LABORATORY EXERCISE

SCHOOL OF ELECTRICAL ENGINEERING

UNIVERSITI TEKNOLOGI MARA
CAWANGAN TERENGGANU

COURSE NAME CONTROL SYSTEM COURSE CODE ESE122

CEEE111/ TAXONOMY ETAC MQFv2 MOHE
PROGRAMME CODE P5 CO - PO
CEEE112 LEVEL 5 3 2
FREQUENCY RESPONSE ANALYSIS 10/1/2023
EXPERIMENT TITLE EXPERIMENT DATE
DR NURBAITI BINTI WAHID 10/1/2023
LECTURER’S NAME SUBMISSION DATE
STUDENT’S NAME GROUP STUDENT ID
CHE AISAR HAZWAN BIN CHE HUSIN TCEE1125AA 2021880448

COURSE OUTCOME AND PROGRAM OUTCOME:

Construct the transfer function of control systems to analyze transient response performance and system’s ability by using
COURSE OUTCOME (CO) CO2
modern engineering tools. (P5)
Apply appropriate techniques, resources, and modern engineering and IT tools to well-defined problems, with an awareness
PROGRAM OUTCOME (PO) PO5
of the limitation. (Modern tools usage)

KNOWLEDGE PROFILE (DK) - -

- -
ENGINEERING PROBLEM (DP) - -
- -
ENGINEERING ACTIVITIES (NA) - -
 POOR FAIR GOOD EXCELLENT
CRITERIA SUB-ATTRIBUTE SCORE WEIGHT MARKS
1 2 3 4

Unable to handle Handle the Handle the Handle the

Handling Tools/Equipment
the equipment equipment with equipment with equipment
Ability to demonstrate a proper x 0.75
even with moderate minimal without
use of tools/equipment.
assistance assistance assistance assistance
Experimental/
Demonstration
setup
Unable to Complete Complete Complete
Conducting Experiment
complete procedures with procedures with procedures
Ability to construct x1
procedures even moderate minimal without
circuit/hardware
with assistance assistance assistance assistance

Complete Complete
Output Response Complete output
Incomplete output output response output
Ability to obtain output response but x 0.5
response but with major response
response with minor error
error without error
Output
Output Validation Complete Complete
Complete output
Ability to perform data Incomplete output output validation output
validation but x 0.25
validation based on the validation but with major validation
with minor error
measured result error without error

TOTAL (MARKS) /10

LECTURER’S COMMENT (if any):

LECTURER’S SIGNATURE: VERIFIED BY RP/LIC:

NAME: DR. NURBAITI WAHID NAME:

NURHAFFIZAH HASSAN
Pensyarah
Pengajian Kejuruteraan
Elektrik Kolej Pengajian
Kejuruteraan
Universiti Teknologi MARA (UiTM) Kampus Dungun
 ELECTRICAL ENGINEERING STUDIES
COLLEGE OF ENGINEERING
UNIVERSITI TEKNOLOGI MARA

CONTROL SYSTEM
(ESE 359)

MODULE 7

FREQUENCY RESPONSE ANALYSIS

COURSE OUTCOME (CO) - PROGRAMME OUTCOME (PO)

CO2 Construct the transfer function of control systems to analyze transient response
performance and system’s stability by using modern engineering tools. (P5)

PO5 Apply appropriate techniques, resources, and modern engineering and IT tools to well-
defined engineering problems, with an awareness of the limitations.

OUTCOMES

1. To display bode diagram from an open-loop transfer function.

2. To measure gain margin, phase margin, and associated frequencies of the bode plot.

EQUIPMENT

1. Computer
2. Software MATLAB
THEORY

FREQUENCY RESPONSE OF SYSTEM

Frequency response methods are among the most useful techniques available for system
analysis and design. One can design a control system by frequency response methods without
developing a transfer function. One of the best methods of verifying a simulation is to obtain a
frequency response of the simulation by in putting sinusoids and comparing this response with
the calculated frequency response of the transfer function of the system being simulated.

The frequency response of a system is defined as the steady state response of the system to
a sinusoidal input signal. The sinusoid is a unique input signal and the resulting output signal
for a linear system as well as signals throughout the system, is sinusoidal in the steady state.
It differs from the input waveform only in amplitude and phase.

As shown in Figure 1, if sinusoid is applied as input to a linear system the output under steady
is usually referred to as the magnitude (magnitude ratio, amplitude ratio, or gain) and the shift
of phase of the output wave relative to the input wave is termed the phase. The magnitude
and phase depend on the system and the forcing frequency but not on the magnitude of the
input sinusoid for a linear system.

Figure 1: Frequency Response

The variation of magnitude and phase with frequency is traditionally known as the frequency
response.

M (
o ω)
G(jω) = ; Magnitude frequency response
Mi (ω)
∠G(jω) = φ(ω) = φo (ω) φi (ω) ; Phase frequency response

The frequency response information can be used to draw Bode diagrams plots and they can
be used to ascertain the stability of the system and also used to design controllers for systems.

Bode Diagram
As shown in Figure 2, Bode diagram consists of two graphs. In simple terms these are plot of
frequency gain and phase (on y-axis) against frequency (on x-axis). More precisely:

• A plot of 20log10 G( j ) vs log10

• A plot of the phase angle G( j ) vs log10 where phase is usually measure in degrees

(not radians).

Figure 2: Bode diagram (Magnitude & Phase plot)

PROCEDURE

1. Generate an open loop transfer function below : (Let K = 10)

20K
G(s)=
s(s+ 4)(s+10)
2. Display bode plot by using Matlab code ‘bode(sys)’. It creates a Bode plot of the
frequency response of a dynamic system model sys. The plot displays the magnitude
(in dB) and phase (in degrees) of the system response as a function of frequency.
Bode automatically determines frequencies to plot based on system dynamics.

3. Measure all the parameters using Matlab code ‘margin()’. It calculates the minimum
gain margin, GM, phase margin, PM, and associated frequencies ωgco and ωpco of
open-loop models.
[Gm,Pm,Wgco,Wpco] = margin(X)
Gm =

2.8000

Pm =

29.0851

Wgco =

6.3246
Wpco =

3.5333
4. State the stability of the system.
5. Repeat step no. 1 to no. 4 for the open-loop transfer function below. Plot the bode plot
and obtain the minimum gain margin, GM, phase margin, PM, and associated
frequencies ωgco and ωpco for K value 1, 10 and 100. Attach the output response and
output reading in Table 1.

100K

G(s)= s(s+4)(s2 +8s+64)

RESULT

Table 1: Output Response

K Output Parameters Output Display

4.6188
ωgco

0.3892
ωpco

15.9288
1 GM

81.6498
PM

STABLE
Stability

4.6188
ωgco

3.2614
ωpco

10 GM 1.5929

PM 24.7516

STABLE
Stability

4.6188
ωgco
 10.1566
ωpco

0.1593
100 GM

-94.2341
PM

Stability UNSTABLE

OUTPUT VALIDATION

1. Observe and compare the stability of the system when K = 1, 10 and 100.

When GM and PM are both positive, the stability is stable for example when the K = 1 and
10. But when K = 100 the PM is negative, so the stability is unstable.