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 + 2ςω n S + ω n )

2

G( S )H ( S ) =
S N ...( S + P1 )...( S + P2 ) n . . .( S 2 + 2ςω n S + ω n )
2

⎛ jω ⎞ ⎡ j 2ς 1ω ⎛ jω ⎞
2
⎤
K ( jω ) ⎜1 +
±1
⎟ ⎢1 + +⎜ ⎟ ⎥K
N (ω ) ⎝ z1⎠ ω ⎝ ω k ⎠
H (ω ) = = ⎣ k
⎦
D(ω ) ⎛1 + jω ⎞ 1 +⎡ j 2ς ω ⎛ jω ⎞
2
⎤
⎜ ⎟⎢ 1 +⎜ ⎟ ⎥K
⎝ p1⎠ ω ⎝ ω n⎠
⎣ n
⎦
Bode plot of G(S) = K (Constant factor)
Substitute S = jω

G(jω) = K

magnitude M = G ( jω ) = K

db magnitude A = 20 log M = 20 log K

img 0
Phase angle φ = tan −1 = =0
real K
A
 Single Integral factor G(S) = K/S
Substitute S = jω

G(jω) = K/jω
K K
magnitude M = G ( jω ) = db magnitude A = 20 log M = 20 log
ω ω

K
Substitute ω =0.1K A = 20 log = 20db
0.1 K
K
Substitute ω =K A = 20 log = 0db
K
K
Substitute ω =10K A = 20 log = −20db
10 K

img −1 K / ω
Phase angle φ = − tan −1
= − tan = − tan −1 ∞ = −90o
real 0
G(S) = K/S

-20 db/decade
Single first order factor G(S) = 1/(1+TS)
Substitute S = jω

G(jω) = 1/(1+jωT)
1
magnitude M = G ( jω ) =
1 + ω 2T 2
1
db magnitude A = 20 log M = 20 log = −20 log 1 + ω 2T 2
1 + ω 2T 2

at low frequencies ω<<1

A = −20 log 1 = 0db

at high frequencies ω>>1

A = −20 log ω 2T 2 = −20 log ωT

Substitute ω =1/T A = −20 log 1 = 0db

Substitute ω =10/T A = −20 log 10 = −20db

img −1 ωT
Phase angle φ = − tan−1
= − tan = − tan −1 ωT
real 1

Substitute ω =0 φ = − tan −1 0 = 0o

Substitute ω =1/T φ = − tan −1 1 = −45o

Substitute ω =∞ φ = − tan −1 ∞ = −90o

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

ω=1/T

ω =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=jω.
Step 2: Calculate corner frequencies (ωc), slope, and change in slope

where corner frequency is the reciprocal of coefficient of S

term in standard form of transfer function

Factors Corner Slope Change in Slope

frequency in in
Rad/sec db/decade db/decade

Write the factors in the increasing order of the corner frequencies

First factor is K (or) K/(jω)n (or) K(jω)n

Step 3: Choose two arbitrary frequencies (ωl and ωh), 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

⎡ ⎤ ωy
Gain at ω y = Gain at ω x + ⎢ slope from ω x to ω y ⎥ × log
⎣ ⎦ ωx

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

in semilog graph sheet and join the points by straight lines.

Frequency db magnitude
In rad/sec
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 Phase angle

In rad/sec Φ
 Frequency Domain Specifications
1. Resonant Peak (Mr): Maximum value of the magnitude of closed loop
transfer function.
2. Resonant frequency (ωr): The frequency at which resonant peak
occurs.
3. Bandwidth (ωb): 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.
1
K g=
G ( jω pc )

1
in db K g= 20 log
G ( jω pc )
Where ωpc is Phase cross over frequency, the frequency at which phase
angle is 180°.
5. Phase Margin (γ): This the phase angle value by which system
phase angle can be increased, beyond which system is unstable.

γ = 180o + φ gc where φ gc = ∠G ( jω gc )

Where ωgc 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°

ωgc

ωpc
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=jω.

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

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

0.35(1 + j 0.2ω )
G( S ) =
( jω )(1 + j 0.4ω − 0.1ω 2 )
Step 2: Calculate corner frequencies (ωc), slope, and change in slope

ωc1 = ωn= √10 =3.16 rad/sec (for 2nd order factor)

and ωc2=5 rad/sec

Factors Corner Slope Change in

frequency in Slope
Rad/sec db/decade in
db/decade

0.35 -- -20 --
jω
1 3.16 -40 -60
1 + j 0.4ω − 0.1ω 2

1 + j 0.2ω 5 20 -40
Step 3: ωl = 0.3 and ωh = 50

Write the frequencies in the increasing order

ωl = 0.3, ωc1 =3.16, ωc2=5 and ωh = 50

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

factor
0.3 0.3
Gain at ω l = A1 = 20 log( ) = 20 log( ) = 0db
ω 0.3

0 .3 0.3
Gain at ω c 1 = A2 = 20 log( ) = 20 log( ) = −20.45db
ω 3.16

Step 5: Calculate db magnitude at ωc2=5 using the following formula

⎡ ⎤ ω
Gain at ω c 2 = Gain at ω c 1 + ⎢ slope from ω c1 to ω c 2 ⎥ × log c 2
⎣ ⎦ ω c1

5
Gain at ω c 2 = A3 = −20.45 + [− 60]× log = -32.407 db
3.16
Step 6: Calculate db magnitude at ωh=50 using the following formula

⎡ ⎤ ω
Gain at ω h = Gain at ω c 2 + ⎢ slope from ω c 2 to ω h ⎥ × log h
⎣ ⎦ ωc 2

50
Gain at ω h = A4 = −32.407 + [− 40]× log = -68.407 db
5

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

in semilog graph sheet and join the points by straight lines.

Frequency db magnitude
In rad/sec
0.3 0

3.16 -20.45

5 -32.407

50 -68.407
CALCULATION FOR PHASE ANGLE PLOT

0.4ω
φ = ∠G ( jω ) = −90 + tan 0.2ω − tan
o −1 −1
For ω≤ ωn
1 − 0.1ω 2
0.4ω
φ = ∠G ( jω ) = −90 + tan 0.2ω − (180 + tan
o −1 o −1
) For ω>ωn
1 − 0.1ω 2

Frequency −1 0.4ω Phase angle

In rad/sec tan 0.2ω
−1 tan Φ
1 − 0.1ω 2
0.3 -93.47 °

ωn = 3.16

4 -(180° + )

5 -(180° + )

25 -(180° + )

50 -(180° + )
-190.6 °
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=jω.

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

K
G( S ) =
1 2
4 S (1 + S)
2
Substitute K=1 and S=jω

0.25
G ( jω ) =
jω (1 + j 0.5ω ) 2
Step 2: Calculate corner frequencies (ωc), slope, and change in slope

ωc = 2 rad/sec

Factors Corner Slope Change in

frequency in Slope
Rad/sec db/decade in
db/decade

0.25
-- -20 --
jω

1
2 -40 -60
(1 + j 0.5ω ) 2
Step 3: ωl = 0.2 and ωh = 20

Write the frequencies in the increasing order

ωl = 0.2, ωc =2, and ωh = 20

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

factor
0.25 0.25
Gain at ω l = A1 = 20 log( ) = 20 log( ) = 4.463db
ω 0 .2

0.25 0.25
Gain at ω c = A2 = 20 log( ) = 20 log( ) = −41.589db
ω 2
Step 5: Calculate db magnitude at ωh=20 using the following formula

⎡ ⎤ ω
Gain at ω h = Gain at ω c + ⎢ slope from ω c to ω h ⎥ × log h
⎣ ⎦ ωc

20
Gain at ω h = A3 = −41.589 + [− 60]× log = -179.74 db
2

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

in semilog graph sheet and join the points by straight lines.

Frequency db magnitude
In rad/sec
0.2 4.463

2 -41.589

20 -179.74
CALCULATION FOR PHASE ANGLE PLOT

φ = ∠G ( jω ) = −90o − 2 * tan −1 0.5ω

Frequency Phase angle

In rad/sec
− 2 * tan 0.5ω
−1
Φ
0.2 -91.421°

10

20 -258.58 °
 POLAR PLOT
It is a plot between magnitude and phase angle of
G(S)H(S) in polar graph when ω is varied from 0 to ∞.

It is a plot between real and imaginary part of G(S)H(S) in

rectangular graph when ω 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.

 jω

S-plane

ω 0 to ∞
PROCEDURE FOR CONSTRUCTING POLAR PLOT

Convert the transfer function to TIME CONSTANT FORM

Substitute S = jω 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
1
G(S ) =
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

1
G( S ) =
S (1 + S )(1 + 2 S )

Substitute S = jω

1
G ( jω ) =
jω ( jω + 1)( j 2ω + 1)
Corner frequencies are ωc1 = 0.5 and ωc2 = 1

1
Magnitude M=
ω 1 + ω 2 1 + 4ω 2

Phase angle φ = −90o − tan −1 ω − tan −1 2ω

 Frequency 0 0.707 ∞
Rad/sec
Magnitude ∞ 0.66 0
G ( jω ) H ( jω )

Phase angle
in deg -90° -180° -270°
∠ G ( j ω ) H ( jω )

Frequency 0 0.707 ∞
Rad/sec
Real Part 0 -0.66 0
Re[G ( jω ) H ( jω )]

Imag Part
Im[G ( jω ) H ( jω )] -∞ 0 0
 Unit circle

ωpc
●
G(jω pc ) = G B = 0.66

ω
0 ●Φgc
 Unit circle

ωpc
●
G(jω pc ) = G B = 0.0063

ω
0 ●Φgc=91°
Gain margin

1 1
K g= 20 log = 20 log = 3.52db
G ( jω pc )
0.66

Phase margin
γ = 11.4o

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

S-plane

ω 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 Section C1:
a contour is chosen, which has four s=jω
sections.
ω 0 to +∞
Polar plot

Section C2:
s=Rejθ
where R ∞
θ is from +π/2 to- π/2

X Section C3:
C4 s=-jω
ω 0 to -∞
Inverse Polar plot

Section C4:
s=Rejθ
where R 0
θ is from -π/2 to +π/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

K
G( S ) =
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 = jω ω 0 to +∞ X
C4

ω
0
Step 2: mapping of section C2
s=Rejθ
K where R ∞
G( S ) =
S (1 + S )(1 + 2 S ) θ is from +π/2 to -π/2
K
G( S ) =
∞e jθ (1 + ∞e jθ )(1 + ∞e jθ )

In s-plane
K − j 3θ
G( S ) = = 0e θ is from +π/2 to- π/2
∞e jθ .∞e jθ .∞e jθ

In GH plane
θ is from -3π/2 to +3π/2
 0
Step 3: mapping of section C3 s=-jω ω
ω 0 to -∞
Inverse Polar plot -∞

Step 4: mapping of section C4 s=Rejθ

where R 0
K θ is from -π/2 to-+π/2
G( S ) =
S (1 + S )(1 + 2 S )

K
G( S ) =
0e jθ (1 + 0e jθ )(1 + 0e jθ )

K
G ( S ) = j θ = ∞ e − jθ R ∞
0e
In s-plane
θ is from -π/2 to +π/2

In GH plane
θ is from +π/2 to -π/2
 GH plane

GH contour

Real[G(s)H(s)]
-0.66K

Imag[G(s)H(s)]

-0.66K = -1

K = 1.5
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 ∞.