Lecture 28: Analyzing System Response Using Bode Plots

Lecture 28
Instructor
Dr. Alivelu M Parimi
ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 Routh-Hurwitz (s    j )
 Root locus (s    j )
 Bode diagram (plots) (s  j )
 Nyquist plots (s  j )
 Nicols plots (s  j )
 Time domain
08-Nov-20 2
 A Bode plot is a (semilog) plot of the transfer function magnitude
and phase angle as a function of frequency
 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
2 2
Decade : dec  log10
1 Octave : oct  log 2
1
dB

1 2 3 4 10 20 100
3
 The transfer function can be separated into magnitude
and phase angle information
H(j) = |H(j)| Φ(j)
e.g., H(j)=Z(j)
4
 Given a transfer function,
 How can we display this function response?
 One way to do this is by simply entering

many values for the frequency, calculating
the magnitude and phase at each frequency
and displaying them.
 This is what a computer would naturally do.

 However, there are reasons to develop a method for
drawing Bode diagrams manually.
 By drawing the plots by hand you develop an

understanding about how the locations of poles and
zeros effect the shape of the plots.
 With this knowledge you can predict how a system

behaves in the frequency domain by simply
examining its transfer function.
 On the other hand, if you know the shape of transfer

function that you want, you can use your knowledge
of Bode diagrams to generate the transfer function.
 The first task when drawing a Bode diagram by
hand is to rewrite the transfer function so that
all the poles and zeros are written in the form
(1+s/ω0).

 Examine how to draw the magnitude and
phase of this function when s=jω.

 Transform multiplication into addition is by
using the logarithm. Instead of using a simple
logarithm, we will use a decibel

 The advantage of using decibel (and of writing
poles and zeros in the form (1+s/ω0)) are:
 The fact that the decibel is a logarithmic term
transforms the multiplication of the individual
terms to additions.
 Another benefit is that just two types of terms,
a constant term and terms of the form
20log10(|1+jω/ω0|).
 However, once these plots are drawn for the
individual terms, they can simply be added
together to get a plot for H(s).

Bode Diagram is to split the function up into its
constituent parts, plot the magnitude and phase
of each part, and then add them up.

The format is a log frequency scale on the horizontal axis and, on the vertical
axis, phase in degrees and magnitude in decibels.
08-Nov-20 13
 A Constant Term
 Magnitude
 Phase
 The phase is also constant. If K is positive, the
phase is 0° (or any even multiple of 180°).
 If K is negative the phase is -180°, or any odd
multiple of 180°.
 Expressed in radians we can say that if K is
positive the phase is 0 radians, if K is negative the
phase is -π radians.

 For a constant term, the magnitude plot is a straight
line.
 The phase plot is also a straight line, either at 0° (for
a positive constant) or ±180° (for a negative
constant).

Gs  
1
s
1
M 1  20 log
1
20 -20 dB/decade  20 log    0
1j 1
dB
 1 
M 0.1  20 log
1
0  20 log    20
0.1
rad/s
1 10 0.1 j  0.1 
1
M 10   20 log
1
-20  20 log    20
10 j  10 
Phase
angle
0   tan 1 0  tan 1    90
-90
degrees

Gs  
K
s
-20 dB/decade
20
log|K|
1
0 M G ( j )   M K   M  
1 s
rad/sec
0  
   K    1 s  90
-90
degrees
 The frequency ω0 is called the break frequency,
the corner frequency or the 3 dB frequency
 Magnitude

 Case 1) ω<<ω0. This is the low frequency case. We can write
an approximation for the magnitude of the transfer function
 Case 2) ω>>ω0. This is the high frequency case.
 It is a straight line with a slope of -20 dB/decade going

through the break frequency at 0 dB. That is, for every factor
of 10 increase in frequency, the magnitude drops by 20 dB.
 Case 3) ω=ω0. The break frequency. At this
frequency
 To draw a piecewise linear approximation, use

the low frequency asymptote up to the break
frequency, and the high frequency asymptote
thereafter

 The maximum error between the asymptotic
approximation and the exact magnitude
function occurs at the break frequency and is
approximately 3 dB.
 For a simple real pole the piecewise linear
asymptotic Bode plot for magnitude is at 0 dB until
the break frequency and then drops at 20 dB per
decade (i.e., the slope is -20 dB/decade).

 Phase
 The phase of a single real pole is given by is given
 Let us again consider three cases for the value of the frequency:
 Case 1) ω<<ω0. This is the low frequency case. At these
frequencies we can write an approximation for the phase of the
transfer function
 Case 2) ω>>ω0. This is the high frequency case. We can write an

approximation for the phase of the transfer function
 It is a straight line with a slope at -90°.

 Case 3) ω=ω0. The break frequency. At this frequency

A piecewise linear approximation is not as easy in this case because the high and
low frequency asymptotes don't intersect.
Follow the low frequency asymptote until one tenth the break frequency (0.1 ω0) then
decrease linearly to meet the high frequency asymptote at ten times the break frequency (10
ω0).
 At low frequencies, ω<<ω0, the gain is approximately
zero.At high frequencies, ω>>ω0, the gain increases at
20 dB/decade and goes through the break frequency
at 0 dB.At the break frequency, ω=ω0, the gain is about
3 dB.
 Phase

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/

Frequency Response
Normalized and scaled

Bode plots for
a. G(s) = s;
b. G(s) = 1/s;
c. G(s) = (s + a);
d. G(s) = 1/(s + a)

EXAMPLE
( R L) s 110 s
110mH 10mF
H ( s)   2
s  ( R L) s 
2 1 s  110 s  1000
+ LC
vi + vo
11Ω
110 s

( s  10)( s  100)
0.11 j
H ( j ) 
1  j   /10   1  j   /100  
AdB  20log10 H ( j )
 
 20log10 0.11  20log10 j  20log10 1  j  20log10 1  j
10 100

0.11 j
H ( j ) 
1  j   /10   1  j   /100  
AdB  20log10 H ( j )
 
 20log10 0.11  20log10 j  20log10 1  j  20log10 1  j
10 100
EXAMPLE
0.11( j )
H ( j ) 
[1  j ( /10)][1  j ( /100)]
0.11 j
   1  1   2 
1  j ( /10) 1  j( /100)
 ( )   1  1   2
 1  900
1
1  tan ( /10)
 2  tan 1 ( /100)

H ( j 50)  0.96   15.250   ( j 50)  15.250
H ( j 500)  0.22   77.540   ( j 500)  77.540
H ( j1000)  0.11   83.720   ( j1000)  83.720

Lecture 28: Analyzing System Response Using Bode Plots

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Lecture 28

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 How can we display this function response?

 One way to do this is by simply entering

 This is what a computer would naturally do.

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 By drawing the plots by hand you develop an

 With this knowledge you can predict how a system

 On the other hand, if you know the shape of transfer

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 Case 2) ω>>ω0. This is the high frequency case.

 It is a straight line with a slope of -20 dB/decade going

 To draw a piecewise linear approximation, use

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

 Case 2) ω>>ω0. This is the high frequency case. We can write an

 It is a straight line with a slope at -90°.

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

Pole at Assume K=1 Zero at

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

Normalized and scaled

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

ELECTRICAL ELECTRONICS COMMUNICATION INSTRUMENTATION

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