ananor Bode Pot Bamps o_o] [Fon] [Reno [ara] te Ta] ran 4p |_Lzslzabr ote ctu oie Ps ae ded ni Clone raster ab inp tatoo Examples (Clk on Transfer Funetion) >! 2 3 4 5 6 7 e 46 4S t8+25) 100 +19 [100 ___|g0_$*10 _|""'5? + jo0s* 2 Syaq\100— S44 _ho S10) 5 te? $218 +10) 5? +38+ 50] (mute pobsat|_100 goats “N SFS0] SP 110s +1000) 5743s] (ropes pts, (eampixcon. | orgin complex |5+30 (real poles and zeros) | (ple at rg) negative consat) pales) conjzeon) | (ee dl) © me Bode Plot: Example 1 Draw the Bode Diagram for the transfer function: 100 H(s)= s+30 Step 1: Rewrite the transfer function in proper form. Make both the lowest order term in the numerator and denominator unity. The numerator is an order 0 polynomial, the denominator is order 1 Step 2: Separate the transfer function into its constituent parts. ‘The transfer function has 2 components: + Aconstant of 3.3 + Apole at s=-30 Step 3: Draw the Bode diagram for each part. This is done in the diagram below. ‘+ The constant is the cyan line (A quantity of 3.3 is equal to 10.4 dB). The phase is constant at 0 degrees. ‘+ The pole at 30 radisec is the blue line. It is 0 dB up to the break frequency, then drops off with a slope of -20 dBidec. The phase is 0 degrees up to 1/10 the break frequency (3 rad/sec) then drops linearly down to -80 degrees at 10 times the break frequency (300 radisec). 1. suonhno eduBocelSadetar bs hint siteananor Bode Pot Bamps Step 4: Draw the overall Bode diagram by adding up the results from step 3. Tne overall asymptotic plot is the translucent pink line, the exact response is the black line, Asymptotic Bode Plot my Magnitude Plt 2 = —— Exact Bode Pot 2 | Tero Value tor retrenes on) z canst 33 (108) Real Pote at 20 40 io 10" 10 0 Phase Plot 45 é Bode Plot: Example 2 Se Draw the Bode Diagram for the transfer function: (s+1) (s+1) 6) = 100 —S*9)___ygg_(8*9)_ (s+10)(s +100) s?+110s +1000 Step 1: Rewrite the transfer function in proper form. Make both the lowest order term in the numerator and denominator unity. The numerator is an order 1 polynomial, the denominator is order 2. Sat Sea aia hipipsaswarthmer.edulBecelBodetzampbshinlananor Bode Pot Bamps Step 2: Separate the transfer function into its constituent parts. The transfer function has 4 components: * Aconstant of 0.1 + Apole at s=-10 + Apole at = Azero at Step 3: Draw the Bode diagram for each part. This is done in the diagram below. ‘+ The constant is the cyan line (A quantity of 0.1 is equal to -20 dB). The phase is constant at 0 degrees ‘+ The pole at 10 radisec is the green line. It is 0 dB up to the break frequency, then drops off with a slope of -20 dBidec. The phase is 0 degrees up to 1/10 the break frequency (1 radisec) then drops linearly down to 80, degrees at 10 times the break frequency (100 radisec). ‘+ The pole at 100 rad/sec isthe blue line. It is 0 dB up to the break frequency, then drops off with a slope of -20 dBidec, The phase is 0 degrees up to 1/10 the break frequency (10 radisec) then drops linearly down to -90 degrees at 10 times the break frequency (1000 radisec) ‘The zero at 1 radisec isthe red lin. Itis 0 dB up to the break frequency, then rises at 20 dBideo, The phase is 0 degrees up to 1/10 the break frequency (0.1 radisec) then rises linearly to 90 degrees at 10 times the break frequency (10 radisec) Step 4: Draw the overall Bode diagram by adding up the results from step 3. The overall asymptotic pot isthe translucent pink line, the exact response is the black line. Asymptotic Bode Plot x.) = "22-22%. Magnitude Plot 80 actos ret eo ze Vae or tence nh) 0 : @ cert =08 (20) ce Routed i002 Zo fea 10 2 “0 oF Tt 0 2 3 a4 2. suorhno edulBocelSadetxar bs hint teananor Bode Pot Bamps w w uw wu wu ws w Phase Plot Phase - degrees Bode Plot: Example 3 Bre Draw the Bode Diagram for the transfer function: s+10 H(s) =10. fe 1 Sees Step 1: Rewrite the transfer function in proper form. Make both the lowest order term in the numerator and denominator unity. The numerator is an order 1 polynomial, the denominator is order 2, Step 2: Separate the transfer function into its constituent parts. The transfer function has 4 components: + Aconstant of 33.3 + Apole ats=3 + Apole at s=0 + Azero at s=10 Step 3: Draw the Bode diagram for each part. This is done in the diagram below. ‘+ The constant is the cyan line (A quantity of 33.3 is equal to 30 dB). The phase is constant at 0 degrees. ‘The pole at 3 radisec is the green line. Itis 0 dB up to the break frequency, then drops off with a slope of -20 dBidec. The phase is 0 degrees up to 1/10 the break frequency (0.3 radisec) then drops linearly down to -80 degrees at 10 times the break frequency (30 radisec) ‘The pole atthe origin. itis a stright line with a slope of -20 dBidec. It goes through 0 dB at 1 radi/sec. The 2. suarhmo aduBocelSodeExam bs hint aneairanotr Bod Pot Examples phase is -90 degrees, ~ ~ ~ ‘+ The zero at 10 rad/sec is the red line. It is 0 dB up to the break frequency, then rises at 20 dBidec. The phase is 0 degrees up to 1/10 the break frequency (1 rad/sec) then rises linearly to 90 degrees at 10 times the break frequency (100 radisec), Step 4: Draw the overall Bode diagram by adding up the results from step 3. The overall asymptotic plotis the translucent pink line, the exact response is the black line, Asymptotic Bode Plot cen st Magnitude Plot —— Sect ance Pet --- Zero Value for rference only Constant» 33 (3048) --- Pole at origin so RealPale at 3 cose Real Zeroat 10 Phase Plot 135 90 45 Phase - degrees Bode Plot: Example 4 ee Draw the Bode Diagram for the transfer function: NG) =-100 Sag aDis 10 Step 1: Rewrite the transfer function in proper form. Make both the lowest order term in the numerator and denominator unity, The numerator is an order 1 2. suarhmo edulBocelSodetar bs hn! siteananor Bode Pot Bamps Polynomial, the denominator is order 3. H6) 5 —_ = 49 —_$_—_. W(s+10) (s44)'| S44] \o") Step 2: Separate the transfer function into its constituent parts. Tne transfer function has 4 components: Aconstant of 10 Apolo at s=-10 ‘A doubly repeated pole at s=-1 A.zero atthe origin Step 3: Draw the Bode diagram for each part. This is done in the diagram below. ‘+ The constant isthe cyan tine (A quantity of 10 is equal to 20 dB). The phase is constant at 180 degrees (constant is negative) + The pole at 10 radisecis the blue line. itis 0 dB up to the break frequency, then drops off with a slope of -20 dBldec. The phase is 0 degrees up to 1/10 the break frequency then drops linearly down to -80 degrees at 10 times the break frequency. + The repeated pole at 1 radlsec is the green line. Itis 0 dB up to the break frequency, then drops off with a slope of -40 dBidec, The phase is 0 degrees up to 1/10 the break frequency then drops linearly down to -180, degrees at 10 times the break frequency. The magnitude and phase drop twice as steeply as those for a single pole. + The zero atthe origins the redline. Ithas a slope of +20 dBi/dec and goes through 0 dB at 1 radisec. The phase is 90 degrees. Step 4: Draw the overall Bode diagram by adding up the results from step 3. The overall asymptotic plots the translucent pink line, the exact response i the black line. Asymptotic Bode Plot) « Magnitude Plot 100 0 60 a — Exact Bode Pet 2 2 Zero Value (for reference orty) s 2 Constant = 10 (2068) 32 = -40 s+ Reel Pole at 10 = s+ Real Pole at -1,mut=2 teananor Bade Pot Bamps 420 140 10" 10 ag 10 a0 10) Phase Plot 135 90f-------~ 5 45 90 1% degrees Bode Plot: Example 5 Draw the Bode Diagram for the transfer function: s+10 HG) =30———_ s+8s+50 Step 1: Rewrite the transfer function in proper form. Make both the lowest order term in the numerator and denominator unity. The numerator is an order 1 polynomial, the denominator is order 2. s+10 HG) =30-—_—__= 438450 Step 2: Separate the transfer function into its constituent parts. The transfer function has 4 components: + Aconstant of 6 + Azeroats=-10 ‘+ Complex conjugate poles at the roots of s2+3s+50 = s@+22upstuy2, 3 2-150 soo, = V50=7.07, 20,=3, ¢ =0.21 Step 3: Draw the Bode diagram for each part. This is done in the diagram below. ‘The constant is the cyan line (A quantity of 6 is equal to 15.5 dB). The phase is constant at 0 degrees. ‘+The zero at 10 radi/secis the green line. Itis 0 dB up to the break frequency, then rises with a slope of +20 hipipsaswarthner.edulBece odetzampbshinl tearanot ode Pot Examples ‘diidec. Ine phase is U degrees up to 1/1U tne break trequency then nses nearly to +¥U degrees at 1U mes the break frequency. ‘The plots for the complex conjugate poles are shown in blue. They cause a peak of: Peak height = -20-log,,(261- ¢* | =-20-1og,.(0.40) =7.9dB ata frequency of This is shown by the blue circle. The phase goes from the low frequency asymptote (0 degrees) at a, o- 10° =4.4rad/sec to the high frequency asymptote at “ ao =11.5rad/ sec Step 4: Draw the overall Bode diagram by adding up the results from step 3. The exact response is the black line. Be) Asymptotic Bode Plot Magnitude Plot — Bea Bede Pt ‘Asymptotic Pot = Z210 Value (or eterence only) ‘Constant = 6 16 dB) pio Complex Pole at wre7.1,zata-0.21 4.5 4-89) Crcle shows peak height. Real Ze al-I0 Magnitude - dB 10" 10° 10 102 109 Phase Plot Phase - degrees Bode Plot: Example 6 Bre Draw the Bode Diagram for the transfer functc si+st+25 Hs) =4-——" => SP 1008" hipitbsa seathno edulBoeolBodeSanpbsinl anaananor Bode Pot Bamps Step 1: Rewrite the transfer function in proper form. Make both the lowest order term in the numerator and denominator unity. The numerator is an order 2 polynomial, the denominator is order 3 gS. t8+25_ 4 25 | = +1008 100 Step 2: Separate the transfer function into its constituent parts. Tne transfer function has 4 components: * Aconstant of 1 * Apole at s=-100 ‘* Arepeated pole at the origin (s=0) ‘+ Complex conjugate zeros at the roots of s*+s+25,, with = N25 =5, 1 Step 3: Draw the Bode diagram for each part. This is done in the diagram below. ‘+ The constant is the cyan line (A quantity of 1 is equal to 0 dB). The phase is constant at 0 degrees. ‘+The pole at 100 radisec is the green line. Itis 0 dB up to the break frequenoy, then falls with a slope of -20 dBidec, The phase is 0 degrees up to 1/10 the break frequency then falls nearly to -90 degrees at 10 times the break frequency. ‘The repeated oles at the origin are shown wit the blue line, The slope is -40 dB/decade (because pole is. repeated), and goes through 0 dB at 1 radisec. The slope is -180 degrees (again because of double pole). ‘+ The complex zero is shown by the redline. The zeros give a dip in the magnitude plot of Magnitude = 20 tog. (25 | -20 109.9 (0.20) =-14dB ata frequency of§ radisec (because {is small, w.~wp). This is shown by the red circle, The phase goes from the low frequency asymptote (0 degrees) at @, o=— > =4.0rad/sec 10 to the high frequency asymptote at ®=0,-10' =6.3 rad/sec 12. suarhno eduBocelSodetxam bs hint siteananor Bode Pot Bamps ‘Again, because Z is so small this line is close to vertical Step 4: Draw the overall Bode diagram by adding up the results from step 3. The exact response is the black line. Asymptotic Bode Plot Magnitude Plot Snack Bose Pat Asymptotic Pot Zero Value (for rteronce ony) g i constant = 1 (048) 3 Pot at ge, muted 5 Real ole at 100002 2 Complex Zero at wneS, zeta=0.1 (2521-5) Croke shows peak hight 160 180 200 i 10 10 10 10 10 10 Phase Plot 28 180 135 g 30 245 Soo gs = 9 135 Bode Plot: Example 7 Draw the Bode Diagram for the transfer function: 100 ‘ H{(s) =H(6) = ——e*"* s+30 This is the same as "Example 1,” but has a 0.01 second time delay. We have not seen a time delay before this, but we can easily handle it as we would any other constituent part ofthe transfer function, The magnitude and phase of a time delay are desoribed here, Step 1: Rewrite the transfer function in proper form. Make both the lowest order term in the numerator and denominator unity. The numerator is an order 0 1. suarhno edulBocelSodetiam bs hn! saneananor Bade Pot Bamps polynomial, the denominator is order 1. Ht) = 220 . 308 su 30 30 Step 2: Separate the transfer function into its constituent parts. The transfer function has 3 components: © Aconstant of 3.3 + Apole at s=-30 ‘+ Atime delay of 0.01 seconds (magnitude and phase of time delay desoribed here). Step 3: Draw the Bode diagram for each part. This is done in the diagram below. ‘+ The constant is the cyan line (A quantity of 3.3 is equal fo 10.4 dB). The phase is constant at 0 degrees, ‘The pole at 30 radisec is the blue line. Itis 0 dB up to the break frequency, then drops off with a slope of -20 dBidec, The phase is 0 degrees up to 1/10 the break frequency (3 radisec) then drops linearly down to 80, degrees at 10 times the break frequency (300 radisec) ‘+ The time delay isthe red line, Itis 0B at all frequencies, The phase ofthe time detayis given by -0.01-w rad, of 0.01-w-180/n® (at w=100 radlsec, the phase is -0.01-100-180/=-30°), There is no asymptotic approximation for the phase of a time delay. Though the equation for the phase is linear with frequenoy,it looks exponential on the graph because the horizontal axis is logarithmic. Step 4: Draw the overall Bode diagram by adding up the results from step 3. The exact response is the black line. Magnitude (top) and phase (bottom) for system with time delay Magnitude (48) hipipsaswarthner.edulbecelBodetzampbshinl sueananor Bade Pbt Bamps (degrees) Phat Rotor Camp SE ew TH pig ae a bat Crenwen! Ghose) Cosa rm ope egeeie Shan leg sane hipipsasvarthner.edulBecelBodatzampbshinl