Chapter 14

Frequency Response
A
Force dynamic process with A sin t , U ( s)  2
s 2
Chapter 14

14.1

1
 Input: A sin t
Output: Asin ˆ  t   
Aˆ / A is the normalized amplitude ratio (AR)
 is the phase angle, response angle (RA)
AR and  are functions of ω
Chapter 14

Assume G(s) known and let

s  j G  j   K1  K 2 j
G  AR  K12  K 22
K2
  G  arctan
K1

2
 Example 14.1:

1
G  s 
 s 1
Chapter 14

1 1   j
G  j    ( j 2  1)
1   j 1   j

1 
G  j    j
1  
2 2
1  
2 2

K1 K2

3
 Chapter 14

4
 1
G 
1   2 2
   arctan   
as   ,   900

Use a Bode plot to illustrate frequency response

Chapter 14

(plot of log |G| vs. log  and  vs. log )

log coordinates:
G  G1  G2  G3
G  G1  G2  G3
log G  log G1  log G2  log G3
G  G1  G2  G3
G1
G
G2
log G  log G1  log G2
G  G1  G2 5
Chapter 14

Figure 14.4 Bode diagram for a time delay, e-s. 6

 Example 14.3
5(0.5s  1)e 0.5 s
G(s) 
(20s  1)(4 s  1)
Chapter 14

7
 F.R. Characteristics of Controllers
Recall that the F.R. is characterized by:
1. Amplitude Ratio (AR)
2. Phase Angle ()
For any T.F., G(s)
AR  G ( j )
Chapter 14

  G ( j )
A) Proportional Controller
GC ( s )  K C  AR  KC ,   0
B) PI Controller
 1  1
For GC ( s )  K C 1   AR  KC 1
  s
I   I
2 2

 1 
  tan 1   

 I  
The Bode plot for a PI controller is shown in next slide.
Note b = 1/I . Asymptotic slope ( 0) is -1 on log-log plot. 8
 Chapter 14

9
 Ideal PID Controller.
1
Gc ( s )  K c (1    D s) (14  48)
Is
Series PID Controller. The simplest version of the series PID
Chapter 14

controller is
 τI s 1 
Gc  s   K c    τ D s  1 (14-50)
 τI s 
Series PID Controller with a Derivative Filter. The series
controller with a derivative filter was described in Chapter 8

 τ I s  1  τ D s  1 
Gc  s   K c    (14-51)
τ
 I  Ds ατ s  1 
10
 Figure 14.6 Bode
plots of ideal parallel
PID controller and
series PID controller
with derivative filter
Chapter 14

(α = 1).
Ideal parallel:

 1 
Gc  s   2  1   4s 
 10s 
Series with
Derivative Filter:
 10 s  1  4 s  1 
Gc  s   2   
 10 s  0.4 s  1 
11
 Advantages of FR Analysis for Controller Design:
1. Applicable to dynamic model of any order
(including non-polynomials).
2. Designer can specify desired closed-loop response
Chapter 14

characteristics.
3. Information on stability and sensitivity/robustness is
provided.
Disadvantage:
The approach tends to be iterative and hence time-consuming
-- interactive computer graphics desirable (MATLAB)

12
 Controller Design by Frequency Response
- Stability Margins

Analyze GOL(s) = GCGVGPGM (open loop gain)

Three methods in use:

Chapter 14

(1) Bode plot |G|,  vs.  (open loop F.R.) - Chapter 14

(2)Nyquist plot - polar plot of G(j) - Appendix J
(3)Nichols chart |G|,  vs. G/(1+G) (closed loop F.R.) - Appendix J

Advantages:
• do not need to compute roots of characteristic equation
• can be applied to time delay systems
• can identify stability margin, i.e., how close you are to instability.

13
 Chapter 14

14.8

14
 Frequency Response Stability Criteria
Two principal results:
1. Bode Stability Criterion
2. Nyquist Stability Criterion
I) Bode stability criterion
A closed-loop system is unstable if the FR of the
Chapter 14

open-loop T.F. GOL=GCGPGVGM, has an amplitude ratio

greater than one at the critical frequency, C . Otherwise
the closed-loop system is stable.
• Note: C  value of  where the open-loop phase angle
is -1800. Thus,

• The Bode Stability Criterion provides info on closed-loop

stability from open-loop FR info.
• Physical Analogy: Pushing a child on a swing or
15
bouncing a ball.
 Example 1:
A process has a T.F.,
2
G p (s) 
(0.5s  1)3

And GV = 0.1, GM = 10 . If proportional control is used, determine

Chapter 14

closed-loop stability for 3 values of Kc: 1, 4, and 20.

Solution:
The OLTF is GOL=GCGPGVGM or...
2KC
GOL ( s) 
(0.5s  1)3

The Bode plots for the 3 values of Kc shown in Fig. 14.9.

Note: the phase angle curves are identical. From the Bode
diagram:
KC AROL Stable?
1 0.25 Yes
4 1.0 Conditionally stable
20 5.0 No 16
Chapter 14

Figure 14.9 Bode plots for GOL = 2Kc/(0.5s + 1)3.

17
 • For proportional-only control, the ultimate gain Kcu is defined to
be the largest value of Kc that results in a stable closed-loop
system.
• For proportional-only control, GOL= KcG and G = GvGpGm.
AROL(ω)=Kc ARG(ω) (14-58)
Chapter 14

where ARG denotes the amplitude ratio of G.

• At the stability limit, ω = ωc, AROL(ωc) = 1 and Kc= Kcu.

1
K cu  (14-59)
ARG (ωc )

18
 Example 14.7:
Determine the closed-loop stability of the system,
4e  s
G p (s) 
5s  1
Where GV = 2.0, GM = 0.25 and GC =KC . Find C from the
Chapter 14

Bode Diagram. What is the maximum value of Kc for a stable

system?

Solution:
The Bode plot for Kc= 1 is shown in Fig. 14.11.

Note that: C  1.69 rad min

AROL    0.235
C

1 1
 K C max =   4.25
AROL 0.235
19
 Chapter 14

1
14.1
20
 Ultimate Gain and Ultimate Period

• Ultimate Gain: KCU = maximum value of |KC| that results in a

stable closed-loop system when proportional-only
control is used.
2
Chapter 14

• Ultimate Period: PU 
C

• KCU can be determined from the OLFR when

proportional-only control is used with KC =1. Thus
1
K CU  for K C  1
AROL  
C

• Note: First and second-order systems (without time delays)

do not have a KCU value if the PID controller action is correct.
21
 Gain and Phase Margins
• The gain margin (GM) and phase margin (PM) provide
measures of how close a system is to a stability limit.

• Gain Margin:
Let AC = AROL at  = C. Then the gain margin is
Chapter 14

defined as: GM = 1/AC

According to the Bode Stability Criterion, GM >1  stability

• Phase Margin:
Let g = frequency at which AROL = 1.0 and the
corresponding phase angle is g . The phase margin
is defined as: PM = 180° + g

According to the Bode Stability Criterion, PM >0  stability

See Figure 14.12.

22
 Chapter 14

23
 Rules of Thumb:
A well-designed FB control system will have:
1.7  GM  2.0 30  PM  45
 
Chapter 14

Closed-Loop FR Characteristics:
An analysis of CLFR provides useful information about
control system performance and robustness. Typical desired
CLFR for disturbance and setpoint changes and the
corresponding step response are shown in Appendix J.

24
Chapter 14

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