Chapter 10: Frequency Response Techniques

Contd.......

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Bode Plots of G(s) = (s + a) (Last Lecture)

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Normalized Bode Plots:
Given, G(s)  s  a   G(s)  a s  1  j 
 G ( j )  a  1
a   a 

Now:
(a) Divide it by a to yield 0 dB at the break frequency

(b) Define a new frequency,   
a

So, G( j)   j  1

(a) Normalized Bode mag. Plot:

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(b) Normalized Bode phase Plot:

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Comparison of Actual and Asymptotic Plots:

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Bode Plots for other factors: G( s) 
1
s  a 
1
G( j ) 
 j  a 

Low-frequency asymptote (when ω << a):

1 1
G( j )  
 j  a  a
1
Magnitude  20 log  20 log 1  20 log a  20 log a
a
Phase = 0˚

High-frequency asymptote (when ω >> a):

1 1
G( j )  
 j  a  j
Magnitude  20 log 1  20 log 1  20 log   20 log 

Phase = -90˚
 1 
Angle at b.f = G( j )  a     45
  ja  a  
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Normalized Bode Plots:

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Bode plots for G(s) = s

Bode plots for G(s) = 1 / s

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Bode plot for G(s)  s 2  2 n s  n2

 s 2 2 
G(s)  s  2 n s  
2 2
n    2 
2
s  1
 n n
n

   2 2 
G ( j )    2 
2
j  1
 n n
n


At low frequencies: G( j )  n20

In dB,
20 log M  20 log G( j )  40 log n

At high frequencies: G( j )   2   2180

In dB,
20 log M  20 log G( j )  40 log 

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b.F = ωn (as here two asymptotes intersect)
Log-magnitude plot after normalization:

Phase plot: To find the phase at the b.f. ωn

At ω = ωn , phase angle is 90o

The phase plot increases at a rate of 90o/decade from 0.1 to 10

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The actual magnitude and phase for

The normalized log-magnitude and phase curves as functions of :

Unlike the 1st-order function, the difference between the asymptotic approx and
the actual response can be large for some values of .
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(ii)

Do yourself

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Example 10.2: Bode plots for composite 1st-order factors
K s  3
Gs  
ss  1s  2

Sol: Bode plot is the sum of the Bode plots for each of the 1st-order terms.
Normalize each term:
3 s 
K   1
2 3 
G s  
s 
ss  1  1
2 
 Break frequencies (b.f.s) are: 1, 2 and 3
 Minimum range of plot:
Start: a decade below the lowest b.f. (i.e. 0.1)
End: a decade above the highest b.f. (i.e. 30)
 We choose here: 0.1 rad/s to 100 rad/s (3 decades)
Bode Magnitude Plot:
1. Find constant value of the TF: assume K=1
So, log-magnitude of constant term = 20 log (3/2) = 3.52 dB

2. The magnitude of (1/s)-term at starting frequency:

= 20 log (1/0.1) = 20 dB 13
3. Draw normalized log magnitude plots for each factor.

4. Find the following table.

1st column: list each pole and zero

a row: Shows slope contribution of the pole/zero at different frequency values
Last row: Total slope (dB/decade) at each interval 14
5. Find the composite plot by using the function value at starting frequency and
slopes at different intervals.

a) Start with first interval

i. Find log-magnitude at ω=ωs= 0.1
dB (at ω = ωs= 0.1) = 20 + 3.52 = 23.52 dB
ii. Find log-magnitude at the last point of the interval (ωe)
dB (at ω = ωe= 1) = 23.52 + (slope of the interval) * log (ωe/ ωs) = 3.52
b) Continue with the next interval until finished.

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Phase Plot: Handled similarly, but requires a little more book keeping.

1. Draw the phase plot for each factor / component

2. Find the following table. It will be 10, instead of 0

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3. Find the composite plot by using the phase angle at starting frequency and
slopes at other frequency ranges.

a) Start with first interval

i. Find phase angle at ω=ωs= 0.1
φ (at ωs= 0.1) = -90o
ii. Find phase angle at the last point of the interval, at ω=ωe
φ (at ωe= 0.2) = -90o + (slope of the interval) * log (ωe/ ωs) = -103.55o
b) Continue with the next interval until finished.

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HW: G(s) = (s + 3) / {(s + 2) (s2 + 2s + 25)}

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