Frequency Response

• Frequency Response of A Dynamic System

• Bode Plot
• Polar Plot
Frequency Response of A Dynamic System

Experiment Set-up on Frequency Response:

Physical
Plant

Signal Generator Signal Analyzer

Graphical Representation:

R(s) C(s)
G(s)
 Frequency Response of A Dynamic System
Definition of Frequency Response: Frequency response is the steady-state
response of a dynamic system G(s) to a sinusoidal testing input signal.

R(s) C(s)
G(s)

Proposition: Suppose that G(s) is a stable system. Let the input signal r(t) be
Then the frequency response c(t) of G(s) can be obtained as:

where

It is clear that the frequency response of G(s) is solely determined by

 Frequency Response of A Dynamic System
Therefore, from now on, we shall just simply call

the frequency response of the dynamic system G(s).

Phase lead and phase lag system:
G(s) is called Phase-Lead

G(s) is called Phase-Lag

Frequency response analysis is conducted by varying the frequency of
sinusoidal testing signal over certain or all range of the spectrum and
studying the behavior of the system frequency response. Normally, the
frequency response behavior can be read from Bode Plot and/or Polar Plot.
Example:

So 1/(s+2) is phase-lag system

 Bode Plot
Given a system transfer function G(s), Bode Plot can be obtained by plotting
the frequency response (i.e., magnitude and phase ) with respect to the
frequency (either itself or its logarithm value) :

Example: Bode plots for

G(s) =1/(s + 2):
Magnitude and phase
vs. logarithm value of
Frequency.
 Bode Plot
Bode Plots of various transfer
functions:
1. Simple gain: G(s)=K

2. Integration:
G(s)=1/sn
3. Differentiation
G(s)=sn

n=1
 Bode Plot
First-order systems:

4. G(s)=1/(Ts+1)

Asymptotic analysis

At the corner frequency (intersection of

asymptotes
 Bode Plot
5. G(s)=Ts+1

Asymptotic analysis:

At the corner frequency (intersection of

asymptotes)
 Bode Plot
6. Second-order system

Asymptotic analysis:
Bode Plot
 Bode Plot
Resonant peak Mr and resonant frequency of the second-order system:

since we have

Obviously, for there exists a peak Mr of at

and the peak value is While the phase at is

For
Note that if
Therefore, if damping ratio is too small and the frequency of external signal is
close to the resonance frequency of the system , it would expose great potential
for severe damage on the system.
 Bode Plot
Bandwidth : Given a system G(s), the bandwidth of this system is
defined as the frequency at which the magnitude of
drops by 3db from |G(0)|:

For the second-order system, we have

and
 Bode Plot
7. General system: for example,

To draw Bode Plots, we first factorize G(s) into

Therefore the magnitude plot can be obtained as

And the phase plot:

 Bode Plot
Example 1: G(s)=s+a
 Bode Plot
Normalized and scaled
Bode plots for
a. G(s) = s;
b. G(s) = 1/s;
c. G(s) = (s + a);
d. G(s) = 1/(s + a)
 Bode Plot
Bode magnitude plot for
G(s) =(s + 3)/[(s + 2)(s2 + 2s + 25)]:
a. components;
b. composite
 Bode Plot
Bode phase plot for
G(s) =(s + 3)/[(s +2)(s2 + 2s + 25)]:
a. components;
b. composite
 Polar Plot
The Polar Plot of the frequency response can be easily obtained by plotting
real and imaginary part on the complex plane, parameterized by the frequency:

Example: Polar Plot

for G(s)= 1/(s + 2)
parameterized by
frequency.