CONTROLSYSTEM

(part2)

EEE350

FREQUENCYDOMAINANALYSIS

EN.MUHAMMADNASIRUDDIN
MAHYUDDIN

Nasiruddin'sHorizons 1
 TimeHorizon

WEEK
1 2 3 4 5 6
m t w t f m tu w th f m tu w th f m tu w th f m tu w th f m tu w th f
u h

RootLocus
Frequency
Response
Analysis
Controller
Design
PID
controller

Nasiruddin'sHorizons 2
Contentsofthesubject(part2)
2.FrequencyDomainAnalysis

i. Whatisit?
ii. HowFrequencydomainanalysisposesadvantage
overtherootlocustechniques?
iii. Howtosketchthebodeplot,Nyquistplotandlatter
refineit?
iv. Howtointerpretthebodeplottoobtainboththe
steadystateandtransientresponsespecifications?
v. Howtoverifywhetherthesystemisstableornot
byusingthebodeplottechniques?

2.2NicholsChart(anextensiontobodeplottechniques)
(iftimepermits)
Nasiruddin'sHorizons 3
FrequencyResponseAnalysis

n Definition

i. Thesteadystateresponseofasystem
toasinusoidalinputiscalledthe
frequencyresponse.
ii. Infrequencyresponsemethod,the
frequencyoftheinputsignalisvaried
overcertainrangeandthen,the
resultingresponseisstudied.

Nasiruddin'sHorizons 4
FrequencyResponseAnalysis
n Advantagesoverrootlocusmethod

i. Thefrequencyresponseapproachinvolvessimpletestsandcanbe
madeaccuratelybyuseofreadilyavailablesinusoidalgenerators
andprecisemeasurementsequipment.

ii.Thetransferfunctionsofcomplicatedcomponentscanbedetermined
experimentallybyfrequencyresponsetests.

iii.Asystemmaybedesignedsothattheeffectsofundesirablenoiseare
negligible.

iv.Analysisanddesigncanbeextendedtocertainnonlinearcontrol
systems.

v.Leadcompensatorscanbedesignedconvenientlytomeetasteady
stateerrorrequirementandtransientresponserequirement.

Nasiruddin'sHorizons 5
FrequencyResponseAnalysis
n Conceptoffrequencyresponse Inputsignal

i. Asinusoidalinputsignalisfed x(t)= Xsinwt

intothesystemofourinterest
andthen,theresponseofthe
systemisstudied.
ii. Thesteadystateoutputwill
alsobeasinusoidalsignalof
thesamefrequencybutwith
possiblydifferentmagnitude
andphaseangle.
Inputsignal system Outputsignal
Timedomain x(t) y(t)
G(s)
Frequency X(s) Y(s)
domain
Nasiruddin'sHorizons 6
 FrequencyResponseAnalysis
n Conceptoffrequencyresponse

1.5 2

Magnitudeinput,Mi 1.5
1
magnitudeoutout,Mo
1

0.5
0.5
f(t)

f(t)
0 0

0.5 phaseangleoutput,Oo
0.5 phaseangleinput,Oi

1
1.5

1.5 2
0 1 2 3 4 5 6 0 1 2 3 4 5 6
time(s) time(s)

Inputsignal Outputsignal
Nasiruddin'sHorizons 7
FrequencyResponseAnalysis
1. Supposethatthetransfer
functionG(s)canbe
p(s) p(s)
writtenasratioof2 G (s)= =
polynomialsins(or q(s) (s+ s1)(s+ s2)...(s+ sn)
Laplace)

2. Then,theoutputY(s)can p(s)
Y(s)=G(s)X(s)= X(s)
bewritten q(s)

3. Aftersteadystate
conditionsarereached,the G(jw )= Mejf = Mf
frequencyresponsecanbe
obtainedbyreplacings Mistheamplituderatioof
theoutputandinputsinusoids.
withjw.
isthephaseshiftbetweenthe
Inputsinusoidandoutputsinusoid.
Nasiruddin'sHorizons 8
FrequencyResponseAnalysis
4. Theinputsignalis
expressedinfrequency
domain(Laplaceform). wX
X( s)= 2
s + w 2
5. Then,thefrequency
responseofthesystemis

wX
Y (s)= G(s)X(s)= G(s) 2
s + w 2
As+ Bw
Y(s)= G(s) 2
s + w 2
As+ Bw
= G(s)
(s+ jw )(s- jw )
K1 K2
= + + partialfractiontermsfromG(s)
s+ jw s- jw
Nasiruddin'sHorizons 9
FrequencyResponseAnalysis
6.Continuefrom5,
As+ Bw 1 1
K1 = G(s) = ( A+ jB)G(- jw )= Mie- jf MGe- jfG
s- jw s - jw
2 2

M iMG - j(fi+fG)
= e
2
As+ Bw 1 1
K2 = G(s) = ( A- jB)G(jw )= Miejfi MGejfG
s+ jw s + jw
2 2
MiMG j(fi+fG)
= e = K1*
2

whereK*1isthecomplexconjugateofK1

Nasiruddin'sHorizons 10
FrequencyResponseAnalysis
where
K1 K2
Css (s)= +
s+ jw s- jw
Thesteadystateresponse,(whichoriginatedfromtheportionofthepartial
fractionexpansionthatcomesfromtheinputWaveformspolesorjustthe
firsttwotermsofequationsinStep5)willbe,
MG = G( jw)
fG = angleof G(jw )

TakingtheLaplacetransformationaftersubstitutingthevalue
K1 andK 2,

e- j(wt+fi +fG ) + ej(wt+fi+fG )

C(t)= MiMG
2
= MiMG cos(wt+ fi + fG)

Nasiruddin'sHorizons 11
FrequencyResponseAnalysis

Y(jw )
G( jw) = = amplituderatioof theoutputsinuisoidtothe
X(jw )
inputsinusoid

Y(jw )
G ( jw)= = phaseshiftof theoutputsinuisoidwithrespect
X(jw )
totheinputsinusoid

Nasiruddin'sHorizons 12
 FrequencyResponseAnalysis
Workedexample,

1
s+
T1
G (s)=
1
s+
T2

Determinewhetherthisnetworkisaleadnetworkorlagnetwork

Nasiruddin'sHorizons 13
FrequencyResponseAnalysis

1
jw +
T1 T2(1+ T1 jw )
G (jw)= =
1 T1(1+ T2 jw )
jw +
Where, T2

T2 1+ T12w 2
G ( jw) =
T1 1+ T22w 2

f=G(jw)= tan-1T1w - tan-1T2w

Nasiruddin'sHorizons 14
 FrequencyResponseAnalysis
Thus,thesteadystateoutput
is

XT2 1+ T12w2
yss (t)= sin(wt+ tan-1T1w - tan-1T2w )
T1 1+ T22w 2

Fromthisexpression,wefindthatifT1>T2,thentan1T2w>0.
Thus,ifT1>T2,thenthenetworkisaleadnetwork.IfT1<T2,
Thenthenetworkisalagnetwork.

Nasiruddin'sHorizons 15
n Frequency Response Technique
Continues.

n BODE PLOT

Nasiruddin'sHorizons 16
FrequencyResponseAnalysis
n BODEDIAGRAM

consistsoftwographs:
i. Alogarithmicplotofthemagnitudeofasinusoidaltransfer
function
ii. Aplotofphaseangle

Bothareplottedagainstthefrequencyonalogarithmicscale.
Thestandardrepresentationofthelogarithmicmagnitudeof
G(jw)is20log|G(jw)|wherethebaseofthelogarithmis10.
Theunitisindecibel(dB).

Nasiruddin'sHorizons 17
BODEDIAGRAM
Advantageofusingbodeplot:

i. Themultiplicationofmagnitudecanbetreatedas
addition.

ii. Theexperimentaldeterminationofatransfer
functioncanbemadesimpleiffrequencyresponse
dataarerepresentedintheformofbodeplot.

iii. Asymptoticapproximationcanbeusedasimple
methodtosketchthelogmagnitude.

Nasiruddin'sHorizons 18
BODEDIAGRAM

i. BasicfactorsofG(jw)H(jw)thatfrequentlyoccurin
anarbitrarilytransferfunctionare

1. GainK K
2. Integralandderivativefactors ( j w )m1

3. Firstorderfactors
(1+ jw T )m 1

4. Secondorderfactors
[1+ 2z ( jw /w n ) + ( jw /w n )2 ]m 1

Nasiruddin'sHorizons 19
BODEDIAGRAM
n ThegainK

Assume G1(jw)H1(jw )=K

1. Then,themagnitudefor
gainKindecibel(dB)is G1(jw )H1(jw )dB = 20logK = aconstant

0o K> 0
2. Itsphaseis G1(jw )H1(jw )= o
- 180 K< 0

Nasiruddin'sHorizons 20
BODEDIAGRAM
n ThegainK

3.ThelogmagnitudeplotforaconstantgainK
isahorizontalstraightlineatthemagnitude
of20logKdecibels.
4.TheeffectofvaryingthegainKinthetransfer
functionisthatitraisesorlowersthelog
magnitudecurveofthetransferfunctionby
thecorrespondingamount.
5.Ithasnoeffectonthephasecurve.

Nasiruddin'sHorizons 21
BODEDIAGRAM
nThegainK
BodeDiagram
30

25
K=20
Magnitude(dB)

20 K=10
15

K=4
10
1

0.5
Phase(deg)

0 Forfactorgain,K,
0.5
ithasnoeffecton
thephaseplot.
1
0 1 2 3
10 10 10 10
Frequency(rad/sec)

Nasiruddin'sHorizons 22
BODEPLOT
n Factor ( jw )p

jw
Assumethatinthedenominatorfor G( jw)H(jw )
1
G2 (jw)H2(jw )=
jw

MagnitudeforthisfactorindecibeldBis

1
G2 (jw )H2(jw )dB = 20log = -20logw dB
jw
Whentheequationisplottedagainstthefrequency
logarithmic,themagnitudeplotproducedisastraightline
withanegativeslopeof20dB/decade.
Nasiruddin'sHorizons 23
 BODEPLOT
n Magnitudeplotfor( jw)p

1
G2 (jw )H2(jw )dB = 20log = -20logw dB
jw

Whentheequationisplottedagainstthefrequency
logarithmic,themagnitudeplotproducedisastraightline
withanegativeslopeof20dB/decade.

Nasiruddin'sHorizons 24
 BODEPLOT
n Phaseplotfor ( jw )p

1
G2 (jw)H2(jw )= = -90o
jw

Whentheequationisplottedagainstthefrequency
logarithmic,thephaseplotproducedisastraightlineat90

Nasiruddin'sHorizons 25
BODEPLOT
n Factor ( jw )p Theslopeintersectswith
0dBlineatfrequency
BodeDiagram =1.
20

10
Magnitude(dB)

Aslopeof20dB/dec
0
formagnitudeplotof
10 factor 1
jw
20

Astraighthorizontalline
30
at90forphaseplotof
Phase(deg)

60
90 factor 1
jw

1 0 1
10 10 10
Frequenc y (rad/s ec )
Nasiruddin'sHorizons 26
BODEPLOT
n Factor ( jw)p
Forexample,
p
Generally,forfactor ( jw )
( jw)2
Magnitudeplot

p(20dB/dec) Magnitudeplot

Phaseplot +2(20dB/dec)=
+40dB/decslope
p(90)
Phaseplot

+2(90)=+180
horizontalline
Nasiruddin'sHorizons 27
BODEPLOT
n Factor ( jw )p

BodeDiagram
200
1/jw
1/(jw )2
100 1/(jw )3
Magnitude(dB)

jw
(jw )2
0
(jw )3

100

200
360

180
Phase(deg)

180

360
3 2 1 0 1 2
10 10 10 10 10 10
Frequency(rad/sec)
Nasiruddin'sHorizons 28
BODEPLOT
n Factor (1+ jw)-1
n MagnitudePlot

Let 1
G4(jw )H4(jw )=
1+ jwT

Tistherealconstant.MagnitudeforindBis

1
G4 (jw)H4(jw )dB = 20log
1+ jwT
= -20log1+ jwT = -20log (1+ T2w 2)
Nasiruddin'sHorizons 29
BODEPLOT
nFactor (1+ jw)-1
nMagnitudePlot

Asymptoticapproximationisusedduringthebodeplotsketching.
1
when w << , then G4 (jw )H4(jw )dB 20log1= 0
T

1
when w >> , then G4(jw )H4(jw )dB 20logwT
T

Therefore,themagnitudeplotindBisahorizontalstraightline
at0dBatlowfrequency(T<<1),andastraightlinewitha
slopeof20dB/decadeathighfrequency(T<<1)thatwill
interceptthe0dBlineatT=1,thatisthefrequencyof
interceptioniscalledcornerfrequency.
Nasiruddin'sHorizons 30
BODEPLOT
nFactor (1+ jw)-1

nMagnitudePlot

Cornerfrequency,
=1/T

Themaximumerrorbetweentheplotobtainedthrough
asymptoticapproximationandtheactualplotis3dBatthe
cornerfrequency.

Nasiruddin'sHorizons 31
BODEPLOT
-1
nFactor (1
+ j w)

nPhasePlot
1
G4( jw)H4(jw )= = - tan-1wT
1+ jwT

Similartomagnitudeplot,thephaseplotis
sketchedusingasymptoticapproximation,
0.1
when w<< , G4 (jw )H4(jw )= 0o
T
10
when w >> , G4(jw )H4(jw )= -90o
T
1
when w = , G4(jw )H4(jw )= -45o
T
Nasiruddin'sHorizons 32
BODEPLOT
-1
nFactor (1+ jw)
nPhasePlot

Thephaseplotoffactor1/(1+j)consistsofahorizontal
straightlineat0until=0.1/T,andthen,astraightline
withaslopeof45/decadeuntilreaching=10/Twhereit
willbecomeahorizontallineagainat90.

Nasiruddin'sHorizons 33
BODEPLOT
BodeDiagram
Factor1/(1+jw )
10

5
Magnitude(dB)

10

15

20

25

30

35

40

0
Phase(deg)

45

90
2 1 0 1 2
10 10 10 10 10
Frequency(rad/sec)

Nasiruddin'sHorizons 34
BODEPLOT
n Factor (1+ jw)
n MagnitudePlot
Let
G5(jw )H5(jw )= 1+ jwT

Tistherealconstant.Magnitudefor
indBis

G5 (jw)H5(jw )dB = 20log1+ jwT

= 20log (1+ T2w 2)

Nasiruddin'sHorizons 35
BODEPLOT
nFactor (1+ jw)
nMagnitudePlot
Asymptoticapproximationisusedduringthebodeplot
sketching. 1
when w << , then G5 (jw )H5(jw )dB 20log1= 0
T

1
when w >> , then G5(jw )H5(jw )dB 20logwT
T

Therefore,themagnitudeplotindBisahorizontalstraight
lineat0dBatlowfrequency(T<<1),andastraightline
withaslopeof20dB/decadeathighfrequency(T<<1)
thatwillinterceptthe0dBlineatT=1,thatisthe
frequencyofinterceptioniscalledcornerfrequency.
Nasiruddin'sHorizons 36
BODEPLOT
nFactor (1+ jw)
nPhasePlot

Thephaseplotoffactor1/(1+j)consistsofa
horizontalstraightlineat0until=0.1/T,and
then,astraightlinewithaslopeof45/decade
untilreaching=10/Twhereitwillbecomea
horizontallineagainat90.

Nasiruddin'sHorizons 37
BODEPLOT
BodeDiagramf orf ac tor( 1+jw )
40

35

30

25
Magnitude(dB)

20

15

10

10
90
Phase(deg)

45

2 1 0 1 2
10 10 10 10 10
Frequenc y (rad/s ec )
Nasiruddin'sHorizons 38
BODEPLOT
nQuadraticFactor
nMagnitudePlot

Forcaseslikezeta >1, equationscanbefactoredinto2factorswiththereal

poles.

Forcaseslikezeta <1, theequationcontainasetofcomplexpolesandthe

bodediagramisplottedwithouttheneedtofactorise.Thisissimplydueto
thefactthat,withthedampingfactorlessthan1,theCEdoesnothavereal
solutions.

Themagnitudeforquadraticfactoristhen,
2
w 2 w

G6( jw )H6(jw )dB =-20log 1- 2 + 2z
wn w n
Nasiruddin'sHorizons 39
BODEPLOT
nQuadraticFactor
nMagnitudePlot

Giventhequadraticfactorinthedenominator,

s 2 + 2zwns+ wn2 = (jw )2 + 2zwn(jw )+ wn2

1 1
G6 (jw)H6(jw )= =
w (jw )2 w 2 w
1+ j2z + 2 1- 2 + j2z
wn wn wn wn

Nasiruddin'sHorizons 40
BODEPLOT
nQuadraticFactor
nMagnitudePlot

Thepreviousequationshowsthat,

when w<< w n, then G6 (jw )H6(jw )dB 0dB

2
2
w
when w >> wn, (
then G6(jw )H6(jw )dB 20log 2 1+ 4z 2)
2

wn
w
= 40log
wn
= - 40logw + 40logwn
Nasiruddin'sHorizons 41
BODEPLOT
nQuadraticFactor
nMagnitudePlot

Therefore,forlowfrequency,/n<<1,themagnitudeplotindB
forthisfactoristheasymptotelineat0dB.Forhighfrequency,
/n>>1,andduetothefactthat01,thenthemagnitudeplot
forG6(jw)H6(jw)isastraightlinewithaslopeof40dB/decade.Both
asymptotes(0dBand40dB/decslopeasymptotes)willintersectwith
eachotheratacornerfrequency=n.

Nasiruddin'sHorizons 42
BODEPLOT
nQuadraticFactor
nPhasePlot

Phaseforthesystemofquadraticfactorcanbegivenas,

2zw
w
G6(jw )H6(jw )= tan-1 n 2
w
1- w 2
n

Nasiruddin'sHorizons 43
BODEPLOT
nQuadraticFactor
nPhasePlot

Phaseforthesystemofquadraticfactorcanbegivenas,

when w << w n , G6(jw )H6(jw )= 0o

when w = w n, G6(jw )H6(jw )= -90o

when w >> wn, G6(jw )H6(jw )= -180o

Nasiruddin'sHorizons 44
 BODEPLOT
QUADRATICFACTOR
Bode Diag r amf or QUA DRA TICFA CTOR
2 0

1 0

1 0
Magnitude(dB)

2 0

3 0

4 0

5 0

6 0

7 0

8 0
0

4 5
Phase(deg)

9 0

13 5

18 0
2 1 Nasiruddin'sHorizons
0 1 45 2
10 10 1 0 1 0 1 0
Fr eq ue nc y (r a d/s ec )
 BODEPLOT
QUADRATICFACTOR
BodeDiagram(QUADRA TICFACTOR)
15
z = 0 .1
z= 0 .1 5
10 z= 0 .2
z= 0 .2 5
z= 0 .3
5 z= 0 .3 5
z= 0 .4
Magnitude(dB)

z= 0 .4 5
0 z= 0 .5
z= 0 .6
z= 0 .7
5 z= 0 .8
z= 0 .9
z= 1
10

15

45
Phase(deg)

90

135

180 Nasiruddin'sHorizons 46
2 1 0
10 10 10
Frequency(rad/sec)
 BODEPLOT
EXERCISE1

Byusingasymptoticapproximation,sketchbodeplotfora
systemwiththefollowingtransferfunction:

10
G (s)H(s)=
s(1+ 0.5s)(1+ 0.1s)

Nasiruddin'sHorizons 47
 BodeDiagram
50

40

30

20
Magnitude(dB)

10

10

20

30 Finalmagnitudeplotaftersummingup
40 individualfactors
50

45

90
Phase(deg)

135

180

225
Finalphaseplotaftersummingup
individualfactors
270
1 0 1 2
10 10 10 10
Nasiruddin'sHorizons
Frequency(rad/sec) 48
 BodeDiagram
50

0
Magnitude(dB)

50

100

150
90

135
Phase(deg)

180

225

270
1 0 1 2 3
10 10 10 10 10
Frequency(rad/sec)

Nasiruddin'sHorizons 49
 BODEPLOT
n GAINMARGINAND
PHASEMARGIN

Gainmargin, GM isthechangeinopenloopgain,expressedindecibels(dB),requiredat
180ofphaseshifttomaketheclosedloopsystemunstable.

Phasemargin, fM isthechangeinopenloopphaseshiftrequiredatunitygaintomakethe
closedloopsystemunstable.

Phasecrossoverpointinthebodeplotisthepointwherephaseplotintersectwiththe180
horizontalline.The frequencyatwhichthe pointof intersection occursiscalled phasecrossover
frequency.

Gaincrossoverpointinthebodeplotisthepointwherethemagnitudeplotintersectwiththe the
0 dBline.The frequency atwhichtheintersectionoccursiscalledthegaincrossoverpoint.

Nasiruddin'sHorizons 50
 BODEPLOT
n GAINMARGINAND
PHASEMARGIN

Inthebodeplot,gainmargin(dB)isthetotaldifferencebetweenthemagnitudeplotat0dBline
tillthephasecrossoverfrequency.Thephasemarginisthedifferencebetweenthephaseplotat
180degreelinetillthegaincrossoverfrequency.

Stability
Thesystemwillbestableifthevalueofgainandphasemarginispositif.Negativemargin
indicateinstability.

SatisfactoryPerformance:

Thephasemarginshouldbebetween30and60.

Thegainmarginshouldbegreaterthan6dB.
Nasiruddin'sHorizons 51
Nasiruddin'sHorizons 52
BODEPLOT
Considerthefollowingsystem:

20(s+ 1)
G(s)=
s(s+ 5)(s2 + 2s+ 10)

Drawthecorrespondingbodeplotandidentifyitsgainmargin,phasemargin,gaincrossover
frequencyandphasecrossoverfrequency.

Nasiruddin'sHorizons 53
 BodeDiagram
20
System:sys
Frequency(rad/sec):0.432
Magnitude(dB):0.173
0
GainMargin=9.929
20
Magnitude(dB)

40

60

80

100
45

90

phasemargin=103.66
Phase(deg)

135
System:sys
Frequency(rad/sec):4.01
Phase(deg):180
180

225

270
10
1 0
10
Nasiruddin'sHorizons 1
10
54 102
Frequency(rad/sec)
CONTROL SYSTEM
EEE 350 (PART 2)

BODEPLOT(extension)

Nasiruddin's Horizons 55
BODE PLOT (extension)
n FrequencyResponseAnalysisOnOPENED
LOOPSYSTEM

GainMargin
PhaseMargin

Thesetwovaluableinformationwilltellyouthe
stabilityofyoursystem.Bearinmindthat,
thesearetakenfromtheOPENEDLOOP
Bodeplot.
Nasiruddin's Horizons 56
 2
BODE PLOT (ext) G( s)H(s)=
s(s+ 2)(s+ 5)
OpenLoopBodeEditor(C)
50

0
Magnitude(dB)

50

OPENEDLOOP
BODEPLOT
100

G.M.:30.9dB
Freq:3.16rad/sec
Stableloop
150
90
Phase(deg)

180

P.M.:82deg
Freq:0.199rad/sec
270
2 1 0 1 2 3 4
10 10 10 10 10 10 57 10
Frequency(rad/sec)
BODE PLOT (extension)
OPENEDLOOPBODEPLOT

n FromthePhaseMarginobtained,youcancalculate
forthedampingratiofromtherelationship,

- 2z 2 + 1+ 4z 4
fM = 90 - tan-1
2z
-1 2z
= tan
- 2z 2 + 1+ 4z 4

Fromthedampingratioobtained,youwillthenbeabletocalculateforthe
percentageovershoot.

Nasiruddin's Horizons 58
 G(s)
BODE PLOT (ext.) T( s)=
1+ G(s)H(S)
with H(s)= 1
BodeDiagram
20

n
0
CLOSEDLOOP
20
Magnitude(dB)

40

60
CLOSEDLOOP
80
BODEPLOT
100

120
0

90
Phase(deg)

180

270
2 1 0 1 2
10 10 10 10 10
Frequency(rad/sec)
59
BODE PLOT(ext.)
n FREQUENCYRESPONSEANALYSISON
CLOSEDLOOPSYSTEM

PeakMagnitude,Mp
PeakFrequency,P
FrequencyBandwidth,BW

Nasiruddin's Horizons 60
BODE PLOT(ext.)
PEAKMAGNITUDE

1
M P =
2z 1- z 2

FREQUENCYBANDWIDTH(3dBbelowthe0dBlineofmagnitude
plot)

wBW = wn (1- 2z 2 )+ 4z 4 - 4z 2 + 2
4
= (1- 2z 2)+ 4z 4 - 4z 2 + 2
Tsz
p
= (1- 2z 2)+ 4z 4 - 4z 2 + 2
Tp 1- z 2

Nasiruddin's Horizons 61
 BODE PLOT(ext)
PeakMagnitude,Mp
20logMp

Bandwidthofatwopolesystemis3dB
0
3dB

50
Magnitude(dB)

100

150

200
1 0 1 2 3
10 10 WP 10 10 62 10
WBW
BODE PLOT (ext.)

n WorkedExample

K
G( s)=
(s+ 5)(s+ 20)(s+ 50)

Evaluate:

i. Gainmargin,PhasemarginforK=1000
(OpenedLoopFrequencyResponseAnalysis)

ii.PeakMagnitude,peakFrequency,BandwidthforH(s)=1
(ClosedloopFrequencyResponseAnalysis)

Nasiruddin's Horizons 63
 BODE PLOT (ext.)
n OPENEDLOOPFREQUENCYRESPONSE OpenLoopBodeEditor ( C)
50

0
Magnitude(dB)

50

GM:19.7dB
G.M.:19.7dB
Fr eq:36.8rad/sec
Stableloop
100
0

90
PM:92.9degree
Phase(deg)

180

P.M.:92.9deg
Fr eq:7.74rad/sec
270
1 0 1 2 3
10 10 10 10 10
Fr equenc y(r ad/s ec ) 64
 BODE PLOT (ext.) BodeDiagram
0

n CLOSEDLOOPFrequencyResponse
System:ClosedLoop:rtoy
I/O:rtoy
Frequency(rad/sec):8.1

Analysis Magnitude(dB):3.14

50
Magnitude(dB)

100

150
0

90
Phase(deg)

180

270
1 0 1 2 3 4
10 10 10 10 10 65 10
Frequency(rad/sec)