Frequency Domain Analysis
CO3- Module 6
Dr. Ananya Choudhury
Frequency response
● Frequency response characteristics comprises of two plots: magnitude plot
and phase plot
● The angular frequency is the common variable for both these plots
● Commonly used plots in frequency response analysis:
Polar plot: The plot of the magnitude versus phase angle in polar coordinate where is varied
from 0 to is called polar plot.
Bode plot: The plots of both (i) magnitude and (ii) phase versus frequency in logarithmic
values are called Bode plots.
Magnitude versus plot: The magnitude versus phase plot on rectangular coordinate as varying
is known as magnitude versus phase plot.
DEFINITIONS OF FREQUENCY DOMAIN
SPECIFICATIONS
Consider the closed loop system
The CLTF is given by
Definitions
● Response peak M r : The maximum value of M j as is varied is termed as
resonance peak (M r ).
● Resonance frequency r: The frequency at which peak resonance M r occurs
is known as resonance frequency (r).
● Bandwidth (BW): The frequency at which the magnitude of M j drops by
30dB below a certain specified level (generally 0 dB level).
Implications:
○ large bandwidth indicates higher frequencies will pass through the system. This indicates a
faster rise in time. Therefore, bandwidth gives an idea about transient response.
○ small bandwidth means lower frequencies are passed and hence response is sluggish
○ noise filtering can be known because large bandwidth indicates susceptibility to noise.
Contd.
● Cut off rate: The slope of the log magnitude
curve near the cut-off frequency c is known as
cut off rate.
● Phase Margin: If ∅ is the phase angle of a system
at unity gain ( M ( j) 1) , the phase margin is given by
180 +∅ .
The frequency at which gain is unity is known as
gain crossover frequency.
Contd.
○ Phase margin indicates the increment in the system angle that causes the system to be
unstable. It is a measure of relative stability.
● Gain margin: The frequency (1 ) at which the phase angle of the transfer
function is -180° is known as phase crossover frequency. The gain at this
frequency 1 is G(j) H (j) and gain margin is given by 1 G(j) H (j)
○ Gain margin indicates the increment in gain required to cause the system to become unstable
❖ Nyquist analysis, Bode plot, Polar plot and root locus method are the
graphical methods of finding CLS Stability. Out of these, root locus method is
a time domain method whereas the others are frequency domain methods.
CORRELATION BETWEEN TIME & FREQUENCY
DOMAIN SPECIFICATIONS FOR A SECOND-
ORDER SYSTEM
For a second order system,
C ( s) n2
G( s)
R( s) s 2 2n s n2
& H ( s) 1
In frequency domain,
s j C ( j ) n2
G ( j )
R( j ) ( j ) 2 2n ( j ) n2
• Resonant frequency
r n 1 2 2 for 0 1
2
=0 for > 1
2
=n for =0
Formulae for different
•Resonant peak
Mr
1
for 0 1
frequency-domain anaysis
2 1 2
parameters
2
=1 for > 1
2
= for =0
=unstable for 0
•Bandwidth
BW c
where cut-off rate
1/ 2
c n (1 2 ) 4 4 2
2 4 2
Inferences of BW
● BW is a function of n and
● BW n
● BW decreases as increases
0.35
● BW decreases with increase in rise time (as BW
tr
)
Numericals
Problems
1. Determine the frequency domain specifications for a second-order system with
unity feedback and
225
G ( s)
s( s 6)
2. Find frequency domain specifications for a system having
C ( s) 84
2
R( s) s 7 s 81
