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Lecture 1 - Frequency Response

Frequency response analysis examines a system's steady state response to a sinusoidal input signal. It has advantages like not requiring a mathematical model and allowing noise reduction and stability analysis. A linear system's sinusoidal output will have the same frequency but different amplitude and phase than the input. Frequency response can be represented graphically in Nyquist plots, Bode diagrams, and Nichols charts to analyze gain, phase, and stability over the full frequency range. Common terms that impact frequency response include gain, integrators, differentiators, and poles and zeros.

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40 views19 pages

Lecture 1 - Frequency Response

Frequency response analysis examines a system's steady state response to a sinusoidal input signal. It has advantages like not requiring a mathematical model and allowing noise reduction and stability analysis. A linear system's sinusoidal output will have the same frequency but different amplitude and phase than the input. Frequency response can be represented graphically in Nyquist plots, Bode diagrams, and Nichols charts to analyze gain, phase, and stability over the full frequency range. Common terms that impact frequency response include gain, integrators, differentiators, and poles and zeros.

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Shanney
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Frequency Response Analysis

Frequency response is the steady state response of a system to a sinusoidal


input.
Advantages :
• Data obtained from measurements on the physical system without deriving its
mathematical model;
• A system can be designed to reduce the effects of undesirable noise;
• Analysis of system stability from a system’s open loop frequency response.
A sinusoidal input to a linear system will generate a sinusoidal response of
the same frequency as the input but with a difference in amplitude and phase
angle.
The steady state output of a system’s transfer function can be obtained
directly from the sinusoidal transfer function. Where s is replaced by jω and
ω is frequency.
•Example
  1

The system below is subjected to the following sinusoidal input:


. Calculate the steady state output.

Solution:
Firstly calculate the closed loop function for the system above:
• 
Note: The gain and phase of a system when subjected to a sinusoidal input is
obtained by putting the frequency response function in the form and then the gain is
and the phase is
The sinusoidal transfer function: 
=
•The
  steady state output is given by the following equation:

By substituting for each variable we get:


 

 
Frequency Response Characteristic in Graphical forms
There are three commonly used representations of sinusoidal transfer
functions:
• Nyquist Plot (Polar Plot);
• Bode diagrams (Logarithmic Plot);
• Nichols chart (Log-Magnitude Vs Phase Plot).
•  Polar Plots
• Polar plots are used for accessing the system stability.
• The polar plot of a sinusoidal transfer function is a plot of the magnitude
of versus the phase angle of on the polar coordinates as is varied from
zero to infinity.
• An advantage of polar plots is that it depicts the frequency response
characteristics of a system over the entire frequency range in a single
plot.
• Students should work through example 7.3 in the prescribed text
(A Primer for control systems)
•  Bode Plots
Consists of two graphs:
• Plot of the logarithm of the magnitude of a sinusoidal transfer function against the
frequency.
• Phase angle against the frequency.

The standard representation of is [db]


An approximate plot can be derived by examining the following terms and
their corner frequencies for linear systems:
 Gain k
 Integrator and differentiator
 First order pole and zero
 Second order pole and zero
Gain K
• The log- magnitude curve for a constant gain K is a horizontal line at the
magnitude of 20logk [db] with a phase angle of zero. Varying the gain K
raises or lowers the log-magnitude curve but has no effect on the phase
curve.

 
,Rad/sec
•  Integrator

The magnitude is given by:

The phase is:


Integrator

  ,Rad/sec
•  Differentiator

The magnitude is:

and the phase:


Differentiator

  ,Rad/sec
•  First order pole

,Rad/sec

  ,Rad/sec   ,Rad/sec
First order zero

  ,Rad/sec
•  A second order pole will have a change in slope of at its corner frequency
and the phase angle will vary from as the frequency varies.
• A second order zero will have a change in slope of at its corner frequency
and the phase angle will vary from as the frequency varies.
Nichols chart (Log-Magnitude Vs Phase Plot)
• Another approach to graphically represent the frequency response characteristics is to use
the log-magnitude in decibels versus phase plot.
• M and N contours are superimposed on the open loop frequency response in the form of a
grid. This enable one to read the gain and phase of closed loop system directly from the
Nichols Chart.
• The advantage of these plots is that the relative stability of the closed loop system can be
determined quickly and the compensation can be calculated.

Students should read Chapter 7 on frequency domain plots in the prescribed text
(A Primer for control systems)
References
1. Ogata, K. 2010, Modern control engineering, 5th, International edn, Pearson, Boston,
Mass.

2. Van Vuuren, G.J. 2010, A primer for control systems, Rev. edn, Quad Technologies,
Wandsbeck, South Africa.

3. Nise, N.S. 2008, Control systems engineering, 5th edn, Wiley, Hoboken, N.J.

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