1

Frequency Response
M. Sami Fadali
Prof. of Electrical Engineering
University of Nevada
Outline
Steady-state response to sinusoidal input.
Frequency response plots.
Asymptotic behavior of frequency response.
Asymptotic plots.
2
3
Linear System
Frequency Response
G(s)
r(t)
c(t)
| | ) ( sin ) ( ) (
o o o ss
t AM t c e | e e + = SS Output
Input
( ) t A t r
o
e sin ) ( =
) (
) ( ) (
o
j
o o
e M j G
e |
e e =
4
Verification: Sinusoidal Input
2 2
) (
) ( ) ( ) (
o
o
s
A
s G
s R s G s C
e
e
+
=
=
2
) (
2
) ( ) (
* *
1
0
1
j
A
j G K
j
A
j G
j s
A
s G K
o
o
j s
o
o

=
=
+
=
=
e
e
e
e
e

=
+
+
+
+

=
n
i i
i
p s
B
j s
K
j s
K
s C
1 0
*
1
0
1
) (
e e
Response
Expansion
Coefficients
5
| |

=

+ =
n
i
t p
i
t j
o
t j
o
i o o
e B e j G e j G
j
A
t c
1
*
) ( ) (
2
) (
e e
e e
Frequency Response: Frequency-dependent
magnitude scaling and phase shift.
Steady-State Response
) (
) ( ) (
o
j
o o
e M j G
e |
e e =
| | | |
| |
) ( ) (
2
) (
) (
o o o o
t j t j
o
ss
e e
j
AM
t c
e | e e | e
e
+ +
=
Zero in
steady
state
| | ) ( sin ) ( ) (
o o o ss
t AM t c e | e e + =
6
Frequency Response
Obtain the frequency response using
sinusoidal inputs.
Plot set of complex numbers vs. frequency.
Three standard frequency response plots:
1- Polar (Nyquist)
2- Bode
3- Log Magnitude vs. Phase (Nichols)
7
1. Polar Plot: Each point on the plot is defined
by the vector M(e
i
) Z|(e
i
), i=1, 2, ...
Frequency Response Plots
3. Log Magnitude vs. Phase Plot
20 log(M) dBs vs. |(e)
2. Bode Plot: 2 plots (i)20 log(M) dBs vs. e
(ii) |(e) vs. e
1. Use log
10
frequency axis to fit large
frequency range
2. One unit increase = multiplication by ten
8
Example: Simple Lag
1
) (
1
) (
+
=
+
=
=
b
j s
b
j
K
j G
s
K
s G
e e
e
e
e
( )
( )
( )
( )
b
b
b
b
K
M
K
j G
e e e |
e e
e
e e
e e
e
1
2
1
2
tan ) ( ,
1
) (
tan
1
) (

=
+
=
Z
+
=
9
3 dB Point
e
b
is the 3 dB frequency (point)
break frequency or corner frequency

45 ) (
2
) ( = =
b b
K
M e | e
( ) ( )
( ) 3 log 20
2 log
2
1
20 log 20
2
log 20 dB ) (
~
=
|
.
|

\
|
=
K
K
K
M
b
e
10
Asymptotic Behavior
Examine the frequency response
1. In the limit as e 0
2. In the limit as e
Use the information to sketch the
frequency response.
11
Asymptotic Behavior: Simple Lag
a)
1
) (
1
) (
+
=
+
=
=
b
j s
b
j
K
j G
s
K
s G
e e
e
e
e

90 dBs or 90 0 ) (
) ( Large
Z Z =
~

s G
s
K
s G s
j s
b
_|
e

0 dBs ) log( 20 or 0 ) (
) ( : Small
0
Z Z =
~
+

K K s G
K s G s
j s
_|
12
Polar Plot: Simple Lag
Nyquist Diagram
Real Axis
I
m
a
g
in
a
r
y

A
x
is
0 2 4 6 8 10
-5
-4
-3
-2
-1
0
System: g
Real: 4.99
Imag: -4.99
Frequency (rad/sec): 0.1
- 45
deg
1 1 . 0
10
) (
+
=
s
s G
13
Bode Plot: Simple Lag
-20
-10
0
10
20
System: g
Frequency (rad/sec): 0.1
Magnitude (dB): 17
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-3
10
-2
10
-1
10
0
10
1
-90
-45
0
System: g
Frequency (rad/sec): 0.1
Phase (deg): -45
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
1 1 . 0
10
) (
+
=
s
s G
14
1
) (
1
1
1
+ + + +
=

s a s a s a
K
s G
n
n
n
n


0 dBs ) log( 20 or 0 ) (
) ( : Small
0
Z Z =
~
+

K K s G
K s G s
j s
_|
n n s G
s a
K
s G s
j s
n
n
Z Z =
~


90 dBs or 90 0 ) (
) ( : Large
_|
Asymptotic Behavior: Type 0,
nth order (no zeros)
15
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
-10 0 10 20 30 40
-25
-20
-15
-10
-5
0
System: g
Real: 30.7
Imag: -19.3
Frequency (rad/sec): 0.0486
Polar Plot: 3rd order, type 0 system
(no zeros)
16
Bode Plot: 3rd order, type 0 system
(no zeros)
10
-2
10
-1
10
0
10
1
10
2
-270
-225
-180
-135
-90
-45
0
P
h
a
s
e

(
d
e
g
)
System: g
Frequency (rad/sec): 1
Phase (deg): -193
Bode Diagram
Frequency (rad/sec)
-150
-100
-50
0
50
M
a
g
n
i
t
u
d
e

(
d
B
)
System: g
Frequency (rad/sec): 1
Magnitude (dB): 1.93
17
1
1
) (
1
1
1
1
1
1
+ + + +
+ + + +
=

s a s a s a
s b s b s b
K s G
n
n
n
n
m
m
m
m

0 dBs ) log( 20 or 0 ) ( , ) ( : Small
0
Z Z = ~
+

K K s G K s G s
j s
Lim
( )
( )
( )

= Z
> Z

= Z
> Z
=
~

m n a b K
m n m n
m n a b K
m n m n
s G
s a
s Kb
s G s
n n
n n
j s
n
n
m
m
, 0 dBs log 20
, 90 dBs
or
, 0
, 90 0
) (
) ( : Large

_|
Asymptotic Behavior:
Type 0, nth order, m zeros
18
Type 0, 3rd order, 1 zero
>> s=tf(s); g = 40*(s/0.4+1)/(s/0.1+1)/(s/0.5+1) /(s+1)
-5 0 5 10 15 20 25 30 35 40
-25
-20
-15
-10
-5
0
Nyquist Diagram
Real Axis
I
m
a
g
in
a
r
y

A
x
is
19
Type 0, 3rd order, 1 zero
>> s=tf(s); g = 40*(s/0.4+1) /(s/0.1+1)/(s/0.5+1) /(s+1)
-60
-40
-20
0
20
40
M
a
g
n
it
u
d
e

(
d
B
)
10
-3
10
-2
10
-1
10
0
10
1
10
2
-180
-135
-90
-45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
20
Type 0, 3rd order, 1 zero
>> s=tf(s); g = 40*(s/0.05+1) /(s/0.1+1)/(s/0.5+1) /(s+1)
Nyquist Diagram
Real Axis
I
m
a
g
in
a
r
y

A
x
is
-10 0 10 20 30 40 50 60 70
-50
-40
-30
-20
-10
0
10
System: g1
Real: 49.1
Imag: 8.58
Frequency (rad/sec): 0.051
21
Type 0, 3rd order, 1 zero
>> s=tf(s); g = 40*(s/0.05+1) /(s/0.1+1)/(s/0.5+1) /(s+1)
-60
-40
-20
0
20
40
M
a
g
n
it
u
d
e

(
d
B
)
10
-3
10
-2
10
-1
10
0
10
1
10
2
-180
-135
-90
-45
0
45
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec) 22
( ) 1
) (
1
1
1
+ + + +
=

s a s a s a s
K
s G
l n
l n
l n
l n
l

l l s G
s
K
s G s
j s
l
90 dBs or 90 ) (
) ( Small
0
Z Z =
~
+

_|

n n s G
s a
K
s G s
j s
n
l n
90 dBs or 90 0 ) (
) ( Large
Z Z =
~

_|
Asymptotic Behavior:
Type l, nth order (no zeros)
Nyquist Plot: MATLAB
23
Nyquist Diagram
Real Axis
I
m
a
g
in
a
r
y

A
x
is
-2 -1.5 -1 -0.5 0 0.5 1
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
System: g
Real: 0.282
Imag: 0.449
Frequency (rad/sec): -16
System: g2
Real: -1.67
Imag: -0.129
Frequency (rad/sec): -0.776
System: g1
Real: -0.0996
Imag: 1.58
Frequency (rad/sec): -0.632
>> nyquist(g) % includes mirror image of polar plot
1 1 . 0
1
) (
+
=
s
s G
( ) 1 1 . 0
1
) (
+
=
s s
s G
( ) 1 1 . 0
1
) (
2
+
=
s s
s G
24 -2.5 -2 -1.5 -1 -0.5 0
10
5
0
0.5
1
1.5
2
10
4
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
Polar Plot:
3rd order, type II system (no zeros)
25
Bode Plot: 3rd order, type II system (no zeros)
Bode Diagram
Frequency (rad/sec)
-50
0
50
100
150
200
M
a
g
n
i
t
u
d
e

(
d
B
)
System: g
Frequency (rad/sec): 1
Magnitude (dB): -0.0367
10
-3
10
-2
10
-1
10
0
10
1
-270
-225
-180
P
h
a
s
e

(
d
e
g
)
System: g
Frequency (rad/sec): 1
Phase (deg): -264
26
e
e
e
j
j G
s
s G
j s
1
) (
1
) ( = =
=
Asymptotic Bode Plots
Slope = 20 dB/decade = 6 dB/octave
20 log(e) vs. e on a log scale
1 unit increase in log(e) 10e (decade)
20 log(10e)= 20 log(e) 20
20 log(2e) = 20 log(e) 6
For n integrators, multiply slope & angle by n.
For differentiator, positive slope.
27
Bode Plots of Integrators
-40
-30
-20
-10
0
10
M
a
g
n
i
t
u
d
e

(
d
B
)
10
0
10
1
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
28
Small | s| G(s)~1 Large |s| G(s)~1/(s/ e
b
)
Asymptotes
Low frequency: M= 0 dB (horizontal line)
High frequency: line with
slope = 20 dB/decade = 6 dB/octave
0 dB intercept (M= 1) at e = e
b
1
1
) (
1
1
) (
+
=
+
=
=
b
j s
b
j
j G
s
s G
e e
e
e
e
Simple Lag
29
1 10
10
) (
+
=
s
s G
1dB
1dB
3dB
Bode Plot & Asymptotes for Simple Lag
30
Bode Plot of Zero
Bode Diagram
Frequency (rad/sec)
0
5
10
15
20
25
30
35
System: g
Frequency (rad/sec): 2
Magnitude (dB): 3
M
a
g
n
it
u
d
e

(
d
B
)
10
-1
10
0
10
1
10
2
0
45
90
System: g
Frequency (rad/sec): 2
Phase (deg): 45
P
h
a
s
e

(
d
e
g
)
1 2 ) ( + = s s G
31
Intercept
l l
K j G s K s G e e = = ) ( ) (
s rad K K
l
dB
l
dB
/ 1
0 0
= = e e
10
0
10
1
-181
-180.5
-180
-179.5
-179
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
-20
-10
0
10
20
30
System: g
Frequency (rad/sec): 4.01
Magnitude (dB): -0.0174
M
a
g
n
i
t
u
d
e

(
d
B
)
K j G s rad = = ) 1 ( : / 1 e
2
16
) (
s
s G =
4 16
24 ) 16 log( 20
=
~
32
2
nd
Order Underdamped System
( ) ( )
( ) ( )
n n
j s
n n
j
j G
s s
s G
e e , e e
e
e , e
e
2 1
1
) (
1 2
1
) (
2
2
+
=
+ +
=
=
( )
( )
(

=

2
1
1
2
tan ) (
n
n
e e
e e ,
e |
( ) | | ( )
2 2
2
2
4 1
1
) (
n n
M
e e , e e
e
+
=
33
Peak Magnitude & Frequency
| | ( )
2 2 2 2
, 4 1 ) (
n
x x x x M e e , = + =

2
2 1 2
1
, ,
=
p
M
2
2 1 , e e =
n p
| |
2
2
2
2 1
0 4 1 2
) (
,
,
=
= + =

x
x
dx
x dM
( ) | | ( )
2 2
2
2
4 1
1
) (
n n
M
e e , e e
e
+
=
34
Bode Plot of 2
nd
Order
Underdamped System ,=0.1-0.7
10
-2
10
-1
10
0
10
1
10
2
-180
-135
-90
-45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
-40
-30
-20
-10
0
10
20
M
a
g
n
i
t
u
d
e

(
d
B
)
35
Effect of Changing ,
Peak amplitude & location change with ,.
Increasing the damping ratio gives:
1. A smaller peak M
p
.
2. A lower peak frequency e
p
.
3. A slower rate of change in phase.
4. Peak disappears at
7 . 0 2 1 ~ > ,