Unit 8

Frequency-domain Analysis of Control System

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 Lec22: Objectives

At the end of the lecture, I should be able to:

Analyze the frequency response of systems
subject to sinusoidal inputs.
Plot and interpret Bode plots, using such plots
for performance specifications.
Determine stability of systems by means of
Bode plots.
Plot Bode plots using MATLAB

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 Analyze the frequency response of
systems subject to sinusoidal inputs

Sinusoidal Inputs

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 Sinusoidal Frequency Response

a. system;
b. transfer function;
c. Input and output
waveform.
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 Importance of Frequency
Response
The frequency response is a way to define a system in terms
of its reaction to periodic inputs of certain frequencies. This
has many practical applications such as filter design.
The frequency response can be used to quickly find the
output for a given input when the input is a complex
exponential, sinusoidal, or expressed via Fourier series.

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 Phasors

v = V sin (t + ) Where;
V = amplitude
y = angular frequency
= phase angle
x + jy Phase angle, : tan = y/x
By Pythagoras theorem;
V
V = (x2 + y2)
Since x = V cos and y = V sin
We can write:
0 x
V = x + jy
= V (cos + j sin )
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 Phasors Rotation

Imag Imag
Multiplication by j2
or 1

1+j0
0 Real j = 1 or
Real 0 2

j = (-1)

Imag
90 anti-clockwise Imag
Multiplication by j3
rotation:
= j(j2) = j
0 Real 0 + j 1
0 Real
Multiplication by j

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 Phasor Equation
x = sin t Differentiation results in a phasor
With a length increased by factor
dx/dt = cos t and rotated by 90
= sin (t + 90) In complex notation:
multiplication by j

The diff eqn: a1(dx/dt) + a0x = b0y

Can be written in phasor eqn: ja1X + a0X = b0Y

The frequency domain The same diff eqn
eqn can be written as: in the s-domain is:
X bo X ( s) bo
G( s)
Y ja1 ao Y ( s) a1s ao
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 Frequency Response for
1st-order system
1st-order system T.F.:

In frequency response function:

Multiplying top and bottom with the complex conjugate:

But j2 = 1

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 Frequency Response for
1st-order system

Magnitude:

Negative sign indicates

Phase: the o/p phasor lags
behind the i/p phasor
by this angle
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 Frequency Response for
2nd-order system
n2
G( s) 2
s 2 n s n
2

Magnitude:

Phase:

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 Examples 31

A system having transfer function of 1/(s+2) is

subjected to a sinusoidal input of 3 sin (5t + 30).
Determine: a) the magnitude and phase of the
system, and b) the steady-state response of the
system (i.e. the output).

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