Continuous control System 3rd year Automation EEA Department
TD. 1
Frequency Response and stability analysis
Part. 1
Part A: Skills check
In the following True or False and Multiple-Choice problems, circle the correct answer.
1. The resonant frequency is the frequency True or False
at which the magnitude is minimum
2. The resonant peak is the value at which True or False
the frequency is maximum
3. The bandwidth is the range of frequency True or False
below the -3db of the magnitude
4. The frequency response represents the True or False
steady-state response of a stable system
to a sinusoidal input signal at various
frequencies.
5. A plot of the real part of 𝐺 (𝑗𝑤) versus True or False
the imaginary part of 𝐺(𝑗𝑤 ) is called a
Bode plot.
6. A transfer function is termed minimum True or False
phase if all its zeros and poles lie in the
right-hand s-plane.
7. One advantage of frequency response True or False
methods is the ready availability of
sinusoidal test signals for various ranges
of frequencies and amplitudes.
8. Consider the stable system represented by 1. 0°
the differential equation 2. −45°
𝑦̇ (𝑡) + 3𝑦(𝑡) = 𝑢(𝑡) 3. −160°
where 𝑢(𝑡) = sin(3𝑡). Determine the phase 4. −180°
lag for this system
DR. Abdelhamid Bounemeur
Continuous control System 3rd year Automation EEA Department
Part B: Definitions
In the following Word Match problems, match the term with the definition.
Decibel (dB) 1. The logarithm of the magnitude of the
transfer function,20log(|𝑔(𝑗𝜔)|)
Bode plot 2. A plot of the real part of 𝑔(𝑗𝜔) versus the
imaginary part of𝑔(𝑗𝜔)
Transfer function in the frequency domain 3. The steady-state response of a system to
a sinusoidal input signal.
Decade 4. All the zeros and poles of a transfer
function lie in the left-hand side of the s-
plane.
Logarithmic magnitude 5. The frequency of natural oscillation that
would occur for two complex poles if the
damping were equal to zero.
Natural frequency 6. Transfer functions with zeros in the right-
hand s-plane.
Minimum phase 7. The frequency at which the asymptotic
approximation of the frequency response
for a pole (or zero) changes slope.
Frequency response 8. The ratio of the output to the input signal
where the input is a sinusoid.
Break frequency 9. The units of the logarithmic gain.
Polar plot 10.A factor of ten in frequency.
Nonminimum phase 11.The roots of the characteristic equation
that represent or dominate the closed-
loop transient response.
Critical point 12.The logarithm of the magnitude of the
transfer function and the phase are plotted
versus the logarithm of 𝜔, the frequency.
Dominant roots 13.The point where the stability is assessed
in the frequency domain
Direct questions:
1. What is the history behind using 20log(|𝑔(𝑗𝜔)|).
2. In the frequency response study, why the complex variable 𝑠 is only taken as 𝑗𝜔 (the real
part 𝜎 is not considered).
DR. Abdelhamid Bounemeur
Continuous control System 3rd year Automation EEA Department
3. What is the practical side behind using bode plot instead of Nyquist plot in electrical circuit
study?
4. Why a gain margin below 0𝑑𝑏 is considered as appositive gain margin, while a gain margin
above the 0𝑑𝑏 is considered as a negative gain margin in Bode plot?
Exercise. 1:
Consider the transfer function 𝐺(𝑠) placed in unity feedback system
2
𝐺 (𝑠 ) =
𝑠 2
(1 + )
5
• Sketch the Nyquist plot (polar plot).
• Assess the system is whether stable or unstable using Revers criterion.
• Define the phase crossover frequency.
• Define the gain crossover frequency
• Define the gain margin and the phase margin
• Sketch the Bode plot
• Try to obtain the gain phase crossover and gain crossover frequencies.
• Deduce the gain and the phase margin graphically (use a semi log sheet paper).
Exercise. 2
Consider the open-loop transfer function 𝐺(𝑠)
𝑠3
𝐺( 𝑠 ) =
(𝑠 + 1)(𝑠 + 2)
• Sketch the Nyquist plot (polar plot).
• Assess the system is whether stable or unstable using Revers criterion.
• Study the stability using Routh criterion.
Exercise. 3
Consider the open-loop transfer function 𝐺(𝑠)
𝐾
𝐺 (𝑠 ) =
(𝑠 + 4)(𝑠 + 2)(𝑠 + 8)
• Sketch the Nyquist plot (polar plot).
DR. Abdelhamid Bounemeur
Continuous control System 3rd year Automation EEA Department
• Find the range of 𝐾 to ascertain the system stability using Revers criterion.
• Study the stability using Routh criterion.
• Compare the value of 𝐾 obtained with Revers criterion and Routh criterion.
Same questions when
𝐾
𝐺 (𝑠 ) =
𝑠(𝑠 + 2)(𝑠 + 1)
Exercise. 4
Let define the following block diagram:
104 (1 + 𝑠 )
𝐺 (𝑠 ) = 𝐻 ( 𝑠 ) =
(𝑠 + 100)2 (𝑠 + 10)
• Find the Bode plot of the system give above.
• Determine the gain and the phase margin graphically (use MATLAB to assess the
obtained results).
DR. Abdelhamid Bounemeur
