EECE 301

Signals & Systems

Prof. Mark Fowler
Discussion #11
• Bode Plot Method and Example

1/13
We have seen two cases: Real Pole & Real Zero
40
|H(ω)| (dB) 30
20 s+a
H ( s) = Real zero
a
10
0
–10 H ( s) =
a
Real pole
s+a
–20
–30
–40
–50

10 102 103 a 104 105 106

ω (rad/sec)
This allows us to handle all real poles/zeros in the left-hand plane.
So we still need a way to handle two other cases.
-zero/pole at s = 0
-zero/pole complex conjugate pairs – 2nd order term 2/13
Zero/Pole at s = 0
Zero at s = 0 Pole at s = 0

H ( s) = s H ( s) =
1
s
Replace s → jω and take magnitude:

± 20 log10 (ω ) vs. log10 (ω )

Line of slope ±20 that goes through 0dB at ω = 1

3/13
Complex Conjugate Pair (0 ≤ ζ ≤ 1)
General Form: Complex pair of poles Complex pair of zeros
ωn s 2 + 2ζωn s + ωn
2

s 2 + 2ζωn s + ωn ωn
2

ωn breakpoint
for 0 ≤ ζ ≤ 1

on jω axis ζ = 1 gives repeated real roots.

⎡ ⎛ jω ⎞ 2 2ζ ⎤
⇒ 20 log10 ⎢ ⎜⎜ ⎟⎟ + jω + 1 ⎥ vs. log10 (ω )
⎢ ⎝ ωn ⎠ ωn ⎥
⎣ ⎦

≈ 0dB (constant) for ω << ωn

≈ ±40dB per decade for ω >> ωn

4/13
 For a 2nd – order pole:
(shown for ωn = 100)
20

10
ζ = 0.1

-10 ζ=1 -40 dB/decade Slope

-20

-30

-40

-50

Note that as ζ gets smaller the pole gets closer to the jω axis…
which causes a larger peak. 5/13
 For a 2nd – order zero:
(shown for ωn = 100)

Note that as ζ gets smaller the zero gets closer to the jω axis…
which causes a deeper null. 6/13
General Steps to “Sequentially” Build Bode Plots
1. Factor H(s)… leave complex-root terms as quadratics
2. Convert to jω form
3. Pull out “constants” into a “gain” term
4. Combine constant term with “jω” terms (if any)
5. Identify “break points” and put in ascending order
6. Plot constant term with “jω” terms at ω values below the lowest
“break point”
7. At “break point”, change slope by ±20dB/decade or
±40dB/decade for 1st order or 2nd order terms, repectively.
• Repeat this step through ordered list of “breakpoints”.
8. Make “resonant corrections” for “under damped” 2nd order terms
(i.e. when ζ < 0.5).
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Example H ( s ) = 0.1s( s + 50 )( s + 200) 1. Already factored
( s + 2)( s + 2 s + 100)
2

ωn = 10 ⇒ 2ζωn = 2
⇒ ζ = 0.1 ⇒ complex pair
2. Convert to jω:
0.1 jω ( jω + 50)( jω + 200)
H (ω ) =
( jω + 2)(( jω ) 2 + 2 jω + 100)

0.1 jω ( jω + 50)( jω + 200)

3. Pull Out “Constants”: H (ω ) =
( jω + 2)(( jω ) 2 + 2 jω + 100)

0.1 × 50 × 200 ⎡ jω (1 + jω / 50)(1 + jω / 200) ⎤

H (ω ) =
14 2 ×
4244100 3⎣
⎢
(1 + jω / 2 )(1 + 2 jω / 100 + ( jω / 10 ))
2 ⎥
⎦
=5
Gain Term
8/13
4. Combine gain term with jω term :
⎡ (5 jω )(1 + jω / 50)(1 + jω / 200 ) ⎤
H (ω ) = ⎢
⎣ (1 + jω / 2 ) 1 (
+ 2 jω / 100 + ( jω / 10 ))
2 ⎥
⎦

5. Identify Breakpoints and List in Ascending Order:

⎡ (5 jω )(1 + jω / 50)(1 + jω / 200 ) ⎤

H (ω ) = ⎢
⎣ (1 + jω / 2 ) 1 (
+ 2 jω / 100 + ( jω / 10 ))
2 ⎥
⎦
List breakpoints in ascending order:
Break Points Change in slope
2 -20dB/decade – 1st order term in denominator
10 -40dB/decade – 2nd order term in denominator
50 +20dB/decade – 1st order term in numerator
200 +20dB/decade – 1st order term in numerator
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6. Plot constant term with “jω” terms at ω values
below the lowest “break point” :
-Pick ω value that is (at least) 1 decade below the lowest BP: ω = 0.1
-Evaluate |5jω| there in dB:

20 log10 (5 × 0.1) = 20 log10 (0.5) = −6dB

-Plot a point at -6 dB at ω = 0.1

-Draw a line of slope 20dB/decade from this point up to the first
BP

10/13
7. At “break point”, change slope by ±20dB/decade or
±40dB/decade for 1st order or 2nd order terms, repectively. :
Break Points Change in slope
2 -20dB/decade – 1st order term in denominator
10 -40dB/decade – 2nd order term in denominator
50 +20dB/decade – 1st order term in numerator
200 +20dB/decade – 1st order term in numerator

8. Make “resonant corrections” for “under damped” 2nd order

terms (i.e. when ζ < 0.5). :
Finally: Make adjustment for the ζ value from the plot of the 2nd
order term: ζ = 0.1 gives peak ≈ 14dB up

ζ value Adjustment
0.1 14 dB
0.2 8 dB
0.3 5 dB
0.4 3 dB
0.5 1 dB
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 Approximate Bode Plot for Example in Notes

60 dB

Adjust for
40 dB ζ = 0.1
|H(ω)| (dB)

up 1 decade
20 dB
down
up 40 dB
0 dB
20 dB down
up 1 decade
20 dB
-20 dB

up 1 decade
-40 dB
0.1 1 2 10 50 100 200 1000 10,000
ω (rad/sec)
12/13
 Exact Bode Plot for Example
60

50

40

30

20
|H(ω )| (dB)

10 Exact
0
Approximate
-10

-20

-30

-40 -1 0 1 2 3 4
10 10 10 10 10 10
ω (rad/sec)
13/13