Control Systems Theory: Sinusoidal Tools STB 35103
Control Systems Theory: Sinusoidal Tools STB 35103
THEORY
Sinusoidal Tools
CHAPTER 10
STB 35103
Objectives
To learn the definition of frequency
response
To plot frequency response
Introduction
In previous chapters we learn to analyze
and design a control system using root
locus method.
M o ( )
M ( )
M i ( )
( ) o ( ) i ( )
Introduction
A transfer function Laplace form can be
change into frequency response using the
following expression:
G ( j ) G ( s) s j
1 3
2 3
O O1 X X σ
(2 j ) A B
G ( j )
( 2 4)
1
2 (2 j )
( 4)
( ) tan 1
2
Introduction
We can plot the magnitude frequency response and
phase frequency response
M ( ) ( ) 1 2 4 tan 1 ( 2)
Introduction
Exercise 10.1
Convert the following transfer function to
frequency response. Find the magnitude
frequency response and phase frequency
response.
1
G(s)
( s 2)( s 4)
1
Solution G ( j )
( j 2)( j 4)
1
2 2
j j 4 j 2 8
1
8 2 j 6
Introduction
1
8 2 j 6
1 8 2 j 6
8 j 6 8 2 j 6
2
8 2 j 6
64 8 2 j 48 8 2 4 j 6 3 j 48 j 6 3 j 2 36 2
8 2 j 6
4
20 2 64
Introduction
Introduction
Nyquist criterion
Nyquist criterion relates the stability of a
closed-loop system to the open-loop frequency
response and open-loop pole location.
N=P-Z
The above relationship is called the Nyquist
Criterion; and the mapping through G(s)H(s) is
called the Nyquist Diagram of G(s)H(s)
Introduction
Examples to determine the stability of a
system
P 0, N 0,
Z P N 0, the system is stable
500
G( s)
( s 1)( s 10)( s 3)
500
G ( j )
( j 1)( j 10)( j 3)
(14 2 30) j (43 3 )
500
(14 2 30) 2 (43 3 ) 2
Sketching the Nyquist Diagram
Magnitude frequency response
500
G ( j )
(14 2 30) 2 (43 3 ) 2
B 1 (43 )
3
G( j ) tan tan
1
A 14 2
30
Sketching the Nyquist Diagram
Using the phase frequency response and magnitude
frequency response we can calculate the key points
on the Nyquist diagram. The key points that we will
calculate are:
Frequency when it crosses the imaginary and real
axis.
The magnitude and polar values during the
frequency that crosses the imaginary and real
axis.
The magnitude and polar values when frequency
is 0 and ∞.
Sketching the Nyquist Diagram
When a contour crosses the real axis, the imaginary
value is zero. So, the frequency during this is,
real imaginary
(43 3 )
0
(14 30) (43 )
2 2 3 2
Sketching the Nyquist Diagram
We need to find the frequency when imaginary is
zero by finding the value of ω that could produce
zero imaginary value.
There are actually two conditions that could produce
zero imaginary.
First
0
0
(14 30) (43 )
2 2 3 2
Second
(43 3 )
0
Sketching the Nyquist Diagram
For the first condition, in order to get the numerator
equals to zero we must find the root value of the
numerator polynomial.
(43 3 ) 0
(14 30) (43 )
2 2 3 2
(14 2 30)2 (43 3 )2
(43 3 ) 0
There are three frequencies
1 0 where the contour crosses the
2 6.5574 real axis.
3 6.5574
Sketching the Nyquist Diagram
For the second condition, the frequency values in the
denominator that could produce zero imaginary value
is infinity, ∞.
(43 3 ) (43 3 )
(14 30) (43 )
2 2 3 2
real imaginary
(14 2 30)
0
(14 30) (43 )
2 2 3 2
Sketching the Nyquist Diagram
There are two conditions that could produce zero real
value.
First
0
0
(14 30) (43 )
2 2 3 2
Second
(14 2 30)
0
Sketching the Nyquist Diagram
Calculate the frequency values for the first condition.
(14 2 30) 0
(14 2 30) 2 (43 3 ) 2 (14 2 30) 2 (43 3 ) 2
(14 2 30) 0
1.4639
Calculate the frequency values for the second
condition
(14 2 30) (14 2 30)
(14 30) (43 )
2 2 3 2
Sketching the Nyquist Diagram
Now that we know the frequencies of the key points
in our polar plot we will now calculate the magnitudes
and phase for each key points frequency.
Cross real
Cross imaginary
Sketching the Nyquist Diagram
The new contour can be plot based on the key points
in the previous table.
6.5574 0
C A
1.4639
Sketching the Nyquist Diagram
Note that the semicircle with a infinite
radius, i.e., C-D, is mapped to the origin if
the order the denominator of G(s) is
greater than the order the numerator of
G(s).