,
the contour in the 𝑞(𝑠)-plane encircles the origin in the anti-clockwise direction 𝑃 times.

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Nyquist Stability Criteria
Cauchy’s Principle of Argument:

Consider a function 𝑞(𝑠) of the complex variable 𝑠.

For a closed contour in the 𝑠-plane in clockwise direction enclosing 𝑍 number of zeros,
the contour in the 𝑞(𝑠)-plane encircles the origin in the clockwise direction 𝑍 times.

For a closed contour in the 𝑠-plane in clockwise direction enclosing 𝑃 number of poles,
the contour in the 𝑞(𝑠)-plane encircles the origin in the anti-clockwise direction 𝑃 times.

With 𝑃 poles and 𝑍 zeroes, there is 𝑃 − 𝑍 anti-clockwise encirclements of origin in the


𝑞(𝑠)-plane.
Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25
Nyquist Stability Criteria
With unity negative feedback, the C.E. is

1 + 𝐺 𝑠 = 0 = 𝑞(𝑠)

The zeroes of 𝑞(𝑠) are CL poles of the feedback system. These must always be in LHP
for asymptotic stability.

The poles of 𝑞(𝑠) are OL poles of the original system. They may be lying anywhere in
the complex plane.

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Nyquist Stability Criteria
With unity negative feedback, the C.E. is

1 + 𝐺 𝑠 = 0 = 𝑞(𝑠)

If we take the 𝑠-plane contour covering the entire RHP, then we can assess the number
of poles and zeroes of 𝑞(𝑠) in the RHP.

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Nyquist Stability Criteria
With unity negative feedback, the C.E. is

1 + 𝐺 𝑠 = 0 = 𝑞(𝑠)

If we take the 𝑠-plane contour covering the entire RHP, then we can assess the number
of poles and zeroes of 𝑞(𝑠) in the RHP.

Let total encirclement of origin is 𝑁 = 𝑃 − 𝑍.


𝑃: no. of OL poles, considered to be known.

If 𝑁 = 𝑃, then 𝑍 = 0 signifying CL stability. This is Nyquist Stability Criterion.


Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25
Nyquist Stability Criteria
Contour in 𝒔-plane:
• Covering entire RHP
• Jumping over imaginary poles

Encirclement of (−𝟏 + 𝒋𝟎):


For 𝑞 𝑠 = 1 + 𝐺 𝑠 , the encirclement should be of the origin.
If 𝑞 𝑠 = 𝐺 𝑠 , the OLTF, then encirclement is to be checked for the point −1, or
−1 + 𝑗0 .
This is what is usually done.

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Example Nyquist Plots
https://lpsa.swarthmore.edu/Nyquist/NyquistExamples.html

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Thank you!!

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25

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