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Lecture 22

The document discusses the concept of frequency response in linear systems, detailing how systems react to sinusoidal inputs and providing formulas for magnitude and phase responses. It also covers gain margin and phase margin as metrics for assessing system stability, along with examples and calculations related to these concepts. Additionally, the document includes specific examples demonstrating how to derive and interpret stability parameters from Bode plots.

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Aleena Malik
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0 views7 pages

Lecture 22

The document discusses the concept of frequency response in linear systems, detailing how systems react to sinusoidal inputs and providing formulas for magnitude and phase responses. It also covers gain margin and phase margin as metrics for assessing system stability, along with examples and calculations related to these concepts. Additionally, the document includes specific examples demonstrating how to derive and interpret stability parameters from Bode plots.

Uploaded by

Aleena Malik
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Feedback Control System

Lecture 22
Chapter 10: Frequency Response Technique

Prepared By: Muhammad Abdullah


[email protected] , [email protected]

National University FAST (CFD Campus)

My YouTube Channel:
https://www.youtube.com/@BlueFish506

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Concept of Frequency Response

Frequency response describes how a linear system reacts to sinusoidal inputs in


steady state. When a sinusoidal input is applied, the system produces an output with
the same frequency, but typically a different amplitude and phase—both of which
depend on the input frequency.

When a sinusoidal input signal of the form sin⁡(𝜔𝑡) is applied to a system with
transfer function 𝐺(𝑠), the steady-state output is given by:
𝐴sin⁡(𝜔𝑡 + 𝜙)
Where; 𝜔 = Frequency of Input sinusoidal signal
𝐴 = Amplitude/Magnitude of output sinusoidal signal
𝜙 = Phase of output sinusoidal signal
Plot of 𝐴 vs 𝜔 is known as Magnitude response of the system.
Plot of 𝜙 vs 𝜔 is known as Phase response of the system.
Together, the magnitude and phase responses constitute the Frequency Response of
the system.

Example 1
Find the analytical expression for the magnitude frequency response and the phase
frequency response for a system given below. Also, plot both the separate magnitude
and phase diagrams.
1
𝐺(𝑠) =
(𝑠 + 2)(𝑠 + 4)

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Solution:
Put 𝑠 = 𝑗𝜔 in 𝐺(𝑠) to find the frequency response
1
𝐺(𝑗𝜔) =
(𝑗𝜔 + 2)(𝑗𝜔 + 4)

Magnitude Response
1 1
|𝐺(𝑗𝜔)| = =
√𝜔 2 + 22 ⋅ √𝜔 2 + 42 √(𝜔 2 + 4)(𝜔 2 + 16)
Magnitude Response in dB can be calculated as;
1
|𝐺(𝑗𝜔)|dB = 20 log10 (|𝐺(𝑗𝜔)|) = 20log10 ( )
√(𝜔 2 + 4)(𝜔 2 + 16)
|𝐺(𝑗𝜔)|dB = −10log10 ⁡(𝜔2 + 4) − 10log10 ⁡(𝜔2 + 16)
Phase Response
𝜔 𝜔
∠𝐺(𝑗𝜔) = −tan−1 ⁡ ( ) − tan−1 ⁡ ( )
2 4
Using above derived expressions, magnitude and phase response plots are given as;

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Figure 1

Figure 2

Gain Margin and Phase Margin:

Gain Margin and Phase Margin are critical metrics used in control systems and
frequency response analysis to assess the stability of a feedback system. They are
derived from the Bode plot of the open-loop transfer function.

Gain Margin (GM)


• Definition: The gain margin is the amount by which the system gain can
increase before it becomes unstable.
• Measured at: The phase crossover frequency - where the phase is −180∘ .
• Expression:
GM( dB) = −20log10 ⁡|𝐺(𝑗𝜔pc )|
where 𝜔pc is the phase crossover frequency.

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Interpretation:
• GM > 0 dB → Stable
• GM = 0 dB → On the verge of instability
• GM < 0 dB → Unstable

Phase Margin (PM)


• Definition: The phase margin is the extra phase needed to bring the system
to −180∘ at the frequency where the gain is 1(0 dB).
• Measured at: The gain crossover frequency - where the magnitude is 0 dB .
• Expression:
PM( degrees ) = 180∘ + ∠𝐺(𝑗𝜔gc )
where 𝜔gc is the gain crossover frequency.

Interpretation:
• PM > 0∘ → Stable
• PM ≈ 0∘ → Marginally stable
• PM < 0∘ → Unstable (will oscillate)

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Example 3
Bode plot of the system is shown below;

Find the following parameters from above plot;

• Gain Margin: GM
• Gain crossover frequency: 𝜔gc
• Phase Margin: PM
• Phase crossover frequency: 𝜔pc

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Solution:
First of all, draw the lines on given bode plot to identify the important points as
shown below.

From above bode plot, we can write;


𝐺𝑀 = 0 − (−13.5) = 13.5⁡𝑑𝐵 ; 𝜔𝑝𝑐 = 6.16⁡𝑟𝑎𝑑/𝑠𝑒𝑐
𝑃𝑀 = 180° − 106° = 74° ; 𝜔𝑔𝑐 = 2.38⁡𝑟𝑎𝑑/𝑠𝑒
Above system is stable as both 𝐺𝑀 and 𝑃𝑀 values are positive.

Example 4
Find the range of values of gain 𝐾 for which above system is stable? (Same as we
found using Routh’s Table).
𝐺𝑀 13.5
( ) ( )
𝐾𝑚𝑎𝑥 = 10 20 = 10 20 = 100.675 = 4.73
So stability range is: 0 < 𝐾 < 4.73

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