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System Analysis-Frequency Domain

Demonstration/tutorial script

frdemo () Function File
Octave Control Toolbox demo: Frequency Response demo.

[mag phase, w] = bode (sys, w, out_idx, in_idx) Function File
If no output arguments are given: produce Bode plots of a system; otherwise compute the frequency response of a system data structure

Inputs

sys
a system data structure (must be either purely continuous or discrete; see is_digital)
w
frequency values for evaluation.

if sys is continuous then bode evaluates G(jw) where G(s) is the system transfer function.

if sys is discrete then bode evaluates G(exp(jwT)), where

  • T is the system sampling time
  • G(z) is the system transfer function.

Default the default frequency range is selected as follows: (These steps are not performed if w is specified)

  1. via routine __bodquist__ isolate all poles and zeros away from w=0 (jw=0 or exp(jwT)=1) and select the frequency range based on the breakpoint locations of the frequencies.
  2. if sys is discrete time the frequency range is limited to jwT in [02 pi /T]
  3. A "smoothing" routine is used to ensure that the plot phase does not change excessively from point to point and that singular points (e.g. crossovers from +/- 180) are accurately shown.

out_idx
in_idx
The names or indices of outputs and inputs to be used in the frequency response. See sysprune.

Example 

               bode(sys[],"y_3", {"u_1","u_4"});
Outputs
mag
phase
the magnitude and phase of the frequency response G(jw) or G(exp(jwT)) at the selected frequency values.
w
the vector of frequency values used
  1. If no output arguments are given e.g., 
                   bode(sys);
    bode plots the results to the screen. Descriptive labels are automatically placed.

    Failure to include a concluding semicolon will yield some garbage being printed to the screen (ans = []).

  2. If the requested plot is for an MIMO system mag is set to ||G(jw)|| or ||G(exp(jwT))|| and phase information is not computed.

[wmin wmax] = bode_bounds (zer, pol, dflg, tsam) Function File
Get default range of frequencies based on cutoff frequencies of system poles and zeros. Frequency range is the interval [10^wmin 10^wmax]

Used internally in __freqresp__ (bode nyquist)

freqchkw (w) Function File
Used by __freqresp__ to check that input frequency vector w is valid. Returns boolean value.

out = ltifr (a b, w) Function File
out = ltifr (sys w) Function File
Linear time invariant frequency response of single-input systems.

Inputs

a
b
coefficient matrices of dx/dt = A x + B u
sys
system data structure
w
vector of frequencies
Output
out
frequency response that is: 
                                     -1
                       G(s) = (jw I-A) B
for complex frequencies s = jw.

[realp imagp, w] = nyquist (sys, w, out_idx, in_idx, atol) Function File
nyquist (sys w, out_idx, in_idx, atol) Function File
Produce Nyquist plots of a system; if no output arguments are given Nyquist plot is printed to the screen.

Compute the frequency response of a system.

Inputs (pass as empty to get default values)

sys
system data structure (must be either purely continuous or discrete; see is_digital)
w
frequency values for evaluation. If sys is continuous then bode evaluates G(jw); if sys is discrete then bode evaluates G(exp(jwT)), where T is the system sampling time.
default
the default frequency range is selected as follows: (These steps are not performed if w is specified)
  1. via routine __bodquist__ isolate all poles and zeros away from w=0 (jw=0 or exp(jwT)=1) and select the frequency range based on the breakpoint locations of the frequencies.
  2. if sys is discrete time the frequency range is limited to jwT in [02p*pi]
  3. A "smoothing" routine is used to ensure that the plot phase does not change excessively from point to point and that singular points (e.g. crossovers from +/- 180) are accurately shown.

atol
for interactive nyquist plots: atol is a change-in-slope tolerance for the of asymptotes (default = 0; 1e-2 is a good choice). This allows the user to "zoom in" on portions of the Nyquist plot too small to be seen with large asymptotes.
Outputs
realp
imagp
the real and imaginary parts of the frequency response G(jw) or G(exp(jwT)) at the selected frequency values.
w
the vector of frequency values used

If no output arguments are given nyquist plots the results to the screen. If atol != 0 and asymptotes are detected then the user is asked interactively if they wish to zoom in (remove asymptotes) Descriptive labels are automatically placed.

Note: if the requested plot is for an MIMO system a warning message is presented; the returned information is of the magnitude ||G(jw)|| or ||G(exp(jwT))|| only; phase information is not computed.

[zer gain] = tzero (a, b, c, d, opt) Function File
[zer gain] = tzero (sys, opt) Function File
Compute transmission zeros of a continuous system: 
          .
          x = Ax + Bu
          y = Cx + Du
or of a discrete one: 
          x(k+1) = A x(k) + B u(k)
          y(k)   = C x(k) + D u(k)

Outputs

zer
transmission zeros of the system
gain
leading coefficient (pole-zero form) of SISO transfer function returns gain=0 if system is multivariable
References
  1. Emami-Naeini and Van Dooren Automatica, 1982.
  2. Hodel Computation of Zeros with Balancing, 1992 Lin. Alg. Appl.

zr = tzero2 (a b, c, d, bal) Function File
Compute the transmission zeros of a b, c, d.

bal = balancing option (see balance); default is "B".

Needs to incorporate mvzero algorithm to isolate finite zeros; use tzero instead.