III.

B Frequency Response Method

Design using G ( j ) only, not G(s) as in root locus method

III.B.1 Physical Meaning of G ( j )
System with sinusoidal input of frequency

r (t ) U 0 sin t

G(s)

y(t ) ?

- Transfer Function
G( s )

- Output

C (s z )
i
i 1
n

(s p )

i
i 1

(-p1,-pn poles of G(s))

C (s z )
i
i 1

U
o
Y ( s ) G( s )R( s ) n
2 2)
(
s
(s p )

i
i 1

- Partial fraction expansion and inverse Laplace Transform:

y(t) b1e p1 t ... bne pn t A1e j t A2e j t

- For stable system, poles of G(s): -p1,,-pn inside LHP

e

pi t

- At steady state:

0 as t large
y(t) yss (t) A1e j t A2e j t

- Recall PFE:

U0
A1 (s j)Y (s) s j G( j) , A2 A1*
2j
with G( j ) G( j ) e jG ( j ) ,
Uo j[ t G( j)]
Uo j[ t G( j)]
yss (t) | G( j) | e
| G( j) |
e
2j
(2 j)
| G( j) | Uo sin t G( j)
Steady state output of system G(s)
for input r(t)=U0sin(t)

- Conclusion: yss (t ) is also sinusoidal, differing from r(t)

only in amplitude and phase:
* G( j )

is the amplitude scaling factor of yss (t) over r(t)

* G( j)

is the additional phase of yss (t ) over r(t)

* Example:

( s4)
G( s)
( s8)
r(t ) 3 sin(8t )

c
1.1071 63.43

0.7854c 45

What is yss(t)?

8 G( j8)

1
1
5
, G( j8) tan 2 tan 1
8

1
1
5
yss (t ) 3 sin(8t tan 2 tan 1)
8

-- Plotting yss(t) and r(t)

r(t ) 3 sin(8t )

3 G( j8) sin(G( j8))

yss (t ) 3 G( j8) sin(8t G( j8))

Start to measure ONLY after waiting till steady state is reached

-- On the other hand, if given yss(t) and r(t) , one can derive | G( j8) | and
G( j8) from the amplitude and phase information of the signals
r(t )

Phase information

yss (t )

Start to measure ONLY after waiting till steady state is reached

III.B.2 Representation of G( j)
(a) Polar Plot
- Represent G(j) as -tagged complex
number on complex plane

Im

|G(j)|
Real(G(j))

Imag(G(j))

G(j)
Re

2
3
- Use Polar coordinate (Magnitude and Angle) or Cartesian
Coordinates (Real and Imaginary parts) for plotting
- Advantage: all information (magnitude, phase, frequency) in
single plot

- A few important facts when plotting polar plot:

* What happens to G(j) as when 0?
* What happens to G(j) as when large?
* Any special points in-between: Any such that
Real part of G(j) =0 or Imag part of G(j) =0 ?
1
- Example: G( s)
( s1)2
1
12
2
j
G( j)

2 2
( j1)2
1
12

Plot polar plot:

* What happens to G(j) as when 0?

1
12
2
j
0 G( j)

2 2
( j1)2
1
12

* What happens to G(j) as when large?

G( j)

12

2 2

2 2

c1

c2

for some constants c1 and c2.

* Any special points in-between: Any such that
Real part of G(j) =0 or Imag part of G(j) =0?

0 G( j 0) 1 (Imag.part of G( j) 0)
1
1 G( j1) j
2

(Real part of G( j) 0)

Polar plot of

G( s)

1
( s1)2

* Plot by MATLAB

>> w=[0.01:0.01:20];
>> IG=(-2*w)./((1+w.*w).^2);
>> RG=((1-w.*w))./((1+w.*w).^2);
>> plot(RG,IG)
>> grid
>> axis([-0.2 1.2 -0.7 0.3])

(b) Bode Plots

- Present information in two plots:
(a) log 10 G ( j ) vs log 10
(b) G ( j ) vs log 10
- log scale for axis to cover wide frequency range
and wide G ( j ) range

- Special db unit for magnitude plot:

G( j ) db 20log10 G( j )
Example: G( j) 10 G( j) db 20db
G( j) 2.0 G( j) db 6db
G( j) 1 G( j) db 0db
G( j) 0.5 G( j) db 6db
G( j) 0.05 G( j) db 26db

G ( j ) db

20 db

10

0 db

- 20 db

-40 db

G ( j )

0.1

0.1

1.0

10

rad/sec

100

0.01

log scale

LG(j )

-90

-180

-270
0.1

1.0

10

rad/sec

100 rad/sec

1
- For previous example: G( s)
( s1)2

- Using MATLAB:
>>num = 1
>> den=[1 2 1]
>> bode(num,den)
>> grid

- Note: we use log-axis for instead of the log10 values

to better tell the actual value

- Advantage of log scale for |G(j)| plot:

(a) For G(s) G1(s)G2 (s) G( j ) G1 ( j )G2 ( j )
Then log10 G( j ) log10 G1 ( j ) log10 G2 ( j )
G ( j ) db G 1 ( j ) db G 2 ( j ) db

and G( j ) G1 ( j ) G2 ( j )
i.e., Bode Plots of G = Bode Plots of G1 + Bode Plots of G2
(b) For G1(s) 1G (s) G 1 ( j ) 1 G 2 ( j )
2
Then
log10 G1 ( j ) log10 G2 ( j )
G 1 ( j ) db G 2 ( j ) db

and

G1 ( j ) G2 ( j )

i.e., Bode Plots of G1 = - ve of the Bode Plots of G2

- Example:
1
1
* G(s) s(s 1) 2 G( j ) j ( j 1) 2

Real[G( j )]
| G( j ) |

Few important points to note

* (rad/s)
0.0010
0.0500
small 0.3000
0.5000
Real part 0.7000
0.9000
or
Imag part 1.0000
1.3000
=0
1.7000
3.0000
5.0000
large 10.0000
50.0000

2
(1 )

2 2

4
(1 2 )4

Re [ G ( j )]

, Imag[G( j )]
(1 2 )2

2 (1 2 )

Im[ G ( j )]

-2.0000 -999.9970
-1.9900 -19.8506
-1.6834
-2.5531
-1.2800
-0.9600
-0.9009
-0.3282
-0.6105
-0.0644
-0.5000
0
-0.2764
0.0734
-0.1322
0.0735
-0.0200
0.0267
-0.0030
0.0071
-0.0002
0.0010
-0.0000
0.0000

(1 2 )

(1 2 )2

,
[
G
(
j

)]
tan
4

Imag[G(( j )]
Real[G(( j )]

| [ G ( j )] | | [ G ( j )] | db [ G ( j )] (deg)
999.9990
60.0000
19.9501
25.9989
3.0581
9.7090
1.6000
4.0824
0.9588
-0.3657
0.6139
-4.2384
0.5000
-6.0206
0.2860 -10.8739
0.1512 -16.4080
0.0333 -29.5424
0.0077 -42.2789
0.0010 -60.0864
0.0000 -101.9417

-90.1146
-95.7248
-123.3985
-143.1301
-159.9840
-173.9744
-180.0000
-194.8628
-209.0689
-233.1301
-247.3801
-258.5788
-267.7085

* Polar Plot
Behavior for
large
Special with real

or imag part =0

Behavior for
small

* Again, we ask:
-- What happens when 0?
-- What happens when large?
-- Any special points in between? (In this case, when
=1, imag part=0)

|G(j)|, db

Bode plots
80
60
40
20
0

Behavior for
large

-20
-40
-60
-80
-100
-120

Special with real

or imag part =0

Behavior for
small

III.B.3 Hand Drawing of Bode Plots

Basic concepts:
(i) A line is drawn with a point and a slope
(ii) Addition of lines

 Putting G(s) into standard form for Bode Plot:

C ( s z1 )( s z 2 )...( s 2 2 33s 32 )...
G( s )
s N ( s p1 )( s p2 )...( s 2 2 4 4 s 4 2 )...
K b ( s1 1)( s 2 1)...[( s / 3 )2 2 3 ( s / 3 )1]...

s N ( s 3 1)( s 4 1)...[( s / 4 )2 2 4 ( s / 4 )1]...

Hence, with s=j

Standard Form

K b ( j1 1)( j 2 1)...[( j / 3 )2 2 3 ( j / 3 )1]...

G ( j )
( j ) N ( j 3 1)( j 4 1)...[( j / 4 )2 2 4 ( j / 4 )1]...

Generally, G(j) is comprised of the following terms:

- Kb : the Constant term
- (j)N : Pole/zero at origin (ve N for pole, +ve N for zero)
- (j)+1 : Real pole/zero (ve for pole, +ve for zero)
- [(jnjn+1 : Complex pole/zero pair
Idea: Draw Bode plots of individual terms and then
add them up to form Bode plots of G(j)

 Bode Plots for constant term Kb

- Magnitude plot:
| Kb |db=20 log10 Kb
- Example: Kb=5
log10 5 =0.699
| Kb |db=20 log10 Kb=14db

- Phase plot:
LKb = 0

LKb = 0

 Bode Plot for pole/zero at origin (j)N

(N ve for pole, +ve for zero)
Slope:
+40db/D

Slope:
+20db/D

Slope:
-20db/D
-40db/D

- |(j)N|db= 20 N log10

- L [(j)N]= 90oN

- Magnitude plot: straightline

with slope 20N db/decade
passing the point ( =1, 0 db)

- Phase plot: horizontal

line at values 90oN

 Bode Plots for real pole/zero (j) +1

-- Bode plots of (j)+1
* Magnitude in db
= 20 log (1+)0.5
= 0 db for
3 db for =1
= log( for
Corner
frequency

* Magnitude asymptotes:
(i) 0 db line for
(ii) Straight line with slope
+20 db/decade for

Slope= 20db/decade
db

db

Slope= - 20db/decade
10/

Slope= 45o/decade
Slope= - 45o/decade

-- Bode plots of (j)+1

(continued)

Slope= 20db/decade
db

db

* Phase in degree = tan-1 ()

= 0o for
= 45o for =1
= 0o for
* Phase asymptotes:
(i) 0o line for
(ii) Straight line from 0o to 90o
from to
(iii) 90o line for

Slope= - 20db/decade
10/

Slope= 45o/decade
Slope= - 45o/decade

Bode plots of (j)-1 = Bode plots of (j)+1

Example: (j)+1 by MATLAB


Example: (j)+1

Magnitude asymptotes
(Max error=3 db)

Corner frequency
=1/


Example: (j)+1

Phase asymptotes

One decade below

corner frequency
=0.1/

Corner
frequceny=1/

One decade
above corner
frequency=10/

 Bode Plots for complex pole/zero pair

- For complex pole pair
[(jnjn
* Magnitude asymptotes:
(a) 0 db for

1
n

(b) Straightline with slope

-40db/decade for

1
n

Slope= - 40db/decade

* Phase asymptotes:

1
(a) line for
n
(b) -180o line for
1
n
0o

* Add effects according to -value

- Bode Plots for complex zero pair is -ve that of complex pole pair

 Example: Drawing Bode Plot

G(s)

db

40 ( s 0 . 5 )
s ( s 10 )

- Put in standard form

G ( j )

2 ( j 1 1)
,
j ( j 2 1)

1 2 , 2 0 .1

- G(j) has following terms:

(a) Constant: 2
1
(b) Pole at origin: ( j )
(c) Real zero: 1
( j1 1) , 1 2
(d) Real pole:

( j 2 1) 1 , 2 0 . 1

- Bode plot of G(j) by summing

Bode plots of individual terms

db

db

- Detail drawing of Bode Plot for previous example on

Semi-log Graph Paper
* Magnitude Plot G ( j ) db

-- Smooth out the corner to (slightly) enhanced accurate

and appearance of G ( j ) db

* Phase Plot G ( j )

-- Smooth out the corner to (slightly) enhanced accurate

and appearance of G ( j )

 Example: Disk Drive Read System

5000
G (s)
s ( s 20 )( s 1000 )
- Put in standard form

(Open loop transfer function

from R(s) to head position Y(s))

0 . 25
,
G ( j )
j ( j 1 1)( j 2 1)

1 1 0 . 05 , 2
20

1 0 . 001
1000

- G(j) has following terms:

(a)
(b)

Constant 0 . 25
Pole at origin 1 j

(c)

Real pole ( j 1 1) 1 , 1

1
20

(d)

Real Pole ( j

1
1000

1) , 2
1

Corner freq. 20
Corner freq.

1000

- Bode plot of G(j) by summing Bode plots of individual terms

- Magnitude plot
20
0

0. 25 db

-20
( j 1 1) 1

Magnitude, in db

-40
-60

( j
db

1 j db

-80
-100
G ( j ) db

-120
-140
-160
-180
0.1

10

100
1000 1
, rad/sec

104

105

1) 1 db

- Phase Plot
0
( j 1 1)

-30

( j 2 1) 1

Phase, degree

-60
( j ) 1

-90
-120

-45o/D

-150
-180

-90o/D

G ( j )

-210
-240

-45o/D

-270
-300
0.1

0 .1

10

0 .1

100
10

1000
104
, rad/sec

105
10

III.B.4 Steady State Error Constant from Bode Plot

K b ( s1 1)( s 2 1)...[( s / 3 )2 2 3 ( s / 3 )1]...
Note: when G ( s )

s N ( s 3 1)( s 4 1)...[( s / 4 )2 2 4 ( s / 4 )1]...

Then recall that N is the type number of the CL system, and

N

K b lim s G ( s )
s 0

is the corresponding error constant:

* if N=0, CL system Type 0, Kb=Kp, Position error constant,

* if N=1, CL system Type I, Kb =Kv, Velocity error constant,
* if N=2, CL system Type II, Kb =Ka, Acceleration error constant, etc.

On the other hand, Bode plots of G(j

K b ( j1 1)( j 2 1)...[( j / 3 )2 2 3 ( j / 3 )1]...
G ( j )
( j ) N ( j 3 1)( j 4 1)...[( j / 4 )2 2 4 ( j / 4 )1]...

at low frequency (before any corner freq 1/ appears) yields:

G ( j )

Kb
( j ) N

(Contributions at low freq. coming from

constant Kp and poles at origin (j)-N only)

Information of N and Kb can be obtained from the low

frequency portion of Bode plots of G(j)

 Obtain N and Kb from Magnitude plot of G(j):

Consider low frequency region (before any corner
frequency 1/ appears),
(i) Obtain N from the slope of
the low frequency portion
(ii) Draw the Bode |1/(j)N|db
(iii) Difference between
| G(j)|db and |1/(j)N| db
yields Kb in db

db

j N

db

 Example: Given following G(j) for a unity feedback system,

Type number and corresponding error constant?
R(s)

G(s)

Y(s)

 Answer: Using the magnitude plot only,

|Kb |db=10db
|1/(j)|db

Low frequency portion slope is -20db/D N =1

CL system (with unity feedback loop) is Type I
(ii) Draw |1/(j)| (straightline passing the point (=1,0 db) with
slope -20db/D)
(iii) Difference between | G(j)|db and |1/(j)|
yields Velocity Error constant |Kb |db = 10db Kb=3.2
(i)

Exact answer Kb=3

directly from G(s)