Chapter 10: Frequency Response Techniques 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure (continued) b. Bode diagrams for system of Example 10.13

Chapter 10: Frequency Response Techniques 2 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure Bode log-magnitude plots for Example 10.14

Chapter 10: Frequency Response Techniques 3 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure Bode log-magnitude plot for Skill-Assessment Exercise 10.10

Chapter 10: Frequency Response Techniques 4 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure Effect of delay upon frequency response

Chapter 10: Frequency Response Techniques 5 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure Frequency response plots for G(s) = K/[s (s + 1)(s + 10)] with a delay of 1 second and K = 1: a. magnitude plot; b. phase plot

Chapter 10: Frequency Response Techniques 6 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure Step response for closed-loop system with G(s) = 5/[s(s +1)(s + 10)]: a. with a 1 second delay; b. without delay

Chapter 10: Frequency Response Techniques 7 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure Bode plots for subsystem with undetermined transfer function

Chapter 10: Frequency Response Techniques 8 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure Original Bode plots minus response of G 1 (s) = 25/(s s + 25)

Chapter 10: Frequency Response Techniques 9 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure Original Bode plot minus response of G 1 (s)G 2 (s) = [25/(s s +25)] · [90/(s + 90)]

Chapter 10: Frequency Response Techniques 10 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure Bode plots for Skill-Assessment Exercise 10.12

Chapter 10: Frequency Response Techniques 11 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure Open-loop frequency response plots for the antenna control system (K = 1)

Chapter 10: Frequency Response Techniques 12 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.1

Chapter 10: Frequency Response Techniques 13 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.2

Chapter 10: Frequency Response Techniques 14 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.3

Chapter 10: Frequency Response Techniques 15 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.4

Chapter 10: Frequency Response Techniques 16 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.5

Chapter 10: Frequency Response Techniques 17 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.6

Chapter 10: Frequency Response Techniques 18 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.7

Chapter 10: Frequency Response Techniques 19 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.8

Chapter 10: Frequency Response Techniques 20 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.9

Chapter 10: Frequency Response Techniques 21 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.10

Chapter 10: Frequency Response Techniques 22 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.11

Chapter 10: Frequency Response Techniques 23 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.12 Soft Arm position control system block diagram

Chapter 10: Frequency Response Techniques 24 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.13 Floppy disk drive block diagram

Chapter 10: Frequency Response Techniques 25 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.14 AdeptOne, a four- or five-axis industrial robot, is used for assembly, packaging, and other manufacturing tasks. © 1994 Adept Technology, Inc.

Chapter 10: Frequency Response Techniques 26 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.15 a. A cutaway view of a Nikon 35-mm camera showing parts of the CCD automatic focusing system; b. functional block diagram; c. block diagram Courtesy of Nikon, Inc.

Chapter 10: Frequency Response Techniques 27 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P10.16 Block diagram of a ship’s roll stabilizing system

Chapter 10: Frequency Response Techniques 28 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Table 10.1 Asymptotic and actual normalized and scaled frequency response data for (s + a)

Chapter 10: Frequency Response Techniques 29 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Table 10.2 Bode magnitude plot: slope contribution from each pole and zero in Example 10.2

Chapter 10: Frequency Response Techniques 30 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Table 10.3 Bode phase plot: slope contribution from each pole and zero in Example 10.2

Chapter 10: Frequency Response Techniques 31 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Table 10.4 Data for normalized and scaled log- magnitude and phase plots for (s  n s +  n 2 ). Mag = 20 log(M/  n 2 ) (table continues) Freq.  n Mag (dB)  = 0.1 Phase (deg)  = 0.1 Mag (dB)  = 0.2 Phase (deg)  = 0.2 Mag (dB)  = 0.3 Phase (deg)  = 0.3

Chapter 10: Frequency Response Techniques 32 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Table 10.4 (continued) Freq.  n Mag (dB)  = 0.5 Phase (deg)  = 0.5 Mag (dB)  = 0.7 Phase (deg)  = 0.7 Mag (dB)  = 1 Phase (deg)  = 1

Chapter 10: Frequency Response Techniques 33 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Table 10.5 Data for normalized and scaled log- magnitude and phase plots for 1/(s  n s +  n 2 ). Mag = 20 log(M/  n 2 ) (table continues) Freq.  n Mag (dB)  = 0.1 Phase (deg)  = 0.1 Mag (dB)  = 0.2 Phase (deg)  = 0.2 Mag (dB)  = 0.3 Phase (deg)  = 0.3

Chapter 10: Frequency Response Techniques 34 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Table 10.5 (continued) Freq.  n Mag (dB)  = 0.5 Phase (deg)  = 0.5 Mag (dB)  = 0.7 Phase (deg)  = 0.7 Mag (dB)  = 1 Phase (deg)  = 1

Chapter 10: Frequency Response Techniques 35 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Table 10.6 Magnitude diagram slopes for Example 10.3

Chapter 10: Frequency Response Techniques 36 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Table 10.7 Phase diagram slopes for Example 10.3