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Boyd
EE102
Lecture 10
Sinusoidal steady-state and frequency response
sinusoidal steady-state
frequency response
Bode plots
101
y
H
jt
jt
/2
h( ) cos((t )) d
102
h( ) cos((t )) d
= (1/2)
= (1/2)e
h( ) ej(t ) + ej(t )
0
jt
h( )e
d + (1/2)e
jt
h( )ej d
0
= (1/2)ejtH(j) + (1/2)ejtH(j)
= (<H(j)) cos(t) (=H(j)) sin(t)
= a cos(t + )
where a = |H(j)|, = 6 H(j)
Sinusoidal steady-state and frequency response
103
conclusion
if the convolution system is stable, the response to a sinusoidal input is
asymptotically sinusoidal, with the same frequency as the input, and with
magnitude & phase determined by H(j)
|H(j)| gives amplification factor, i.e., RMS(yss)/RMS(u)
special case: u(t) = 1 (i.e., = 0); output converges to H(0) (DC gain)
frequency response
transfer function evaluated at s = j, i.e.,
Z
h(t)ejtdt
H(j) =
0
104
Example
transfer function H(s) = 1/(s + 1)
input u(t) = cos t
0.5
0.5
PSfrag replacements
1
0
10
15
20
t
Sinusoidal steady-state and frequency response
105
as t , then
as t , where
jt
Yss = H(j)U
Yss
H(j) =
U
for a stable system, H(j) gives ratio of phasors of asymptotic sinusoidal
output & input
106
107
108
109
example: RC circuit
1
1
Y (s) =
U (s)
1+s
rag replacements
u(t)
y(t)
1F
H(j) =
15
20
H(j)
10
30
20 log10 |H(j)|
replacements
1
1 + j
60
25
30
PSfrag replacements
35
40 2
10
10
10
10
10
90 2
10
10
10
10
10
1010
(0.75 2 + 1) j0.5 3
H(j) =
4 1.75 2 + 1
replacements
H(j)(degrees)
0
10
20
30
PSfrag replacements
40
50 2
10
20 log10 |H(j)|
10
10
10
10
10
20
40
60
80
100
120
2
10
10
10
10
10
1011
Bode plots
frequency axis
logarithmic scale for
horizontal distance represents a fixed frequency ratio or factor:
ratio 2 : 1 is called an octave; ratio 10 : 1 is called a decade
magnitude |H(j)|
phase 6 H(j)
multiples of 360 dont matter
phase plot is called wrapped when phases are between 180 (or
0, 360); it is called unwrapped if multiple of 360 is chosen to make
phase plot continuous
Sinusoidal steady-state and frequency response
1012
PSfrag replacements
H(j) =
6
F (j) + 6 G(j)
1013
ag replacements
F (j)
25
30
35
PSfrag replacements
40
45 2
10
10
10
10
90
2
10
10
10
10
10
10
35
G(j)
30
25
20
15
45
20 log10 |G(j)|
40
ag replacements
45
20 log10 |F (j)|
20
10
PSfrag replacements
5
0
2
10
10
10
10
10
90
2
10
10
10
10
10
1014
Bode plot of
s+1
1 + 1/s
=
H(s) = F (s)G(s) =
s + 10
s(s + 10)
30
40
H(j)
replacements
10
50
20 log10 |H(j)|
20
70
PSfrag replacements
80
10
20
30
40
2
10
10
10
10
10
60
90 2
10
10
10
10
10
1015
H(j) =
6
n
X
i=1
k+
m
X
i=1
20 log10 |j zi|
20 log10 |j pi|
m
X
i=1
(j zi)
n
X
i=1
(j pi)
1016
s = j
Qm
dist(j, zi)
|H(j)| = |k| Qni=1
i=1 dist(j, pi )
since for u, v C, dist(u, v) = |u v|
placements
therefore, e.g.:
|H(j)| gets big when j is near a pole
1017
Graphical interpretation:
6
H(j)
s = j
H(j) = 6 k+
m
X
i=1
(jzi)
n
X
6
(jpi)
i=1
placements
1018
H(j)
50
20 log10 |H(j)|
50
180
360
100
replacements
PSfrag replacements
150 1
10
10
10
540
1
10
10
10
1019
All-pass filter
(s 1)(s 3)
(s + 1)(s + 3)
0.5
90
H(j)
180
20 log10 |H(j)|
H(s) =
0.5
270
replacements
PSfrag replacements
1 3
10
10
10
10
10
10
10
360 3
10
10
10
10
10
10
10
called all-pass filter since gain magnitude is one for all frequencies
Sinusoidal steady-state and frequency response
1020
/(2n)
/n
H(s) =
1
(s p1)(s p2) (s pn)
p1
p2
/n
/n
pn1
pn
/n
/(2n)
Sinusoidal steady-state and frequency response
1021
PSfrag replacements
20 log |H(j)|
0
20
40
n=2
60
n=5
80
100 2
10
n = 10
1
10
10
10
10
1022
1023
= 90k
differentiator (k = +1):
1024
1025
0
10
20
30
40
50
60
0
20
40
60
80
0.001
0.01
0.1
10
100
1000
Frequency (rad/sec)
1026
0
10
20
30
40
50
60
100
120
140
160
180
0.001
0.01
0.1
10
100
1000
Frequency (rad/sec)
1027
1028
Bode plots for real zeros same as poles but upside down
example: H(s) = s + 1
Bode Diagrams
60
50
40
30
20
10
0
80
60
40
20
0
0.001
0.01
0.1
10
100
1000
Frequency (rad/sec)
1029
example:
104
H(s) =
(1 + s/10)(1 + s/300)(1 + s/3000)
(typical op-amp transfer function)
DC gain 80dB; poles at 10, 300, 3000
1030
Bode plot:
Bode Diagrams
50
50
0
50
100
150
200
250
0
10
10
10
10
10
10
Frequency (rad/sec)
1031
example:
(s 1)(s 3) s2 4s + 3
=
H(s) =
(s + 1)(s + 3) s2 + 4s + 3
1032
Bode plot:
Bode Diagrams
1
0.5
0
0.5
1
0
100
200
300
0.001
0.01
0.1
10
100
1000
Frequency (rad/sec)
1033
1034