Bode Plot

ECE408
 What is Bode Plot?

Bode Plot is a (semi log) plot of the transfer function magnitude

and phase angle as a function of frequency.

It is a graphical procedure for determining the stability of a

control system based on sinusoidal frequency response.
Polar Plots
• The transfer function can be separated into magnitude and
phase angle information
e.g., H(j) = |H(j)| Φ(j) H(j)=Z(j)
 Viewpoints of analyzing control
system behavior

• Routh-Hurwitz (s =  + j )
• Root locus (s =  + j )
• Bode diagram (plots) ( s = j )
• Nyquist plots ( s = j )
• Nicols plots ( s = j )
• Time domain
 r (t ) = A sin t y (t ) = B sin(t +  )
L.T.I system
I/P O/P

Magnitude: B Phase: 
A
r (t ) y (t )
G(s)
＋
－ Steady state response
H(s)

Y ( s) G( s)
=
R( s) 1 + G ( s ) H ( s )
s =  + j  s = j

Magnitude T.F.:
G( j ) Phase T.F.: G ( j )
1 + G( j ) H ( j ) [1 + G ( j ) H ( j )]
 2 2
Decade : dec = log10 Octave : oct = log2
1 1
dB


1 2 3 4 10 20 100
• The gain magnitude is many times expressed in terms of decibels (dB)
dB = 20 log10 A
where A is the amplitude or gain
– a decade is defined as any 10-to-1 frequency range
– an octave is any 2-to-1 frequency range
20 dB/decade = 6 dB/octave
 Y ( s) k ( s + z1 )(s + z 2 ) 
=
R ( s ) ( s + p1 )(s + p2 )(s 2 + as + b) 
Case I : k
GH (dB)


Magnitude:
0.1 1 10
k dB = 20 log k (dB)
GH
Phase: 1800

 0 o 900
,k  0
k =  o 
180 ,k  0
Case II : 1
sp
GH (dB)
Magnitude: p=2

1 p =1
( j ) p
= −20 p log (dB) 
dB 0.1 1 10

GH
Phase:

1 900

( j ) p
= (−90o )  p 
p =1
− 90 0

p=2
− 1800
Case III :
sp
p=2
GH (dB) p =1
Magnitude:

( j ) p
dB
= 20 p log (dB) 
0.1 1 10

GH
Phase: 0
p=2
180
0
p =1
90
( j ) = (90 )  p 
p o

− 900
− 1800
 a 1
Case IV : or ( s + 1) −1
( s + a) a
a =1
Magnitude:
GH (dB)
 
(1 + j ) −1 = −20 log 1 + ( ) 2
a dB a

= −10 log[1 + ( ) 2 ]
 
a 0.1 1 10

  a   0  dB = −10 log1 = 0
a
  
  a  1 + j   dB  −20 log GH
a a a  = a  −450
dB = −[20 log − 20 log a] 1800
 = a  1 + j1  dB = −10 log 2 = −3.01 900
Phase: 
 −1  − 900
(1 + j ) = 0 − tan
0


a a − 1800
  a   0  GH  tan −1 0 = 0o
a

  a     GH  − tan −1  = −90o
a
 ( s + a) 1
Case V :
or ( s + 1)
a a a =1
Magnitude:
GH (dB)
 
(1 + j ) = 20 log 1 + ( ) 2
a dB a

= 10 log[1 + ( ) 2 ]
 
a 0.1 1 10

  a   0  dB = 10 log1 = 0
a
  
  a  1 + j   dB  20 log GH
a a a  = a  450
dB = 20 log − 20 log a 1800
 = a  1 + j1  dB = 10 log 2 = 3.01 900
Phase: 
 −1  − 900
(1 + j ) = tan
a

a − 1800
  a   0  GH  tan −1 0 = 0o
a

  a     GH  tan −1  = 90o
a
  n2
Case VI : T (s) = 2
s + 2n s +  n2
 n2 2 n
T ( j ) =  T ( j ) = − tan −1
( n −  2 ) + 2 jn ( n −  2 )
2 2


2
1 n
T ( j ) =  T ( j ) = − tan −1
 2   2
(1 − ( ) ) + j 2 1− ( )
n n n

  
 1 ,  1
 0 ,
n
  n  0 0

   
T ( j ) =  − 20 log(2 ) , = 1 T ( j ) =  − 90 , =1
0

 n − 180o  n
    
 − 40 log( ) ,  1 ,  1
 n n n
 = n
Initial Slope of Bode Plot
The standard expression of open loop transfer function
𝐾[ 1 + 𝑠𝑇1 1 + 𝑠𝑇2 … ]𝑤𝑛2
𝐺 𝑆 𝐻 𝑆 = 𝑁
𝑠 [ 1 + 𝑠𝑇𝑎 1 + 𝑠𝑇𝑏 . . (𝑠 2 + 2𝜀𝑤𝑛 +𝑤𝑛2 )]
The corner frequencies of first order terms are G(s)H(s) are 1/T1, 1/T2, 1/T3 … due to zero and 1/Ta, 1/Tb
..etc, due to poles.
Here the contribution to initial slope of curve is mainly due to
𝐾
𝐺(𝑆)𝐻(𝑆) =
(𝑖𝑤)𝑁
𝐾
20log 𝐺 𝑗𝑤 𝐻(𝑖𝑤) =20log
(𝑖𝑤)𝑁
=20[logK-Nlog(w)]
Here A=20logK at origin w=0
And the slope of magnitude plot is -20N dB/decade
Where N denote the type of system.

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 |T(s)|dB
Example : 50(s + 2)
T (s ) =
s (s + 10)

1 s + 2 10
T ( s ) = 10( )( )( ) -20dB/decade
s 2 s + 10 -20dB/deacde
0
10(0.5𝑠+1) dB/decade
T(s)=
𝑠(0.1𝑠+1)

For initial magnitude = 20log10 logw

=20 dB
And slope =-20 dB/decade

Corner frequency w1=1/0.5=2 rad/sec

W2=1/0.1=10 rad/sec
 k ( s + z1 ) 
Minimum phase system T (s) = n , zi  0, pi  0
s ( s + p1 ) 
Type 0 : (i.e. n=0)
0dB/dec
GH (dB)
k p p1
T (s) =
( s + p1 ) A


20 log K p = A 0.1 p1 p1 10p1
Type I : (i.e. n=1)

k v p1
T (s) = GH (dB) -20dB/dec
s ( s + p1 )
A
10p1

20 log K v = A 0.1 p1 1 p1 0

Kv
20 log = 0dB -40dB/dec
j 0
 0 = kv
Type 2 : (i.e. n=2)
-40dB/dec

k a p1
T (s) = 2 GH (dB)
s ( s + p1 )
A
0

20 log K a = A 0.1 p1 1 p1 10p1

Ka
20 log = 0dB -60dB/dec
( j 0 ) 2

 0 = k a
2
 Relative Stability
A transfer function is called minimum phase when all the poles and zeroes are
LHP and non-minimum-phase when there are RHP poles or zeroes.

Minimum phase system Stable

The gain margin (GM) is the distance on the bode magnitude plot from
the amplitude at the phase crossover frequency up to the 0 dB point.
GM=-(dB of GH measured at the phase crossover frequency)

The phase margin (PM) is the distance from -180 up to the phase at the
gain crossover frequency. PM=180+phase of GH measured at the gain
crossover frequency
 Open loop transfer function : G( s) H ( s)
Closed-loop transfer function : 1 + G ( s) H ( s)

Open loop Stability → poles of G ( s ) H ( s ) in LHP

Im

Closed-loop Stability → RHP

poles of in left side of (-1,0)

Re
G( s) H ( s) (−1,0) (0,0)
  0dB
GH (dB) (−1,0)  
 − 1800

g  Gain crossover frequency: g

G.M.>0 phase crossover frequency: p

GH
1800 Phase margin (PM)= 180+angle GH at gain
Stable system crossover frequency
0
90 Gain margin(GM) = Gain at phase crossover
 frequency

− 900 Here, Put the value of phase crossover

P.M.>0 p frequency in magnitude term to obtain GM
− 180 0
 Condition for stability from Bode plot
• For stable systems: The gain crossover frequency <phase crossover frequency

• For unstable system: The gain crossover frequency > phase crossover frequency

• For marginally stable system: The gain crossover frequency = phase crossover frequency

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GH (dB)
G.M.<0
Unstable system
g
0


GH
1800 Stable system
900

− 900
p
− 180 0
P.M.<0
Unstable system
• Straight-line approximations of the Bode plot may be drawn
quickly from knowing the poles and zeroes
– response approaches a minimum near the zeroes
– response approaches a maximum near the poles
• The overall effect of constant, zero and pole terms
Term Magnitude Asymptotic Asymptotic
Break Magnitude Slope Phase Shift

Constant (K) N/A 0 0

Zero upward +20 dB/decade + 90
Pole downward –20 dB/decade – 90
• Express the transfer function in standard form

H( j ) =

K ( j ) (1 + j 1 ) 1 + 2 2 ( j 2 ) + ( j 2 ) 2 
N


(1 + j a ) 1 + 2 b ( j b ) + ( j b ) 2 
• There are four different factors:
– Constant gain term, K
– Poles or zeroes at the origin, (j)±N
– Poles or zeroes of the form (1+ j)
– Quadratic poles or zeroes of the form 1+2(j)+(j)2
• We can combine the constant gain term (K) and the N pole(s)
or zero(s) at the origin such that the magnitude crosses 0 dB
at
K
Pole :  = K 1/ N

( j ) N
0 dB

Zero : K ( j ) N  0 dB = (1 / K )1 / N

• Define the break frequency to be at ω=1/ with magnitude at

±3 dB and phase at ±45°
 Magnitude Behavior Phase Behavior
Factor Low Break Asymptotic Low Break Asymptotic
Freq Freq

Constant 20 log10(K) for all frequencies 0 for all frequencies

Poles or ±20N dB/decade for all ±90(N) for all frequencies
zeros at origin frequencies with a crossover of
0 dB at ω=1
First order 0 dB ±3N dB ±20N 0 ±45(N) with ±90(N)
(simple) poles at ω=1/ dB/decade slope ±45(N)
or zeros per decade
Quadratic 0 dB see ζ at ±40N 0 ±90(N) ±180(N)
poles or zeros ω=1/ dB/decade

where N is the number of roots of value τ

 Single Pole & Zero Bode Plots
Gain ωp Gain ωz

0 dB +20 dB

–20 dB 0 dB
ω ω
Phase One Phase One
Decade Decade
0° +90°

–45° +45°

–90° 0°
ω ω

Pole at Assume K=1 Zero at

ωp=1/ 20 log10(K) = 0 dB ωz=1/
• Further refinement of the magnitude characteristic for first
order poles and zeros is possible since
Magnitude at half break frequency: |H(½b)| = ±1 dB
Magnitude at break frequency:|H(b)| = ±3 dB
Magnitude at twice break frequency: |H(2b)| = ±7 dB
• Second order poles (and zeros) require that the damping ratio
( value) be taken into account.
• We can also take the Bode plot and extract the transfer
function from it (although in reality there will be error
associated with our extracting information from the graph)
• First, determine the constant gain factor, K
• Next, move from lowest to highest frequency noting the
appearance and order of the poles and zeros
Frequency Response Plots

Bode Plots – Real Poles (Graphical Construction)

Frequency Response Plots

Bode Plots – Real Poles

Frequency Response Plots

Bode Plots – Real Poles

Gain and Phase Margin
Let's say that we have the following system:

where K is a variable (constant) gain and G(s) is the plant under consideration.

The gain margin is defined as the change in open loop gain required to make
the system unstable. Systems with greater gain margins can withstand greater
changes in system parameters before becoming unstable in closed loop. Keep
in mind that unity gain in magnitude is equal to a gain of zero in dB

The phase margin is defined as the change in open loop phase shift required to
make a closed loop system unstable.

The phase margin is the difference in phase between the phase curve and -180
deg at the point corresponding to the frequency that gives us a gain of 0dB (the
gain cross over frequency, Wgc).

Likewise, the gain margin is the difference between the magnitude curve and
0dB at the point corresponding to the frequency that gives us a phase of -180
deg (the phase cross over frequency, Wpc).
Gain and Phase Margin

-180
Examples - Bode
Examples - Bode
Examples – Bode
 Q.1 Bode Plot for magnitude and phase for given transfer
function

T(s)=48(s+10)/s(s+2)

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 Q1. Sketch the bode plot for the open loop transfer function of unity feedback given as:
50
G s =
(𝑠 + 1)(𝑠 + 2)
25
Solution: standard form of open loop TF is G s =
(𝑠 + 1)(0.5𝑠 + 1)
The initial value of magnitude plot=20log25=27.9dB and slop is 0 dB/decade
Corner frequencies =1 rad/sec and 2 radian/sec due to poles

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 Q1. Sketch the bode plot for the open loop transfer function of unity feedback given as:

2(𝑠 + 0.25)
G s = 2
𝑠 (𝑠 + 1)(𝑠 + 0.5)

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 48(𝑠 + 10) 1.5 0.1𝑠 + 1 𝑥16
G s = =
𝑠(𝑠 + 20)(𝑠 2 + 2.4𝑠 + 16) 𝑠(0.05𝑠 + 1)(𝑠 2 + 2.4𝑠 + 16)
Now put s=jw in G(s)

2εwn=2.4, wn=4
ε=0.3

46
 Q1. Determine the value of K from the bode plot for the open loop transfer function of unity
feedback for a) gain margin is 15db b) phase margin is 60 degree

47
 |G(s)| Phase in
degree
60
Semilog paper

50

40

30

20

10

10 100 1000 10,000

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