Lecture 9: Design with frequency

domain criterias

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Control problems

▪ Stabilization ▪ Disturbance attenuation

▪ Changing the behaviour of system ▪ Minimization of cost functions
as desired;
✓ Transient response
✓ Steady state response
Why Feedback?

uncertainties
disturbances noises

Non-linear terms

Reasons for using feedback

➢ The need to decrease effects of ➢ The need to decrease affects of
disturbances and noises modelling errors and uncertainties

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Control Techniques- Summary

Design Purposes of Control Systems

➢ Decreasing tracking errors (steady state errors)

➢ Increasing stability margins of the system

➢ Improving (changing) the transient performance of the

systems

➢ Rendering systems less sensitive to parameter changes

➢ Robustifying systems against the external disturbances

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Design Techniques

Direct digital controller design methods

•
• Design in frequency domain criterias

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Classical control- Discrete time

REAL
SYSTEM

Equivalent
system
? DESIGN
MODEL

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Design Techniques

G(s) D(s)

G(z) D(z)

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Frequency Domain: What is frequency response?

Example: RL circuit

INPUT; Voltage OUTPUT; Current

Transfer Function

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Frequency Domain: What is frequency response?

Solve for I(s)

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Steady state response in continuous time.

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Result:

Let solve the problem with a different

approach

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Result: When

by solving differential equation

From transfer function

System H(s) amplifies the magnitude of the inputs at

frequency of w=2 rad/s with a ratio of 0.0894 and shifts
the phase by -63.4349o. Namely, the output becomes

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Input u(t) Output c(t)

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In semi-logarithmic axis

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In complex plane

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In low frequencies, the magnitute In high frequencies the magnitude
response is big: Thus, for the response is small: Thus, system output
inputs at these frequencies, system will be small, even zero for high
output will be also big. frequency inputs .

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Magnitute=0.2

Low Pass System

Magnitute=0.02

Low Pass System

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Frequency Domain: Frequency response-Definition

Input Convolution Integral

Output

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Frequency Domain: Frequency response-Definition

Fourier Transform of
FREQUENCY RESPONSE

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Frequency Domain: Frequency response-Definition

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Frequency Domain: Frequency response-Definition

If the inputs of the LTI systems are sinusoidal, the

outputs are also sinusoidal with SAME FREQUENCY.
Magnitute of the signal is changed by
and phase is chaged by
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Frequency Response

-plane Complex numbers in

polar coordinates

NYQUIST DIAGRAM

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Frequency Response

Semi logarithmic
graph

BODE
DIAGRAM

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Bode diagram: Asymptotic Behavior

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Bode diagram: Real Behavior

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Bode diagram

NYQUIST DIAGRAM

Drawing in polar coordinates

where 0≤ w≤ ∞.

and

BODE DIAGRAMS
In semi-logarithmic axis

and

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Minumum Phase Systems
✓ System doesn’t have any ZERO
and POLE in right half s-plane
and on jw axis (except s=0).

✓ While w changes in -∞˂w˂∞, the

change of phase (angle) is
minumum.

✓ While w changes in -∞˂w˂∞, the

phase shift has same sign ;if |G| is
known, ∠ G is also known.

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Bode diagram: Real Behavior

MAGNITUTE OF
THE RESPONSES
ARE THE SAME

Non-minimum phase system

Minimum phase system

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Frequency Response: Criterions (specifications)

✓ For open loop system frequency response

GAIN MARGIN and PHASE MARGIN

✓ For closed loop system frequency response

PEAK MAGNITUTE, PEAK FR. , BANDWITH

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Gain and Phase margins- Nyquist Diagram

Gain Margin

Phase margin

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 Gain and Phase margins- Bode Diagrams

Gain margin

Phase cut off

Gain cut off frequency
frequency

Phase margin

G.M.

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GAIN MARGIN and PHASE MARGIN: Interpretation

G.M.

P.M.

If system is minumum phase, the conditions G.M. > 1

and P.M.>0 are necessary and sufficient condition to
determine the stability.
NOT: If only one of them satisfied, system is not
stable.

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GAIN MARGIN and PHASE MARGIN: Interpretation

If system is minumum phase

Forbidden region for G.M.

Unstable
Stable

Forbidden region for P.M.

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 Stability Margins

uncertainties
disturbances noises

Non-linear terms

✓ Assume that there exist model uncertainties or dynamics that are

not modeled and denote it as ΔG(jω). Let we know the upper
bounds of │ΔG(jω)│ and ∠ΔG(jω).
✓ Is it possible to make closed loop system remain stable even in
this case?

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GAIN MARGIN and PHASE MARGIN: Interpretation
G.M.

P.M.

G.M and P.M. : A measure of that how much gain and phase of open loop
system can be incerased such that closed loop system is still stable.

Besides, a measure for how much model uncertainity ∆G(jw) the system
G(jw)*∆G(jw) is still stable; If | ∆G(jw) |<G.M. and ∆G(jw) < F.P then
system is still stable.

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Frequency Response: Criterions (specifications)

✓ For open loop system frequency response

GAIN MARGIN and PHASE MARGIN

✓ For closed loop system frequency response

PEAK MAGNITUTE, PEAK FR. , BANDWITH

Resonans peak magnitute, rezonans frequency,
bandwith

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Closed Loop Frequency Response: CRITERIONS (Specifications)
Rezonance peak frequency, resonance frequency bandwidth

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Closed Loop Frequency Response: CRITERIONS (Specifications)

Resonance peak
magnitude

Resonance frequency Big Mr means large

overshoot (Mp)

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Closed Loop Frequency Response: CRITERIONS (Specifications)

Big B.W. Small Tr

means
Band width fast response

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Closed Loop Frequency Response: CRITERIONS (Specifications)

B.W.

B.W.

O.L. Fr. Response C.L. Fr. Response

G.M. P. M. Mr. wr B. G.

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Frequency Response: DISCRETE TIME SYSTEMS

DISCRETE-TIME Fourier Transform of

FREQUENCY RESPONSE

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Frequency Response: DISCRETE TIME SYSTEMS

WHY?

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Frequency Response: DISCRETE TIME SYSTEMS

Since there isn’t asympotical characteristics, it is difficult to do controller

design in z-domain, but MATLAB etc. can be used.

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Direct Digital Design: Frequency Domain

Since the asymptotic behavior doesn’t seen in z-domain, the design

is performed in w-plane which is similar to the s-plane.

The design in w-plane is exactly the SAME with the continuous

time design.

The compensator D(w) is designed using the continuous time design

method

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Direct Digital Design: Frequency Domain

Relations between z-plane and w-plane

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 Direct Digital Design: Frequency Domain

Linear with respect to ω Not linear

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 Direct Digital Design: Frequency Domain

It is approximately linear with

respect to w, it can be assumed

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Direct Digital Design: Frequency Domain

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Direct Digital Design: Frequency Domain

Poles - -

Zeros

K is the same in w-plane and s-plane

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Direct Digital Design: Frequency Domain

COMPANSATORS
Phase lead;

Knowns; To be calculated

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Direct Digital Design: Frequency Domain

Phase lead;

K, and determinded by design specifications

Example: PD controller

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Direct Digital Design: Frequency Domain

Phase lag;

Example: PI controller

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Phase lead+ Phase lag Example PID

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Direct Digital Design: Frequency Domain

Since the asymptotic behavior doesn’t seen in z-domain, the design

is performed in w-plane which is similar to the s-plane.

The design in w-plane is exactly the SAME with the continuous

time design.

The compensator D(w) is designed using the continuous time design

method

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Direct Digital Design : Exmaple in Frequency Domain

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Direct Digital Design : Exmaple in Frequency Domain

Specifications
2 P.M. G.M.
Compansator

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Direct Digital Design : Exmaple in Frequency Domain

that makes 2

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Direct Digital Design : Exmaple in Frequency Domain
Bode diagram of G(w) for

G.M.
F.M.

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 Direct Digital Design : Exmaple in Frequency Domain

P. M.

The angle need to be added,

The compensator will change the magnitute plot, as a

result; P. M will decrease, therefore an extra 8o-10o degrees
should be considered to be added in addition to above
calculated angle

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Direct Digital Design : Exmaple in Frequency Domain

Magnitude contribution of the

compensator at ω=ωmax

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Direct Digital Design : Example in Frequency Domain

The frequency that the phase needed to be added is the

frequency where (0dB) (The frequency where
P.M is determined). Thus, the frequency where the magnitute
response of the uncompensated system is -4.425 dB is needed
to be find.

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Direct Digital Design : Exmaple in Frequency Domain

Let select

Compensator

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Direct Digital Design : Exmaple in Frequency Domain

Compansator

Compansator

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Direct Digital Design : Exmaple in Frequency Domain

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Direct Digital Design : Example in Frequency Domain

Compensator

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Direct Digital Design : Exmaple in Frequency Domain

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