自动控制理论 课件chap7.pdf

Chapter 7 Frequency Response Analysis (Chapter 8) 7.1 Introduction Frequency response is the steady-state response of a system to a sinusoidal input. In frequency-response methods, we vary the frequency of the input signal over a certain range and study the resulting response. 7.1.1 Steady-State Response of an LTI System to Sinusoidal Input Consider the linear time-invariant system shown in Fig. 7.1. R(s) E (s) X (s) Y (s) G (s) G(s) c − Figure 7.1: A control system If G(s) is stable, we take G (s) = 0 and have a stable open-loop system. When the input x(t) is sinusoidal c function x(t) = X sin ω t, then from ω Y (s) = G(s)X (s) , X (s) = L [X sin ω t ] = X 2 2 s + ω and the knowledge of partial fraction we get X (as + b) Y (s) = 2 2 + { terms involving only the poles of G(s) } s + ω Since G(s) is stable, all transient terms corresponding to the terms in the bracket decay to zero and the steady-state component is determined by Yss (s) = X (as+b) . s2+ω2 To determine the coefficients a and b, we partition further as + b c c¯ = + s2 + ω2 s + jω s − jω where