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Rules For Making Bode Plots: Term Magnitude Phase

The document provides rules for constructing Bode plots based on the poles and zeros of a system's transfer function. It lists the magnitude and phase asymptotes for various term types, including: constant gains, real poles and zeros, poles and zeros at the origin, and underdamped complex pole-zero pairs. It also provides quick references for factoring transfer functions and using MATLAB to generate Bode plots from the poles, zeros and gain.

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47 views

Rules For Making Bode Plots: Term Magnitude Phase

The document provides rules for constructing Bode plots based on the poles and zeros of a system's transfer function. It lists the magnitude and phase asymptotes for various term types, including: constant gains, real poles and zeros, poles and zeros at the origin, and underdamped complex pole-zero pairs. It also provides quick references for factoring transfer functions and using MATLAB to generate Bode plots from the poles, zeros and gain.

Uploaded by

civaas
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Rules for Making Bode Plots

Term

Magnitude

Constant: K

20log10(|K|)

Phase

Real Pole:

s
+1
0

Low freq. asymptote at 0 dB


High freq. asymptote at -20 dB/dec
Connect asymptotic lines at 0,

Real Zero*: s + 1
0
Pole at Origin: 1
s

Zero at Origin*: s

Low freq. asymptote at 0 dB


High freq. asymptote at +20 dB/dec.
Connect asymptotic lines at 0.

-20 dB/dec; through 0 dB at =1.

+20 dB/dec; through 0 dB at =1.

Underdamped Poles:

s
s
+ 2 + 1
0
0

H ( jr ) = 20 log10 2 1

Underdamped Zeros*:

s
s
+ 2 + 1
0
0

Low freq. asymptote at 0 dB.


High freq. asymptote at -40 dB/dec.
Connect asymptotic lines at 0.
Draw peak at freq. r = 0 1 2 2
with amplitude

Draw low freq. asymptote at 0 dB.


Draw high freq. asymptote at +40
dB/dec.
Connect asymptotic lines at 0.
Draw dip at freq. = 0
with
r
2
1 2
amplitude
H ( jr ) = +20 log10 2 1 2 .

K>0: 0
K<0: 180
Low freq. asymptote at 0.
High freq. asymptote at
-90.
Connect with straight line
from 0.10 to 100.
Low freq. asymptote at 0.
High freq. asymptote at
+90.
Connect with line from
0.10 to 100.
-90 for all .
+90 for all .
Low freq. asymptote at 0.
High freq. asymptote at
-180.
Connect with straight line
from

2
log10
to =
= 0
0
2

2
2
log10

Low freq. asymptote at 0.


Draw high freq. asymptote
at +180.
Connect with a straight
line from

2
log10
to =
= 0
0
2

2
2
log10

Notes:
* Rules for drawing zeros create the mirror image (around 0 dB, or 0) of those for a pole with the same 0.
1 and peak freq. is typically very near 0.
For underdamped poles and zeros peak exists only for
0 < < 0.707 =

For underdamped poles and zeros If <0.02 draw phase vertically from 0 to -180 degrees at 0

For nth order pole or zero make asymptotes, peaks and slopes n times higher than shown (i.e., second order asymptote
is -40 dB/dec, and phase goes from 0 to 180o). Dont change frequencies, only plot values and slopes.

Quick Reference for Making Bode Plots


If starting with a transfer function of the form (some of the coefficients bi, ai may be zero).

H(s) = C

s n + " + b1s + b0
s m + " + a1s + a 0

Factor polynomial into real factors and complex conjugate pairs (p can be positive, negative, or zero; p is zero if a0 and b0 are both non-zero).

H(s) = C s

2
2
( s + z1 )( s + z2 )"( s 2 + 2 z10z1s + 0z1
)(s2 + 2 z20z2s + 0z2
)"

( s + )( s + )"( s
p1

p2

2
2
+ 2 p10p1s + 0p1
)( s2 + 2 p20p2s + 0p2
)"

Put polynomial into standard form for Bode Plots.


2
2
s s
s
s
s
s
+ 1
+ 1"
+ 2 z1
+ 1

+ 2 z2
+ 1"

2
2

z1
z2
0z1
0z1
0z2
0z2


" 0z10z2 " p

H(s) = C z1 z2
s

2
2
2
2
p1p2 " 0p1
0p2
"
s s
s
s
s
s

1
1
2
+
1
+
2

+ 1"
"
+
+
+

p2
p1


0p1 0p2
0p2
p1 p2
0p1
2
2
s s
s
s
s s

1
2
1
2
+
+
+

+
+

"

+ 1"


z1
z2

z1 z2 0z1
0z1 0z2
0z2
= K sp
2
2
s s
s
s
s
s

+ 2 p1
+1
+ 2 p2
+ 1"
+ 1
+ 1 "

0p1 0p2
0p2
p1 p2
0p1

Take the terms (constant, real poles and zeros, origin poles and zeros, complex poles and zeros) one by one and plot magnitude and phase
according to rules on previous page. Add up resulting plots.

Matlab Tools for Bode Plots


>> n=[1 11 10];
>> d=[1 10 10000 0];
>> sys=tf(n,d)
Transfer function:
s^2 + 11 s + 10
---------------------s^3 + 10 s^2 + 10000 s

%A numerator polynomial (arbitrary)


%Denominator polynomial (arbitrary)

>> damp(d)
Eigenvalue
0.00e+000
-5.00e+000 + 9.99e+001i
-5.00e+000 - 9.99e+001i

%Find roots of den. If complex, show zeta, wn.


Damping
Freq. (rad/s)
-1.00e+000
0.00e+000
5.00e-002
1.00e+002
5.00e-002
1.00e+002

>> damp(n)
Eigenvalue
-1.00e+000
-1.00e+001

%Repeat for numerator


Freq. (rad/s)
1.00e+000
1.00e+001

>>
>>
>>
>>
>>

Damping
1.00e+000
1.00e+000

%Use Matlab to find frequency response (hard way).


w=logspace(-2,4);
%omega goes from 0.01 to 10000;
fr=freqresp(sys,w);
subplot(211); semilogx(w,20*log10(abs(fr(:)))); title('Mag response, dB')
subplot(212); semilogx(w,angle(fr(:))*180/pi);
title('Phase resp, degrees')

>> %Let Matlab do all of the work


>> bode(sys)
>> %Find Freq Resp at one freq.
%Hard way
>> fr=polyval(n,j*10)./polyval(d,j*10)
fr =
0.0011 + 0.0010i
>> %Find Freq Resp at one freq.
>> fr=freqresp(sys,10)
fr =
0.0011 + 0.0009i

%Easy way

>> abs(fr)
ans =
0.0014
>> angle(fr)*180/pi
ans =
38.7107

%Convert to degrees

>> %You can even find impulse and step response from transfer function.
>> step(sys)
>> impulse(sys)

>> [n,d]=tfdata(sys,'v')
n =
0
1
11
10
d =
1
10
>> [z,p,k]=zpkdata(sys,'v')
z =
-10
-1
p =
0
-5.0000 +99.8749i
-5.0000 -99.8749i
k =
1

>>
>>
>>
>>

%Get numerator and denominator.

10000

%Get poles and zeros

%Matlab program to show individual terms of Bode Plot.


%Code is available at
%
http://www.swarthmore.edu/NatSci/echeeve1/Ref/Bode/BodePlotGui.html
BodePlotGui(sys)

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