Automatic Control II - Frequency Response
Automatic Control II - Frequency Response
Fall 2019
Frequency Response
Azeddien Kinsheel
Frequency Response
A sin(t+i) B sin(t+o)
G(s)
Frequency Response
1
Input
0.8 Output
0.6
0.4
0.2
Amplitude
-0.2
-0.4
-0.6
-0.8
-1
0 500 1000 1500 2000 2500
Time (msec)
Frequency Response of Closed Loop
Systems
and
2u
M ( ju ) tan 1
1 u2
Frequency Response of Second Order
system
The resonant frequency is determined by setting
the derivative of |M(ju)| with respect to u to zero.
Finally,
r n 1 2
2
and
1
Mr 0.707
2 1 2
The bandwidth BW is obtained by setting |M(ju)|=0.707
Therefore,
BW n (1 2 2 ) 4 4 4 2 2 1/2
Frequency Response Plots
Polar Plot:
The polar plot is a graphical representation of the frequency
response of the system G(j) utilizing the Cartesian form:
M(j)=Re[M(j)] + j Im[M(j)]
Example :
Draw the polar plot of the first order system given by:
1
G( s)
RCS 1
Frequency Response Plots
Solution Im
1 1
G ( j )
RCj 1 j ( / 1) 1
1 1 RC
1 Re
1 j ( / 1 )
G ( j ) = =45
1 ( / 1 ) 2 1 ( / 1 ) 2
1 ( / 1 ) j1/2
Re , Im =0
1 ( / 1 ) 2 1 ( / 1 ) 2 =1
Stability problem
Let us consider that the closed loop transfer function of a SISO
system
G ( s)
M ( s)
1 G( s) H ( s)
where G(s)H(s) can assume the following form :
k (1 T1s)(1 T2 s)...(1 Tm s) Td s
G ( s) H ( s) P e
s (1 Ta s )(1 Tb s)...(1 Tn s)
where T's are real or complex conjugate coefficien ts and Td is real
(s) 1 G(s)H(s) 0
(s) 1 L(s) 0
Nyquist Stability Criterion
P=0 0.1
s 1
G( s) H ( s) -0.05
( s 2)( s 3) -0.1
-0.15
0 0.05 0.1 0.15 0.2
Real Axis
Nyquist Stability Criterion
There is no encirclement of the -1+j0 point and
there are poles of G(s)H(s) in the right half plane.
The system is unstable.
N=0 0.2
Nyquist Diagram
P=1 0.15
0.05
Imaginary Axis
s 1
G( s) H ( s) -0.05
( s 2)( s 3) -0.1
-0.15
-0.2
-0.18 -0.16 -0.14 -0.12 -0.1 -0.08 -0.06 -0.04 -0.02 0
Real Axis
Nyquist Stability Criterion
There is n number of counterclockwise encirclement of
the -1+j0 point and there are n poles of G(s)H(s) in the
right half plane. The system is stable.
N=-n 1.5
Nyquist Diagram
P=n 1
Then Z=N+P=0
0.5
Imaginary Axis 0
6( s 1)
G( s) H ( s)
( s 2)( s 3)
-0.5
-1
-1.5
-1.5 -1 -0.5 0 0.5 1
Real Axis
Nyquist Stability Criterion
There is n number of counterclockwise encirclement of
the -1+j0 point and there are m poles of G(s)H(s) in the
right half plane. The system is unstable.
Nyquist Diagram
N=-n 4
P=m 3
Then Z=N+P=-n+m 2
Imaginary Axis
25( s 1) 0
G( s) H ( s)
( s 2)( s 3)
-1
-2
-3
-4
-6 -5 -4 -3 -2 -1 0
Real Axis
Nyquist Stability Criterion
There is n number of clockwise encirclement of the -
1+j0 point The system is unstable.
N=n 10
Nyquist Diagram
P=m 8
6
Then Z=N+P=n+m 4
Z is positive 2
Imaginary Axis
0
2
G( s) H ( s)
-2
s( s 2 s 1) -4
-6
-8
-10
-3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
Relative Stability
Phase and Gain Stability
Margins
Two important notions can be
derived from the Nyquist
diagram: phase
and gain stability margins.
The phase and gain
stability margins are
presented in the following
figure
Relative Stability
Gain Crossover: the gain crossover is a point on
the L(j) plot at which the magnitude is equal to
1.
Gain Crossover frequency g: is the frequency
of L(j) at the gain crossover.
|L(jg)|=1
Phase Margin PM: is the phase angle through
which the GH(j) must be rotated so that the
unity magnitude point passes through (-1,0j)
point in the GH(j) plane.
Relative Stability
Phase Crossover: the phase crossover is a point
on the L(j) plot at which the plot intersects with
the negative real axis
Phase Crossover Frequency p: is the frequency
of L(j) at the phase crossover.
L(jp)=180º
Gain margin: is increase in system gain in (dB)
when the phase is -180 deg. that will result in a
marginally stable system with intersection of -
1,0j point in the Nyquist diagram.
Example:
System: sys
1 Gain Margin (dB): 20
At frequency (rad/sec): 5
Imaginary Axis
-1
System: sys
Phase Margin (deg): 68.2
Delay Margin (sec): 1.23
-2
At frequency (rad/sec): 0.964
Closed Loop Stable? Yes
-3
-4
-5
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis