INTRODUCTION DESIGN OF CONTROL IN

FREQUENCY DOMAIN
SUBMITTED BY – NITISH
ROLL NO. – 23020204007
SUBMITTED T0 – ER.MUNISH PATIYAL
 Module 8:- Design using Root Locus
Technique

• Design of lead compensators to improve the transient response

• Design of lag compensators to improve the steady state
response
• Design of lag-lead compensator to improve both the transient
and steady state response

Module 9
Design in the frequency domain using Bode plots.
 Root locus based approach to design

• The transient requirements are directly specified in terms of the overshoot, settling
time etc. These specifications are translated into dominant pole locations.
• Design involves reshaping of the root locus such that it passes through the
dominant poles.
• In the final design, if the dominance is ensured, the specifications are closely met.
The root locus of the compensated system gives a direct indication of the closed-
loop behaviour.

Design in the frequency domain

• The transient requirements are indirectly specified in terms of phase margin, gain
crossover frequency, resonant peak, bandwidth etc.
• The design involves reshaping the bode plot of the open-loop system to meet the
specifications.
• In cases where the model of the system is not available and only the open-loop
frequency response can be obtained, this method is extremely useful.
Okay, now a little bit more on those specifications. So, ζ 𝑀 𝑟 or the response of the freq or the
resonant peak here depends only on . Therefore, and if you look at even the formula for 𝑀 𝑝 in the

And therefore, we can say there is ζ actually a very nice correlation between 𝑀 𝑀 𝑟 and 𝑀 𝑝 right,
time domain, it also dependent only on

therefore given a specification on , Ican directly you know, have translated into a specification on 𝑟
specification on , right. ζ 𝑀 𝑝 or you know So, in the same way as peak overshoot, the resonant
frequency is also an indicator of the relative stability of the system. Okay so, the expression for the

ζ 𝑀 𝑝 and 𝑀 𝑟 ζ 1 2 exists only for between 0 and and it’s given by the plots like this here right.
resonant peak tells me that it exists only for these values of and therefore, the correlation between

So, at ζ = 0.02 I have 0. 707 , I have this number that can get from this expression. ζ 𝑀 𝑝 goes to
closer to 1 right, which you Okay so, what happens for which is larger than this value? Well, for larger

formula for the 𝑀 𝑝 . And therefore, I don’t really need to worry about what ζ happens for larger
than ζ ζ > 1 2 square root, the peak overshoot is very insignificant right if you just compute it from the

bandwidth or the resonant frequency can be used to specify ω𝑛 right, which is apparent from these 3
values of because the overshoot is very minimal, okay. Now for a ζ ω given right, either or the

formulas, okay. And therefore, you can say that the bandwidth and the resonant frequency they
influence the rise time in the step response. Again just by these 3 formulas and I am relating it to the

that larger ζ ω ω𝑛 the bandwidth or , which we also argued here, larger the bandwidth or the resonan
formulas in the time domain here right; the rise time has and , okay. And therefore, we can conclude
• It is useful to establish correlations between the time-domain and the
open-loop frequency response.

• We know that a standard second order system is stable. We see that

the gain margin is infinity and the phase margin is a positive
constant.
As can be seen, the phase margin y depends only on ( and has a direct correlation with Mp. Therefore it
decides the overshoot in the step response.

• Larger the damping ratio (, larger is the phase margin,

and hence the system is relatively more stable.
• Thus a phase margin of 45 degrees indicates approximately
a damping ration of 0.45. ( For a given phase margin 3,
there is a correlation between @ge and wn. Thus wgc
decides the rise time in the step response.

• So, has it, that is obvious now that the phase margin
depends only on , at this one. And ζ defining the ζ has
a direct correlation with the peak overshoot in the time
domain. Therefore, specifications on the peak
overshoot directly translate to specifications on the
face margin of the system right, through this
expression. Okay now, again larger the damping ratio
larger is the phase margin, and therefore, the system is
relatively more stable. Larger the damping ratio more
the poles shift to the left in the root locus or in the time
domain, and therefore, we can say the system is more
stable, right.
When the objective is to improve the relative stability of the system the
requirements are directly specified in terms of the gain margin and the phase
margin.

Transient response specifications

In this lecture, we translate the time domain requirements into the frequency
domain design using
• Relative stability requirements are specified in terms of Phase margin and Gain margin.

• The steady-state specifications are specified in terms of K, K, and Ka.

• The transient response requirements are specified in terms of Overshoot M, and Rise time t, or settling time ts.
•
• These specifications are translated to phase margin y and the gain crossover frequency @gc.

• Steady-state specifications in terms of K, K, and Ka.

•
• The correlations between the time and frequency domain parameters used in this lecture are exact for a second
order system.

• However when the closed-loop system has a pair of dominant poles, the correlations are very close and can be
used to move back and forth in the time and frequency domains.
• Region 1:- The range of frequencies
far below the gain crossover frequency.
The steady state behaviour of the
system is decided by this region.

• Region 2 :- The range of frequencies

around the gain crossover frequency.
This region dictates the relative
stability and the transient response of
the closed-loop system.

• Region 3:- The range of frequencies

far above the gain crossover
frequency. This region indicates the
complexity of the system. The gain in
this region must be attenuated to
reduce the effect of noise on the
system.