5.

5 Frequency Response Plots

5.5.1 Introduction
Frequency plots indicate the performance of a system over a range of frequencies. The plots can be
linear, semi-log (Bode), log-log, or polar plots (Nyquist). All these tools have the same information, and
are used to determine relative stability.
In contrast, the transition from the RHP using Routh- Hurwitz gives absolute stability in a limited system
without time shift.
A comparison of the costs and benefits of each response plot assists in selecting the one most
appropriate for a particular problem.
Linear – direct, but cumbersome math
Bode – easiest. Use log10 of open loop frequency response
Magnitude values in decibels (db) are plotted on the vertical

20log10 G( j )
Perform for each pole & zero @ K, then add the sketches.
Phase angle is plotted under the magnitude plot
Start w/ G( j ) in standard form

j
k 1 n
G( j ) G( s) s j m j 2
( j ) (1 2 ( n
2 )
n

Plot the asymptotes.

These differ from actual values by 3db @ limits (ωn is corner frequency)
Slope of asymptotes = 20*m on the db/decade
Slope is negative for poles and positive for zeros.
m is the exponent power of s associated with the root.
Determine the phase angle @ the values.

1
tan
n

90 *m for all ω

At the root, cross the 45o angle on the way from 0o two decades before the root in route to 90o two
decades after the root.

Page | 5-18
5.5.2 Bode Plots – Basic rules
The basic rules for Bode are quite short. The examples are better illustrations than a wordy explanation.
1) Magnitude – make break @ ωn, plot asymptote 20*m db/decade, where m = power of s.
2) Phase angle – make 45 break @ ωn plot from 2 decades before to 2 after the root.
3) Break down for poles and up for zeros
4) Plot 2 decades before to two decades after
5) Σ plots to get effective

Example 1

Make a frequency plot of a plant function.

1000( s 1)
G( s)
( s 2)( s 10)( s 20) s j

Convert the form to a magnitude and phase angle.

2
1000 1
G( j )
2
22 2
102 2
202

1 1 1 1
G( j ) tan tan tan tan
1 2 10 20

The above equations are used for the linear plots.

Example 2

Make a frequency plot of a plant function above.

Convert the function to standard form for Bode & log-log.

1000(1) j
1
(2)(10)(20) 1
G( j )
j j j
1 1 1
2 10 20

1000(1)
K 2.5
(2)(10)(20)

Page | 5-19
20 log(2.5) = 8, DC portion – normalized
Magnitude is plotted for each root.
Break up + 20db for zero @ 1
Break down -20db for poles @ 2, 10, 20
@ DC, response is 8 0 , start phase diagram at 0°

Phase angle is plotted for each root.

+45˚ break points for zero @ ω=1
-45˚ break points for poles @ ω = 2, 10, 20
Combine the magnitude with 3 db smoothing @ corners (1,2,10,20)

20 dB
rad/sec
0 dB
0.1 1 10 100 1000 1000

-40 dB

+45°

1 10 100 1000 10k

0 dB

rad/sec
-180°

Combine the angles with a 5.7o smoothing at each break.

Page | 5-20
Page | 5-21
5.5.3 – Phase Margin and Gain Margin
The phase margin and gain margin of a system are indicators of the relative stability of the system. The
phase margin basis of the system is the absolute value of the difference between the actual phase angle
and -180° when the gain is 0dB.

phasemargin ( 180 ) @0dB

The gain margin basis of the system is the absolute value of the difference between the actual gain and
0dB when the phase angle is -180°.

gain margin G( j ) 0dB @-180°

Example:

For the system response shown below, determine the phase margin and the gain margin.
40 dB

rad/sec
0 dB
0.001 0.01 0.1 1 10 100

-80 dB

-160 dB

rad/sec
0 dB
0.001 0.01 0.1 1 10 100

-90°

-180°

At approx 0.01 rad/sec, the gain crosses 0dB. At that frequency, the phase angle is -90°

phasemargin 90 ( 180 ) 0.01

90

At approx 10 rad/sec. the phase angle crosses -180°. At that frequency, the gain is approx -70dB.
gain margin 70dB (0dB) 10
70dB

Page | 5-22
5.5.3 Polar - Nyquist Plot.
Re G( j ) vs Im G( j )

Use the Bode Plot from the previous example to determine points on the Plot. Only a couple of points
are needed to determine the overall curve
The following steps outline the process.
@ ω=0

G 10(8/20) 2.5
G 0
Plot the point (2.5,0)

At the point that the phase = 0 real axis, called ωpc (phase crossing)
@ =0

G 10(12/20) 3.98
G 0
Plot the point (3.98,0)

Page | 5-23
At the point when G 1 , this is called ωgc , arc from origin

@G 1

G 1 100
125
Plot the point (-0.574,-0.819)
If zeros of |G| in left HP, called minimum phase
Plot the mirror image for complex conjugate pairs

Page | 5-24
5.6 Analog Filters
Filters are classified according to the order of the transfer function, and according to function. The most
common functions are low-pass, high-pass, band-pass and band-reject filters. Other types are phase-
lead and phase-lag. A chart of filter information, including transfer functions, system response and
circuits are shown below for some of the most common type filters.

First Order Low-Pass Filters

Frequency Response RC Voltage Source (Thevenin)

H
R1
+
v1 C R2 v2
-
0 ωc ω

1 Req
H( j c) H (0) v2 1
2 H (s)
v1 R1 1 sReq C

R1R2 1
Req c
R1 R2 Req C

RL RC Current Source (Norton)

R1 L
+
v1 R2 v2 i1 R1 C R2
- i2

v2 R2 1 i2 Req 1
H (s) H (s)
v1 Req 1 s L i1 R1 1 sReq C
Req

Req R1R2 1
Req R1 R2 c
Req c
L R1 R2 Req C

Page | 5-25
First Order High-Pass Filters
Frequency Response RC

1
H( j c) H( j )
2
R1 C
+
H R2 v2
v1
-

0 ωc ω v2 R2 sReq C
H (s)
v1 Req 1 sReq C

1
Req R1 R2 c
Req C

RL Voltage Source (Thevenin) RL Current Source (Thevenin)

R1
+
R2 v2 i1 R1 L R2
v1 L
- i2

v2 Req 1
sL H ( s)
v Req Req v1 R1 1 sR p C
H (s) 2
v1 R1 1 s L
Req
R1R2 1
Req c
R1R2 Req R1 R2 RpC
Req c
R1 R2 L

Page | 5-26
Band-Pass Filters
Frequency Response

0 ωL ωo ωU ω

1
H( j L) H( j U) H( j 0)
2

3-dB Bandwidth = BW u L

Series Parallel

R1
R1 L C +
+ v1 L C R2 v2
v1 R2 v2 -
-

v2 1 s
v2 1 s H (s)
H ( s) v1 R1C s 2 sReq C 1
v1 R1C 2 Req 1 LC
s s
L LC
R1R2 1
1 Req 0
Req R1 R2 0 R1 R2 LC
LC
R2 Req 1
R2 R2 Req H( j o) BW
H( j o) BW R1 R2 R1 Req C
R1 R2 Req L

Page | 5-27
Band-Reject Filters
Frequency Response

0 ωL ωo ωU ω

1
H( j L) H( j U) 1 H (0)
2

3-dB Bandwidth = BW u L

Series Parallel

L
R1 R1
+ C +
v1 C R2 v2 v1 R2 v2
- -
L

s2 1
v2 R2 LC s2 1
H ( s) v2 Req LC
v1 Req s 2 s 1 H ( s)
Req C LC v1 R1 Req 1
s2 s
L LC
1
Req R1 R2 0 R1R2 1
LC Req 0
R1 R2 LC
R2 R2 Req
H (0) BW R2 Req 1
R1 R2 Req L H (0) BW
R1 R2 R1 Req C

Page | 5-28
Phase-Lead Filters Phase-Lag Filters
log|H(jω)|
log|H(jω
)|

ω
ω1 ωm ω2 ω
ω1 ωm ω2
φm
φm

0 ω1 ωm ω2 ω
0 ω1 ωm ω2 ω

R1 R1 +
+ R2
C R2 v2 v1 v2
v1
- C

1 s v2 Req 1 sR2C 1 sR2C

v2 Req 1 sR1C 1 1 H ( s)
H ( s) v1 R1 1 sReq C 1 sReq C
v1 R1 1 sReq C 2 1 s
2

1 1
R1R2 1 1 Req R1 R2 1 2
Req 1
Req C R2C
2
R1 R2 R1C Req C

m 1 2 min H( j m) m
m 1 2 max H( j m) m

1 2 1 2
m arctan arctan arctan
m arctan 2
arctan 1
arctan 2 1
2 1 2 m
1 2 2 m
1
H (0) 1 H j m
2
Req 1 1
H (0) H j m R2 1
R1 2 2 H( j )
Req 2
H( j ) 1

Page | 5-29
Chapter 5 Problems

Problem 5-1
The circuit shown below is constructed The phase shift between input and output signals, as used
from an ideal op-amp (infinite gain below, does not include the inversion (180°) from the
bandwidth product) operational amplifier circuit.
R 20k
R
C2 C1 100 pF

Vin R C2 0.01 F
C1 - Vout
+

5.1.1 Which of the following is most 5.1.2 The poles and the zeros of the transfer function
correct? are approximately
A) This is not a high-pass active filter. A) One pole at 5 kHz and one zero at 500 kHz
B) The input circuit time constant is 2 μS. B) Two zeros, one at 800 Hz and one at 80 kHz
C) The feedback circuit time constant is C) Two poles, one at 5 krad/sec and one at
0.2mS. 500krad/sec
D) The phase of the output lags the phase D) A paired pole and zero at 55 krad/sec
of
E) One pole at 800 Hz and one zero at
the input signal
500krad/sec
5.1.3 The dc response (dB) is 5.1.4 The response (dB) at 10 MHz is most nearly
A) 20 A) 10
B) 0 B) 0
C) -20 C) -10
D) -30 D) -20
E) -40 E) -40

Page | 5-30
5.1.5 The frequency at which the response 5.1.6 The maximum phase shift between input and
is -20dB is most nearly: output signals occurs under approximately which of the
following conditions?
A) 0 Hz
A) When the response is minimum
B) 800 HZ
B) When the response is equal to the square root of the
C) 500 kHz
ratio of the capacitances
D) 50 krad/sec
C) When the response is equal to the ratio of the time
E) 80 krad/sec constants
D) When the response is maximum
E) At a frequency that is twice that of a pole

5.1.7 The phase shift is approximately half 5.1.8 The phase shift is 90° under which of the following
of its maximum value under which of the conditions?
following conditions?
A) When the response is -10dB
A) When the response is -20 dB
B) When the response is equal to the square root of the
B) When the response is equal to the ratio of the capacitances
square root of the ratio of the capacitances
C) When the response is equal to the ratio of the time
C) When the response is equal to the ratio constants
of the time constants
D) At the frequencies of 800Hz and 80kHz
D) At the frequencies of a zero and a pole
E) Never
E) At a frequency that is half that of a zero

5.1.9 The phase shift is approximately 5% 5.1.10 Which of the following is true of this circuit?
of its maximum value under which of the
A) Its sinusoidal response is maximum at the pole and
following conditions?
minimum at its zero
A) When the response is -10dB
B) Its response is maximum when it is equal to the ratio
B) When the response is equal to the ratio of the square of the capacitances
of the capacitances
C) Its response is maximum at dc and minimum at very
C) When the response is a maximum high frequency
D) At the frequencies of 500 rad/sec and 5 D) Its response increases with increasing frequency from
Mrad/sec its value at dc
E) At a frequency that is half that of a zero E) Its output phase leads the input signal phase

Page | 5-31
SOLUTION:
Calculate the gain function.

R 1
Vout RsC2 RsC1 1
Vin R 1 RsC2 1
RsC1
S 1
C1 RC1
C2 S 1
RC2
s 5 105
0.01
s 5 103
Convert to standard form in terms of frequency.

j j
5) 1 1
Vout 0.01(5 10 5 105 5 105
1
Vin 5 103 j j
1 1
5 103 5 103

Observe poles and zeros.

Pole at 5x103 rad/sec = 796Hz – Break Down
Zero at 5x105 rad/sec = 7.96kHz – Break Up
Determine the DC valued from K.

K 1; 20log K 0 , DC response is 0dB

@ DC, the gain is 1 1 180 . The starting point for the Phase diagram is 180°.
Plot gain and phase angle asymptotes.

Page | 5-32
 Hz 79.6 796 7.96k 79.6k 796k
rad/sec 500 5x103 5x104 5x105 5x106
0 dB
-
3dB

-37dB
-40 dB

500 5x103 5x104 5x105 5x106

180°
-5.7°

101.4°
90˚

5.1.1
This is not a high-pass active filter. The correct answer is A)

5.1.2
Zero at 5x105 rad/sec (79.6kHz)
Pole at 5x103 rad/sec (796 Hz)
The correct answer is E)

5.1.3
By inspection @ DC, the gain is 0 dB. The correct answer is B)

5.1.4
At 10 MHz, by inspection, the gain is -40dB. The correct answer is E)

5.1.5
By inspection, -20dB occurs at 50krad/sec (7.96kHz). The correct answer is D)

5.1.6

By inspection, max phase shift occurs at -20dB (0.1), which is C1C2 . The correct answer is B)

Page | 5-33
5.1.7
By inspection, the phase shift is approx. half its max value at the zero and the pole. The correct answer is
D).

5.1.8
The phase shift never reaches 90°. The correct answer is E)

5.1.9
The phase shift is approx 5% of its maximum value at one decade above the zero frequency (5x10 6
krad/sec) and one decade below the pole frequency (500 rad/sec). The correct answer is D)

5.1.10
By inspection, the response is maximum at DC and minimum at very high frequencies. The correct
answer is C).

Page | 5-34
Problem 5-2

The response to a unit step test is shown in the

figure below.

Data List
0.58152 Peak value of unit step response – 0.58152
0.5
Steady-state value of unit step response – 0.5
Time to peak value of unit step response – 0.9069
sec

0.9069

5.2.1 Data from the data list that are necessary 5.2.3 The expression for the time to peak in terms
and sufficient to determine the percent of damping ratio and natural frequency of
overshoot are: oscillation is
A) 1 only
A) t p
2
B) 2 only n 1

C) 1 and 2 only 1
B) t p
D) 1 and 3 only n

E) 2 and 3 only 1
C) t p
n

1
D) t p
2
n 1

E) t p
n

5.2.2 The percent overshoot is most nearly 5.2.4 The dc gain is most nearly
A) 0% A) 0
B) 0.163% B) 0.5
C) 16.3% C) 1
D) 58.2% D) 2

Page | 5-35
E) 100% E) 8

5.2.5 Data from the data list that are necessary 5.2.7 The natural frequency of oscillation n is
and sufficient to determine the damping ratio are most nearly
A) 1 only A) 1
B) 2 only B) 1.414
C) 1 and 2 only C) 2
D) 1 and 3 only D) 4
E) 2 and 3 only E) 16

5.2.6 The damping ratio is most nearly 5.2.8 The transfer function of the open loop system
is
A) 0
B) 0.5 8
A) 2
s 8s 16
C) 1
0.5
D) 2 B) 2
s 8s 16
E) 8
1
C) 2
s 4s 16
8
D) 2
s 4s 16
0.5
E) 2
s 4s 16

Page | 5-36
SOLUTION
max y (t ) y( )
5.2.1 % overshoot = 100 Need 1 and 2 only. The correct answer is C)
y( )

0.58152 0.5
5.2.2 % overshoot = 100 16.304% . The correct answer is C)
0.5

5.2.3 t p . The correct answer is A)

2
n 1

5.2.4 The dc gain is the steady state value divided by the input (unit step), or 0.5. The correct answer is
B

2
1
5.2.5 The damping ratio may be found from the equation % overshoot = 100e . The data needed
are 1 and 2 only. The correct answer is C)

0.58152 0.5 1 2
5.2.6 % overshoot = 100 16.304% 100e .
0.5

1 2 100
e 6.135
16.304
ln 6.135 1.814
2
1
2 2 2
3.29(1 ) The correct answer is B)
2 2
( 3.29) 3.29
2
0.25; 0.5

5.2.7

tp
2
n 1

n
2
tp 1

n 4.0rad / sec
0.9069 0.75

The correct answer is D)

2
n 16
5.2.8 Form of the equation is K 2 2
0.5 2
s 2 n n s 4s 16

The correct answer is D)

Page | 5-37
Problem 5-3
8
A control system has an open loop response of . A tachometer feedback system is installed
2
s 4s 16
in the control system in order to make the system critically damped.
5.3.1 The rate gain needed for the tachometer 5.3.2 The location of the critically damped poles is
feedback to achieve a critically damped system is most nearly
most nearly
A) -16
A) 0.125
B) -4
B) 0.5
C) 0
C) 1
D) 4
D) 2
E) 16
E) 4

SOLUTION
The block diagram, with the tachometer (rate) feedback is shown

X(s) + S 8 Y(s)
Input 2 Output
5.3.1
- s 4 s 16
The transfer function is developed in the circuit KT s
element form.

Y ( s) G 8 8
2 2
X (s) 1 GH s 4s 16 8KT s s (4 8KT )s 16 .

2
n
The frequency form of the second order bandpass or resonance equation is K .
s2 2 n n
2

Set the denominator characteristic equation in circuit form to the equivalent frequency form. Then
calculate the frequency variables.
2
n 16 n 4

4 8KT 2 n .
For critical damping, ζ=1. Therefore, the gain b can be calculated.

4 8KT 2 n 2(1)(4) KT 0.5

The correct answer is B)

Page | 5-38
5.3.2
8 8
The critical damped transfer function is 2 2
. Therefore the poles are -4, -4.
s 8s 16 s 4

The correct answer is B)

Page | 5-39
Problem 5.4

A control system is described by the block diagram

X(s) + Σ Gc ( s )
s 4 Y(s)
2 Output
Input
- s 6 s 13
controller

Data List:

s 4
Gs(s)= 2
s 6s 13
K (s z)
Gc(s)=
s ( s 1)

Possible values of z = -3 or -5
5.4.1 The open loop transfer function is 5.4.4 The angles the asymptotes of the root loci
makes with the real axis of the s plane are
A) K
A) ±0°
K (s z )
B)
s ( s 1) B) ±90°

K ( s z )( s 4) C) ±180°
C)
s( s 1)( s 2 6s 13) D) ±270°

D) s(s 1)(s 2 6s 13) E) ±360°

s 4
E) 2
s 6s 13

5.4.2 The poles of the open loop transfer function 5.4.5 Data from the data list that are necessary
are: and sufficient to determine the intersection of
the root loci with the real axis of the s plane are
A) z, -4 only
A)1 only
B) 0, -1 only
B) 1 and 2 only
C) -3±j2 only
C) 1 and 3 only
D) 0,-1, -3±j2 only
D) 2 and 3 only
E) z, 0, -1, -3±j2, -4
E) 1, 2, and 3

Page | 5-40
5.4.3 The zeros of the open loop transfer function 5.4.6 The intersections of the root loci with the
are: real axis of the s plane, if z 3 and 5 are
A) z, -4 only A) 0 and 0
B) 0, -1 only B) 0 and 1
C) -3±j2 only C) 0 and +1 and -1
D) 0,-1, -3±j2 only D) 1 and 1
E) z, 0, -1, -3±j2, -4 E) -3 and -5
5.4.7 The characteristic function if z = -3 is 5.4.9 What is the first term in the third row
Routhian array if z=-3?
A) s 4 7s3 19s 2 13s
(156+12K2)
B) s 4 7 s3 20s 2 17s A)
7
C) s 4 7s3 20s 2 20s 12 120
B)
D) s 4 7s3 34s 2 118s 180 7
C) 19 K
E) s 4 7s3 (19 K )s 2 (13 7 K )s 12K
D) 13 K
E) 12K

5.4.8 Which of the following values of z provide for 5.4.10 For with values of K is the system stable is
a stable system for any value of K? z = -3
A) -3 only A) All K>0
B) any z>-5 B) All K<0
C) -3 and -5 only C) All large K
D) any z>-3 D) All small K
E) Neither -3 nor -5 E) All K<15

Page | 5-41
SOLUTION:
5.4.1

Y ( s) K ( s z )( s 4)
The open-loop transfer function Gc ( s)Gs ( s) .
X ( s) s( s 1)( s 2 6s 13)

The correct answer is C)

5.4.2

The poles of the open lop transfer function are the roots of s 2 6s 13 s 1 s

Roots are 0, -1, 3 9 13 =0, -1, 3 j2

The correct answer is D)

5.4.3
The zeros of the open loop transfer function are the roots of K (s z)(s 4) . Roots are z= -4

The correct answer is A)

5.4.4
(180 360 k )
Asymptotes – angle =
n p nz

k 0, , np nz ; n p 4; nz 2 . Therefore the angle = 90

The correct answer is B)

5.45

poles - zeros
c
n p nz

H(s), Gc(s) and the value of z are needed.

The correct answer is E)

5.4.6

Page | 5-42
 poles - zeros 0 ( 1) ( 3 j 2) z ( 4)
c 1.5 0.5 z
n p nz 4 2

For z 3, c 0 . For z 5, c 1

The correct answer is B)

5.4.7

s( s 1)( s 2 6s 13) K ( s z )( s 4)
1 Gc ( s) H
s( s 1)( s 2 6s 13)

The Characteristic equation = s 4 7s3 (19 K )s 2 13 K (4 z ) s 4Kz

For z 3, s 4 7 s3 19 K s 2 13 K (4 z ) s 12K

The correct answer is E)

5.4.8

poles - zeros 0 ( 1) ( 3 j 2) z ( 4)
c 1.5 0.5 z
n p nz 4 2

For c 0 , there are poles in the right half of the s-plane – unstable.

The correct answer is D)

5.4.9
For z=-3, the Routh array is

s4 1 19 K 12 K 19 K (13 7 K ) 120
P2,1
s3 7 13 7 K 0 7 7

s 2
P2,1 P2,2 P2,2 12K
s1 P1,1
13 7 K 7 P2,2
s0 P0,1 P1,1 13 7 K 4.9 K 13 2.1K
P2,1

P0,1 P2,2 12K

The correct answer is B)

5.4.10

Page | 5-43
From the Routh array above, P2,1 0 , P1,1 0 for K 6.19 , P0,1 0 for K 0.

Therefore, the function is stable for all K 0.

The correct answer is A)

Page | 5-44