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K>0: 0°

Constant: K 20·log10(|K|)

K<0: ±180°

• Low freq. asymptote at 0°.

Real Pole: 1 • Low freq. asymptote at 0 dB • High freq. asymptote at

s

+1

• High freq. asymptote at -20 dB/dec -90°.

ω0 • Connect asymptotic lines at ω0, • Connect with straight line

from 0.1·ω0 to 10·ω0.

• Low freq. asymptote at 0°.

• Low freq. asymptote at 0 dB • High freq. asymptote at

Real Zero*: s + 1 • High freq. asymptote at +20 dB/dec. +90°.

ω0

• Connect asymptotic lines at ω0. • Connect with line from

0.1·ω0 to 10·ω0.

Pole at Origin: 1 • -20 dB/dec; through 0 dB at ω=1. • -90° for all ω.

s

Zero at Origin*: s • +20 dB/dec; through 0 dB at ω=1. • +90° for all ω.

• Low freq. asymptote at 0 dB. • Low freq. asymptote at 0°.

Underdamped Poles: • High freq. asymptote at -40 dB/dec. • High freq. asymptote at

-180°.

• Connect asymptotic lines at ω0.

• Connect with straight line

1 • Draw peak† at freq. ωr = ω0 1 − 2ζ 2 from ‡

⎛ s ⎞

2

⎛ s ⎞

with amplitude ⎛2⎞

( )

log10 ⎜ ⎟

⎜ ⎟ + 2ζ ⎜ ⎟ + 1 H ( jωr ) = −20 ⋅ log10 2ζ 1 − ζ 2

⎝ ζ ⎠ to ω = ω 2

⎝ ω0 ⎠ ⎝ ω0 ⎠ ω = ω0

2

0

⎛2⎞

log10 ⎜ ⎟

⎝ζ⎠

• Draw low freq. asymptote at 0 dB. • Low freq. asymptote at 0°.

• Draw high freq. asymptote at +40 • Draw high freq. asymptote

Underdamped Zeros*: dB/dec. at +180°.

• Connect asymptotic lines at ω0. • Connect with a straight

2 • Draw dip† at freq. ω = ω0 with line from ‡

⎛ s ⎞ ⎛ s ⎞ r ⎛2⎞

⎜ ⎟ + 2ζ ⎜ ⎟ + 1 1 − 2ζ 2

log10 ⎜ ⎟

⎝ ω0 ⎠ ⎝ ω0 ⎠ ω = ω0 ⎝ ζ ⎠ to ω = ω 2

amplitude 0

⎛2⎞

( )

2

H ( jωr ) = +20 ⋅ log10 2ζ 1 − ζ 2 .

log10 ⎜ ⎟

⎝ζ⎠

Notes:

* Rules for drawing zeros create the mirror image (around 0 dB, or 0°) of those for a pole with the same ω0.

† For underdamped poles and zeros peak exists only for 1 and peak freq. is typically very near ω0.

0 < ζ < 0.707 =

2

‡ For underdamped poles and zeros If ζ<0.02 draw phase vertically from 0 to -180 degrees at ω0

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). Don’t change frequencies, only plot values and slopes.

© Copyright 2005-2007 Erik Cheever This page may be freely used for educational purposes.

Comments? Questions? Suggestions? Corrections?

Erik Cheever Department of Engineering Swarthmore College

Quick Reference for Making Bode Plots

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

s n + L + b1s + b0

H(s) = C

s m + L + 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).

( s + ωz1 )( s + ωz 2 )L( s 2 + 2ζ z1ω0z1s + ω0z1

2

)( s2 + 2ζ z 2ω0z 2s + ω0z2 2 )L

H(s) = C ⋅ s p

( s + ω )( s + ω )L( s

p1 p2

2

+ 2ζ p1ω0p1s + ω0p1

2

)( s2 + 2ζ p2ω0p2s + ω0p2

2

)L

Put polynomial into standard form for Bode Plots.

⎞ ⎛⎛ s ⎞ ⎛ s ⎞ ⎞⎛ ⎛ s ⎞ ⎛ s ⎞ ⎞

2 2

⎛ s ⎞⎛ s

⎜ + 1⎟⎜ + 1⎟L⎜ ⎜ ⎟ + 2ζ z1 ⎜ ⎟⎜ ⎜

⎟ + 1⎟⎜ ⎟ + 2ζ z2 ⎜ ⎟ + 1⎟⎟L

ω ω L ω0z1ω0z2 L p

2 2

⎝ ω ⎠⎝ ω ⎠ ⎜ ⎝ ω ⎠ ⎝ ω ⎠ ⎝ ω ⎠ ⎝ ω ⎠

H(s) = C z1 z2 ⋅s

z1 z2 ⎝ 0z1 0z1 ⎠⎝ 0z2 0z2 ⎠

ωp1ωp2 L ω0p1ω0p2 L ⎞ ⎛⎛ s ⎞ ⎛ s ⎞ ⎞⎛ ⎛ s ⎞ ⎛ s ⎞ ⎞

2 2 2 2

⎛ s ⎞⎛ s

+ + ⎜ + ζ p1 ⎜ + ⎟⎜ + ζ + 1⎟L

⎜⎜ ⎟⎜ ⎟⎟ ⎜⎜ ⎟⎟ ⎜ ω ⎟⎟ ⎟⎜ ⎜⎜ ω ⎟⎟ p2 ⎜

⎜ ω ⎟⎟ ⎟

1 1 L 2 1 2

ω ⎟⎜ ω ⎜ ω

⎝ p1 ⎠⎝ p2 ⎠ ⎝ ⎝ 0p1 ⎠ ⎝ 0p1 ⎠ ⎠⎝ ⎝ 0p2 ⎠ ⎝ 0p2 ⎠ ⎠

⎞⎛ s ⎞ ⎛ ⎛ s ⎞ ⎛ s ⎞ ⎞⎛ ⎛ s ⎞ ⎛ s ⎞ ⎞

2 2

⎛ s

⎜ + 1 ⎟⎜ + L

⎟ ⎜⎜ ⎜ ⎟ + 2ζ z1 ⎜ +

⎟ ⎟⎜ ⎜

1 ⎟⎜ ⎟ + 2 ζ z2 ⎜ ⎟ + 1⎟⎟L

ω ω

⎝ z1 ⎠⎝ z2 ⎠ ⎝ ⎝ 0z1 ⎠ ω ω

⎝ 0z1 ⎠ ⎠⎝ ⎝ 0z2 ⎠ ω ω

⎝ 0z2 ⎠ ⎠

= K ⋅ sp

⎞ ⎛⎛ s ⎞ ⎛ s ⎞ ⎞⎛ ⎛ s ⎞ ⎛ s ⎞ ⎞

2 2

⎛ s ⎞⎛ s

+ 1⎟⎜ + 1 ⎟L ⎜ ⎜ + 2ζ p1 ⎜ +1 ⎟⎜ + 2ζ p2 ⎜ + 1⎟L

⎜⎜

ω ⎟⎜ ω ⎟ ⎜ ⎜ ω ⎟⎟ ⎜ ω ⎟⎟ ⎟⎜ ⎜⎜ ω ⎟⎟ ⎜ ω ⎟⎟ ⎟

⎝ p1 ⎠⎝ p2 ⎠ ⎝ ⎝ 0p1 ⎠ ⎝ 0p1 ⎠ ⎠⎝ ⎝ 0p2 ⎠ ⎝ 0p2 ⎠ ⎠

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.

© Copyright 2005-2007 Erik Cheever This page may be freely used for educational purposes.

Comments? Questions? Suggestions? Corrections?

Erik Cheever Department of Engineering Swarthmore College

Matlab Tools for Bode Plots

>> n=[1 11 10]; %A numerator polynomial (arbitrary)

>> d=[1 10 10000 0]; %Denominator polynomial (arbitrary)

>> sys=tf(n,d)

Transfer function:

s^2 + 11 s + 10

----------------------

s^3 + 10 s^2 + 10000 s

Eigenvalue Damping Freq. (rad/s)

0.00e+000 -1.00e+000 0.00e+000

-5.00e+000 + 9.99e+001i 5.00e-002 1.00e+002

-5.00e+000 - 9.99e+001i 5.00e-002 1.00e+002

Eigenvalue Damping Freq. (rad/s)

-1.00e+000 1.00e+000 1.00e+000

-1.00e+001 1.00e+000 1.00e+001

>> 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')

>> bode(sys)

>> fr=polyval(n,j*10)./polyval(d,j*10)

fr = 0.0011 + 0.0010i

>> fr=freqresp(sys,10)

fr = 0.0011 + 0.0009i

>> abs(fr)

ans = 0.0014

ans = 38.7107

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

>> step(sys)

>> impulse(sys)

© Copyright 2005-2007 Erik Cheever This page may be freely used for educational purposes.

Comments? Questions? Suggestions? Corrections?

Erik Cheever Department of Engineering Swarthmore College

>> [n,d]=tfdata(sys,'v') %Get numerator and denominator.

n =

0 1 11 10

d =

1 10 10000 0

z =

-10

-1

p =

0

-5.0000 +99.8749i

-5.0000 -99.8749i

k =

1

>> %Code is available at

>> % http://www.swarthmore.edu/NatSci/echeeve1/Ref/Bode/BodePlotGui.html

>> BodePlotGui(sys)

© Copyright 2005-2007 Erik Cheever This page may be freely used for educational purposes.

Comments? Questions? Suggestions? Corrections?

Erik Cheever Department of Engineering Swarthmore College

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