Part 2-4: Frequency-Response Analysis

• We have analyzed the system response for several input functions

such as step, ramp, impulse, pulse inputs

• An extremely important matter of concern is a system’s response to

periodic or repeating inputs. Examples are
– Unbalanced rotating machinery (mechanical vibrations)
– AC circuits
– Vehicle dynamics and vibrations (automobile, rocket, etc)
– Wing flutter due to high-speed aerodynamics
– “Noise” in electromechanical systems

• We can model a repeating input with a sinusoidal function:

u (t ) = U 0 sin wt
where U0 = amplitude, w = frequency (rad/s)

NOTE: w = 2pf where f = frequency in cycles/s or hertz (Hz)

 Frequency Response
• When a linear system is excited by a sinusoidal input, the system
output will initially oscillate at its own natural frequency(s) plus the
frequency of the input (this is the transient response)

• If damping is present, the vibrations at the natural frequency(s) will

eventually “die out” and the steady-state response will oscillate at
the input frequency

Frequency response is defined as the steady-state response of a system

to a sinusoidal (periodic) input function. If a linear system is driven by a
sinusoidal input function with input frequency w, then the steady-state
system output will also be a sinusoidal function at the same frequency
 Frequency Response (2)
• In general, the output sinusoid will have a different amplitude (Y0) and
phase angle (f ) relative to the input sinusoid

• The nature of the linear system [i.e., the TF G(s) ] will determine the
amplitude ratio (Y0/U0) and phase shift (f ), and these quantities will
be a function of the input frequency

• Therefore, these two parameters solely determine the frequency

response, and they can be plotted vs. input frequency for a
particular transfer function (i.e., system)

• We will characterize the frequency response by two graphical plots

of amplitude ratio and phase angle vs input frequency range (the
Bode diagram)

Output steady-state sinusoid

y(t) = Y0sin(wt + f)
 Frequency Response (3)
Input sinusoid Output steady-state sinusoid
u(t) = U0sinwt y(t) = Y0sin(wt + f)
G(s)
 Frequency Transfer Function
• In order to develop an equation for the frequency response consider
the following third-order I/O equation:

!y!! + 4 !y! + 12 y! + 26 y = 2u! + 3u

• Now, consider an exponential input, u(t) = U(s)est, where s = s + jw is

a complex variable and U(s) is a complex function

• If s = 0 (zero real part), then s = jw and the input is

u (t ) = U ( jw )e jwt = U ( jw )(cos wt + j sin wt )

Real Complex Real
Imaginary
(Real + Imag)
 Frequency Transfer Function (2)
• The complex-plane representation of e jwt (Euler’s Theorem) is

Imaginary

e jwt = coswt + j sinwt

sin wt
1
wt Real
0
cos wt

• Recall from differential equations that if the input is u (t ) = U ( jw )e jwt

(sinusoidal function), then the steady-state or particular solution is
jwt
y(t) = Y ( jw )e where Y(jw) is a complex function
 Frequency Transfer Function (3)
• Recall our system I/O equation (for our example):
2s + 3 Y ( s)
!y!! + 4 !y! + 12 y! + 26 y = 2u! + 3u or, G( s) = =
s 3 + 4 s 2 + 12 s + 26 U ( s )

• The characteristic roots for this 3rd-order system are r = –2.932,

- 0.534 ± j 2.930
– Therefore, the transient response “dies out” at steady-state

• Now, substitute the exponential input and output equations into

the I/O differential equation, with the knowledge that

y! = jwY ( jw )e jwt !y! = ( jw ) 2 Y ( jw )e jwt etc…

Result:

(( jw ) 3
+ 4( jw ) 2 + 12 jw + 26)Y ( jw )e jwt = (2 jw + 3)U ( jw )e jwt
 Frequency Transfer Function (4)
• Repeat last equation:

( ( jω )3
+ 4( jω ) 2
+12 jω + 26 ) Y ( jω )e jω t
= ( 2 jω + 3) U( jω )e jω t

• Finally, form the ratio Y(jw)/U(jw) , or output/input

Y ( jw ) 2 jw + 3
= = G ( jw )
U ( jw ) ( jw ) + 4( jw ) + 12 jw + 26
3 2

“frequency transfer function”

(a complex function)

U(jw) e jwt Y(jw) e jwt

G(jw)

Sinusoidal transfer function, G(jw)

Frequency transfer function, G(jw)
 Frequency Transfer Function (5)
• The complex function G(jw) is the frequency transfer function
(or sinusoidal transfer function) which relates the complex
amplitude Y(jw) of the output sinusoid to the complex amplitude
U(jw) of the input sinusoid

Y ( jw ) 2 jw + 3
= = G ( jw )
U ( jw ) ( jw ) + 4( jw ) + 12 jw + 26
3 2

• We can easily obtain the frequency transfer function by simply

taking the system transfer function G(s) and replacing s = jw

2s + 3 Y ( s) TF for our system

G( s) = 3 =
s + 4 s + 12 s + 26 U ( s )
2 (our example)
 Polar Form of FTF
Imaginary axis

Polar form G ( jw ) = G ( jw ) e jf

G(jw)

Im

f
0 Re Real axis

G ( jw ) = Re 2 + Im 2 Magnitude of G(jw)

⎛ Im ⎞
−1
ϕ ( jω ) = arg[G( jω )] = tan ⎜ ⎟ Angle (or argument) of G(jw)
⎝ Re ⎠
 Derivation of Frequency Response
• Next, we wish to derive an equation for the frequency response,
which is the steady-state output of a system driven by a sinusoidal
input

• The steady-state output (or forced response) is

yss (t ) = Y ( jw )e jwt = G ( jw )U ( jw )e jwt

• However, we can sub for the sinusoidal TF using its polar form

G ( j w ) = G ( j w ) e jf
 Derivation of Frequency Response (2)

• After subbing for the FRF

yss (t ) = G ( jw ) e jfU ( jw )e jwt = G ( jw ) U ( jw )e j (wt +f )

G(jw)

• Now, let the sinusoidal input be a sine function: u(t) = U0sinwt

(i.e., use the imaginary part of e jwt ). Therefore, the steady-
state output (when input is sine) is

yss (t ) = G ( jw ) U 0 sin (wt + f )

 Derivation of Frequency Response (3)
• If the sinusoidal input is a cosine function: u(t) = U0coswt , then
use the real part of e jwt

• Therefore, the steady-state output (when input is cosine) is

yss (t ) = G ( jw ) U 0 cos(wt + f )

• Therefore, we can write the steady-state response (the

frequency response) for a sine input function u(t) = U0sinwt

yss (t ) = G ( jw ) U 0 sin(wt + f ) Frequency response for

input u(t) = U0sinwt
 Notes on Frequency Response
• Frequency response (repeated) for sine input

yss (t ) = G ( jw ) U 0 sin(wt + f ) Frequency response

Therefore, the steady-state response to a sinusoidal input is also a

sinusoid with the same frequency as the input but with a phase shift

Note that in the frequency response equation, all we need to completely

characterize the frequency response are the two values:
Y ( jw )
G ( jw ) = = amplitude ratio of the output sinusoid = Y0 / U0
U ( jw ) to the input sinusoid

ϕ ( jω ) = arg[G( jω )] = phase shift between the output sinusoid and input sinusoid
 Frequency Response:
Example
= 1.2 W

Sinusoidal input voltage:

ein (t ) = 2 sin 50t V = 0.02 H

RL system:

I (s) 1 1 current
G (s) = = = =
Ein ( s ) Ls + R 0.02 s + 1.2 source voltage

Frequency response: I ss (t ) = G ( jw ) 2 sin(50t + f ) (amps, A)

w = 50 rad/s
 Frequency Response:
Example (2)
Frequency transfer function: G ( jw ) = 1
0.02 jw + 1.2
12 + 0 2
Magnitude: G ( jw ) =
1.2 2 + (0.02w )
2

Using input frequency w = 50 rad/s we obtain G ( jw ) = 0.6402

Phase angle of G(jw) is computed by subtracting the phase

angle of the denominator from the phase angle of the numerator:

ϕ ( jω ) = arg [G( jω )] = arg [1+ j0 ] − arg [1.2 + 0.02 jω ]

⎛0⎞ ⎛ 0.02ω ⎞
ϕ ( jω ) = arg [G( jω )] = tan −1 ⎜ ⎟ − tan −1 ⎜ ⎟ à f = -0.6947 rad
⎝1⎠ ⎝ 1.2 ⎠
 Frequency Response:
Example (3)
Put it all together to obtain the frequency response:

I ss (t ) = 1.2804 sin(50t - 0.6947) A

The time shift or “time delay” Dt between input and output

sinusoids can be computed from the phase lag and the frequency
 Frequency Response:
Example (4)

Frequency response: I ss (t ) = 1.2804 sin(50t - 0.6947) A

 Frequency Response:
Example
Simulate the frequency response of the RL circuit (previous example)
using Simulink
I (s) 1 1
G (s) = = =
Ein ( s ) Ls + R 0.02 s + 1.2

Set amplitude = 2
and frequency = 50 rad/s
Frequency Response:
Example (2)

à Matches frequency response

from previous example
 Bode Diagrams
• The previous discussion and examples illustrate how the
frequency response can be easily computed if we know the
amplitude ratio and phase angle at the input frequency

• We can create two plots of these quantities (magnitude and

phase of the FRF) versus a range of input frequency

• Together, these two plots are called a Bode diagram (named

after H.W. Bode, Bell Labs, 1930s)

• Amplitude ratio G ( jw ) is traditionally plotted in decibels (dB)

Amplitude ratio in dB G( jω ) dB := 20 log G( jω )

 Bode Diagrams: Magnitude in dB
• Notes on amplitude ratio (or magnitude) expressed in dB

1. 20 log(1) = 0 dB; therefore unity amplitude ratio = 0 dB

2. dB magnitude is > 0 for amplitude ratio > 1
3. dB magnitude is < 0 for amplitude ratio < 1
4. Very small amplitude ratios = large negative dB magnitudes

Quick example: if G ( jw ) = 0.124 , then magnitude in dB is

20 log(0.124) = -18.13 dB

We can make rough sketches of the Bode diagram by applying simple

rules. We will illustrate the rules with two examples
 Bode Diagram: 1st-Order System
• Suppose we have a first-order system with the following TF
Y (s) 6 1.5 t = 1/4 sec
G (s) = = =
U ( s ) s + 4 0.25s + 1
• Therefore, the FTF is ( replacing s with jw )

6
G ( jw ) =
jw + 4

• The Bode diagram is simply a plot of amplitude ratio G ( jw )

(in dB) and phase arg[G ( jw )] (in deg) versus input frequency (on
a log scale)
 Bode Diagram: 1st-Order System (2)
6
• The sinusoidal TF is (repeated) G ( jw ) =
jw + 4

• The magnitude and phase depend on input frequency, w

62 + 02
Magnitude G ( jw ) =
42 + w 2

−1 ⎛0⎞ −1 ⎛ ω ⎞
Phase angle ϕ ( jω ) = arg [G( jω )] = tan ⎜ ⎟ − tan ⎜ ⎟
⎝6⎠ ⎝4⎠
 Bode Diagram: 1st-Order System (3)

Next, we can construct a table of Magnitude and Phase

for a wide range of frequency, w

DC gain

Low magnitude Phase à -90 deg

 1st-Order System Bode Diagram (4)
Finally, plot the data points from Table 9-1 on log-log scale (2 plots)

Bode diagram
 1st-Order System Bode Diagram (5)
Note the 2 asymptotes for the Magnitude Bode plot:
“break” or “corner” frequency = 4 rad/s
10 Low-frequency
G (j w ), dB

0
asymptote (flat
line at DC gain)
-10
Magnitude of

-20
High-frequency
-30
10
-1
10
0
10
1
10
2 asymptote:
Frequency, w , rad/s -20 dB/decade
0
Phase of G (j w ), deg

-15

-30

-45

-60

-75

-90
-1 0 1 2
10 10 10 10
Frequency, w , rad/s
 Bode Diagram via MATLAB
• True Bode diagram of the first-order system (from MATLAB):
>> numG = 6;
>> denG = [ 1 4 ];
Bode Diagram
>> sysG = tf(numG,denG) 5

>> bode(sysG) 0

Magnitude (dB)
-5

-10

-15

Recall our example: -20

6
-25

G (s) =
0

s+4
Phase (deg)

-45

-90
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
 How to Use the Bode Diagram
6
• Suppose the input is u(t) = 7 sin 2t (recall that G ( s) = )
s+4

Magnitude = 2.5527 dB
Bode Diagram Amplitude ratio is
5

0 G ( j 2) = 2.5527 dB
Magnitude (dB)

-5

-10 10 2.5527/20 = 1.3416

-15

-20 w = 2 rad/s
-25 Frequency response
0
yss = 9.392 sin(2t – 0.464)
Phase = -26.57 deg
Phase (deg)

-45

7 x 1.3416 Phase
(in rad)
-90
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
 Bode Diagram:
Example
• Consider the simple RC circuit driven by a sinusoidal voltage

Parameter values: R = 4 W and C = 0.003 F

Input voltage: ein(t) = 2.4sinwt V

Problem: Use the Bode diagram to find input frequency w where the
magnitude of the output voltage eC drops to 1.2 V (one-half the input)
 Example (2)

Parameter values:
R = 4 W and C = 0.003 F

System model: RCe!C + eC = ein (t )

EC ( s ) 1 Time constant
à Transfer function is G ( s ) = = t = RC = 0.012 s
Ein ( s ) RCs + 1

à The Bode diagram will show a corner frequency at wc = 1/t = 83.333 rad/s

(note DC gain = 1)
 Example (3)
EC ( s ) 1 Time constant
Transfer function G (s) = =
Ein ( s ) RCs + 1 t = RC = 0.012 s

Corner frequency wc = 1/t = 83.333 rad/s

Note that at low frequencies, the magnitude is 1 since the DC gain = 1

à “low-frequency” asymptote on Bode diagram is 0 dB

When output magnitude is ½ the input we get: G ( jw ) = 0.5

or, in decibels (Bode diagram):

G ( jw ) dB = 20 log10 (0.5) = -6.02 dB

à We simply read the -6 dB drop in magnitude from the Bode diagram (next)
 Low-Pass Filter: Bode Diagram
Example (4)
10
Magnitude, dB

-10 ½ magnitude:
-20
6 dB
G ( jw ) = 0.5
w = 144 rad/s
-30
0 1 2 3 or
10 10 10 10
Frequency, w , rad/s G ( jw ) dB = 20 log10 (0.5) = -6.02 dB
0
-15
Therefore, output voltage
Phase, deg

-30
-45 eC is reduced to one-half
-60 mag. at input frequency
-75 w = 144 rad/s
-90
0 1 2 3
(or, 23 Hz)
10 10 10 10
Frequency, w , rad/s
RC circuit is a
Corner frequency wc = 83.33 rad/s “low-pass filter”
 Low-Pass Filter: Noisy Input
Example
• Consider again the RC circuit driven by a sinusoidal voltage

Parameter values: R = 4 W and C = 0.003 F

Input voltage: ein (t ) = eS (t ) + eN (t )

eS (t ) = 2.4 sin 10t (“signal”) eN (t ) = 0.2 sin 800t (“noise”)

 Low-Pass Filter: Noisy Input
Example (2)

Input voltage: ein (t ) = eS (t ) + eN (t )

eS (t ) = 2.4 sin 10t (“signal”) eN (t ) = 0.2 sin 800t (“noise”)

Low-Pass Filter: Noisy Input
Example (3)
Voltage input:
ein (t ) = eS (t ) + eN (t )

eS (t ) = 2.4 sin 10t

(Desired signal)

eN (t ) = 0.2 sin 800t

(“noise”)
 Desired and Filtered Signal:
Example (4)

Note: voltage signal eS is the “clean” desired signal (w = 10 rad/s or 1.6 Hz)
The filter output voltage eC nearly matches the desired signal (noise is filtered out)

Go back and observe the low-pass filter Bode diagram at w = 10 rad/s

and w = 800 rad/s
 Bode Diagram of 2nd-Order Systems
• Suppose we have a 2nd-order system TF in the “standard form”

Kw n2
G (s) = 2
s + 2zw n s + w n2

• Let’s set K = 1 and wn = 10 rad/s and z = 0.2

100
G (s) = 2
s + 4 s + 100

• Note that the DC gain = 1

• The Bode diagram is on the next slide…

Bode Diagram of 2nd-Order System (2)

Low-frequency High-frequency
asymptote asymptote
(DC gain = 1) -40 dB/decade
Asymptotes intersect at
corner frequency wn = 10 rad/s

100
G (s) = 2
s + 4 s + 100 High-frequency
phase à -180 deg
Bode Diagram of 2nd-Order System (3)

100
G (s) = 2
s + 20zs + 100

Corner frequency is wn = 10 rad/s

Bode Diagram of 2nd-Order Systems:
Summary
– A “flat” low-frequency asymptote exists with a magnitude of
20log10(K) dB
– A high-frequency asymptote exists with a slope of –40
dB/decade
– The low- and high-frequency asymptotes intersect at the
corner frequency wc = wn rad/s
– The peak magnitude increases as damping ratio z is
decreased
– The phase angle f starts at 0 deg for low frequencies and
asymptotically approaches –180 deg at high frequencies
– The phase angle shows a sharper transition from 0 to –180
deg as damping ratio z is decreased
– The phase angle f = -90 deg when the input frequency is
the corner frequency wc
 Resonant Frequency
• When the input frequency is near the corner frequency (wn), the
magnitude depends on the damping ratio z

• As z ® 0 (no damping), the magnitude becomes infinite when

input frequency matches the undamped natural frequency (wn)
– Therefore, resonance occurs

• As damping increases, the resonant peak on the magnitude Bode

diagram decreases

• The amplitude ratio is maximum at the resonant frequency

1. When z = 0, wr = wn
w r = w n 1 - 2z 2 Resonant frequency
2. Resonant frequency is
always < wn
3. If z > 0.7071, there is no
resonant peak
 Bandwidth
• Cutoff frequency (wB ) is defined as the maximum input
frequency at which the output of the system will track the input
sinusoid in a satisfactory manner

• Typically, “satisfactory tracking” includes all frequencies up to the

point where the amplitude ratio is reduced by a factor of 0.7071.

• In dB, attenuation by a factor of 0.7071 is equal to a 3 dB drop in

the low-frequency gain, so the bandwidth frequency can be
easily read directly from the Bode gain diagram

Bandwidth: 0 < w < wB

Steps: 1) Read low-frequency magnitude on Bode diagram (in dB)

2) Read frequency where magnitude drops 3 dB below
low-frequency magnitude in step 1. This frequency
is the bandwidth wB
 Bandwidth from Bode Diagram

Here, cutoff frequency is wB = 27 rad/s (4.3 Hz)

So, bandwidth is 0 < w < 27 rad/s

 Bode Diagram via MATLAB
Plot of Bode diagram:
>> numG = 100; % enter the numerator of G(s)
>> denG = [ 1 4 100 ]; % enter the denominator of G(s)
>> bode(numG,denG) % plots complete Bode diagram to the screen

Compute magnitude and phase for desired input frequency

>> numG = 100;
>> denG = [ 1 4 100 ];
>> w = 10; % input frequency, rad/s
>> [mag,phase] = bode(numG,denG,w); % magnitude and phase (no plot)
>> magdB = 20*log10(mag); % computes magnitude in dB

Bode diagram using State-Space Rep (SSR)

>> bode(A,B,C,D)
or
>> sys = ss(A,B,C,D);
>> w = 10;
>> [mag,phase] = bode(sys,w)
 Frequency Response
of a Poppet Valve
Poppet valve dynamics
Kwn2 X (s)
G (s) = 2 = Output x = position (m)
s + 2zw n s + wn F ( s )
2
Input f = force (N)

We assume that (electromagnetic) force is

proportional to voltage (actual input) applied
to armature windings

• Bode diagram of a poppet valve (next slide)

• Assume that the input force is sinusoidal f(t) = 15sin20t N

• Therefore, the input (forcing) frequency is w1 = 20 rad/s (or, input

frequency is 3.18 Hz)
 Frequency Response of a Poppet Valve:
Low-Frequency Input w1 = 20 rad/s (3.18 Hz)
The Bode diagram shows
that for an input frequency
of 20 rad/s, the amplitude
ratio (gain) is -67 dB, or
-67 dB magnitude of 4.23(10-4)

The phase angle is -3 deg

(or -0.052 rad) at this input
w1 = 20 rad/s frequency.

The amplitude of the frequency

-3 deg response of the valve is
(15)(4.23E-4) = 0.00635 m,
or 6.35 mm. The frequency
response of the valve is
xss(t) = 6.35 sin(20t – 0.052) mm
 Frequency Response of a Poppet Valve:
Low-Frequency Input w1 = 20 rad/s
Simulink response of low-frequency sinusoidal input force f = 15sin20t N

15 N input 6.4 mm
force poppet
response

xss(t) = 6.35 sin(20t – 0.052) mm

Note: > 3 cycles per sec

(3.18 Hz input)

Note that the steady-state amplitude of the poppet valve is about 6.4 mm, as predicted
by the Bode diagram; also, the output is essentially “in phase” with the input. The Bode
diagram (previous page) shows a very small phase lag of 3 deg when w1 = 20 rad/s.
Frequency Response of a Poppet Valve:
Resonant Input w2 = 148.6 rad/s (23.7 Hz)
Consider again the Bode diagram of the
poppet valve, where the input force is
f = 15sin148.6t N. Therefore, the input
frequency is the resonant frequency
-59 dB

The Bode diagram shows that if

w2 = 148.6 rad/s w2 = 148.6 rad/s, the amplitude ratio
is -59 dB, or 0.0011.

The phase angle is -78.2 deg =

-1.365 rad at this input frequency

-78.2 deg

xss(t) = 15.94 sin(148.6t – 1.365) mm

Frequency response
 Frequency Response of a Poppet Valve:
Resonant Input w2 = 148.6 rad/s
Simulink response of input force at resonant frequency, f = 15sin148.6t N

15.9 mm
15 N input
poppet
force
response

Time lag ~0.009 s

Note that the steady-state amplitude of the poppet valve is about 15.9 mm, as predicted
by the Bode diagram; also, the output lags the input. The phase lag translates into a
time lag = (1.36 rad)/(148.6 rad/s) = 0.0092 sec, as shown on the time response
 Frequency Response of a Poppet Valve:
High-Frequency Input w3 = 600 rad/s (95.5 Hz)
Finally, assume the input force is f = 15sin600t N. Therefore, the
input (forcing) frequency is the high frequency, w3 = 600 rad/s (95.5 Hz)

The Bode diagram shows that for an

input frequency of 600 rad/s, the
amplitude ratio is -91 dB, or 2.96(10-5)

The phase angle is -173.7 deg =

-3.031 rad at this input frequency
-91 dB

w3 = 600 rad/s
xss(t) = 0.44sin(600t – 3.031) mm
Frequency response
-173.7 deg
 Frequency Response of a Poppet Valve:
High-Frequency Input w3 = 600 rad/s
Simulink response of input force at high frequency, f = 15sin600t N

Steady-state: output and

15 N input input are ~180 deg out
force of phase
0.44 mm
poppet
response

Transient response has

two frequencies: natural
Time lag ~0.005 s frequency of valve +
input frequency

Note that the steady-state amplitude of the poppet valve is about 0.44 mm, as
predicted by the Bode diagram; also, the output is ~180 deg out-of-phase with the
input. The phase lag translates into a time lag = (3.03 rad)/(600 rad/s) = 0.005 sec,
as shown on the time response
 Example: Vibration Isolation
• Vibrations in mechanical systems are typically an
undesirable phenomena (transmit forces, generate noise)

• Suspension systems are used to isolation a body from

vibrations and/or damp out transmitted vibrations

• Vibration isolation systems:

– Reduce the transmission of vibrations from a machine to the
environment
– Reduce the transmission of vibrations from the environment to
the machine
 Vibration Isolation

(a) (b)

Vibration isolation system:

a) instrument with vibration mounts,
b) representative mechanical system.

Goal: reduce the transmission of base motion xb(t) to the instrument

 Transmissibility

• Transmissibility is a measure of suppressing (or attenuating)

vibrations

• Transmissibility for a displacement excitation: the ratio of the

transmitted displacement (output) amplitude to input displacement
amplitude
xt
Transmissibility TR = transmitted disp. amplitude/input disp. amplitude =
xin

• Transmissibility for a force excitation: the ratio of the transmitted

force (output) amplitude to input force amplitude
Ft
Transmissibility TR = transmitted force amplitude/input force amplitude =
Fin
 Transmissibility (2)
• Consider the simple mechanical system with base
motion
m!x! + b( x! - x!b ) + k ( x - xb ) = 0
• Or, re-write as

m!x! + bx! + kx = bx!b + kxb

• The transfer function is

X (s) bs + k (b / m) s + (k / m)
G(s) = = 2 = 2
X b ( s ) ms + bs + k s + (b / m) s + (k / m)
 Transmissibility (3)
• The transmitted displacement will depend on the magnitude of
transfer function G(s)

• Since we want the ratio of amplitudes, compute the s FTF

(b / m) jw + (k / m)
G ( jw ) =
- w 2 + (b / m) jw + (k / m)

• Substitute k / m = w 2
n , b / m = 2zwn and after some algebra, we get

1 + j (2zw / w n )
G ( jw ) =
1 - (w 2 / w n2 ) + j (2zw / w n )
 Transmissibility (4)
• Finally, we can compute the amplitude ratio

12 + (2zw / wn ) 2
G ( jw ) =
[1 - (w 2
]2
/ wn2 ) + (2zw / wn ) 2

• This expression for TR is simplified if we sub b = w /wn

x 12 + (2zb ) 2
TR = = G ( jw ) =
xb [1 - b ] + (2zb )
2 2 2

Transmissibility
Transmissibility vs. b
Notes:
1. TR depends on damping
ratio z and frequency ratio b

2. When z » 0, TR ® ¥ when
b = 1 (or, input is resonance)

3. When b = 2 , TR = 1 for all

damping ratios. Therefore, the
transmitted amplitude is equal
to the base amplitude without
gain or loss if input frequency is
w = wn 2

b = w / wn
Transmissibility vs. b (2)
Notes:
4. When b is very small (stiff
spring), TR ~ 1 for all z

5. When input frequency ratio

is b < 2 , increasing z
decreases TR and improves
vibration isolation.

6. When input frequency ratio

is b > 2 , increasing z
increases TR and degrades
vibration isolation.

b = w / wn
TR < 1 occurs only when b > 2
Transmissibility: Summary
1. For minimum transmitted
force or motion, choose
vibration isolation mounts
with undamped natural
frequency (i.e., stiffness)
much lower than the
expected input vibration
frequency (therefore, b = w / w n
is high).

2. If possible, select mounts

with light damping for min
TR (only for b > 2 ).

b = w / wn
Transmissibility: Summary (2)
3. Many times the disturbing
input frequency may not be
constant but may be in a
known range. The isolator
design must consider a
range of b

4. The designer may need to

balance TR requirements
with other design constraints
(shock response, settling
time, etc).

b = w / wn