UNIT - III

UNIT - III
Frequency Domain Analysis
Input is SINUSOIDAL SIGNAL
Frequency Domain Plots are
1. Bode plot
2. Polar plot

BODE PLOT

db Magnitude Vs Frequency
and
Phase angle Vs Frequency

APPLICATION OF BODE PLOT

to analyze the stability of control systems in frequency
domain.
to design closed loop control systems in frequency domain.

Bode plot is drawn using GH function.

Consider the general form of the transfer function

KS M ...( S + Z 1 )...( S + Z 2 ) m . . .( S 2 + 2 n S + n )
G( S )H ( S ) =
2
S N ...( S + P1 )...( S + P2 ) n . . .( S 2 + 2 n S + n )
2

2
j 2 1

K ( j ) 1 +
+
1 +
K
z

k
k
1

N ( )

H ( ) =
=
2
D( )

2
j

1 + j 1 +
1
+

K
p

n
n
1

Bode plot of G(S) = K (Constant factor)

Substitute S = j
G(j) = K
magnitude

M = G ( j ) = K

db magnitude A = 20 log M = 20 log K

Phase angle
A

= tan 1

img 0
= =0
real K

Single Integral factor G(S) = K/S

Substitute S = j
G(j) = K/j
magnitude

M = G ( j ) =

db magnitude

K
= 20db
0.1 K

Substitute =0.1K

A = 20 log

Substitute =K

K
A = 20 log = 0db
K

Substitute =10K

Phase angle

A = 20 log M = 20 log

K
A = 20 log
= 20db
10 K
img
1 K /
= tan
= tan 1 = 90o
= tan
0
real
1

G(S) = K/S

-20 db/decade

Single first order factor G(S) = 1/(1+TS)

Substitute S = j
G(j) = 1/(1+jT)
magnitude M = G ( j ) =
db magnitude

1
1 + 2T 2

A = 20 log M = 20 log

at low frequencies

1
1 + 2T 2

<<1

A = 20 log 1 = 0db
at high frequencies

>>1

A = 20 log 2T 2 = 20 log T

= 20 log 1 + 2T 2

Substitute =1/T

Substitute =10/T

Phase angle

A = 20 log 1 = 0db
A = 20 log 10 = 20db

img
1 T
= tan
= tan
= tan 1 T
real
1
1

Substitute =0

= tan 1 0 = 0o

Substitute =1/T

= tan 1 1 = 45o

Substitute =

= tan 1 = 90o

G(S) = 1/(1+TS)

=1/T

=1/T is called as corner frequency. It is the frequency at which

asymptotes meet.

PROCEDURE FOR DRAWING BODE PLOT

PROCEDURE FOR MAGNITUDE PLOT
Step 1: Convert the given transfer function to standard form (Time
constant form) and Substitute K=1 and S=j.

Step 2: Calculate corner frequencies (c), slope, and change in slope

where corner frequency is the reciprocal of coefficient of S
term in standard form of transfer function

Factors

Corner
frequency
Rad/sec

Slope
in
db/decade

Change in Slope
in
db/decade

Write the factors in the increasing order of the corner frequencies

First factor is

K (or) K/(j)n (or) K(j)n

Step 3: Choose two arbitrary frequencies (l and h), one decade

less than the lowest corner frequency and one decade greater than the
highest corner frequency.
Write the frequencies in the increasing order
Step 4: Calculate db magnitude at first two frequencies using first
factor
Step 5: Calculate db magnitude at 3rd and higher frequencies using the
following formula

Gain at y = Gain at x + slope from x to y log

x

Step 6: Tabulate frequency and db magnitude values. Mark the values

in semilog graph sheet and join the points by straight lines.
Frequency
In rad/sec

db magnitude

PROCEDURE FOR PHASE ANGLE PLOT

Write the phase angle function of the given transfer function
and calculate phase angle values at different frequencies. Tabulate
frequency and phase angle values. Mark the values in semilog graph
sheet and join the points by a smooth curve.
Frequency
In rad/sec

Phase angle

Frequency Domain Specifications

1. Resonant Peak (Mr): Maximum value of the magnitude of closed loop
transfer function.
2. Resonant frequency (r): The frequency at which resonant peak
occurs.
3. Bandwidth (b): Range of frequencies for which gain of the system is
more than -3db.
4. Gain Margin (Kg): This the gain value by which system gain can be
increased, beyond which system is unstable.

K g=
in db

1
G ( j pc )

K g= 20 log

1
G ( j pc )

Where pc is Phase cross over frequency, the frequency at which phase

angle is 180.
5. Phase Margin (): This the phase angle value by which system
phase angle can be increased, beyond which system is unstable.

= 180o + gc

where

gc = G ( j gc )

Where gc is Gain cross over frequency, the frequency at which gain

is 0 db.

Resonant Peak

Resonant frequency

Bandwidth

1. The open loop transfer function of certain unity feedback control system
is given by

250 K
G( S ) =
S ( S + 10)( S + 5)

Draw the bode plot and determine gain margin and phase margin.
Determine the value of K for the desired specifications
a) Gain margin = 20 db
b) Phase margin = 45

gc

pc

2. The open loop transfer function of certain unity feedback control system
is given by

7( S + 5)
G( S ) =
S ( S 2 + 4 S + 10)

Draw the bode plot and determine gain margin and phase margin.
Determine the value of K for the desired specifications
a) Gain margin = 25 db
b) Phase margin = 45

CALCULATION FOR MAGNITUDE PLOT

Step 1: Convert the given transfer function to standard form (Time
constant form) and Substitute K=1 and S=j.

7( S + 5)
G( S ) =
S ( S 2 + 4 S + 10)
transfer function in standard form (Time constant form)

1
5 * 7(1 + S )
5
G( S ) =
4
1 2
10 * S (1 + S + S )
10
10
Substitute K=1 and S=j

0.35(1 + j 0.2 )
G( S ) =
( j )(1 + j 0.4 0.1 2 )

Step 2: Calculate corner frequencies (c), slope, and change in slope

c1 = n= 10 =3.16 rad/sec (for 2nd order factor)
and c2=5 rad/sec

Factors

Corner
frequency
Rad/sec

Slope
in
db/decade

Change in
Slope
in
db/decade

0.35
j

--

-20

--

3.16

-40

-60

20

-40

1 + j 0.4 0.1 2

1 + j 0.2

Step 3: l = 0.3 and h = 50

Write the frequencies in the increasing order
l = 0.3,

c1 =3.16,

c2=5

and

h = 50

Step 4: Calculate db magnitude at first two frequencies using first

factor

Gain at l = A1 = 20 log(

0.3

) = 20 log(

0.3
) = 0db
0.3

0 .3

0.3
Gain at c 1 = A2 = 20 log( ) = 20 log(
) = 20.45db

3.16
Step 5: Calculate db magnitude at c2=5 using the following formula

Gain at c 2 = Gain at c 1 + slope from c1 to c 2 log c 2

c1

Gain at c 2 = A3 = 20.45 + [ 60] log

5
3.16

= -32.407 db

Step 6: Calculate db magnitude at h=50 using the following formula

Gain at h = Gain at c 2 + slope from c 2 to h log h

c 2

Gain at h = A4 = 32.407 + [ 40] log

50
5

= -68.407 db

Step 6: Tabulate frequency and db magnitude values. Mark the values

in semilog graph sheet and join the points by straight lines.
Frequency
In rad/sec

db magnitude

0.3

3.16

-20.45

-32.407

50

-68.407

CALCULATION FOR PHASE ANGLE PLOT

0.4
= G ( j ) = 90 + tan 0.2 tan
1 0.1 2
o

For n

0.4
= G ( j ) = 90 + tan 0.2 (180 + tan
) For >n
2
1 0.1
Frequency
Phase angle
0.4
1
1
tan
In rad/sec tan 0.2

1 0.1 2
o

0.3

-93.47

-190.6

n = 3.16
4

-(180 + )

-(180 + )

25

-(180 + )

50

-(180 + )

3. The open loop transfer function of certain unity feedback control system
is given by

K
G(S)=
S(S+2) 2

Draw the bode plot and determine gain margin and phase margin.
Determine the value of K for the desired specifications
a) Gain margin = 40 db
b) Phase margin = 45
4. The open loop transfer function of certain unity feedback control system
is given by

K
G(S)= 2
S (S+1.5)
Draw the bode plot and determine gain margin and phase margin.
Determine the value of K for the new gain crossover frequency
to be 2 rad/sec.

CALCULATION FOR MAGNITUDE PLOT

Step 1: Convert the given transfer function to standard form (Time
constant form) and Substitute K=1 and S=j.

K
G( S ) =
S ( S + 2) 2
transfer function in standard form (Time constant form)

G( S ) =

K
4 S (1 +

1 2
S)
2

Substitute K=1 and S=j

0.25
G ( j ) =
j (1 + j 0.5 ) 2

Step 2: Calculate corner frequencies (c), slope, and change in slope

c = 2 rad/sec

Corner
frequency
Rad/sec

Slope
in
db/decade

Change in
Slope
in
db/decade

0.25
j

--

-20

--

1
(1 + j 0.5 ) 2

-40

-60

Factors

Step 3: l = 0.2

and

h = 20

Write the frequencies in the increasing order

l = 0.2,

c =2,

and

h = 20

Step 4: Calculate db magnitude at first two frequencies using first

factor

Gain at l = A1 = 20 log(

0.25

Gain at c = A2 = 20 log(

) = 20 log(

0.25

0.25
) = 4.463db
0 .2

) = 20 log(

0.25
) = 41.589db
2

Step 5: Calculate db magnitude at h=20 using the following formula

Gain at h = Gain at c + slope from c to h log h

c

Gain at h = A3 = 41.589 + [ 60] log

20
2

= -179.74 db

Step 6: Tabulate frequency and db magnitude values. Mark the values

in semilog graph sheet and join the points by straight lines.
Frequency
In rad/sec

db magnitude

0.2

4.463

-41.589

20

-179.74

CALCULATION FOR PHASE ANGLE PLOT

= G ( j ) = 90o 2 * tan 1 0.5

Frequency
In rad/sec
0.2

2 * tan 0.5
1

Phase angle

-91.421

2
5
10
20

-258.58

POLAR PLOT
It is a plot between magnitude and phase angle of
G(S)H(S) in polar graph when is varied from 0 to .
It is a plot between real and imaginary part of G(S)H(S) in
rectangular graph when is varied from 0 to .
APPLICATION OF POLAR PLOT
to analyze the stability of control systems in frequency
domain.
to design closed loop control systems in frequency domain.

j
S-plane

0 to

PROCEDURE FOR CONSTRUCTING POLAR PLOT

Convert the transfer function to TIME CONSTANT FORM
Substitute S = j and K = 1
Write magnitude and phase angle of the given transfer
function
Choose arbitrary frequencies near corner frequencies
Tabulate frequency, magnitude and phase angle values
Mark the values in polar graph sheet
To use rectangular graph sheet convert magnitude and phase
angle to real and imaginary values

1.The open loop transfer function of a unity feedback system is given by

G(S ) =

1
S ( S + 1)(2 S + 1)

Draw the polar plot and determine gain margin and phase margin.
Determine the value of K for the desired specifications
a) Gain margin = 15 db
b) Phase margin = 30

The given transfer function is in time constant form

G( S ) =

1
S (1 + S )(1 + 2 S )

Substitute S = j

1
G ( j ) =
j ( j + 1)( j 2 + 1)
Corner frequencies are c1 = 0.5 and c2 = 1

Magnitude

M=

Phase angle

= 90o tan 1 tan 1 2

1 + 2 1 + 4 2

Frequency
Rad/sec

0.707

Magnitude

0.66

-90

-180

-270

Frequency
Rad/sec

0.707

Real Part

-0.66

G ( j ) H ( j )

Phase angle
in deg
G ( j ) H ( j )

Re[G ( j ) H ( j )]

Imag Part
Im[G ( j ) H ( j )]

Unit circle

pc

G(j pc ) = G B = 0.66

0 gc

Unit circle

pc

G(j pc ) = G B = 0.0063

0 gc=91

Gain margin
1
K g= 20 log
G ( j pc )

1
= 20 log
0.66

= 3.52db

Phase margin

= 11.4o
Gain and Phase margin values are positive, hence the given
closed system is stable.

j
S-plane

0 to

Imag part of GH

GH plane

Real part of GH

GH plot

NYQUIST PLOT
APPLICATION OF Nyqiust plot
to analyze the stability of control systems in frequency domain.
Stability of the closed loop system is determined from the
location of poles of G(S)H(S) and the G(S)H(S) contour.
NYQUIST STABILITY CRITERION
for a stable closed loop system, GH contour should
encircle -1+j0 as many times as number of right half open loop
(GH) poles in anticlockwise direction.
for no right half open loop (GH) poles, GH contour should not
encircle -1+j0 in anticlockwise direction.
If GH contour encircles in clockwise direction, the closed loop
system is unstable and the numder of encirclements in clockwise
direction is equal to number of closed loop poles on right half of s-plane.

To draw GH contour, in s-plane

a contour is chosen, which has four
sections.

Section C1:
s=j

Polar plot

0 to +

Section C2:
s=Rej
where R

is from +/2 to- /2

X

C4

Section C3:
s=-j

0 to -
Inverse Polar plot
Section C4:
s=Rej
where R
0
is from -/2 to +/2

If this s-plane contour is mapped (substituting) to GH plane, GH

contour is obtained.

1.The open loop transfer function of a unity feedback system is given by

G( S ) =

K
S (1 + S )(1 + 2 S )

Draw the Nyquist plot and determine the stability of the given
closed loop system.

Soln:

Convert the given transfer function to time constant form.

Number of right half open loop poles = 0.

Therefore if the given closed loop system is to be stable, GH

contour should not encircle -1+j0.

Step 1: mapping of section C1

Substitute S = j

0 to +

C4

Step 2: mapping of section C2

s=Rej
G( S ) =

K
S (1 + S )(1 + 2 S )

G( S ) =

K
e j (1 + e j )(1 + e j )

K
j 3
G( S ) =
=
0
e
e j .e j .e j

where R
is from +/2 to -/2

In s-plane
is from +/2 to- /2
In GH plane
is from -3/2 to +3/2

s=-j

0 to -
Inverse Polar plot

Step 3: mapping of section C3

Step 4: mapping of section C4

s=Rej
where R
0
is from -/2 to-+/2

G( S ) =

K
S (1 + S )(1 + 2 S )

G( S ) =

K
0e j (1 + 0e j )(1 + 0e j )

K
G ( S ) = j = e j
0e

In s-plane
is from -/2 to +/2
In GH plane
is from +/2 to -/2

GH plane
GH contour

Real[G(s)H(s)]

-0.66K = -1
K = 1.5

Imag[G(s)H(s)]

-0.66K

when K<1.5, GH contour does not encircle -1+j0. Therefore the

given closed loop system is stable

when K=1.5, Closed loop system is marginally stable.

when K>1.5, GH contour encircles -1+j0 two times along clockwise

direction. Therefore, closed loop system is unstable.
Hence two closed loop poles on right half of s-plane.

2. The open loop transfer function of a unity feedback system is given by

K
G( S ) =
S ( S + 2)
Draw the Nyquist plot and determine the stability of the given
closed loop system.

Polar plot is not intersecting -180 line. Therefore, the closed

loop system is stable for all values of K from 0 to .