Frequency Response Analysis

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 Chapter 8: Frequency Response Methods
Modern Control Systems by Richard C Dorf & Robert H Bishop 12th Edition

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Preview

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Definition

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Remember???

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Advantage and Disadvantage

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Frequency Response Plots

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Example 8.1 Frequency Response of an RC filter

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Example 8.2 Polar plot of a transfer function

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Example 8.3 Bode diagram of an RC filter

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Concepts
of decade
and
octave

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Now we do an exercise Bode Plot

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Mathematical Derivation of Resonant
Frequency and Resonant Peak
8.4 Performance Specifications in the Frequency Domain

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 Chapter 9: Stability in Frequency Domain
Modern Control Systems by Richard C Dorf & Robert H Bishop 12th Edition

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The Nyquist Stability Criterion 9.2 Mapping Contours in the s-plane

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The Nyquist Stability Criterion 9.2 Mapping Contours in the s-plane

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The Nyquist Stability Criterion

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The Nyquist Stability Criterion

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The Nyquist Stability Criterion

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The Nyquist Stability Criterion

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The Nyquist Stability Criterion

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Ref. N. Nise P561
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Nyquist Criterion Video Demo

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• Put s=jw
• Put values of w from
the table 9.2
• Use calculator to get
magnitude and phase
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In MATLAB
clc
clear all
close all
theta = [0 -5.7 -41.5 -50.7 -
74.7 -129.3 -150.5 -173.7 -180];
rho = [100 96 79.6 70.7 50.2 6.8
2.24 0.1 0];
theta = theta*pi/180;
polarplot(theta,rho)

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Ref. K. Ogata
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Ref. K. Ogata
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9.8
RELATIVE STABILITY AND
NYQUIST CRITERION

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 𝑘
What will be the Gain Margins of these systems? recall the polar plot of Fig 8.4
𝑠(𝜏𝑠+1)

sys1 =
tf(1,[0.5,1,0]);
sys2 =
tf(3,[0.5,1,0]);
sys3 =
tf(5,[0.5,1,0]);

nyquist(sys1,sys2,
sys3)
legend('Location',
'southwest')

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Bode plots of the same systems (The GM is infinity but has PMs)

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Ref. K. Ogata 65
Damping Ratio From Phase Margin

Ref. N. Nise

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Damping Ratio From Phase Margin
Ref. N. Nise

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Ref. N. Nise
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Ref. N. Nise

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How to draw the frequency response using M and N Circles

Ref. K. Ogata

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Nichols Chart: In dealing with
design problems, we find it
convenient to construct the M and
N loci in the log-magnitude-versus-
phase plane. The chart consisting of
the M and N loci in the log-
magnitude-versus-phase diagram is
called the Nichols chart. The G(jw)
locus drawn on the Nichols chart
gives both the gain characteristics
and phase characteristics of the
closed-loop transfer function at the
same time. The Nichols chart is
shown in Figure 7–84, for phase
angles between 0° and –240°
Ref. K. Ogata 77
Ref. K. Ogata 78
Ref. K. Ogata 79
Mathematical Derivation Of
Bandwidth

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Ref. K. Ogata

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Find the values for both systems:
• Natural Frequencies
• Damping Ratio
• Overshoot
• Peak Time
• Settling Time
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 Important Comments (Ogata, Ch: Control Systems Analysis and Design by the
Frequency-Response Method)
A Few Comments on Phase and Gain Margins. The phase and gain margins of a control system are a measure of the
closeness of the polar plot to the –1+j0 point. Therefore, these margins may be used as design criteria. It should be noted that
either the gain margin alone or the phase margin alone does not give a sufficient indication of the relative stability. Both should
be given in the determination of relative stability. For a minimum-phase system, both the phase and gain margins must be
positive for the system to be stable. Negative margins indicate instability. Proper phase and gain margins ensure us against
variations in the system components and are specified for definite positive values. The two values bound the behavior of the
closed-loop system near the resonant frequency. For satisfactory performance, the phase margin should be between 30° and
60°, and the gain margin should be greater than 6 db. With these values, a minimum-phase system has guaranteed stability,
even if the open loop gain and time constants of the components vary to a certain extent. Although the phase and gain margins
give only rough estimates of the effective damping ratio of the closed-loop system, they do offer a convenient means for
designing control systems or adjusting the gain constants of systems. For minimum-phase systems, the magnitude and phase
characteristics of the open loop transfer function are definitely related. The requirement that the phase margin be between 30°
and 60° means that in a Bode diagram the slope of the log-magnitude curve at the gain crossover frequency should be more
gradual than –40 dB/decade. In most practical cases, a slope of –20 dB/decade is desirable at the gain crossover frequency for
stability. If it is –40 dB/decade, the system could be either stable or unstable. (Even if the system is stable, however, the phase
margin is small.) If the slope at the gain crossover frequency is –60 dB/decade or steeper, the system is most likely unstable. For
nonminimum-phase systems, the correct interpretation of stability margins requires careful study. The best way to determine
the stability of nonminimum-phase systems is to use the Nyquist diagram approach rather than Bode diagram approach.

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 -1
-180

Ref. K. Ogata
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Note that the angle is in radians

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Ref. N. Nise
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Advantage
• Although RH table gives idea about absolute stability, But it does
not share the idea about marginal stability, margin of stability etc.

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• Example 5.3: Determine the closed loop Bandwidth
and Peak Magnitude for the following system with
unity feedback.

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G(S)=
𝑠(𝑠+1)

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Given G(S) =
𝑠(𝑠+1)
𝐺(𝑆) 4
T(S) = = 2
1+𝐺(𝑠) 𝑠 +𝑠+4

Hence wn=2 and ξ=0.25

Bandwidth=wn[(1-2ξ2)+(4ξ4-4ξ2+2)1/2]1/2 = 2.969 rad/sec

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𝑃𝑒𝑎𝑘 𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 = = 2.06559
2𝜉 1−𝜉 2

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Example 5.5
• The specifications on a second order unity feedback control system with the
closed loop transfer function
𝑤𝑛
𝑇 𝑆 = 2
𝑠 + 2𝜉𝑤𝑛 𝑠 + 𝑤𝑛2
are that the maximum overshoot must not exceed 30% and Rise time must less than
0.2 sec. Find limiting values of Maximum Peak and Bandwidth.

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We know
−𝜋𝜉
൘
1−𝜉2
%𝑂𝑆 = 𝑒 =30Τ100
Hence ξ = 0.3568

Rise Time = 0.2 sec

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 Using the values of ξ = 0.3568 wn=9.04
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• 𝑃𝑒𝑎𝑘 𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 = = 1.5
2𝜉 1−𝜉 2

• Bandwidth = wn[(1-2ξ2)+(4ξ4-4ξ2+2)1/2]1/2 = 12.16

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 THERE ARE SOME DESIGN
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EXAMPLES IN SECTION 9.8
OF DORF
Exercises
• Follow exercises of all reference books

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LET’S WATCH A VIDEO
ON FREQUENCY
RESPONSE

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Useful Links
• System Identification Methods
• Nichols Chart, Nyquist Plot, and Bode Plot | Control Systems in
Practice
• Bode Plots Explained
• Nyquist Stability Criterion, Part 1
• Nyquist Stability Criterion, Part 2
• Control Systems Lecture 18: The Nyquist stability criterion
• Gain and Phase Margins Explained!
• How do complex numbers actually apply to control systems?
• polar plot in control system Find GM and PM in a polar plot.
(Important for exam)
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Practice some Nyquist Plots from here
• Nyquist Plot: Steps, Drawing Procedure, and Solved Example 1
• Nyquist Plot: Steps, Drawing Procedure, and Solved Example 2

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THANK YOU

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