CHAPTER 7

BODE PLOT AND GAIN

COMPENSATION (Part 2)
BEEE2364
CONTROL PRINCIPLES

HAFEZ JTKEK FTKEE

 Learning Outcome
After completing Chapter 7 (Part 2), the student will be able to:

• evaluate the system’s stability, gain margin and phase

margin from bode plots.
• design frequency response using gain adjustment
compensation method.

HAFEZ JTKEK FTKEE

 Stability via Bode Plot
Bode plot-based stability analysis:
• A closed-loop system is stable if the magnitude is less than
0 dB (unity gain) at the frequency where the phase is
± 180°.

Analysis procedures (by observing Bode plot magnitude and

phase diagram)
1. Examine the phase ±180°.
2. Determine the frequency where the intersection of the
phase response at ±180° takes place.
3. Using the freq. found in (2), find magnitude where the
intersection of the magnitude response occurs.
HAFEZ JTKEK FTKEE
 Stability via Bode Plot
(Cont.)
𝑀 = −20 dB < 0 dB

∴System is stable!

𝜔𝐺𝑀 = 7.2 rad/s

HAFEZ JTKEK FTKEE
 Gain Margin and
Phase Margin
Gain margin 𝐺𝑀 :
is found by using
the phase plot to
find the frequency
𝜔𝐺𝑀 , where the
phase angle is 180°.

Phase margin 𝛷𝑀 :
is found by using
the magnitude
curve to find the
frequency 𝜔𝛷𝑀 ,
where the gain is
0 dB.

HAFEZ JTKEK FTKEE

 Gain Margin and
Phase Margin (Cont.)
Example 7.3 A unity feedback system has a open-loop transfer
𝐾
function 𝐺(𝑠) = . Find the gain margin and phase
(𝑠+2)(𝑠+4)(𝑠+5)
margin. Determine the range of 𝐾 where the stability of the closed-
loop system is guaranteed.

Solution:
𝐾
𝐺(𝑠) can be rewritten as 𝐺(𝑠) = 𝑠 𝑠 𝑠
40(2+1)(4+1)(5+1)

Substitute 𝑠 = 𝑗𝜔, then

𝐾 1 1 1
𝐺 𝑗𝜔 = 𝜔 𝜔 𝜔
40 𝑗 +1 𝑗 4 +1 𝑗 5 +1
2

Break frequencies are therefore 2, 4, and 5 rad/s.

Choose 𝐾 = 40 in order to starts the plot at 0 dB.
HAFEZ JTKEK FTKEE
 Gain Margin and
Phase Margin (Cont.)
Solution (Cont.):
Gain margin 𝐺𝑀 = −20 dB

Phase margin 𝛷𝑀 = 180°

𝜔𝐺𝑀 = 7.5 rad/s

HAFEZ JTKEK FTKEE
 Gain Margin and
Phase Margin (Cont.)
Solution (Cont.):
Since 𝐺𝑀 = −20 dB, thus the magnitude can move until
+ 20 dB in order ensure the stability of the system.

Because 20 dB = 10 , then the max 𝐾 is 𝐾 = 40(10) = 400.

Therefore, the range of 𝐾 is 40 < 𝐾 < 400.

HAFEZ JTKEK FTKEE

 Gain Margin and
Phase Margin (Cont.)
Example 7.4 From the transfer function in Example 7.3, if 𝐾 = 200, find
the gain margin and phase margin.

Solution:
In Ex. 7.4, 𝐾 = 40 produced magnitude 0 dB. If 𝐾 = 200 = 5(40), then
the magnitude is increased by 20 log 5 = 13.98 dB.

The Bode-plot for magnitude and phase remain the same.

Thus the gain margin 𝐺𝑀 = 20 − 13.98 = 6.08 dB.

HAFEZ JTKEK FTKEE

 Gain Margin and
Phase Margin (Cont.)
Solution (Cont.):
Because the magnitude curve is normalized to 0 dB, the actual
magnitude curve will intersect 0 dB at −13.98 dB.
−13.98 dB

Phase margin
𝛷𝑀 = −180° − −165°
= 15°

Phase angle = −165°

𝜔𝛷𝑀 = 5.2 rad/s

HAFEZ JTKEK FTKEE
 Transient and Freq.
Response R/ship
Second-order closed-loop system magnitude frequency response

1
𝑀𝑝 =
2𝜁 1 − 𝜁 2

𝜔𝑝 = 1 − 2𝜁 2

HAFEZ JTKEK FTKEE

 Transient and Freq.
Response R/ship (Cont.)
Second-order closed-loop system phase frequency response

2𝜁
𝛷𝑀 = tan−1
−2𝜁 2 + 1 + 4𝜁 4

HAFEZ JTKEK FTKEE

 Design Freq. Resp.: Gain
Adj. Compensation
• The Bode plot can be designed easily using asymptotic
approximations and gain and phase can be read from the
plot.
• From previous discussion, the overshoot magnitude and
the phase margin are relates to the damping ratio.
• Thus, varying the phase margin will vary the damping ratio
which in turn vary the magnitude of overshoot.
• In freq. response, varying the phase margin will cause the
gain margin to vary.
• Therefore, a simple gain adjustment can be used to design
phase margin and, hence, percent overshoot.

HAFEZ JTKEK FTKEE

 Design Freq. Resp.: Gain
Adj. Compensation (Cont.)
Design procedure
1. Draw the bode magnitude and phase plots.
2. Determine the required phase margin from the formulas
− ln(%𝑂𝑆/100) 2𝜁
𝜁= , 𝛷𝑀 = tan−1 .
𝜋2 +ln2 (%𝑂𝑆/100)
−2𝜁 2 + 1+4𝜁 4

3. Find the frequency 𝜔𝛷𝑀 , that yields

the desired phase margin CD.
4. Change the gain by an amount AB to
force the magnitude curve to go
through 0 dB at 𝜔𝛷𝑀 . The amount
of gain adj. is the add. gain needed
to produce the required phase
margin.
HAFEZ JTKEK FTKEE
 Design Freq. Resp.: Gain
Adj. Compensation (Cont.)
Example 7.5 Find the value of preamplifier gain 𝐾, to yield a 9.5%
overshoot in the transient response for a step input. Use only frequency
response methods.

HAFEZ JTKEK FTKEE

 Design Freq. Resp.: Gain
Adj. Compensation (Cont.)
Solution:

1. Draw Bode plot

100𝐾 100𝐾
𝐺 𝑠 = = 𝑠 𝑠
𝑠(𝑠+36)(𝑠+100) 360𝑠 36+1 100+1

Substitute 𝑠 = 𝑗𝜔, then

𝐾 1 1
𝐺 𝑗𝜔 = 𝜔 𝜔
3.6𝑠 𝑗 +1 𝑗 100+1
36

Break frequencies are therefore 0, 36, and 100 rad/s.

JTKEK FTKEE 𝐾 = 3.6 in order to starts the plot at 0 dB.
Choose
HAFEZ
 Design Freq. Resp.: Gain
Adj. Compensation (Cont.)
Solution (Cont.):
2. Determine required phase margin given %𝑂𝑆 = 9.5%.
− ln(%𝑂𝑆/100) − ln(9.5/100)
𝜁= = = 0.6
𝜋2 +ln2 (%𝑂𝑆/100) 𝜋2 +ln2 (9.5/100)
2𝜁 2(0.6)
𝛷𝑀 = tan−1 = tan−1 = 59.2°
−2𝜁 2 + 1+4𝜁 4 −2(0.6)2 + 1+4(0.6)4

3. Find the frequency 𝜔𝛷𝑀 , that yields the desired phase margin.

𝛷𝑀 = 59.2°

𝜔𝛷𝑀 = 14 rad/s
HAFEZ JTKEK FTKEE
 Design Freq. Resp.: Gain
Adj. Compensation (Cont.)
Solution (Cont.):
4. Change the gain to force the magnitude curve to go through 0 dB at
𝜔𝛷𝑀 . Amount of gain adj. is the add. gain needed.

gain adj = 44 dB

𝜔𝛷𝑀 = 14 rad/s

Gain increment 44 dB = 158.5. Thus 𝐾 = 3.6 158.5 = 570.6

HAFEZ JTKEK FTKEE