Frequency Response and Bode Plots
– Part 1
K. Sridharan
Introduction
We have studied various aspects (performance,
stability) in time domain
We now begin with a review of basics in frequency
domain
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Linear System in Frequency Domain
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Input and output for linear, time-
invariant system
If input x(t) is sinusoidal, the output will also
be a sinusoidal signal of the same frequency
The output can possibly have different
amplitude and phase angle
The amplitude of the output is given by the
product of that of the input and |G(j ω)|
The phase angle will differ from that of the
input by Angle(G(j ω))
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Input and response
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How does one present frequency
response characteristics ?
Via plots such as
Bode plot (also called Bode diagram)
Nyquist plot
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Question for students
What happens if the system is not linear and
you apply a sinusoidal input ?
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Why is frequency domain
important in control ?
We can study stability of a system using
quantities defined in frequency domain
In particular, two notions termed gain margin
and phase margin are used (together) to
characterize stability
These can be calculated from plots for the
frequency domain, in particular the Bode plot
and Nyquist plot
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What is a Bode Plot ?
Bode plot comprises of a combination of two
plots: a log-magnitude plot and a phase
angle plot
Both of these are plotted against the
frequency on a logarithmic scale
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Is there anything special about the Bode plot ?
Yes; sometimes, we do not know the exact
model of the system
We can, however, study the response of the
system (obtain the magnitude and phase
angle) for a range of frequencies
Using these, we can obtain the transfer
function model of the system
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Bode plot for standard cases
Will now show the Bode magnitude and
phase angle plots for various open-loop
transfer functions
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Case 1
Exercise:
Verify this
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Case 2
Exercise:
Verify this
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Case 3: G(jω) = 1/(1 + jωT)
Exercise:
Verify this
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Case 4: G(jω) = 1 + jωT
Exercise:
Verify this
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Case 5: Consider
C(s) ωn 2
G(s) = ----- = ----------------------
R(s) s 2 + 2 ζ ωn s + ω n 2
or equivalently:
G(jω) = 1
------------------------------
[1 – (ω /ωn)2] + j 2 ζ (ω /ωn)
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Exercise
Plot (i) the magnitude of G(jω) in dB
versus (ω /ωn)
and (ii) the phase of G(jω) versus (ω /ωn)
Assume logarithmic scale for (ω /ωn) and damping ratio
ζ ≤ 1 (otherwise G(s) would have two real and unequal
poles and Bode plot can be obtained by methods
discussed earlier for functions with simple poles)
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General case
We have considered various simple (basic)
cases
Can now look at a transfer function which
has a combination of the basic cases
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Consider
G(jω ) = 5 (1 + j 0.1ω )
---------------------------------------------
jω (1 + j0.5ω ) (1 + j 0.6(ω/50) + (jω/50)2)
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Components of the transfer function
The components can be listed in the order in
which they occur as frequency increases:
1. Constant gain K = 5
2. Pole at the origin
3. Pole at ω = 2
4. Zero at ω = 10
5. Pair of complex poles at ω = ωn = 50
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Magnitude characteristics
1. Constant gain is 20 log 5 = 14 dB
2. Magnitude of pole at the origin extends from zero
frequency to infinite freq and has a slope of -20
dB/decade intersecting the 0-dB line at ω = 1
3. Asymptotic approx of magnitude of pole at ω= 2
has a slope of -20 dB/decade beyond break frequency
at ω= 2 (below this, the magnitude is 0 dB)
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More on the magnitude characteristics
4. The (asymptotic) magnitude for zero at ω =
10 has a slope of +20 dB/decade beyond the
break frequency at ω = 10
5. The asymptotic approx for the pair of
complex poles at ω = 50 has a slope of -40
dB/decade due to the quadratic form
Individual magnitude plots and the overall
plot are shown in successive slides
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The individual magnitude plots
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Overall magnitude plot
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Now, we come to the phase plot
Phase of constant gain is 00
Phase of pole at the origin is -900
Linear approximation of the phase characteristic for
pole at ω = 2 will involve phase shift of – 450 at ω = 2
Similarly, for the zero at ω = 10, phase shift is 450 at
ω = 10
For the pair of complex poles, phase shift in line with
observations from the exercise earlier
Complete plot shown next
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Phase plot
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What is done with the magnitude and phase plots ?
For stability analysis purposes, we need to
look at the two plots together
The gain and phase margins are obtained by
placing one plot below the other
Both of these (gain margin and phase
margin) should be positive for stability (we’ll
assume minimum phase systems which we
will define in the next session)
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References
K. Ogata, Modern Control Engineering,
Pearson Education, 2008
R. Dorf and R. Bishop, Modern Control
Systems, Pearson, 2004
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