Control Systems

Lecture 2 - Introduction to Frequency Response Analysis

Lecture 2 Introduction To
Frequency Response Analysis

Philosophy behind Frequency Response Analysis

Time Response of a system to a sinusoidal input
Gain and Phase Shift
Simple Case Study

Frequency Response Philosophy

An input function can always be regarded as part
of a waveform
So given the Fourier Series for an input the
response of a system can be determined from the
response to a combination of sinusoidal inputs.
Hence to model a system, measure the response of
the system to all sine waves with frequency
between 0 and infinity and we can determine the
time response to any input.

Steady State System Response to a

Sinusoidal Input

= G (s)

From Fourier Series we know that any waveform

can be made up from a series of sinusoidal
waveforms of different frequencies and amplitude.

Frequency Response Methods

u(t) = sin(t)

s2 + 2

If the system is stable, the steady state output will be a

sine wave of the same frequency as the input except that
the amplitude may have changed and it will usually
have been delayed in time.

Inverse Laplace Transforms

NB If stable, in steady state the AG(s) term will tend to zero as it will always contain
a exponential term with a negative power.

y(t) = Be j t + Ce j t

Using the Cover-Up rule

(s j )(s + j )

B=
Using Partial Fractions

Y(s) = AG(s) +

B
s j

y(t) = Rsin(t+)

G(s)

B
1 C
y(t) = L 1[AG(s)] + L 1
+ L +
s j
s j

Taking Laplace Transforms

Y(s) = G (s) U(s) = G (s)

Frequency Response Philosophy

C
s + j

1
G( j)
2j

C =

1
G( j)
2j

The output is therefore

y( t ) =

D.A.Germany - Aerospace, Automotive & Design Engineering

G( j )e j t G( j)e j t
2j

Control Systems
Lecture 2 - Introduction to Frequency Response Analysis

Converting to a polar notation

NB G(j)=Rej and G(-j)=Re-j

y( t) =
=

Gain and Phase Shift

Re j e j t Re j e j t
2j

R
j( t + )
e j(t + )
e
2j

Using Eulers Formulae

Gain

G(j)

jb

R = G ( j ) =

y ( t ) = R sin (t + )

Phase Shift

u(t) = sin(t)

b
= G( j ) = tan 1
a

y(t) = Rsin(t+)

G(s)

Frequency Response of a Basic

Communication Satellite
Assuming the satellite is turned
by firing thrusters mounted off
the centre of mass, the equation
of motion for the satellite is:

J = d . T

Assuming d = 1m and J = 5000Nms2

R = G ( j ) =

d
Js2

rad/s

0.01
2.000

1
5000( j )

0.02

0.04

1
1
=
2
5000( )2
5000( )
0.1

0.2

0.4

1
1

= G ( j ) =
=
= 180
5000 2
5000( j ) 2

Hence the transfer function is:

T

a 2 + b2

Moment of
Inertia, J

rad/s
deg

0.01

Summary of Lecture 2
If the response of a system to all frequencies is
stable then the system is stable for any type of input
The response of a linear system to a sinusoidal input
is a sine wave of the same frequency but with a gain
and phase shift dependent on the frequency
To perform a theoretical frequency response
analysis on a system substitute j for s in the
transfer function
Gain, R = magnitude of G(j)
Phase Shift angle, = argument of G(j)

D.A.Germany - Aerospace, Automotive & Design Engineering

0.02

0.04

0.1

0.2

0.4