Dynamic System Analysis(EEC-3410)
9. Frequency Response , Bode Plot
Dr. Safia Akhtar Kazmi
26/04/2020 EEC-3410 Bode Plot 1
Bode Plot
A Bode plot consists of two graphs:
– One is a plot of the logarithm of the magnitude of a
sinusoidal transfer function.
– The other is a plot of the phase angle.
– Both are plotted against the frequency (ω) on
logarithmic scale.
– Semi log graph paper is required to draw bode plot
and to comment on stability of control system.
– X axis is log scale (frequency ) and
– Y axis is normal scale (Magnitude and Phase angle)
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Semi- log graph paper
Decade
0.1 1.0 Decade (10) = 10 10 100 1000
1.0 1
Decade (10) = Frequency ω (rad/sec)
0.1
26/04/2020 EEC-3410 Bode Plot 3
Semi - log graph paper
Magnitude (decibels) 60
40
20
-20
0°
-90°
Phase (degree)
-180°
-30°
0.1 1 10 100 103
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Frequency
EEC-3410 Bodeω
Plot(rad/sec) 4
Basic Factors of a Transfer Function
• The basic factors that very frequently occur in an arbitrary
transfer function are
1. Gain K
2. Integral and Derivative Factors (jω)±1
3. First Order Factors (jωT+1)±1
4. Quadratic Factors
26/04/2020 EEC-3410 Bode Plot 5
Basic Factors of a Transfer Function
Gain K
• The log-magnitude curve for a constant gain K is a horizontal
straight line at the magnitude of 20 log(K) decibels.
• The phase angle of the gain K is zero.
• The effect of varying the gain K in the transfer function is that
it raises or lowers the log-magnitude curve of the transfer
function by the corresponding constant amount, but it has no
effect on the phase curve.
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If K = 16 Then 20 log(K)= 20 log (16) = 24 𝑑𝑏
30
24
20
10
Magnitude (decibels)
-10
-20
-30 0.1 1 10 100 103
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Frequency ω (rad/sec)
EEC-3410 Bode Plot 7
𝐼𝑚 𝑜
If, K = 16 ∅ = tan−1 = tan−1 = 0°
𝑅𝑒 16
270o
180o
90o
Phase (degrees)
0o
-900
-180o
-270o
0.1 1 10 100 103
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Frequency (rad/sec)
Integral and Derivative Factors (jω)±1
Derivative Factors (jω)+1
Derivative Factor G( s ) s , where s j
Magnitude G( j ) 20 log( )
Frequency 0.1 0.2 0.4 0.5 0.7 0.8 0.9 1
ω
Magnitude -20 -14 -8 -6 -3 -2 -1 0
db
Slope=20db/decade
By increasing the frequency Magnitude in db also increases but phase contribution
remains constant.
1
Phase G( j ) tan ( ) 90
0
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Derivative Factors S= (jω)+1 adds a slope of 20 db
decade
30
20
10
Magnitude (decibel)
-10
-20
-30 0.1 1 10 100 103
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Frequency
EEC-3410 Bode(rad/sec)
Plot 10
𝜔
Derivative Factors S= (jω)+1 ∅ = tan−1 = 90°
0
270o
180o
90o
Phase (degree)
0o
-900
-180o
-270o
0.1 1 10 100 103
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Frequency (rad/sec)
𝟏
Integral Factors = (jω)-1
𝑺
• Therefore, for Integral Factor the slope of the magnitude line would
be same but with opposite sign (i.e -20db/decade).
1
Magnitude G( j ) 20 log( )
j
1
Phase G( j ) tan ( ) 90
0
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𝟏
Integral Factors = (jω)-1 20 db
𝑺 decade
30
20
10
Magnitude (decibels)
-10
-20
-30 0.1 1 10 100 103
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Frequency
EEC-3410 Bode(rad/sec)
Plot 13
𝟏 𝜔
Integral Factors 𝑺
= (jω)-1 ∅ = tan−1 = 90°
0
270o
180o
90o
Phase (degrees)
0o
-900
-180o
-270o
0.1 1 10 100 103
26/04/2020 EEC-3410 Bode Plot 14
Frequency (rad/sec)
First Order Factors(ST+1)or (jωT+1)
Magnitude M ( ) 20 log( 1 jT )
M ( ) 20 log( 1 T ) 2 2
– For Low frequencies ω<<1/T
M ( ) 20 log(1) 0
– For high frequencies ω>>1/T
M ( ) 20 log(T )
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First Order Factors (ST+1) or (jωT+1)
Phase angle ( ) tan-1(T )
-1
when 0, ( ) tan (0) 0
1 -1
when , ( ) tan (1) 45
T
-1
when , ( ) tan () 90
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First Order Factors 1/(ST+1) or (jωT+1)-1
Magnitude M ( ) 20 log( 1 jT )
M ( ) 20 log( 1 T ) 2 2
– For Low frequencies ω<<1/T
M ( ) 20 log(1) 0
– For high frequencies ω>>1/T
M ( ) 20 log(T )
26/04/2020 EEC-3410 Bode Plot 17
First Order Factors 1/(ST+1) or (jωT+1)-1
Phase angle ( ) tan-1(T )
-1
when 0, ( ) tan (0) 0
1
when , ( ) tan-1(1) 45
T
-1
when , ( ) tan () 90
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Example 1
• Draw the Bode Plot of following Transfer function.
20 s
G( s )
( s 10 )
Convert in to standard form of 1/ (ST+1)
2s
G( s )
( 0.1s 1)
• The transfer function contains
1. Gain Factor (K=2)
2. Derivative Factor (S)
3. 1st Order Factor in denominator (0.1S + 1)-1
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Example 1, contd..
2s
G( s )
( 0.1s 1)
1. Gain Factor (K=2)
K db
20 log( 2) 6 db
2. Derivative Factor (s)
s db 20 log( ) 20 db/decade
3. 1st Order Factor in denominator (𝟎. 𝟏𝒔 + 𝟏) −1
1
when 10, 20 log(1) 0
0.1 j 1 db
For Low frequencies ω<<1/T
1
when 10, 20 log( 0.1 ) 20db/de
0.1 j 1 db
For higher frequencies ω>>1/T
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Example 1, contd..
2 j
G ( j )
( 0.1 j 1)
G( j ) 2 j ( 0.1 j 1)
0 1 1
G( j ) tan ( ) tan ( ) tan 1(0.1 )
2 0
G( j ) 90 tan 1(0.1 )
ω 0.1 1 5 10 20 40 70 100 1000 ∞
Φ(ω) 89.4 84.2 63.4 45 26.5 14 8 5.7 0.5 0
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Bode Diagram
30
20
Magnitude (dB)
10
-10
-20
90
Phase (deg)
45
0
-1 0 1 2 3
10 10 10 10 10
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Frequency (rad/sec)
EEC-3410 Bode Plot
Minimum-Phase & Non-minimum Phase Systems
• Transfer functions having neither poles nor zeros in the right-
half s plane are minimum-phase transfer functions.
• Whereas, those having poles and/or zeros in the right-half s
plane are non-minimum-phase transfer functions.
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Relative Stability
Phase crossover frequency (ωp) is the frequency at which
the phase angle of the open-loop transfer function equals –
180°.
Gain crossover frequency (ωg) is the frequency at which the
magnitude of the open loop transfer function, is unity.
Gain margin (Kg) is the reciprocal of the magnitude of G(jω)
at the phase cross over frequency.
Phase margin (γ) is that amount of additional phase lag at
the gain crossover frequency required to bring the system to
the verge of instability.
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Relative Stability
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Gain cross-over frequency ωg
Phase cross-over frequency ωp
ωg ωp
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EEC-3410 Bode Plot
Unstable Stable
Stable Gain Margin
Stable
Phase Margin
Unstable Stable
ωg ωp
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Semi - log graph paper
Magnitude (decibels) 60
40
20
-20
0°
-90°
Phase (degree)
-180°
-30°
0.1 1 10 100 103
26/04/2020
Frequency ω (rad/sec) 28
EEC-3410 Bode Plot
• In next presentation we will learn the
procedure to draw Bode plot, find gain
margin, phase margin and stability of the
system.
27/04/2020 EEC-3410 Bode Plot 29
