Frequency Response

Controller Design
M. Sami Fadali
Professor of Electrical Engineering
UNR

1
 Outline

• Advantages/disadvantages.
• Design procedures.
• Examples.

2
 Frequency Response Design
Advantage: Familiar design procedure.
Disadvantages:
1. Indirect design: controller distortion.
2. Requires experience.
3. Familiar criteria (PM, GM) have different values
from their analog counterparts for the same
performance.

3
 Design Procedure
1. Select 𝑇 and obtain the transfer function
𝐺𝑍𝐴𝑆(𝑧).
2. Bilinearly transform 𝐺𝑍𝐴𝑆(𝑧) into 𝐺(𝑤) using
𝑤𝑇
1+
𝑧= 2
𝑤𝑇
1−
2
MATLAB
>> gd=c2d(g,T)
>> d2c(gd,'tustin')
4
 Design Procedure (Cont.)
3. Draw the Bode plot of 𝐺(𝑗𝑣) , and use
analog frequency response methods to
design a controller 𝐶(𝑤) that satisfies the
frequency domain specifications
4. Transform the controller back into the z-
plane using 𝐶 𝑧 = 𝐶 𝑤 ሿ𝑤=2 𝑧−1
𝑇 𝑧+1

5. Verify that the performance obtained is

satisfactory.
5
 Design Specifications
• PM, GM , BW
• Use frequency response design
procedures for analog systems (e.g. lag,
lead, lag-lead).
• 𝑃𝑀 ≈ 100𝜁
• 𝜔𝑔𝑐 = gain crossover (0 dB magnitude)
frequency
• BW increases with 𝜔𝑔𝑐
6
 Example 6.15
Consider the cruise control system of
Example 3.2, where the analog process is
1
𝐺 𝑠 =
𝑠+1
Transform the corresponding 𝐺𝑍𝐴𝑆(𝑧) to the
𝑤-plane by considering both 𝑇 = 0.1 and
𝑇 = 0.01. Evaluate the role of the sampling
period by analyzing the corresponding Bode
plots.
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 Solution
𝐺 𝑠
𝐺𝑍𝐴𝑆 𝑧 = 1 − 𝑧 −1
Z
𝑠

MATLAB: >> gd=c2d(g,T)

• 𝑇 = 0.1 s, obtain z-transfer function
9.516 × 10−2
𝐺𝑍𝐴𝑆 𝑧 =
𝑧 − 0.9068
• 𝑇 = 0.01 s, obtain z-transfer function
9.95 × 10−3
𝐺𝑍𝐴𝑆 𝑧 =
𝑧 − 0.99 8
 Bilinear Transformation
>> d2c(gd,'tustin')
• 𝑇 = 0.1 s
9.516 × 10−2 1 − 0.05𝑤
𝐺𝑍𝐴𝑆 𝑧 = , 𝐺1 𝑤 =
𝑧 − 0.9068 𝑤+1
• 𝑇 = 0.01 s
9.95 × 10−3 1 − 0.005𝑤
𝐺𝑍𝐴𝑆 𝑧 = , 𝐺2 𝑤 =
𝑧 − 0.99 𝑤+1
𝐺1 𝑤 & 𝐺2(𝑤) have
(1) pole at −1 like the 𝐺(𝑠) pole in the s-plane
(2) TF zero while 𝐺(𝑠) does not 9
Bode Plots 𝐺(𝑠), 𝐺1(𝑤) & 𝐺2(𝑤)

𝐺1(𝑗𝑣)
𝐺2(𝑗𝑣)
𝐺(𝑗𝜔)

10
 Discussion
For 𝐺1 𝑤 & 𝐺2(𝑤)
• Different frequency response from the analog
system
• Greater influence of the zero on the frequency
response (system dynamics) when the sampling
period is larger.
• Distortion in the low frequency range is negligible.
• Gain as 𝑤 goes to zero is unity as is the DC gain
of the analog system.

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 Example 6.16
DC motor speed control system: (type 0)
analog plant has the transfer function
1
𝐺 𝑠 =
𝑠 + 1 𝑠 + 10
Design a digital controller by using
frequency response methods to obtain: (i)
zero steady-state error due to a unit step,
(ii) an overshoot less than 10%, (iii) a
settling time of about 1
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 Solution
• For 10% overshoot, 𝑇𝑠 = 1 𝑠 we calculate
ln 0.1
𝜁= ≈ 0.6
ln 0.1 2 + 𝜋 2
4
𝜔𝑛 = ≈ 6.7 𝑟𝑎𝑑/𝑠
𝜁𝑇𝑠
2𝜋
𝜔𝑛 > 𝜔𝑑 & = 0.0234
6.7 ∗ 40
• Choose 𝑇 = 0.02 𝑠

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 Transformation
• MATLAB: >> gd=c2d(g,T)
𝐺 𝑠
𝐺𝑍𝐴𝑆 𝑧 = 1 − 𝑧 −1
Z
𝑠
−4 𝑧+0.9293
= 1.8604 × 10
𝑧−0.8187 𝑧−0.9802

>> d2c(gd,'tustin')
−3.6519 × 10−6 𝑤 + 2729 𝑤 − 100
𝐺 𝑤 =
𝑤 + 9.967 𝑤 + 1

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 Bilinear Transformation
−3.6519 × 10−6 𝑤 + 2729 𝑤 − 100
𝐺 𝑤 =
𝑤 + 9.967 𝑤 + 1
• 𝑃𝑀 = 60°, pole-zero cancellation (simple)
𝑤+1 2 2
𝐶 𝑤 = 54 , = = 100
𝑤 𝑇 0.02
>> Cd=c2d(C,.02,'tustin')
1.01𝑧 − 99
𝐶 𝑧 = 𝐶 𝑤 ሿ 2 𝑧−1 = 54
𝑤=
𝑇 𝑧+1 𝑧−1
54.54𝑧 − 53.46
=
𝑧−1 15
 Bode Plot
Bode Diagram
Gm = 25.7 dB (at 32.2 rad/sec) , Pm = 61.3 deg (at 4.86 rad/sec)
100

50
C(w)G(w)
Magnitude (dB)

G(w)
-50

-100

-150
0

-45

-90
Phase (deg)

-135

-180

-225

-270
-2 -1 0 1 2 3 4 5
10 10 10 10 10 10 10 10
Frequency (rad/sec)
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 Step Response
Step Response

System: Gcl
Peak amplitude: 1.07
1.2 Overshoot (%): 7.17
At time (sec): 0.56 System: Gcl
Settling Time (sec): 0.818
1

0.8
Amplitude

0.6

0.4

0.2

0
0 0.2 0.4 0.6 0.8 1 1.2
Time (sec)
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 Example 6.17
DC motor speed control system: (type 0)
analog plant has the transfer function
1
𝐺 𝑠 =
𝑠+1 𝑠+3
Design a digital controller by using
frequency response methods to obtain: (i)
zero steady-state error due to a unit step,
(ii) an overshoot less than 10%, (iii) a
settling time of about 1
Use 𝑇 = 0.2s
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 Solution
• TF of analog system, ADC and DAC
𝐺 𝑠
𝐺𝑍𝐴𝑆 𝑧 = 1 − 𝑧 Z−1
𝑠
−2 𝑧+0.7661
= 1.5437 × 10
𝑧−0.8187 𝑧−0.5488
−4
𝑤 + 75.5 𝑤 − 10
𝐺 𝑤 = −12.819 × 10
𝑤 + 2.913 𝑤 + 0.9967
• Poles almost in the same locations as poles of
𝐺 𝑠 .
• Consider RHP zero at 𝑤 = 10 to make the gain
crossover frequency about 5 rad/s. 19
 Design
• Cancel two poles with zeros.
• Add poles at zero and −20
𝑤 + 2.913 𝑤 + 0.9967
𝐶 𝑤 = 78
𝑤 𝑤 + 20
𝐶 𝑧 = 𝐶 𝑤 ሿ 2 𝑧−1
𝑤=
𝑇 𝑧+1

36.9201𝑧 2 − 50.4902𝑧 + 16.5897

=
𝑧 − 1 𝑧 − 0.3333
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Bode plots of 𝐶(𝑤)𝐺(𝑤) & 𝐺(𝑤)
Bode Diagram
Gm = 9.7 dB (at 18.2 rad/sec) , Pm = 59.9 deg (at 3.99 rad/sec)
40

20 C(w)G(w)
Magnitude (dB)

-20 G(w)

-40

-60
0

-45
Phase (deg)

-90

-135

-180

-225
-1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/sec)
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Closed-loop Step Response
Step Response

System: Gcl
Peak amplitude: 1.08
1.2 Overshoot (%): 8.09
At time (sec): 0.4 System: Gcl
Settling Time (sec): 0.718
1

0.8
Amplitude

0.6

0.4

0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4
Time (sec)

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