Bode Plot-Error Constants

Lekha Das
Department of Electronics Engineering
K J Somaiya College of Engineering

Lekha Das KJSCE 1

 Bode Plot-Error Constants
Position(Kp), Velocity(Kv) and
Acceleration(Ka) error constants describe
low frequency behaviour of type 0, type 1
and type 2 systems
Type of a system determines nature of
magnitude plot at lower frequencies

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 Bode Plot-Error Constants
K (1  Tas )(1  Tbs )(1  Tcs )....(1  Tms )
G(s)  n
s (1  T 1s )(1  T 2 s )(1  T 3s )....(1  Tps )

K (1  Taj )(1  Tbj )(1  Tcj )....(1  Tmj )

G ( j ) 
j (1  T 1 j )(1  T 2 j )(1  T 3 j )....(1  Tpj )
n

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Static Position Error Constant Kp

lim 𝐺 𝑗𝜔 = 𝐾 = 𝐾𝑝
𝜔→0

Log magnitude curve of a type 0 system

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Static Velocity Error Constant Kv

Initial slope =-20logKv

𝐾𝑣
G(jω) = for 𝜔 ≪ 1
𝑗𝜔
𝐾𝑣
20log (at 𝜔=1)=20logKv
𝑗𝜔
𝐾𝑣
=1
𝑗𝜔
Kv=ω1

Log magnitude curve of a type 1system

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Static Acceleration Error Constant Ka

Initial slope =--40dB/decade

𝐾𝑎
G(jω) = 2 for 𝜔 ≪ 1
(𝑗𝜔)
𝐾𝑎
20log (at 𝜔=1)=20logKa
(𝑗𝜔)2
𝐾𝑎
20log =20 log 1=0
(𝑗𝜔)2
ωa =√Ka

Log magnitude curve of a type 1system

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Type of system from bode plot

Type of system Initial slope

0 0dB/decade
1 -20dB/decade
2 -40dB/decade

Log magnitude curve of a type 1system

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 THANK
YOU

Lekha Das KJSCE 8