Frequency Response for Control

System Analysis - GATE Study Material

in PDF
In these free GATE 2018 Notes, we study the Frequency Response for Control
System Analysis. In GATE EE and GATE EC, when studying Frequency
Response Analysis of Control Systems, we come across Frequency Domain
Specifications such as Resonant Frequency, Resonant Peak and
Bandwidth. This GATE Study Material will deal with these concepts.

Up till now, we were dealing with the Time Response of these systems. However, the
properties and parameters of a system can also be measured using Frequency
Response. The magnitude and phase relation between the sinusoidal input and
steady state output of the system is known as the Frequency Response of the System.

Using frequency response method is advantageous due to its ease of use and accuracy
of measurements. The frequency response is generally recommended for systems
having smaller time constants. For large time constant circuit, the frequency output
is very small and time required for computation increase excessively.

You can download GATE notes in PDF for reference and revision later. Also
useful for other exams like IES, DRDO, BSNL, BARC etc. Before you begin
however, you need to be familiar with some topics.

Recommended Reading –

Root Locus Diagram

Time Response of Second Order Systems

Routh Hurwitz Stability Criteria

Stability of Control Systems

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 Signal Flow Graph

Block Diagram Algebra in Control Systems

Frequency Response for Control System

Analysis
Now, we consider a standard second order control system shown as below.

C(s) ω2n
=
R(s) s2 +2ξωn s+ω2n

Now, for frequency response, we replace s with jω.

C ω2
T(jω) = (jω) = (jω)2
R +2ξωn (jω)+ω2n

ω2n
= 2 2
ωn −ω +j(2ξωn ω)

1
T(jω) = ω 2 ω
1−(ω ) +j2ξ(ω )
n n

ω
Let = u (normalized frequency)
ωn

1
T(jω) =
1−u2 +j2ξu

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Now, if we apply sinusoidal input to second order closed loop transfer function it
would be shown as below

Now, if input to an LTI system is sinusoidal then output is also sinusoidal but with
some change in magnitude and phase.

From the previous block diagram, we get

B = A|T(jω)| = AM (M = |T(jω)|)

ϕ2 = ϕ1 + ∠T(jω) = ϕ1 + ϕ (∠T(jω) = ϕ)

Now, we previously calculated

1
T(jω) =
1−u2 +j2ξu

1 2ξu
M= , ϕ = − tan−1 ( )
√(1−u2 )2 +(2ξu)2 1−u2

For u = 0; M = 1, ϕ = 0

1
u = 1; M = , ϕ = −90°
2ξ

u = ∞; M = 0, ϕ = −180°

The frequency response of the system will be plotted in the two curves:

(i) Magnitude v/s normalized frequency (M).

(ii) Phase angle v/s normalized frequency (ϕ).

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In the above plots, Mr = Resonant Peak, ur = Normalized resonant frequency,

ϕr=Resonant phase

The terms associated with frequency response are given as follows

Resonant Frequency (ωr)

It is calculated

dm
Using | =0
du u=ur

For second order systems, ur = √1 − 2ξ2 (try to calculate)

ωr
= ur = √1 − 2ξ2
ωn

ωr = ωn √1 − 2ξ2

Resonant Phase (ϕr)

Phase at resonant frequency is called resonant phase.

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 1−2ξ2
ϕr = − tan−1 [√ ]
ξ

(Try to calculate this).

Resonant Peak (Mr)

The maximum value of the magnitude is known as resonant peak.

1
Mr = |M|u=ur =
2ξ√1−ξ2

Now, we make a comparison between time response specifications and frequency

response specifications.

Time Response Frequency Response

specifications specification
1. ωd = ωn √1 − ξ2 ωr = ωn √1 − 2ξ2
1
2. (
−ξπ
) Mr =
√1−ξ2 2ξ√1 − ξ2
Mp = e

1 − ξ2 √1 − 2ξ2
3. ϕ = − tan −1
[√ ] ϕr = − tan−1 [ ]
ξ ξ

1 Gain Margin, Phase

4. ts α
stability Margin α Stability
0<ξ<1 1
5. 0<ξ<
√2

Now, we will take a look at some examples based on frequency response.

Example of Frequency Response for Control System Analysis

Example 1: Closed loop transfer function of a second order system is given as

C(s) 81
=
R(s) s2 +6s+81

Find the frequency response parameters.

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Solution:

If we compare the given transfer function with standard second order transfer
function, we get

ω2n = 81, ωn = 9

2ξωn = 6

6 1
ξ= = = 0.33
2×ωn 3

ωr = ωn √1 − 2ξ2

2
= 9√1 − = 3√7
9

ωR = 7.94 rad/sec

1 3 3×3
Mr = = =
2ξ√1−ξ2 2√1−
1 2√8
9

Mr = 1.591

√1−2ξ2
ϕr = − tan−1
ξ

= − tan−1 √7

= − 69.3°

In another example, we will witness derivation of frequency response parameters

from time response parameters.

Example 2: The step response of a standard second order system having unity
feedback is given as follows.

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Now, if the input to system is changed to sinusoidal, find the maximum value of
output with respect to frequency.

Solution:

From the given response, Mp = 1.35 – 1 = 0.35

Also, we known that

−ξπ
[ ]
√1−ξ2
Mp = e

−ξπ
[ ]
e 1−ξ2 = 0.35

−ξπ
= ln(0.35) = −1.05
√1−ξ2

ξπ
= 1.05
√1−ξ2

ξ2
= 0.10638
1−ξ2

ξ2 (1.10638) = 0.10638

ξ2 = 0.096

ξ = 0.31

Maximum value of output with respect to frequency is resonant peak,

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 1
Mr =
2ξ√1−ξ2

1
=
√2×0.31√1−(0.31)2

Mr = 1.6965

So, we studied the basic concepts and significance of frequency response. Next we
will look in to different plots with respect to frequency response and their use in
stability analysis.

Polar Plot and Its Analysis

Nyquist Plot and Stability Criteria

Relative Stability and Bode Plot

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