Bode Plots
Control lectures by Lubn Moin 1
From last class
Sketching the Root Locus for a given system
Determine the stability of the system based
on the R-L sketch
Control lectures by Lubn Moin 2
Today’s class
Sketching a bode diagram for a given system
Control lectures by Lubn Moin 3
Learning Outcomes
At the end of this lecture, students should be
able to:
Sketch the bode diagram for a given system
Identify the system’s stability based on the
determined Gain Margin & Phase Margin
Control lectures by Lubn Moin 4
Frequency Response Method
¾ Frequency response analysis and design methods
consider response to sinusoids methods rather than steps
and ramps.
¾ Frequency response is readily determined experimentally
in sinusoidal testing.
¾ Frequency response is readily obtained from the system
transfer function (s = jω) , where ω is the input frequency).
¾ Link between frequency and time domains is indirect.
Design criteria help obtain good transient time response.
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Frequency Response Method
¾ The frequency response of a system is steady-state
response of the system to a sinusoidal input signal.
¾ For linear dynamic systems, the steady state output of
the system is a sinusoid with the same frequency as the
input, but with the same frequency as the input, but
differing in amplitude and phase angle (there is a phase
shift in the output).
¾ The frequency response can be computed for a single
frequency, and can be plotted for a single frequency, and
can be plotted for a range of frequencies.
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Decibels
V2 I P
Note that the quantities , 2 , and 2 are unitless quantities.
V1 I1 P1
However, when scaled logs of the quantities are taken, the unit of
decibels (dB), is assigned.
V2
2 0 lo g 1 0 = lo g -m ag n itu d e (L M ) o f th e v o ltag e g ain in d B
V1
I2
2 0 lo g 1 0 = lo g -m ag n itu d e (L M ) o f th e cu rren t g ain in d B
I1
P2
1 0 lo g 1 0 = lo g -m ag n itu d e (L M ) o f th e p o w er g ain in d B
P1
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There are two types of Bode plots:
The Bode straight-line approximation to the log-
magnitude (LM) plot, LM versus w (with w on
a log scale)
The Bode straight-line approximation to the
phase plot, φ(w) versus w (with w on a log
scale)
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Num=[a b]
Den=[c d]
Bode(num,den)
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Standard form for H(jw)
Before drawing a Bode plot, it is necessary to find
H(jw) and put it in “standard form.”
K(s + z1 )(s + z 2 ) ⋅⋅⋅ (s + z N )
H(s) =
(s + p1 )(s + p 2 ) ⋅⋅⋅ (s + p M )
1 1
G ( s) = G( jω) =
τs + 1 τjω +1
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Five types of terms in H(jw)
1) K (a constant)
1
w
2) 1+j (a zero) or w (a pole)
w1 1 + j
w1
3) jw (a zero) or 1/jw (a pole)
4) Any of the terms raised to a positive integer power.
2
w
For example, 1 + j (a double zero)
w1
5) Complex zero/poles
2α w w2 1
1+j 2 - (a complex zero) or (a complex pole)
w0 w0
2
2α w w2
1+j 2 - 2
w0 w0
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1. Constant term in H(jw)
If H(jw) = K = K/0°
Then LM = 20log(K) and φ(w) = 0° , so the LM and phase responses are
LM (dB) φ(w)
20log(K)
0o w
0 1 10 100 w
Summary: A constant in H(jw):
• Adds a constant value to the LM graph (shifts the entire graph up or down)
• Has no effect on the phase
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Factor Constant ,K
|G(jw)| /G(jw)
LM (dB) φ(w)
20log(K)
0o w
0 1 10 100 w
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2. A) 1 + jw/w1 (a zero): The straight-line
approximations are:
2
w w -1 w
If H(jw) = 1 + j = 1 + ∠tan
w1 w1 w1
w
2
-1 w
Then LM = 20log 1 + and φ (w) = tan
w1 w1
¾ To determine the LM and phase responses, consider 3
ranges for w:
1) w << w1
2) w >> w1
3) w = w1
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So the Bode approximations (LM and phase) for
1 + jw/w1 are shown below.
LM φ(w)
90o
20dB slope slope
= + 6dB/oct 45o = +45 deg/dec
= +20dB/dec (for 2 decades)
0dB w 0o w
w1 10w1 0.1w1 w1 10w1
Summary: A 1 + jw/w1 (zero) term in H(jw):
• Causes an upward break at w = w1 in the LM plot. There is a 0dB
effect before the break and a slope of +20dB/dec or +6dB/oct after
the break.
• Adds 90° to the phase plot over a 2 decade range beginning a
decade before w1 and ending a decade
Control lectures after w1 .
by Lubn Moin 15
actual
LM
20dB slope
= + 6dB/oct
= +20dB/dec
0dB 3dB
w
w1 10w1
asymptotic approximation
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jω
1+
Factor ω1 (a zero):
|G(jw)| /G(jw)
LM φ(w)
90o
20dB slope slope
= + 6dB/oct 45o = +45 deg/dec
= +20dB/dec (for 2 decades)
0dB w 0o w
w1 10w1 0.1w1 w1 10w1
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1
2) B w (a pole): The straight-line approximations
1 + j
w 1
are:
1 1∠0 1 w
If H(jw) = = = ∠− tan
-1
w 2 2
w1
1+j w -1 w w
w1 1 + ∠tan 1 +
w1 w1 w1
1 -1 w
Then LM = 20log and φ(w) = -tan
w
2
w1
1 +
w1
To determine the LM and phase responses, consider 3 ranges for w:
1) w << w1
2) w >> w1
3) w = w1 Control lectures by Lubn Moin 18
1
So the Bode approximations (LM and phase) for w
1 + j
w1
are shown below.
φ(w)
LM w1 10w1 0.1w1 w1 10w1
0dB w o w
slope 0
= -20dB/dec slope
o
= - 6dB/oct -45 = -45 deg/dec
-20dB (for 2 decades)
-90o
Summary: A 1 + jw/w1 (zero) term in H(jw):
• Causes an downward break at w = w1 in the LM plot. There
is a 0dB effect before the break and a slope of -20dB/dec or -
6dB/oct after the break.
• Adds -90° to the phase plot over a 2 decade range beginning
a decade before w1 and ending a decade after w1 .
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1
Factor 1+
jω (a pole)
ω1
|G(jw)| /G(jw)
φ(w)
LM w1 10w1 0.1w1 w1 10w1
0dB w o w
slope 0
= -20dB/dec slope
o
= - 6dB/oct -45 = -45 deg/dec
-20dB (for 2 decades)
-90o
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asymptotic approximation
LM w1 10w1
0dB w
-3dB
slope
= -20dB/dec
= - 6dB/oct
-20dB
Control lectures by Lubn Moin actual 21
Lets try!
Plot a bode plot for a transfer function:-
1)
20 ( s + 1 )
G (s)H (s) =
s(s + 2)
100 ( s + 1 )
2) G (s)H (s) =
s ( s + 10 )
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Reminder!!!
Æ Don’t forget to bring:-
Ruler
Pencil
Eraser
For Bode Plot Sketching…
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Plot a Bode Plot!
200( s + 1)( s + 10)
G (s) H (s) =
s ( s + 100)
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Replace s=jw into G(s)H(s)
200
G ( jω ) H ( jω ) =
j ω ( j ω + 2 )( j ω + 10 )
Rearrange form:-
10
G ( jω ) H ( jω ) =
ω ω
j ω (1 + j )( 1 + j )
2 10
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This transfer function has 4 forms:-
i. Factor Constant, K=10
ii. Factor
1
jω
iii. Factor 1
ω
1+ j
2
1
iv. Factor ω
1+ j
10
Sketch for magnitude and phase!
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Stability
Gain Margin
G M = − 20 log G ( j ω ) ω = ω = − LM (ω G M )
GM
Phase Margin
φM = 180 + ∠G ( jω ) ω =ω
o
φM
The system is stable if BOTH
G M > 0
φ M > 0
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Example : Determine the system’s stability
GM
GM = −(−29.5) = 29.5dB
Since G > 0
M
φ M > 0
ΦM STABLE
φ M = 180 o + ( − 117 o ) = 63 o
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Example : Determine the system’s stability
GM
GM = −(−20.8) = 20.8dB
ΦM Since
G > 0
φ M = 180 + ( − 253 ) = − 73
o o o M
φ M < 0
UN-STABLE
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