Control System

Lecture on
Frequency Response Analysis and Bode Plot

Dr. Tushar Kanti Roy

Associate Professor
Rajshahi University of Engineering & Technology, Rajshahi-6204, Bangladesh
email: tkroy@ete.ruet.ac.bd
URL :https://www.ete.ruet.ac.bd/roykanti03
 Introduction
• Frequency response is the steady-state response of a system
to a sinusoidal input.
• In frequency-response methods, the frequency of the input
signal is varied over a certain range and the resulting
response is studied.
• Even though these responses are of the same frequency as
the input, they differ in amplitude and phase angle from the
input. These differences are functions of frequency.

System
 The Concept of Frequency Response
• Sinusoids can be represented as complex numbers
called phasor.
• The magnitude of the complex number is the
amplitude of the sinusoid, and the angle of the
complex number is the phase angle of the sinusoid.
• Thus M 1 cos(t   ) can be represented as M 11
where the frequency, ω, is implicit.
 The Concept of Frequency Response
• A system causes both the amplitude and phase angle
of the input to be changed.

• Therefore, the system itself can be represented by a

complex number.

• Thus, the product of the input phasor and the system

function yields the phasor representation of the
output.
 The Concept of Frequency Response
• Consider the mechanical system.

• If the input force, f(t), is sinusoidal, the steady-state output

response, x(t), of the system is also sinusoidal and at the same
frequency as the input.
 The Concept of Frequency Response

M ( ) ( )

• Assume that the system is represented by the complex number

M ( ) ( )

• The output is found by multiplying the complex number

representation of the input by the complex number
representation of the system.
 The Concept of Frequency Response

M ( ) ( )

• Thus, the steady-state output sinusoid is

M o ( )o ( )  M ( )M i ( )[ ( )  i ( )]

• Mo(ω) is the magnitude response and Φ(ω) is the phase response.

The combination of the magnitude and phase frequency
responses is called the frequency response.
 Frequency Domain Plots
• Bode Plot
• Nyquist Plot
• Nichol’s Chart
 Bode Plot
• A Bode diagram consists of two graphs:
– One is a plot of the logarithm of the magnitude of
a sinusoidal transfer function.
– The other is a plot of the phase angle.
– Both are plotted against the frequency on a
logarithmic scale.
Decade
Basic Factors of a Transfer Function
• The basic factors that very frequently occur in
an arbitrary transfer function are
1. Gain K
2. Integral and Derivative Factors (jω)±1
3. First Order Factors (jωT+1)±1
4. Quadratic Factors

20(3s  1)
G( s )  2
s( s  1)( s  5s  2 )
 Basic Factors of a Transfer Function
1. Gain K

• The log-magnitude curve for a constant gain K is a horizontal

straight line at the magnitude of 20 log(K) decibels.

• The phase angle of the gain K is zero.

• The effect of varying the gain K in the transfer function is that

it raises or lowers the log-magnitude curve of the transfer
function by the corresponding constant amount, but it has no
effect on the phase curve.
 If K  5 Then 20 log (K)  20 log ( 5 )  14 db
15

5
Magnitude (decibels)

-5

-15
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Im 0
If K  5 Then   tan-1( )  tan-1( )  0
90o
Re 5

30o
Phase (degrees)

0o

-300

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Basic Factors of a Transfer Function
2. Integral and Derivative Factors (jω)±1
Derivative Factor G( s )  s, where s  j

Magnitude G( j )  20 log( )

ω 0.1 0.2 0.4 0.5 0.7 0.8 0.9 1

db -20 -14 -8 -6 -3 -2 -1 0

Slope=6b/octave
Slope=20db/decade

1 
Phase G( j )  tan ( )  90
0
 20db
decade
30

10
Magnitude (decibels)

-10

-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 
  tan-1( )  90
180o
0

900

60o
Phase (degrees)

0o

-600

-180o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Basic Factors of a Transfer Function
2. Integral and Derivative Factors (jω)±1
• When expressed in decibels, the reciprocal of a number
differs from its value only in sign; that is, for the number N,
1
20 log( N )  20 log( )
N
• Therefore, for Integral Factor the slope of the magnitude line would
be same but with opposite sign (i.e -6db/octave or -20db/decade).

1
Magnitude G( j )   20 log( )
j

1 
Phase G( j )   tan ( )  90
0
 20db
decade
30

20

10
Magnitude (decibels)

-10

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 
  tan-1( )  90
180o
0

60o
Phase (degrees)

0o

-600

-900

-180o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Basic Factors of a Transfer Function
3. First Order Factors (jωT+1)
M ( )  20 log(1  jT )
M ( )  20 log( 1   2T 2 )
1
– For Low frequencies ω<<1/T G( s )  ( s  3)  ( s  1)
3

M ( )  20 log(1)  0 1 T
T
– For high frequencies ω>>1/T

M ( )  20 log(T )
 Basic Factors of a Transfer Function
3. First Order Factors (jωT+1)

( )  tan-1(T )

-1
when   0, ( )  tan (0)  0 

1 -1
when   ,  ( )  tan (1)  45 
T
-1
when   , ( )  tan ()  90 
 1
G( s )  ( s  3)  ( s  1)
3
30

20

6 db/octave
10
Magnitude (decibels)

20 db/decade

0
ω=3

-10

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 90o

45o
30o
Phase (degrees)

0o

-300

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Basic Factors of a Transfer Function
3. First Order Factors (jωT+1)-1
M ( )  20 log(1  jT )
M ( )  20 log( 1   2T 2 )
– For Low frequencies ω<<1/T 1
G( s ) 
( s  3)
M ( )  20 log(1)  0

– For high frequencies ω>>1/T

M ( )  20 log(T )
 Basic Factors of a Transfer Function
3. First Order Factors (jωT+1)-1

( )  tan-1(T )

-1
when   0, ( )  tan (0)  0 

1 -1
when   ,  ( )  tan (1)  45 
T
-1
when   , ( )  tan ()  90 
 1
G( s ) 
( s  3)
30

10
Magnitude (decibels)

0
ω=3

-10
-6 db/octave
-20 db/decade
-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 90o

30o
Phase (degrees)

0o

-300

-45o

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Example#1
• Draw the Bode Plot of following Transfer function.
20s
G( s ) 
( s  10)
Solution:
2s
G( s ) 
( 0.1s  1)
• The transfer function contains
1. Gain Factor (K=2)
2. Derivative Factor (s)
3. 1st Order Factor in denominator (0.1s+1)-1
 Example#1
2s
G( s ) 
( 0.1s  1)
1. Gain Factor (K=2)
K db
 20 log(2 )  6 db
2. Derivative Factor (s)
s db  20 log( )  20 db/decade
3. 1st Order Factor in denominator (0.1s+1)
1
when   10,  20 log(1)  0
0.1 j  1 db
1
when   10,  20 log(0.1 )  20db/dec
0.1 j  1 db
 20s
G( s ) 
( s  10)
30

20 db/decade
10
Magnitude (decibels)

K=2
0

-10

-20 db/decade
-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 20s
G( s ) 
( s  10)
30

-20 db/decade+20db/decade

10
Magnitude (decibels)

20 db/decade
0

-10

-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Example#2
2 j
G( j ) 
( 0.1 j  1)

G( j )  2  j  ( 0.1 j  1)

0 1 
1
G( j )  tan ( )  tan ( )  tan 1 ( 0.1 )
2 0

G( j )  90  tan 1(0.1 )

ω 0.1 1 5 10 20 40 70 100 1000 ∞

Φ(ω) 89.4 84.2 63.4 45 26.5 14 8 5.7 0.5 0

 ω 0.1 1 5 10 20 40 70 100 1000 ∞
Φ(ω) 89.4 84.2 63.4 45 26.5 14 8 5.7 0.5 0
90o

30o
Phase (degrees)

0o

-300

-45o

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Bode Diagram
30

20
Magnitude (dB)

10

-10

-20
90
Phase (deg)

45

0
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
Basic Factors of a Transfer Function
4. Quadratic Factors

2  2
M ( )  20 log (1  2 )  ( 2 )
n n

– For Low frequencies ω<< ωn

M ( )  20 log(1)  0

– For high frequencies ω>> ωn


M ( )  40 log( )  40db / dec
n
 Relative Stability
 Phase crossover frequency (ωp) is the frequency at which
the phase angle of the open-loop transfer function equals –
180°.
 The gain crossover frequency (ωg) is the frequency at which
the magnitude of the open loop transfer function, is unity.
 The gain margin (Kg) is the reciprocal of the magnitude of
G(jω) at the phase cross over frequency.

 The phase margin (γ) is that amount of additional phase lag

at the gain crossover frequency required to bring the system
to the verge of instability.
Relative Stability
 Gain cross-over point

Phase cross-over point

ωg ωp
6/23/2021 40
 Unstable Stable

Stable Gain Margin

Stable
Phase Margin

Unstable Stable

ωg ωp
6/23/2021 41
 Example #3
• Obtain the phase and gain margins of the
system shown in following figure for the two
cases where K=10 and K=100.
 Example #4
# Construct a Bode plot for a unity feedback system whose open loop transfer
50
function is given by 𝐺 𝑠 = . From the Bode plot check the stability
𝑠(1+𝑠)(1+0.5𝑠)
of the closed loop system.
Solution:
Step 1: Put 𝑠 = 𝑗𝜔 in the transfer function
50
𝐺 𝑗𝜔 =
𝑗𝜔(1 + 𝑗𝜔)(1 + 0.5𝑗𝜔)
Step 2: Magnitude=M=|𝐺 𝑗𝜔 |
|𝐺 𝑗𝜔 |=20𝑙𝑜𝑔50 − 20 log 𝑗𝜔 − 20 log 1 + 𝑗𝜔 − 20log |1 + 0.5𝑗𝜔|
=34 − 20𝑙𝑜𝑔𝜔 − 20𝑙𝑜𝑔 1 + 𝜔 2 − 20𝑙𝑜𝑔 1 + (0.5𝜔)2

0 𝜔 𝜔 0.5𝜔
Phase angle=𝜑 = tan−1 − tan−1 − tan−1 − tan−1
50 0 1 1
0 −1 −1
=−90 − tan 𝜔 − tan 0.5𝜔
 Example #4
S. Factor Corner Slope Remark
No. Frequency
1. 50=20log50=34 dB None 0 dB/decade Straight line of slope 0 dB/dec.,
starting from 34 dB
2. 1 None -20 Straight line of slope -20
= −20𝑙𝑜𝑔𝜔
𝑠 dB/decade dB/dec., passing through 𝜔 = 1
3. 1 1 -20 Straight line of slope -20
1+𝑠 dB/decade dB/dec., starting from 𝜔 = 1
= −20𝑙𝑜𝑔 1 + 𝜔 2
4. 1 2 -20 Straight line of slope -20
1 + 0.5𝑠 dB/decade dB/dec., starting from 𝜔 = 2
= −20𝑙𝑜𝑔 1 + (0.5𝜔)
 Example #4
S. 𝝎 (𝐫𝐚𝐝/𝐬) 𝝋
No.
1. 0 −900
2. 0.1 −98.60
3. 0.5 −130.60
4. 1 −161.60
5. 1.4 −179.50
6. 1.5 −183.20
7. 2 −198.40
8. 4.45 −2330

0 𝜔 𝜔 0.5𝜔
𝜑 = tan−1
− tan−1 − tan−1 − tan−1
50 0 1 1
0 −1 −1
=−90 − tan 𝜔 − tan 0.5𝜔