Chapter 13

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BKF 3483 Process Control & Instrumentation
1
CHAPTER 13
FREQUENCY RESPONSE
ANALYSIS
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Topic Outcomes
End of this chapter, you should be able to:
1. Solve frequency characteristics
using shortcut method.
1. Analyse frequency response of control
systems
2. Plot Bode-diagram and asymptotic bode
plot for various processes
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What we will learned in this chapter?
3
A
R
Log-log graph sheet
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-1
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-1
11
1
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1
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1
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-1
11
-1
11
1
11
1
Log-log graph sheet
Slope -1
Slope +1
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-1
11
-1
11
1
11
1
11
1
11
-1
11
-1
11
1
11
1
Log-log graph sheet
Slope -1
Slope +1
Slope -1
Slope -1
Slope 0
Slope -1
Overall Asymptote
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IMPORTANT FORMULA
Phase angle:
Overall phase angle
6
) ( tan ) (
1

j G
. . . ) ( ) ( ) (
. . . ) ( ) ( ) (
) (
1 1 1

j G j G j G
j G j G j G
j G AR
c b a

[ ] . . . ) ( ) ( ) ( -
. . . ) ( ) ( ) ( ) (
1 1 1

j G j G j G
j G j G j G j G overall
c b a
+ +
+ +
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The asymptotes intersect or break frequency or
corner frequency
=
b
=
c
= 1/
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Introduction
An alternative way to analyze dynamic systems
Start with the response properties of a first-order

process when forced by a sinusoidal input
Show how the output response characteristics

depend on the frequency of the input signal.
A simplified procedure to calculate frequency

response characteristics from the transfer function of
any linear process.
A powerful tool both for analyzing dynamic systems

and for designing controllers.
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Sinusoidal forcing of a first-order
process
Responses of first- and second-order

processes forced by a sinusoidal input
These responses consisted of sine, cosine

and exponential terms.
For a first-order process, the response to a

general sinusoidal input,
t A t x sin ) (
) sin cos (
1
) (
1 1
t t e
KA
t y
t

+
+

(11.1)
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If the sinusoidal input is continued for a long

time, the exponential term becomes
negligible. Eqn (11.1) after some
manipulations,
(11.2)
) sin(
1
1
) (
1 1
1 1

+
+
+
+

t
K
e
K
t y
p
t
p
This term dies out for large t
) sin(
1
) (
1 1

+
+
t
K
t y
p
where
) ( tan
1

Frequency response
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Attenuation and time shift between input and output sine
waves (K =1). The phase angle = t/P x 360
o
, where t is
the time shift and P is the period of oscillation.
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Features of frequency response
1. The output signal is a sine wave
has the same frequency
its phase is shifted relative to the input

sine wave by an angle
is referred to as the phase shift or the

phase angle
Amount of phase shift depends on the

forcing frequency,
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Features of frequency response
2. The output signal is a sine wave
has an amplitude that is also the

function of the forcing frequency:
A
1 1
+

KA
A
(11.3)
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Amplitude Ratio
Dividing both sides of (11.3) by the input signal
amplitude A
1
AR
1 1
+

K
A
A
(11.4)
Dividing (11.4) by the process gain, K
1
1 AR
AR
1 1
N
+

K
(11.5)
Normalized amplitude ratio
Normalized amplitude ratio is used for
frequency response analysis since process
gain, K, is constant
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Shortcut Method for finding the
frequency response
Step 1: Set s = j to obtain G(j)
Step 2: Rationalize G(j)
Express G(j) as R + jI, where R and I
are functions of and possibly model
parameters
Find the complex conjugate of the
denominator of G(j) and multiply both
numerator and denominator of G(j)
by this quantity
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Shortcut Method for finding the
frequency response
Step 3: The output sine wave has amplitude
and phase angle = tan
-1
(I/R)
1 1
I R A A +
1 1
I R
A
A
AR
atio AmplitudeR
+
(I/R) tan
angle phase
1 -
Memorize
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Example 1 (Shortcut Method)
Find the frequency response of a first-order
system
1
1
) (
+
s
s G
(11.6)
Substitute s = j in the transfer function
1
1
1
1
) (
+
j j
j G
(11.7)
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Step 1 substitute in the transfer function
Multiply both numerator and denominator by the complex

conjugate of the denominator, that is,
s j
1 j +
Solution
Step 2
1
1
1
1
) (
+
j j
j G
(11.7)
( ) ( ) ( )
( ) ( )
jI R j
j
j j
j
j G
+
+
+
+
+
+
+ +
+
1 1
1
1
1
1 1
1
) (
1 1 1 1
1 1

(11.8)
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where:
Step 3 :From Shortcut Method,
or
Also,
( ) ( ) 1

1
1
1 1 1 1
+

I R
(11.9)
( ) 1
1
1
1
1 1
1
1 1
1 1
+
+
+

AR
(11.11)
) ( tan ) ( tan ) (
1 1

j G
(11.12) or
13.20b
(11.10)
1
1 1
1
1 1
1 1
1 1
1
) (

,
_
,
_
+
+

I R j G AR
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If the process gain had been K instead of 1,
1
1 1
+

K
AR
The phase angle would be unchanged
The direct analysis of complex transfer

function is computationally easier than for
solving for the actual long-time output
response
Advantages are even greater when dealing

with more complicated processes
(11.13)
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More complicated systems
Consider a general transfer function in factored
form
. . . ) ( ) ( ) (
. . . ) ( ) ( ) (
) (
1 1 1
s G s G s G
s G s G s G
s G
c b a
(11.14)
G(s) is converted to the complex form by the
substitution s = j
. . . ) ( ) ( ) (
. . . ) ( ) ( ) (
) (
1 1 1

j G j G j G
j G j G j G
j G
c b a
(11.15)
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The magnitude and angle of (11.15) can be
expressed as
. . . ) ( ) ( ) (
. . . ) ( ) ( ) (
) (
1 1 1

j G j G j G
j G j G j G
j G
c b a
(11.16a)
[ ] . . . ) ( ) ( ) ( -
. . . ) ( ) ( ) ( ) (
1 1 1

j G j G j G
j G j G j G j G
c b a
+ +
+ +
(11.16b)
or 13.24b
Equation (11.16) greatly simplify the

computation of magnitude and phase angle
and consequently AR and
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Example 2
Calculate the AR and phase angle for the
transfer function
( )( ) 1 1
) (
1 1
+ +
s s
K
s G

Using (11.14), let
1 ) (
1 ) (
) (
1 1
1 1
+
+
s s G
s s G
K s G
a
substituting s = j
1 ) (
1 ) (
) (
1 1
1 1
+
+
j j G
j j G
K j G
a
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The magnitudes and angles of each component
of the complex transfer function are:
) ( tan 1
) ( tan 1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

+
+

G G
G G
G K G
a a
Combining these expressions via (11.16) yields
1 1
) ( AR
1
1
1 1
1
1
1 1
+ +
K
G G
G
j G
a
( )
) ( tan ) ( tan
) (
1
1
1
1
1 1

+

G G G
j G
a
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Bode Diagrams
A special graph provides a convenient display of the

frequency response characteristics
AR and are plotted as a function of
is expressed in units of radians/time
Phase angle is expressed in degrees
Bode diagram consists of
A log-log plot of AR vs
A semilog plot of vs
Useful for rapid analysis of the response

characteristics and stability of closed-loop systems
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TYPE 1:
asymptotic bode diagram (shows the overall
asymptotic value)
TYPE 2
Bode Plot (shows the overall amplitude
ratio)
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Bode Diagrams
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BODE DIAGRAMS
First-order Process
Second-order Process
Integrating process
Process Zero
Time Delay
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Log-log graph sheet
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Bode Diagrams: First-order Process
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The abscissa has units of radians

If K and are known, AR
N
(or AR) and can be
plotted as a function of
Bode Diagrams: First-order Process
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Properties of Bode plot of the first-order
system
At low frequencies ( << 1/), AR
N
= 1; = 0
AR = K
Amplitude ratio approaches the process gain
Phase shift becomes quite small

At high frequencies ( >> 1/), AR
N
= 1/; =
-90
o
Amplitude ratio drops to an infinitesimal level
Phase shift becomes 90

o
Phase lag = positive value of phase angle

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system
Low frequency asymptote : AR
N
= 1
High frequency asymptote : AR
N
= 1/
The asymptotes intersect at =
b
= 1/
Known as the break frequency or corner frequency,
c
111 . 1
1 1
1 AR
AR
N

+

K
An important feature of log-log AR
N
plot for the first-
order system is that the slope of the high-frequency
asymptote is -1
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system
AR
N
= 1/
log AR
N
= log 1 log = log
The phase angle always lies between 0 and 90

o
Phase angle at
b
= tan
-1
(-1)= -45
o
Different AR
AR
db
= 20 log AR
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EXAMPLE 1
34
( ) 1 1
) 1 1 (
) (
+
+
s
s
s G
Asymptotic bode diagram for the
below TF
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-1
11
-1
11
1
11
1
11
1
11
-1
11
-1
11
1
11
1
Log-log graph sheet
Slope -1
Slope +1
Overall Asymptote
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11
-1
11
-1
11
1
11
1
11
1
11
-1
11
-1
11
1
11
1
Log-log graph sheet
Slope -1
Slope +1
Overall Asymptote
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Bode Diagrams: Second-order Process
A general transfer function:
1 1
K
= G(s)
1 1
+ + s s
( ) ( )
1
]
1
1 1
1
1
1
1 1
1
1
tan
1 1

K
AR
Note: While evaluating , multiple results are possible;
Appropriate solution for second-order system yields
180
o
< < 0.
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Overdamped
Underdamped
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Properties of Bode plot of the second-order
system
Low-frequency limits of the second-order system are

identical to those of the first-order system
The limits are different at high frequencies

( )
1
/ 1
N
AR
o
111
The high-frequency asymptote has a slope of -2 in the

log-log plot
log AR
N
= log 1 2 log = 2 log
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Properties of Bode plot of the second-order
system
For overdamped systems, the AR
N
is attenuated for all
For underdamped systems, the AR plot exhibits a

maximum (for values of 0 < < 0.707) at the resonant
frequency
( )
1
max
N
1
1 1 1
1
AR
1 1

r
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EXAMPLE 2
Asymptotic bode diagram for the below TF
41
( ) ( ) 1 1 1 11
) 1 (
) (
+ +
+
s s
s
s G
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11
-1
11
-1
11
1
11
1
11
1
11
-1
11
-1
11
1
11
1
Log-log graph sheet
Slope -1
Slope +1
Slope -1
Slope -1
Slope 0
Slope -1
Overall Asymptote
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11
-1
11
-1
11
1
11
1
11
1
11
-1
11
-1
11
1
11
1
Log-log graph sheet
Slope -1
Slope +1
Slope -1
Slope -1
Slope 0
Slope -1
Overall Asymptote
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Example 3
Find the frequency response and provide the Bode plot
for the third-order transfer function, where the time
constants are in minutes
( ) ( ) ( ) 1 1 1 1 11
1
) (
+ + +
s s s
s G
( ) ( ) 1 1 1 1 11
) ( AR
1
1 1
+ + +

K
j G
) ( tan ) 1 ( tan ) 11 ( tan
) (
1 1 1

j G
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AR1 AR2 AR3 AR 1 2 3

0.01 1.00 1.00 1.00 0.9937 5.7 2.9 0.6 -9.1
0.02 1.02 1.00 1.00 0.9755 11.3 5.7 1.1 -18.2
0.1 1.41 1.12 1.00 0.6293 45.0 26.6 5.7 -77.3
0.2 2.24 1.41 1.02 0.3101 63.4 45.0 11.3 -119.7
1 10.05 5.10 1.41 0.0138 84.3 78.7 45.0 -208.0
2 20.02 10.05 2.24 0.0022 87.1 84.3 63.4 -234.9
10 100.00 50.01 10.05 0.0000 89.4 88.9 84.3 -262.6
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Bode plot Integrating process
s
K
s G ) (
( )
o
K j G
K
j
K
j G AR
11 ) (
) (

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Bode plot Process Zero
1 ) ( + s s G
1 ) ( + j j G
1
1 1
+ AR
) ( tan ) (
1

j G
High frequency asymptote
AR
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Bode plot Time Delay

sin cos
) (
j
e j G
j

,
_
cos
sin
tan ) (
1 sin cos ) (
1
1 1
j G
j G AR
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Example 4
Use the Bode plots to represent the frequency response
of the following system
) 1 1 )( 1 11 (
) 1 1 ( 1
) (
1
+ +
+
s s
e s
s G
s
Time constants and time delay have units of minutes
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Example 5
Find the frequency response and plot the asymptotic
Bode diagram for the third-order process.Develop
transfer function base on block diagram below, where
the time constants are in minutes
( ) 1 11
1
+ s
( )
( ) 1
1 1
+
+
s
s
X(s) Y(s)
Figure:Block diagram for the process
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( )
( ) 1 1 11
1 1
) ( AR
1
1
1
+ +
+

j G
) ( tan ) 11 ( tan ) 1 ( tan
) (
1 1 1

j G
( )
( ) ( ) 1 1 11
1 1
) (
+ +
+
s s
s
s G
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Find the corner frequency for each G
STEP 1
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1 2 3
0.001
0.01
0.1
0.1
1
10
100
1000
STEP 2
Fill up the table below. Find the phase angle for all transfer
function
) ( tan ) 11 ( tan ) 1 ( tan
) (
1 1 1

j G
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STEP 3
Plot the asymptotic line (AR vs frequency )
Plot the overall phase angle Vs frequency

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11
-1
11
-1
11
1
11
1
11
1
11
-1
11
-1
11
1
11
1
Log-log graph sheet
decade
Slope -1
Slope +1
Slope -1
Slope -1
Slope 0
Slope -1
Overall Asymptote
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11
-1
11
-1
11
1
11
1
11
1
11
-1
11
-1
11
1
11
1
Log-log graph sheet
decade
Slope -1
Slope +1
Slope -1
Slope -1
Slope 0
Slope -1
Overall Asymptote
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Example 6
Find the frequency response and provide the asymptotic
Bode plot for the third-order transfer function, where the
time constants are in minutes. Find the AR value and phase
angle when = 10
( ) ( ) ( ) 1 1 1 1 11
1
) (
+ + +
s s s
s G
( ) ( ) 1 1 1 1 11
) ( AR
1
1 1
+ + +

K
j G
) ( tan ) 1 ( tan ) 11 ( tan
) (
1 1 1

j G
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Find the corner frequency for each G
STEP 1
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1 2 3
0.001
0.01
0.1
0.1
1
10
100
1000
Fill up the table below. Find the phase angle for all transfer
function
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Frequency response characteristics
of feedback controllers
Proportional Controller c c
K s G ) (
o
c
K AR
1
Proportional Integral Controller
,
_
+
s
K s G
I
c c
1
1 ) (
( )
o
I
I
I
c
K AR
11 ) ( tan
1
1
1

+
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,
_
s
s
s G
c
11
1 11
1 ) (
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( ) 1 1 1 ) ( + s s G
c
,
_
+
+
1 1 . 1
1 1
1 ) (
s
s
s G
c
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Bode stability criterion
The characteristic equation was defined to be

1 ) ( 1 + s G
OL
The corresponding magnitude and argument are

1 ) ( j G
OL
1 ) ( s G
OL
o
OL
j G 111 ) (
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1. A critical frequency
c
is defined to be a
value for for which
OL
() = -180
o
. This
frequency is also referred to as phase
crossover frequency
2. A gain crossover frequency
g

is defined to
be the

value for which AR
OL
() = 1
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A closed loop system is stable if AR
OL
(
c
) < 1.
Otherwise, it is unstable.
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Gain and Phase Margins
Let AR
c
be the open-loop amplitude ratio at the
critical frequency
c.
Gain margin is defined as
c
AR
GM
1
Provides a measure of relative stability
Indicates how much any gain in the feedback

loop can increase before instability occurs
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Phase margin is defined as
g
PM +
111
Also provides a measure of relative stability
Indicates how much additional time delay can

be included in the feedback loop before
instability occurs
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Guidelines
In general, a well-tuned controller should have
a gain margin between 1.7 and 4.0 and a
phase margin between 30
o
and 45
o.
C
h
a
p
t
e
r

1
0
73
Conclusions
Frequency response
Bode plots
Controller design using phase and gain

margins

Chapter 13

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Chapter 13

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C

An alternative way to analyze dynamic systems

Start with the response properties of a first-order

Show how the output response characteristics

A simplified procedure to calculate frequency

A powerful tool both for analyzing dynamic systems

Responses of first- and second-order

These responses consisted of sine, cosine

For a first-order process, the response to a

If the sinusoidal input is continued for a long

has the same frequency

its phase is shifted relative to the input

is referred to as the phase shift or the

Amount of phase shift depends on the

has an amplitude that is also the

Multiply both numerator and denominator by the complex

Step 3 :From Shortcut Method,

The direct analysis of complex transfer

Advantages are even greater when dealing

Equation (11.16) greatly simplify the

A special graph provides a convenient display of the

AR and are plotted as a function of

is expressed in units of radians/time

Phase angle is expressed in degrees

Bode diagram consists of

Useful for rapid analysis of the response

The abscissa has units of radians

Amplitude ratio approaches the process gain

Phase shift becomes quite small

Amplitude ratio drops to an infinitesimal level

Phase shift becomes 90

Phase lag = positive value of phase angle

Known as the break frequency or corner frequency,

The phase angle always lies between 0 and 90

Low-frequency limits of the second-order system are

The limits are different at high frequencies

The high-frequency asymptote has a slope of -2 in the

For underdamped systems, the AR plot exhibits a

AR1 AR2 AR3 AR 1 2 3

Plot the asymptotic line (AR vs frequency )

Plot the overall phase angle Vs frequency

Proportional Integral Controller

The characteristic equation was defined to be

The corresponding magnitude and argument are

Provides a measure of relative stability

Indicates how much any gain in the feedback

Also provides a measure of relative stability

Indicates how much additional time delay can

Bode stability criterion

Controller design using phase and gain

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