1/14

Lesson 24: Introduction to Frequency

Response Methods
Nise 10.1

Lesson #24: Introduction to Frequency Response Methods

Announcements 2/14

• ICE #23 is due on Monday.

• HW #22 is due on Monday.

Lesson #24: Introduction to Frequency Response Methods

Course Objectives 3/14

• Determine the transfer function for electrical, mechanical, and

electromechanical systems.
• Determine the time response of a system from its transfer function.
• Reduce a block diagram of multiple subsystems to a single block representing
the transfer function from input to output.
• Determine the stability of a system represented as a transfer function.
• Calculate the steady-state error for both unity and non-unity feedback systems.
• Sketch the root locus of a closed-loop system and use it to find the poles of the
system.
• Use root locus methods to design cascade compensators.
• Use a system’s frequency response to determine its stability, transient response,
and steady- state error.
• Use frequency response methods to design cascade compensators.
• Design digital control systems to meet specifications on stability, transient
response, and steady-state error.
• Determine the state-space representation of a system and use that representation
to find its time response.
Lesson #24: Introduction to Frequency Response Methods
Lesson Objectives 4/14

24.1 Define the frequency response of a given

system.
24.2 Determine the sinusoidal steady-state response
of a given system.
24.3 Find expressions for and plot the magnitude
and phase responses of a given transfer function or
system.

Lesson #24: Introduction to Frequency Response Methods

 5/14

Section 10.1
Introduction to Frequency
Response Systems

Lesson #24: Introduction to Frequency Response Methods

Frequency Response Methods 6/14

Along with root locus methods, frequency response

methods form the foundation of “classical” control
systems methods.
Frequency response methods have advantages in
several situations:
1. Modeling transfer functions from physical data
2. Designing lead compensators to meet both
transient and steady-state error specifications
3. Finding the stability of nonlinear systems
4. Settling ambiguities when sketching a root locus
Lesson #24: Introduction to Frequency Response Methods
Concept of Frequency Response 7/14

M O (w )ÐfO (w ) = M i (w ) × M (w )Ð[fi (w ) + f (w )]
Lesson #24: Introduction to Frequency Response Methods
Frequency Response of a System 8/14

M O (w )ÐfO (w ) = M i (w ) × M (w )Ð[fi (w ) + f (w )]
M O (w )
M (w ) = (Magnitude Frequency Response)
M i (w )
f (w ) = fO (w ) - fi (w ) (Phase Frequency Response)

M (w )Ðf (w ) (Phasor Frequency Response)

Recall from ECE 261 that we can represent the

steady-state response of a system with sinusoidal
input as a complex number, also called a phasor.

Lesson #24: Introduction to Frequency Response Methods

Analytical Expressions of Freq. Resp. 9/14

Let us drive a system with the most general possible

sinusoidal input of a single frequency:
r (t ) = A cos(wt ) + B sin(wt )
This can alternatively be written as:
2 2
[
r (t ) = A + B cos wt - tan ( B A) -1
]
For sinusoidal steady-state, it is a complex number:

R( jw ) = A - jB R( jw ) = M i Ðfi R( jw ) = M i e jf i

(Rectangular Form) (Polar Form) (Euler Form)

M i = A + B fi = - tan ( B A)
2 2 -1

Lesson #24: Introduction to Frequency Response Methods

Complex Numbers & Sine vs. Cosine 10/14

r (t ) = A cos(wt ) + B sin(wt ) - sin(wt ) = cos(wt + 90°)

Im Im
-sin(wt)

A×cos(wt) Re -cos(wt) Re
f=tan-1(B/(-A))
B×sin(wt)

cos(wt)

A - j×B
sin(wt)

R( s) = A - jB sin(wt ) = cos(wt - 90°)

f
Mi = A + B i
2
= - tan -1
2
( B A)

Lesson #24: Introduction to Frequency Response Methods

Sinusoidal Steady State Refresher 11/14

r (t ) = A cos(wt ) + B sin(wt )

As + Bw
R( s ) = 2
(s +w 2
)
As + Bw As + Bw
C ( s) = 2 G( s) C ( s) = G( s)
(s +w 2
) (s + jw )(s - jw )
K1 K2
C ( s) = + + partial fraction terms of G(s)
(s + jw ) (s - jw )
Forced Response Natural Response
(Steady State) (Transient)
K1 K2
CSS ( s) = +
(s + jw ) (s - jw )
Lesson #24: Introduction to Frequency Response Methods
Sinusoidal Steady State Refresher 12/14

K1 K2
CSS ( s) = +
(s + jw ) (s - jw )
M i M G - j (fi +fG ) M i M G + j (fi +fG ) *
K1 = e K2 = e = K1
2 2
M G = G( jw ) fG = angle of G(jw )
M i M G - j (fi +fG ) M i M G + j (fi +fG )
e e
CSS ( s ) = 2 + 2
(s + jw ) (s - jw )
cSS (t ) = M i M G cos(wt + fi + fG )
M O ÐfO = (M i Ðfi )(M G ÐfG )
G( jw) = G(s) s = jw = M G (w)ÐfG (w)

Lesson #24: Introduction to Frequency Response Methods

Plotting Frequency Response 13/14

G( jw ) = M G (w )ÐfG (w )
• We can plot this system response in a number of
ways.
• Typically, we plot the magnitude in decibels vs.
log10(w), and phase angle in degrees vs. log10(w).
M dB = 20 log(M )
(In this course, we will always use base-10 logarithms.)
• You can also plot the imaginary part of G on the
vertical axis and the real part on the horizontal
axis for a sequence of values of w.
Lesson #24: Introduction to Frequency Response Methods
Frequency Response Example #1 14/14

• Find the magnitude frequency response and phase

frequency response of: G(s) = 1
s+2
1
G ( jw ) = Real part Imaginary part
jw + 2

G ( jw ) =
1 æ 2 - jw ö 2 - jw
ç ÷ = 2 = 2
2 (
+j 2
-w)
ç ÷
2 + jw è 2 - jw ø w + 4 w + 4 w +4
(Always make the denominator real!)
2 2
æ 2 ö æ - w ö 2 2
+ w 2
1
G( jw ) = M (w ) = ç 2 ÷ +ç 2 ÷ = =
èw + 4ø èw + 4ø w +4
2
w2 + 4
fG ( jw ) = tan çç
-1 æ (- w ) (w 2
+ 4) ö
÷ = - tan -1
(w 2)
è 2 (w + 4) ø
2 ÷
Lesson #24: Introduction to Frequency Response Methods
dB vs. log(w) and Degrees vs. log(w) 15/14

Lesson #24: Introduction to Frequency Response Methods

Re(G) and Im(G) vs.w 16/14

1
G( jw ) w =1 rad/sec = = 0.4 - j 0.2 = 0.44Ð - 26.6°
j1 + 2
Lesson #24: Introduction to Frequency Response Methods
Key Take-Aways 17/14

r (t ) = A cos(wt ) + B sin(wt )

R( jw ) = A - jB

G( jw) = G(s) s = jw = M G (w)ÐfG (w)

Lesson #24: Introduction to Frequency Response Methods