CH - 8 (Bode Plot) PD Sol

Practice Solutions :
Sol.1 Given asymptotic Bode magnitude plot is shown below,

G ( jw), dB
0 dB/dec
160
140 20 dB/dec
60 dB/dec
20
w (rad/ sec )
0.1 10 100
For the given Bode magnitude plot, there are three corner frequencies ω1  0.1, ω2  10 and
ω3  100 rad/sec.
The initial slope is 0 dB/dec and line is constant and this corresponds to no pole or zero at origin in the
transfer function.
3
 s 
(i) At ω1  0.1 : The slope changes by  60 dB/dec and this is due to the factor  1   in the
 0.1 
numerator of the transfer function.
(ii) At ω2  10 : The slope changes by  40 dB/dec and resultant slope will be  20 dB/dec. This is due
2
 s 
to the factor  1   in the denominator of the transfer function.
 10 
(iii) At ω3  100 : The slope changes by  20 dB/dec and resultant slope will be 0 dB/dec. This is due to
 s 
the factor  1   in the denominator of the transfer function.
 100 
Calculation of K :
20log10 K  20 [From figure]
K  10
The overall transfer function can be written as,

Control Systems 2 Bode Plot
3
 s   s 
3
K 1   10 1  
 ω1   0.1 
G( s)  2
 2
 s   s  1  s  1  s 
 1  ω   1  ω   10   100 
 2   3 
108 ( s  0.1)3
G( s) 
( s  10)2 ( s  100)
Hence, the correct answer is (A).
Sol.2 Given Bode Plot is Shown below,
G ( jw)
100 dB
– 60 dB/dec
40 dB/dec
w (rad/sec)
10
For the given Bode magnitude plot there are one corner frequency : 1  10
The initial slope is  40 dB/sec and this corresponds to a factor s 2 in the numerator of transfer function.
At 1  10 rad/sec, the slope changes by  100 dB/sec
5
 s 
So resultant slope will be  60 dB/sec and this is due to the factor 1   in the denominator of the
 10 
transfer function.
Calculation of K :
100  20log K  40log10
20 log K  60
K  (10)3  1000
Ks 2
G(s) H (s)  5
 s 
1  
 10 
1000 s 2
G(s) H (s) 
(1  0.1 s) 2
K
Sol.3 Given : Transfer function G ( j) 
j( jT  1)
Put j  s in the above equation,
K
G(s) 
 
 s 
s 1  
1
 
 T 

(i) Since, type 1 system hence initial slope is  20 dB/dec
1
(ii) Corner frequency at  
T
(iii)Since type 1 system hence  pc  K
Hence, the correct option is (C).
Sol.4 Given : (i) Number of Zeros  2  Z
(ii) Number of Poles  6  P
High frequency asymptotes slope is given by,
Slope  20  Z  20  P dB/decade
Slope  20  2  20  6   80 dB/decade
10
Sol.5 Given : Transfer function G ( s ) 
0.66 s  2.33s  1
2
10
G(s) 
0.66 s  0.33s  2s  1
2
10
G( s) 
(2s  1) (1  0.33s )
10
G( s)  … (i)
 s  s 
1  1  
 0.5  3 
From equation (i),
Corner frequency is 1  0.5 and 2  3
Hence, the correct option is (D).
Sol.6 Given : (i) Slope  40 dB/decade   0.1 rad/sec
(ii) Slope  20 dB/decade , 0.1    10 rad/sec
(iii) Slope 0, 0.1    10 rad/sec
Since, Initial slope is  40 dB/dec and this corresponds to a factor s 2 in the denominator of the transfer
function i.e. two pole at origin
(i) At 1  0.1 : The slope changes by  20 dB/dec and resultant slope will be  20 dB/dec. This
 s 
corresponds to a factor 1   in the numerator of the transfer function
 0.1 
(ii) At   10 : The slope changes by  20 dB/dec and resultant slope will be 0 dB/dec. This is due to the
 s 
factor 1   in the numerator of the transfer function.
 10 
 s  s 
K 1  1  
T (s)  
0.1  10 
s2
Hence, the correct option is (B).

Sol.7 Given magnitude plot is shown below,
Mag dB
20 dB
1 10 100 1000
0 dB –2 w rad/sec
c 0d
/de B/d
dB ec
20
– 20 dB
Initial slope is  20dB/dec and this corresponds to a factor s in the numerator of transfer function.
For the give Bode magnitude plot, there are one corner frequency : 1  10 rad/sec
At 1  10 rad/sec, the slope changes by  40 dB/dec So resultant slope will be  20 dB/dec and this is
2
 s 
due to the factor 1  
 10 
Calculation of K :
 20  20 log K  20 log10
K  0.01
The overall transfer function is given by,
0.01s 10 s
T (s)  
10  s 
2 2
 s 
 1  
 10 
K
Sol.8 Given : OLTF G ( s )  2
s
K
Put s  j in the above equation, G ( j) 
( j) 2
K
Magnitude of G ( j) is given by, G ( j)  2

At   gc , G ( jgc )  1
K
1
2gc
gc  K rad/sec
Sol.9

From above figure,
(i) At   10 rad/sec
GH ( j)  1800 hence  pc  10 rad/sec
Also GH ( j pc )  4 dB hence GM  4 dB
(ii) At   100 rad/sec
GH ( j100)  0 dB
Hence gc  100 rad/sec
Also GH ( j100)   2100
PM  1800  GH ( j100)  1800  2100   300
Hence, the correct option is (A).
Sol.10
Key Point :
Error in Error in phase
G ( j) at
T(s) Initial slope magnitude (degree)

(dB)
1
– 20 dB/decade  90 0 – 3 dB  45 0
1  sT
1
 40 dB/decade 1800 – 6 dB 90 0
(1  sT ) 2
1
 60 dB/decade  270 0 – 9 dB  135 0
(1  sT ) 3
    
1
 20 N dB/decade  360 0 – 3N dB  45 0 N
(1  sT ) N
The initial slope is – 20 dB/dec and this corresponds to a factor s in the denominator of the transfer
function i.e. one pole at origin.
(i) At ω1  3 : The slope changes by  20 dB/dec and resultant slope will be - 40 dB/dec, this is due to
 s
the factor 1   in the denominator of the transfer function.
 3

(ii) At ω2  8 : The slope changes by  20 dB/dec and resultant slope will be -60 dB/dec, this is due to
 s
 8
K K
H (s)  
 s  s   s  s 
1    1   1  3  1  8 
 ω2  ω3 
K
H ( s) 
s (0.33s  1) (0.125s  1)
Calculation of K :
11  20 log K  20 log 3 [From figure]
20 log K  20.542
K  10.64
10.64
H ( s) 
s (0.33s  1) (0.125s  1)
Hence, the correct answer is (A).
Sol.12 Given Bode plot is shown below,
dB
Y – 40 dB/dec
20 dB
0 dB w (rad / sec)
0.1 0.5 1 6 20
– 60 dB/dec
– 60 dB/dec
– 40 dB/dec
For the given Bode magnitude plot, there are three corner frequencies : ω1  0.5, ω2  6 and ω3  20.
The initial slope is  40 dB/dec and this corresponds to a factor s 2 in the denominator of the transfer
function.
At ω 1  0.5 rad/sec, the slope changes by  20 dB/dec so resultant slope will be  60 dB/dec and this is
 s 
due to the factor  1   in the denominator of the transfer function.
 0.5 
At ω 2  6 rad/sec, the slope changes by  20 dB/dec so resultant slope will be  40 dB/dec and this is
 s
due to the factor 1   in the numerator of the transfer function.
 6
At ω 3  20 rad/sec, the slope changes by  20 dB/dec so resultant slope will be  60 dB/dec and this is
 s 
due to the factor 1   in the denominator of the transfer function.
 20 

Transfer function must have 2 poles at origin i.e. term 1/ s 2

20  20 log K  40 log1.0
K  10
Y  20log10  40log 0.1
Y  20  40  60dB
Sol.13 Overall transfer function can be written as,
 s 
K 1  
 2 
T ( s) 
 s  s 
s 2 1   1  
 1  3 
 s
10  1  
 6
T ( s) 
 s 
s2 1  2s   1  
 20 
Sol.14 Given Bode magnitude plot is shown below,
Since, 6dB/oct  20 dB/dec

And  12 dB/oct   40 dB/dec
3
 s 
At corner frequency 1 slope changes by 18 dB/oct or  60 dB/dec, this is due to a factor 1   in
 1 
the denominator of transfer function.
From the slope  6 dB/oct or  20 dB/dec
14  0
20 
log 1  log10
log 1  1.7
1  101.7  50 rad/sec
Calculation of K :
14  20 log K  20 log 50
20 log K   20
K  (10)1  0.1

Ks 0.1 s
G( s) H (s)  3  3
 s   s 
1   1  
 1   50 
Sol.15 The given magnitude plot is given by,
T ( jw)
x = 0.5 80 dB /dec
w (rad / sec )
0 dB 10
2
 2s  s  2 
At   10 rad/sec change in slope is  80 dB/dec and this is due to the factor 1    
 n  n  
Put   0.5 and n  10 in the above equation

2
 2  0.5s  s 2 
T ( s )  1    
 10  10  
2
 s  s  
2
T ( s )  1     
 10  10  
Sol.16 Given magnitude plot is shown below,
T ( jw)
ec
/d
– 20 dB/dec
dB
20
w (rad / sec )
w = 0.1 4
x = 0.2
-10 dB
Initial slope is  20dB/dec and this corresponds to a factor s in the numerator of transfer function.
For the give Bode magnitude plot, there are one corner frequency : 1  4 rad/sec
At 1  4 rad/sec, the slope changes by  40 dB/dec
 2s  s 2 
So resultant slope will be  20 dB/dec and this is due to the factor 1    
 n  n  
Put   0.2 and n  4 rad/sec in the above equation,

2 2
2  0.2s  s  s
 1     1  0.1s   
4 4 4

Calculation of K :
10  20 log K  20 log 4
K  3.162
Ks 3.162
T (s)  2
 2
s s
1  0.1s    1  0.1s   
4 4
G ( jw) , dB
B C
40 dB – 40 dB/dec
40 dB/dec
A D
0 dB Freq. (Hz)
fL 300 900 fH
Calculation of fL :
For line AB,
40  0
40 
log10 (300)  log10 ( f L )
 300 
log10   1
 fL 
300  10 f L  f L  30 Hz …(i)
Calculation of fH :
0  40
For line CD,  40 
log10 f H  log10 (900)
 f 
log10  H   1
 900 
f H  900  10  9000 Hz …(ii)
f H  f L  9000  30  8970 Hz
Hence, the value of f H  f L is 8970 Hz.
K
Sol.18 Given : G ( s )  …(i)
( s  0.1) ( s  10) ( s  P1 )
Phase, f
0.01 0.1 1 10 100

0
0
w rad/sec
0
– 45
0
– 135
0
– 225
0
– 270

From the given graph,
(a) 0.01    0.1
 450  00
Slope =   450 /dec …(ii)
 0.1 
log  
 0.01 
(b) 0.1    10
 2250  450
Slope =   900 /dec …(iii)
 10 
log  
 0.1 
(c) 10    100
 2700  2250
Slope=   450 /dec …(iv)
 100 
log  
 10 
From equation (i),
K
G ( s) 
( s  0.1) ( s  10) ( s  P1 )
K
G( s) 
 s  s  s
P1  1   1   1  
 0.1   10   P1 
Corner frequencies of G ( s ) are 0.1, 10 and P1 rad/sec.
Concept of Asymptotic Bode Phase Plot :

1. Consider the simple transfer function for real zero,
 s 
(a) G( s)  1  
 0 
 
G ( j)   1  j 
 0 
 
G ( j)  tan 1  
 0 
Phase of simple real zero is given by,
(i) At low frequency,   0 , the phase is approximately 00 .
(ii) At high frequency,   0 , the phase is 900 .
(iii) At corner frequency,   0 , the phase is 450 .

The rule for drawing the bode phase plot for real zero :
The phase plot is 00 until one tenth the corner frequency and then increase linearly to 900 at ten times
the corner frequency.

ÐG ( jw) approximate plot (slope 450/decade)
exact plot
900
450
w (rad / sec)
0.1 w0 w0 10 w0
´10 ´10
2
 s 
(b) For G ( s )   1  
 0 
 
G ( j)  2 tan 1  
 0 
The phase plot is 00 until one tenth the corner frequency and then increase linearly to 1800 at ten times
ÐG ( jw) approximate plot (slope 900/decade)
exact plot
1800
900
w (rad / sec)
0.1 w0 w0 10 w0
´10 ´10
Note : An nth order zero rises to (90n)0 .

2. Consider the simple transfer function for real pole,
 
 1 
(a) G (s)   
1 s 
 0 
 
 
 1 
G ( j)   
1 j  
 0 
 
 
G ( j)   tan 1  
 0 
Phase of simple real pole is given by,
(i) At low frequency,   0 , the phase is approximately 00 .
(ii) At high frequency,   0 , the phase is 900 .
(iii) At corner frequency,   0 , the phase is  450 .

The rule for drawing the bode phase plot for real pole :
The phase plot is 00 until one tenth the corner frequency and then decrease linearly 900 at ten times
ÐG ( jw)
´10 ´10
0.1 w0 w0 10 w0
00 w (rad / sec)
- 450
- 900
exact plot
approximate plot (slope – 450/decade)
1
(b) For G ( s )  2
 s 
1   
 0 
 
G ( j)   2 tan 1  
 0 
The phase plot is 00 until one tenth the corner frequency and then decrease linearly to 1800 at ten
times the corner frequency.
ÐG ( jw)
´10 ´10
0.1 w0 w0 10 w0
00 w (rad / sec)
- 900
-1800
exact plot 0
approximate plot (slope – 90 /decade)
Note : An nth order pole drops to (  90n)0 .

3. Effect of constant on phase :
A positive constant, K  0 , has no effect on phase. A negative constant, K  0 , will setup a phase
shift of 1800.
4. Effect of zeros at the origin on phase :
Zero at the origin s , cause a constant 900 phase shift for each zero.
Example : G ( s )  s
G( j)  900
ÐG ( jw)
900
w (rad / sec)

5. Effect of poles at the origin on phase :

1
Pole at the origin , cause a constant 900 phase shift for each pole.
s
1
Example : G ( s ) 
s
G( j)  900
ÐG ( jw)
w (rad / sec)
00
- 900
Example 1 :
Draw asymptotic Bode phase plot for the following transfer function,
1
G( s) 
2 s  100
Solution :
 1 
1  
G( s)    100 
2 s  100  1  s 
 50 
Corner frequency 0  50 rad/sec
0 50
So the asymptotic Bode phase plot is 00 until   5 rad/sec and then drops linearly with slope
10 10
of  450 /dec until 100  10  50  500 rad/sec
ÐG ( jw)
5 50 500
00 w (rad / sec)
Slope = - 450 /decade

- 450
- 900
Example 2 :
Draw asymptotic Bode phase plot for the transfer function
20 s
G( s) 
 s  s 
1   1  
 5   500 
Solution :
Let, G( s)  K  G1 ( s )  G2 ( s)  G3 ( s)
Since there is zero at origin so it will provide constant phase shift of 900 .

Let phase shift due to s will be G1 ( j) .

ÐG1 ( jw)
900
w (rad / sec)
Corner frequency 1  5 rad/sec so slope of asymptotic Bode phase plot will change in
1 1
 0.5 rad/sec and 10 1  50 rad/sec . Let phase shift due to will be G2 ( j) .
10 1
s
5
ÐG2 ( jw)
0.5 5 50
00 w (rad / sec)

- 450
- 900
Corner frequency 2  500 rad/sec so slope of asymptotic Bode phase plot will change in
2 1
 50 rad/sec and 10 2  5000 rad/sec . Let phase shift due to will be G3 ( j) .
10 1
s
500
ÐG3 ( jw)
50 500 5000
00 w (rad / sec)

- 450
- 900
So, asymptotic Bode phase plot for G ( s ) is

ÐG ( jw) = ÐG1 ( jw) + ÐG2 ( jw)
900
450
50 500 5000
00 w (rad / sec)
0.5 5

- 450
- 900

From the given transfer function

K
G ( s) 
( s  0.1) ( s  10) ( s  P1 )
Let G( s)  K  G1 ( s )  G2 ( s)  G3 ( s)
1 10
Where, G1 ( s )   ,
s  0.1 1  s
0.1
1 0.1
G2 ( s )   ,
s  10 1  s
10
1
1 P1
G3 ( s )  
s  P1 1  s
P1
10
For G1 ( s )  , asymptotic Bode phase plot is shown below,
s
1
0.1
ÐG1 ( jw)
0.01 0.1 1
00 0
w (rad / sec)
0 /dec
- 450 /decade
- 450
00 /decade
- 900
0.1
s
1
10
ÐG2 ( jw)
1 10 100
00 w (rad / sec)
0
0 /dec
- 450 /decade
- 450
00 /decade
- 900
1
P1
s
1
P1

ÐG3 ( jw)
P1
10 P1 10P1
00 w (rad / sec)
00 /dec
- 450 /decade
- 450
00 /decade
- 900
ÐG1 ( jw) × G2 ( jw)
0.01 0.1 1.0 10 100

00 w (rad / sec)
0
0 /dec
- 450
- 450 /decade
- 900
-1350
00 /decade
-1800
Fig. (a)
Phase, f
- 450 /decade
0.01 0.1 1 10 100
0
0
w rad/sec
00 /dec
0
– 45
- 900 /decade
0
– 135
- 450 /decade
0
– 225
0
– 270
00 /decade
Fig. (b)
Comparing both plots in figure (a) and (b), it is clear that between   0.1 and   10 , the slope is
different which means corner frequency P1 lies somewhere between 0.1 and 10.
Hence, let us assume, P1  1 ,
1 1
G3 ( s )  
s s
1 1
P1 1
ÐG3 ( jw)
0.1 1.0 10
00 w (rad / sec)
00 /dec
- 450 - 450 /decade
00 /decade
- 900

ÐG3 ( jw)
0.01 0.1 1.0 10 100
00 w (rad / sec)
0
0 /decade
- 450 - 450 /decade
- 900
00 /decade
ÐG2 ( jw)
0.01 0.1 1.0 10 100
00 w (rad / sec)
00 /decade
- 450 - 450 /decade
- 900
00 /decade
ÐG1 ( jw)
0.01 0.1 1.0 10 100
00 0
w (rad / sec)
0 /dec
- 450 - 450 /decade
00 /decade
- 900
ÐG1 ( jw) + ÐG2 ( jw) + ÐG3 ( jw)

0.01 0.1 1.0 10 100
00 w (rad / sec)
- 45 /decade
0 0
0 /dec
- 450
-1350 - 900 /decade
- 2250 - 450 /decade
- 2700
00 /decade
Above drawn figure matches with the asymptotic bode phase plot given in the question. Therefore, our
assumption is correct.
Hence, the value of P1 is 1.
10
Sol.19 Given : Transfer function T ( s ) 
1 s
10
T ( j) 
1  j
Magnitude of T ( j) is given by,
10
T ( j) 
1  2

10
T ( j) 0.1   10
1  0.12
T ( j) 0.1  20 log10  20 dB
Hence, the value of magnitude is 20 dB .
Sol.20 Given : Transfer function T ( s)  1  0.25 s  0.005 s 2
0.005 s 2  0.25 s  1  0
s 2  50 s  200  0 … (i)
For second-order system transfer function is given by,
s 2  2n s  n2  0 … (ii)
On comparing equation (i) and (ii)
n  10 2 and 2n  50
25
  1.7677
10 2
Error (dB)   20 log 2   20 log 2 1.7677  10.97
Error  10.97 dB
Hence, the value of error is 10.97 dB .
Sol.21 The given Bode Plot is shown below,
At gain crossover frequency (gc ) magnitude of G ( j) H ( j)  0 dB

From slope of 12 dB/octave or  40 dB/dec,
0  12
 40 
 
log  gc 
 2 
 gc 
log    0.3
 2 
gc
 (10)0.3  2
2
gc  2  2  4 rad/sec
Hence, the value of gain cross over frequency is 4 rad/sec .

Sol.22 The given Bode Plot is shown below,
 6 dB/octave   20 dB/dec
12 dB/octave   40 dB/dec
(i) 20  20 log K
K  10
12  20
(ii)  20 
 2 
log  
 1 
 2 
log    0.4
 1 
1  0.796 rad/sec
10
G(s) H (s) 
 s  s 
1  1  
 0.296  2 
Since order 2 system hence  pc   and Gain margin  
Hence, the value of gain margin is  .
Sol.23 Transfer function is given by,
10
G ( j) H ( j) 
 j  j 
1  1  
 0.796  2 
Phase angle of G ( j) H ( j) is given by,
   1   
G ( j) H ( j)   tan 1    tan  
 0.796  2
Since gain crossover frequency gc  4 rad/sec
 4  1  4 
G ( jgc ) H ( jgc )   tan 1    tan    142 :18
0
 0.796  2
PM  1800  GH ( pc )  1800  142.180  37.820
Hence, the value of phase margin is 37.820 .

Sol.24 Given asymptotic Bode magnitude plot is shown in figure,
G ( jw) , dB
40 - 20 dB/decade
- 40 dB/decade
w (rad/sec )
w1 = 10 w2 = 250
From the given Bode magnitude plot, there are two corner frequencies :
ω1  10 and ω2  250 rad/sec
The initial slope is 0 dB/dec and this corresponds to no pole or zero at origin in the transfer function.
(i) At ω1  10 : The slope changes by  20 dB/dec and resultant slope will be – 20 dB/dec. This is due
 s 
to the factor 1   in the denominator of the transfer function.
 10 
(ii) At ω 2  250 : The slope changes by  20 dB/dec and resultant slope will be
 s 
– 40 dB/dec. This is due to the factor 1   in the denominator of the transfer function.
 250 
Calculation of K :
40  20 log10 K
K  102  100
K 100
G ( s)  
 s  s  1  s  1  s 
1   1     
 ω1   ω2   10   250 
dB
- 20 dB/decade
20 dB
w (rad / sec)
0.1 2 20
From the given Bode magnitude plot, there are two corner frequencies :
ω1  2 and ω2  20 rad/sec
The initial slope is  20 dB/dec and this corresponds to a factor s in the denominator of the transfer
function i.e. one pole at origin.
(i) At ω1  2 : The slope changes by  20 dB/dec and resultant slope will be 0 dB/dec. This is due to the
 s
 2

(ii) At ω 2  20 : The slope changes by  20 dB/dec and resultant slope will be –20 dB/dec. This is due to
 s 
 20 
Calculation of K :
20  20 log K  20 log 2
K  20
 s 
K 1   20  1  s 
ω1 
G ( s)    
2
 s  s 1  s 
s 1    
 ω2   20 
G ( jw) (dB)
60 - 20 dB/dec
40
– 40 dB/dec
20
0 20 w (rad / sec)
0.1 1 10
- 60 dB/dec
From the given Bode magnitude plot, there are two corner frequencies ω1  1 rad/sec and ω2  20
rad/sec .
The initial slope is  20 dB/dec and this corresponds to a factor s in the denominator of the transfer function
i.e. one pole at origin.
(i) At ω1  1 : The slope changes by  20 dB/dec and resultant slope will be  40 dB/dec. This is due to
 s
 1
(ii) At ω2  20 : The slope changes by  20 dB/dec and resultant slope will be  60 dB/dec. This is due
 s 
to the factor  1   in the denominator of the transfer function.
 20 
Calculation of K :
60= 20log10 K  20log10 0.1 [From figure]
60  20log10 K  20
20log10 K  40
log10 K  2
K =100

K 100
G( s)  
 s  s   s  s 
s 1    1   s 1   1  
 ω1   ω2   1   20 
100
G ( s) 
s(1  s )(1  0.05s )
Sol.27 The asymptotic Bode magnitude plot is shown below,
G ( jw)
(dB) – 40 dB/dec
20
- 20 dB/dec
w (rad / sec)
0 0.1
– 20
0 dB/dec
Initial slope is – 40 dB/dec it means that there are two poles at the origin.
(i) At ω1 : The slope changes by  20 dB/dec and resultant slope will be – 20 dB/dec, this is due to the
 s 
factor  1   in the numerator of the transfer function.
 1 
(ii) At ω2 : The slope changes by  20 dB/dec and resultant slope will be 0 dB/dec, this is due to the
 s 
 2 
Therefore, transfer function has two poles and two zeros.
 s  s 
K  1  1  
1  2 
G(s)  
s2
40 - 0
Slope = = 20 dB/dec
æ 10 ö
log ç ÷
dB è 0.1 ø
40
0
w (rad / sec)
0.001 0.1 10
For the given Bode magnitude plot, there are two corner frequencies ω1  0.1 rad/sec and ω2  10
rad/sec .

The initial slope is 0 dB/dec and this corresponds to no pole or zero at origin in the transfer function.
(i) At ω1  0.1 : The slope changes by  20 dB/dec and resultant slope will be + 20 dB/dec. This is due
 s 
to the factor  1   in the numerator of the transfer function.
 0.1 
(ii) At ω2  10 : The slope changes by  20 dB/dec and resultant slope will be 0 dB/dec. This is due to
 s 
 10 
Calculation of K :
20log10 K  0 [From figure]
K =1
 s 
K  1    1  s 
1   0.1  1  10s
G( s)    
 s   s  1  0.1s
1    1  
 2 
 10 
Sol.29 Given : G  s  
 s  1
 s  2  s  3
j

–3 –2 1
Stable Non-minimum Phase

system (NMPS)
Poles are in the left half of s-plane so the system is stable.
One zero is in the right half of s-plane. Therefore, the system is non-minimum phase type.
 Key Point
Minimum phase system : All poles and zeros lie on the left half of s-plane and it is always stable system.
1
Example : T ( s ) 
( s  2)( s  3)
jw
s
-3 -2
Non-minimum phase system : When one or more zeros, poles or both lies on the right half of s-plane
and it may or may not be stable.

( s  1)( s  2)
Example : T ( s ) 
( s  3)( s  4)
jw
s
-4 -3 -1 2
Sol.30 Given : Flat magnitude response of unity shows that it is an all pass system.
All pass System : All the poles lie in the left half of the s-plane and all the zeros lie in the right half of s-
plane and vice versa is also possible.
In all pass system, poles and zeros are symmetrical about j-axis.
Magnitude response is shown in figure.
H( f )
1
jw
-2+3j +2 + 3 j
-2-3j +2 - 3 j

Sol.31 Given Bode magnitude plot is shown below,
G ( jw) , dB
40 -20 dB/decade
w (rad/sec)
Calculation of K :
40  20 log K [From figure]
K  100
For unit step input steady state error is given by,
1
ess 
1 K

1 1
ess  
1  100 101
Sol.32 The given Bode magnitude plot is shown below,
Gain (dB)
+ 20 dB/dec
26 dB - 20 dB/dec
20 dB
w1 w2 w (rad/sec)
0 dB 10
From slope of  20 dB/dec,
26  20
20 
log 1  log10
log 1  1.3  1  (10)1.3  20 rad/sec
From slope of  20 dB/dec,
0  26
 20 
log 2  log 1
log 2  log 20  1.3  2  (10)2.6  400 rad/sec
1 s
Sol.33 Given : Transfer function T ( s ) 
1 s
For above transfer function pole-zero plot is given by,
jw
s
–1 0 1
Since one zero in the right half of s-plane

Hence the system is Non-minimum phase system.
Sol.34 Since,  gc   pc system is unstable.
Gain (dB)
P.M.
20 dB w=0
w pc G.M.
Phase (Degrees)
0 0
- 270 0 wgc -180 0
- 900
– 20 dB
w=¥

At  gc , G.M.  0
At gc , P.M.  1800  G ( jgc ) H ( jgc )
G ( jgc ) H ( jgc )  1800

P.M.  0
Sol.35 Given : (i) Low frequency slope   60 dB/decade
(ii) High frequency slope   40 dB/decade
Since, low frequency slope is  60 dB/decade
Hence 3 poles at origin.
1
Sol.36 In the asymptotic Bode magnitude plot of the term the error in magnitude at the corner frequency
(1  sT ) N
is – 3N dB
Sol.37 Given : G ( jgc )  1250
Phase margin is given by,
PM  1800  G ( jgc )
PM  1800  1250  550

5( s 2  10 s  100)
s 2 ( s 2  15s  1)
The transfer function in Bode Plot can be written as,
 2 s2 
K 1  s 2 
 n n1 
G ( s)   1
 2 s2 
s 2 1  s 2 
 n n2 
 2
Where n1 and n2 are corner frequency
 s s2 
K 1   2 
10 10 
G (s)  
 15s s 2 
s 2 1   
 1 12 
For the given transfer function, there are two corner frequencies :
n1  10 and n2  1 rad/sec

1
2s  1
1
G ( j) 
2 j  1
1
G ( j) 
1  42
1
DC gain G ( j) 0  1
1  02
1
High frequency gain  G ( j)   0
1  2
Sol.40 Given Bode Plot is Shown below,
G ( jw)
100 dB
– 60 dB/dec
40 dB/dec
w (rad/sec)
10
For the given Bode magnitude plot there are one corner frequency : 1  10
The initial slope is  40 dB/sec and this corresponds to a factor s 2 in the numerator of transfer function.
At 1  10 rad/sec, the slope changes by  100 dB/sec
5
 s 
So resultant slope will be  60 dB/sec and this is due to the factor 1   in the denominator of the
 10 
transfer function.
Ks 2
G(s) H (s)  5
 s 
1  
 10 
G ( jw) H ( jw) dB
– 40 dB/dec
– 60 dB/dec
10
w (r/s)
5
– 40 dB/dec

From the given Bode magnitude plot, there are two corner frequencies ω1  5 rad/sec and ω2  10 rad/sec
The initial slope is – 40 dB/dec and this corresponds to a factor s2 in the denominator of the transfer
function i.e. two poles at origin..
(i) At ω1  5 : The slope changes by  20 dB/dec and resultant slope will be  60 dB/dec. This is due
 s
to the factor 1   in the denominator of the transfer function.
 5
(ii) At ω2  10 : The slope changes by 20 dB/dec and resultant slope will be  40 dB/dec. This is due
 s 
to the factor 1   in the numerator of the transfer function.
 10 
 s 
K 1   K 1  s 
ω2  10 
G ( s)    
 s   s
s 1   s 2 1  
 ω1   5
K ( s  10)
G( s) 
s 2 ( s  5)


CH - 8 (Bode Plot) PD Sol

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CH - 8 (Bode Plot) PD Sol

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Practice Solutions :

Sol.1 Given asymptotic Bode magnitude plot is shown below,

Transfer function must have 2 poles at origin i.e. term 1/ s 2

Since, 6dB/oct  20 dB/dec

Put   0.5 and n  10 in the above equation

Put   0.2 and n  4 rad/sec in the above equation,

0.01 0.1 1 10 100

Concept of Asymptotic Bode Phase Plot :

(ii) At high frequency,   0 , the phase is 900 .

(iii) At corner frequency,   0 , the phase is 450 .

Note : An nth order zero rises to (90n)0 .

(ii) At high frequency,   0 , the phase is 900 .

(iii) At corner frequency,   0 , the phase is  450 .

Note : An nth order pole drops to (  90n)0 .

5. Effect of poles at the origin on phase :

Slope = - 450 /decade

Let phase shift due to s will be G1 ( j) .

Slope = - 450 /decade

Slope = - 450 /decade

So, asymptotic Bode phase plot for G ( s ) is

Slope = - 450 /decade

From the given transfer function

ÐG1 ( jw) × G2 ( jw)

0.01 0.1 1.0 10 100

ÐG1 ( jw) + ÐG2 ( jw) + ÐG3 ( jw)

-1350 - 900 /decade

- 2250 - 450 /decade

At gain crossover frequency (gc ) magnitude of G ( j) H ( j)  0 dB

Stable Non-minimum Phase

Hence, the correct option is (D).

Since one zero in the right half of s-plane

At gc , P.M.  1800  G ( jgc ) H ( jgc )

G ( jgc ) H ( jgc )  1800

PM  1800  1250  550

Where n1 and n2 are corner frequency

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