Professional Documents
Culture Documents
HANDOUT 4
The Frequency Response G(j)
x(t)
1
y(t)
arg G(j)
|G(j)|
t
t
Asymptotically
stable LTI
system G(s)
x(t) = cos(t)
y(t) = |G(j)| cos t + arg G(j)
+starting transient
Summary
If a pure sinusoid is input to an asymptotically stable LTI system, then
the output will also settle down, eventually, to a pure sinusoid. This
steady-state output will have the same frequency as the input but be
at a different amplitude and phase. The dependence of this amplitude
and phase on the frequency of the input is called the frequency
response of the system.
In this handout we shall:
Show how the frequency response can be derived from the transfer
function.
(by substituting j for s)
Study how the frequency response can be represented graphically.
(using the Bode diagram)
Contents
4 The Frequency Response G(j)
x(t)
1
y(t)
A
t
t
Asymptotically
stable
LTI system
x(t) = cos(t)
y(t) =
A cos t +
+starting transient
How does this relate to Part IA? Consider again a system with input
u and output y, If
d2 y
dy
du
+
+ y = a
+ bu.
2
dt
dt
dt
then we can use the usual trick, letting
u = ejt
so that
(u(t)) = cos(t).
We will find the response to the input cos(t) by taking the real part
of y, the response to u = ejt .
To find the solution y, we assume it takes the form
y(t) = Y ejt
for some complex number Y = |Y |ej arg Y , so that
(y(t)) = (|Y |ej arg Y ejt ) = |Y | cos(t + arg Y ).
(4.1)
d2 y
2 Y ejt ,
=
[j]
dt 2
etc
we obtain
Y [j]2 ejt + Y [j]ejt + Y ejt = a[j]ejt + bejt
or
a[j] + b
Y =
[j]2 + [j] +
= arg G(j)
so i(s)
= Cs v(s)
in the absence of initial conditions giving the
transfer function
v(s)
1
.
=
sC
i(s)
So, the frequency response of a capacitor (from current to voltage) is
1
The advantage of transfer
i.
, which equals its impedance, v/
jC
4.1.1
u(s)
output y(s)
and rational transfer function G(s) = n(s)
d(s) , so
y(s)
= G(s)u(s).
1
G(j)
1
1
2
n
y(s)
= G(s)
=
+
+ +
+
s j
s p1
s p2
s pn
s j
y(t) = 1 ep1 t + 1 ep2 t + + n epn t + G(j)ejt
{z
} |
|
{z
}
ytr (= CF)
yss (= PI)
(with the obvious modifications if any poles are repeated). Since all the
pk , the poles of G(s), have a negative real part, then ytr (t) 0 as
response to the input u(t) = cos(t) is given by the real part of this:
(yss (t)) = ejt G(j)
as z = |z|ej arg z
= |G(j)|ej t+arg G(j)
= |G(j)| cos t + arg G(j)
| {z }
|
{z
}
Example:
Consider a system with transfer function
and an input
1
G(s) = 2
s + 0.1s + 2
x(t) = cos(0.5t)
(a sinusoid at 0.5rad/s, or
0.5/(2 ) = 0.0796 Hz )
= 0.571 1.64
The following figures show the impulse response of this system, the
input x(t) = cos(0.5t), and the response to this input.
component
near
g(t)
0.5
that
leaving
the
this
only
frequency
quickly
decays
sinusoid
of
the
at
0.5
1
0
input
(and at
0.5
an amplitude of 0.571).
50
100
150
200
0.5
1
0
50
100
150
200
0.571
0.5
0
0.5
1
0
50
100
150
200
t (sec)
Example: G(s) =
1
s(s 2 +0.2s+2)
Nyquist Diagram
1
0
G(j)
20
|G(j)| (dB)
20
2
3
40
60
1
10
4
0
10
10
5
5
60
270 225 180 135
90
(rad/s)
Bode Phase Plot
20
1
G(j)
Nichols Chart
90
20
180
270
1
10
|G(j)| (dB)
G(j) (deg)
40
10
(rad/s)
10
45
G(j) (deg)
G(j)
Hence
and
|G(j2)| = p
= 0.2451
2 22 + 0.42
arg G(j2) = arg 1 arg 2j arg(2 + 0.4j)
= 0 /2
2.9442
| {z }
atan(.4/2)
= 4.5150
So,
because
4.3
polynomials e.g.
Clearly
a1 (s)a2 (s)
G(s) =
.
b1 (s)b2 (s)
so we can compute the gain curve by simply adding and subtracting gains
corresponding to terms in the numerator and denominator. Similarly
G(j) = a1 (j) + a2 (j) b1 (j) b2 (j)
and so the phase curve can be determined in an analogous fashion.
sT ,
1 + sT ,
it is suffices to be able to sketch Bode diagrams for these terms. The Bode
plot of a complex system is then obtained by adding the gains and phases
of the individual terms.
Note: Always rewrite the transfer function in terms of these building blocks
before starting to sketch a Bode diagram you will find it much easier. For
example, if the transfer function has a term (s + a) first rewrite this as
a (1 + s/a) and then collect together all the constants that have been
s
(1 + 0.05s + s 2 /100)
and begin by considering each term individually.
4.3.1
Powers of s: (sT )k
40dB (=100)
20dB (=10)
0dB (=1)
20dB (=.1)
40dB (=.01)
0.01
T
0.1
T
1
T
10
T
100
T
0.1
T
1
T
10
T
100
T
180
90
0
90
180
0.01
T
4.3.2
(for T > 0)
= |G(j)| = |1 + jT |
|
{z
}
q
1 + 2 T 2
Asymptotes:
0:
G(j)| = (1 + jT )
{z
}
|
atan(T )
(i.e.
1 + jT
1/T )
20log10 |G(j)| 20log10 1 = 0
G(j) 1 = 0
jT
(i.e.
1/T )
At = 1/T , we get
20log10 |G(j)| = 20log10 |1 + j|
= 20log10 2 (3dB)
G(j) = (1 + j) = 45
acements
Gain
40dB (=100)
20dB (=10)
low freq
asymptote
3dB
0dB (=1)
0.01
T
0.1
T
1
T
Frequency (rad/s)
10
T
100
T
high
freq
10
asymptote
T
(=1)
Phase (Degrees)
90
G(j)
45
low freq
asymptote
1
10T
0.01
T
0.1
T
1
T
Frequency (rad/s)
10
T
100
T
4.3.3
1
Bode plot of G(s) =
1 + 2sT + s 2 T 2
(for T > 0, 0 1)
1
. . . replace s by j to get G(j) =
1 + 2jT 2 T 2
= 20log10 |G(j)| = 20log10 1 2 T 2 + 2jT
G(j) = 1 2 T 2 + 2jT
Asymptotes:
0:
(i.e.
1/T )
20log10 |G(j)| 20log10 1 = 0
G(j) 1 = 0
(i.e.
1/T )
At = 1/T , we get
20log10 |G(j)| = 20log10 |2j|
1
= 20log10
2
20dB
Gain (dB)
0dB
= 0.2
6dB
=1
20dB
40dB
60dB
0.01
T
0.1
T
1
T
10
T
100
T
= 0.2
Phase (Degrees)
45
=1
90
135
180
0.01
T
0.1
T
1
T
10
T
100
T
4.3.4
Examples
5
Example 1: G(s) =
1 + 10s
(K = 5, 1/T = 0.1)
Gain (dB)
20
20log10 1 + 10j
Phase (Degrees)
20
3
10
10
10
10
20log10 |5|
10
1 + 10j
90
3
10
10
10
Frequency (rad/s)
10
10
Gain (dB)
20
20log10 |G(j)|
Phase (Degrees)
20
3
10
10
10
10
10
G(j)
90
3
10
10
10
Frequency (rad/s)
10
10
Gain (dB)
20
20log10 |1 + 10j|
20log10 |1 + j|
20
20log10 |0.05|
40
3
10
10
10
10
10
10
Phase (Degrees)
90
1 + 10j
0.05
1 + j
90
3
10
10
10
10
Frequency (rad/s)
10
10
and then we sum them (Note how the phase terms sum to produce a
maximum phase advance of only about 55 .)
Gain (dB)
20
20log10 |G(j)|
20
40
3
10
10
10
10
10
10
Phase (Degrees)
90
G(j)
90
3
10
10
10
10
Frequency (rad/s)
10
10
0.05
1 + 2s
(1 + 2s)
Example 3: G(s) = 0.05
=
s
s
20
Gain (dB)
20log10 |1 + 2j|
0
0.05
20log10
j
20
40
3
10
10
10
10
10
10
Phase (Degrees)
90
1 + 2j
0.05
= j
j
90
3
10
10
10
10
Frequency (rad/s)
10
10
Gain (dB)
20
20log10 |G(j)|
20
40
3
10
10
10
10
10
10
Phase (Degrees)
90
G(j)
90
3
10
10
10
10
Frequency (rad/s)
10
10
(1 jT ) = (1 + jT )
20log10 (1 jT ) = + 20log10 (1 + jT )
That is, if we have a term (1 sT ) instead of (1 + sT ) then the gain
plot is unchanged but the terms contribution to the phase plot is
reversed in sign (so the contribution of a RHP zero to the overall phase
diagram is the same as that of a LHP pole at the same location).