MCH 3008 CONTROL SYSTEMS

LECTURE 10: BODE DIAGRAMS

Dr. Beste Bahçeci

Bahçeşehir University
Overview of Lecture 10
• Frequency-response analysis
• Bode plots
• Frequency-response controller design method is widely used in the
industry (without root-locus too).
Example: Frequency response (general case)

System
u (t )  A sin(t ) y (t )  ?
H (s )
Example: Frequency response (general case)

System
u (t )  A sin(t ) y (t )  ?
H (s )

 From Laplace intergral or from Laplace

U ( s)  A
s2   2 transform tables.
Example: Frequency response (general case)

System
u (t )  A sin(t ) y (t )  ?
H (s )

 From Laplace intergral or from Laplace

U ( s)  A
s2   2 transform tables.
Example: Frequency response (general case)

System
u (t )  A sin(t ) y (t )  ?
H (s )

 From Laplace integral or from Laplace

U ( s)  A
s2   2 transform tables.


Y ( s )  H ( s )U ( s )  H ( s ) A
s2   2
Example: Frequency response (general case)

System
u (t )  A sin(t ) y (t )  ?
H (s )


U ( s)  A From Laplace integral or from Laplace
s2   2 transform tables.


Y ( s )  H ( s )U ( s )  H ( s ) A
s2   2
1 1
 A H ( s )
s  j s  j
 1 1 1 2
Y ( s )  A H ( s )    
s  j s  j s  j s  j
 1 1 1 2
Y ( s )  A H ( s )    
s  j s  j s  j s  j

3
If H ( s ) 
( s  1)( s  5)

1 1   1 2
Y ( s )  A H ( s )    
s  j s  j ( s  1) ( s  5) s  j s  j

e  t e 5t
 1 1 1 2
Y ( s )  A H ( s )    
s  j s  j s  j s  j

3
If H ( s ) 
( s  1)( s  5)

1 1   1 2
Y ( s )  A H ( s )    
s  j s  j ( s  1) ( s  5) s  j s  j

e  t e 5t
Remember that such signals decay to zero.
It is called the transient part of the response.
 1 1 1 2
Y ( s )  A H ( s )    
s  j s  j s  j s  j

We are analyzing now this part of the response.

It is called the steady state part.
Call this part of the response Y ( s ).
 1 1 1 2
Y ( s )  A H ( s )    
s  j s  j s  j s  j
Multiply both sides by ( s  j ). Y (s )
1  ( s  j )
A H ( s )  ( s  j )()   1  2
s  j s  j

Compute both sides with s  j.

1  ( j  j )
AH ( j )  ( j  j )()   1  2
j  j j  j 
1 1
A H ( j  )  0   1  0   1  AH ( j ) .
j 2 j 2
1
Similarly,  2  AH ( j ) .
 j 2
 1 1 1 2
Y ( s )  A H ( s )    
s  j s  j s  j s  j

Y (s )
1
 1  AH ( j ) .
j 2
1
 2  AH ( j ) .
 j 2

1 1
AH ( j ) AH ( j )
1 2 j 2  j 2
Y ( s)    
s  j s  j s  j s  j
 1 1
AH ( j ) AH ( j )
1 2 j 2  j 2
Y ( s)    
s  j s  j s  j s  j
 1 1
AH ( j ) AH ( j )
1 2 j 2  j 2
Y ( s)    
s  j s  j s  j s  j

This is a complex number.

Complex numbers can Im
be written as a product
of magnitude and H ( j )
phase parts.
H ( j )
H ( j )  H ( j ) e j  Re


Magnitude
Phase Complex plane
Also remember e j :

Im

e j  cos( )  j sin( )

Re


Unit disc

Complex plane
 Example:
3
H (s) 
( s  1)(s  5)
3 3 3
 H ( j )   
( j  1)( j  5)   2  j 6  5 5   2  j 6
3(5   2  j 6 ) 3(5   2 )  18
   j
(5   2 ) 2  36 2 (5   2 ) 2  36 2 (5   2 ) 2  36 2

ReH ( j )  ImH ( j ) 

H ( j )  ReH ( j )   ImH ( j ) 
2 2

1  Im H ( j )   H ( j )  H ( j  ) e j 
  tan  
 ReH ( j )  
Remark: H (  j )  H ( j )

Remark: H ( j )  H ( j ) e  j
 1 1
AH ( j ) AH ( j )
1 2 j 2  j 2
Y ( s)    
s  j s  j s  j s  j
 1 1
AH ( j ) AH ( j )
1 2 j 2  j 2
Y ( s)    
s  j s  j s  j s  j
1 1
A H ( j ) e j A H ( j  ) e  j 
j 2  j 2
 
s  j s  j
 1 1
AH ( j ) AH ( j )
1 2 j 2  j 2
Y ( s)    
s  j s  j s  j s  j
1 1
A H ( j ) e j A H ( j  ) e  j 
j 2  j 2
 
s  j s  j
 j 1  j 1 
 e j 2 e  j 2 
 A H ( j  )   
 s  j s  j 
 
 1 1
AH ( j ) AH ( j )
1 2 j 2  j 2
Y ( s)    
s  j s  j s  j s  j
1 1
A H ( j ) e j A H ( j  ) e  j 
j 2  j 2
 
s  j s  j
 j 1  j 1 
 e j 2 e  j 2 
 A H ( j  )   
 s  j s  j 
 
 j 1  j 1 
 e ( s  j  )  e ( s  j  ) 
j 2  j 2
 A H ( j  )  
 ( s  j )( s  j ) 
 
  j 1  j 1 
 e ( s  j  )  e ( s  j  ) 
j2  j2
Y ( s )  A H ( j )  
 ( s  j )( s  j ) 
 
  j 1  j 1 
 e ( s  j  )  e ( s  j  ) 
j2  j2
Y ( s )  A H ( j )  
 ( s  j )( s  j ) 
 
  e j  e  j   e j  e  j  
 s      
j2  2
 A H ( j )    
 s2   2 
 
 
  j 1  j 1 
 e ( s  j  )  e ( s  j  ) 
j2  j2
Y ( s )  A H ( j )  
 ( s  j )( s  j ) 
 
  e j  e  j   e j  e  j  
 s      
j2  2
 A H ( j )    
 s2   2 
 
 
 s sin( )   cos( ) 
 A H ( j )  
 s2   2
  j 1  j 1 
 e ( s  j  )  e ( s  j  ) 
j2  j2
Y ( s )  A H ( j )  
 ( s  j )( s  j ) 
 
  e j  e  j   e j  e  j  
 s      
j2  2
 A H ( j )    
 s2   2 
 
 
 s sin( )   cos( ) 
 A H ( j )  
 s2   2
 s  
 A H ( j ) sin( ) 2  cos( ) 2
 s  2
s   2 
  s  
Y ( s )  A H ( j ) sin( ) 2  cos( ) 2
 s  2
s   2 

From Laplace transform tables

cos(t ) sin(t )
  s  
Y ( s )  A H ( j ) sin( ) 2  cos( ) 2
 s  2
s   2 

From Laplace transform tables

cos(t ) sin(t )
  s  
Y ( s )  A H ( j ) sin( ) 2  cos( ) 2
 s  2
s   2 

From Laplace transform tables

cos(t ) sin(t )

y (t )  A H ( j ) sin( ) cos(t )  cos( ) sin(t )

  s  
Y ( s )  A H ( j ) sin( ) 2  cos( ) 2
 s  2
s   2 

From Laplace transform tables

cos(t ) sin(t )

y (t )  A H ( j ) sin( ) cos(t )  cos( ) sin(t )

  s  
Y ( s )  A H ( j ) sin( ) 2  cos( ) 2
 s  2
s   2 

From Laplace transform tables

cos(t ) sin(t )

y (t )  A H ( j ) sin( ) cos(t )  cos( ) sin(t )

 A H ( j ) sin(  t )
 System

u (t )  A sin(t ) H (s )
y (t )  transient terms  y(t)
 transient terms
 A H ( j ) sin(t   )
Steady state response
 System

u (t )  A sin(t ) H (s )
y (t )  transient terms  y(t)
 transient terms
 A H ( j ) sin(t   )
Steady state response
 System

u (t )  A sin(t ) H (s )
y (t )  transient terms  y(t)
 transient terms
 A H ( j ) sin(t   )
Steady state response

Change in amplitude
 System

u (t )  A sin(t ) H (s )
y (t )  transient terms  y(t)
 transient terms
 A H ( j ) sin(t   )
Steady state response

Change in amplitude, amplitude ratio

 System

u (t )  A sin(t ) H (s )
y (t )  transient terms  y(t)
 transient terms
 A H ( j ) sin(t   )
Steady state response

Change in amplitude, amplitude ratio, gain

 System

u (t )  A sin(t ) H (s )
y (t )  transient terms  y(t)
 transient terms
 A H ( j ) sin(t   )
Steady state response

Change in amplitude, amplitude ratio, gain

 System

u (t )  A sin(t ) H (s )
y (t )  transient terms  y(t)
 transient terms
 A H ( j ) sin(t   )
Steady state response

Change in amplitude, amplitude ratio, gain

Change in phase
 System

u (t )  A sin(t ) H (s )
y (t )  transient terms  y(t)
 transient terms
 A H ( j ) sin(t   )
Steady state response

Change in amplitude, amplitude ratio, gain

Change in phase, phase

 System

u (t )  A sin(t ) H (s )
y (t )  transient terms  y(t)
 transient terms
 A H ( j ) sin(t   )
Steady state response

Change in amplitude, amplitude ratio, gain

Change in phase, phase

“Gain” and “phase” are commonly used in the terminology.

 System

u (t )  A sin(t ) H (s )
y (t )  transient terms  y(t)
 transient terms
 A H ( j ) sin(t   )
Steady state response

Change in amplitude, amplitude ratio, gain

Change in phase, phase

“Gain” and “phase” are commonly used in the terminology.

Example: Response to a sinusoidal input

System
u (t )  sin(10t ) 1 y (t )  ?
H ( s) 
s 1
Example: Response to a sinusoidal input

System
u (t )  sin(10t ) 1 y (t )  ?
H ( s) 
s 1

10 From Laplace intergral or from Laplace

U (s) 
s 2  100 tansform tables.
Example: Response to a sinusoidal input

System
u (t )  sin(10t ) 1 y (t )  ?
H ( s) 
s 1

10 From Laplace intergral or from Laplace

U (s) 
s 2  100 tansform tables.
Example: Response to a sinusoidal input

System
u (t )  sin(10t ) 1 y (t )  ?
H ( s) 
s 1

10 From Laplace intergral or from Laplace

U (s) 
s 2  100 tansform tables.

1 10
Y ( s )  H ( s )U ( s ) 
s  1 s 2  100
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part.
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part.
This part will exponentially decay in
time domain.
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part.
This part will exponentially decay in
time domain.
e t
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part.
This part will exponentially decay in
time domain.
e t
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part.
This part will exponentially decay in
time domain.
e t

Multiply both sides by ( s  1).

Compute (s  1 )Y(s) with s  -1.
10 10
  ( s  1)Y ( s ) s  1  2  .
s  100 s  1 101
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part.
This part will exponentially decay in
10 t time domain.
e
101
Multiply both sides by ( s  1).
Compute (s  1 )Y(s) with s  -1.
10 10
  ( s  1)Y ( s ) s  1  2  .
s  100 s  1 101
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part.
This part will exponentially decay in
10 t time domain.
e
101
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain.
e
101
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
With   10,
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
With   10, A  1,
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
With   10, A  1,
1 1 1  j10 1  j 1 
H ( j )      j
j  1 1  j (1  j )(1  j ) 101 101 101
2 2 2 2
 1      1    10  1
 H ( j )   
     
   
 101   101   101   101  101
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
With   10, A  1,
1 1 1  j10 1  j 1 
H ( j )      j
j  1 1  j (1  j )(1  j ) 101 101 101
2 2 2 2
 1      1    10  1
 H ( j )   
     
   
 101   101   101   101  101
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
With   10, A  1,
1 1 1  j 1  j 1 
H ( j )      j
j  1 1  j (1  j )(1  j ) 101 101 101
2 2 2 2
 1      1    10  1
 H ( j )   
     
   
 101   101   101   101  101
 Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
  10, A  1,
With

1 1 1  j 1  j 1 
H ( j )       j
j  1 1  j (1  j )(1  j ) 1   2 1   2 1 2
2 2 2 2
 1      1    10  1
 H ( j )   2 
  2 
  
   
 1     1     101   101  101
 Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
  10, A  1,
With

1 1 1  j 1  j 1 
H ( j )       j
j  1 1  j (1  j )(1  j ) 1   2 1   2 1 2
2 2 2 2
 1      1    10  1
 H ( j )   2 
  2 
  
   
 1     1     101   101  101
 Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
  10, A  1,
With

1 1 1  j 1  j 1 
H ( j )       j
j  1 1  j (1  j )(1  j ) 1   2 1   2 1 2
2 2 2 2
 1      1    10  1
 H ( j )   2 
  2 
  
   
 1     1     101   101  101
 Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
  10, A  1,
With

1 1 1  j 1  j 1 
H ( j )       j
j  1 1  j (1  j )(1  j ) 1   2 1   2 1 2
2 2 2 2
 1      1    10  1
 H ( j )   2 
  2 
  
   
 1     1     101   101  101
 Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
  10, A  1,
With

1 1 1  j 1  j 1 
H ( j )       j
j  1 1  j (1  j )(1  j ) 1   2 1   2 1 2
2 2 2 2
 1      1    10  1
 H ( j )   2 
  2 
  
   
 1     1     101   101  101
 Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
With   10, A  1,
1 1 1  j 1  j 1 
H ( j )       j
j  1 1  j (1  j )(1  j ) 1   2 1   2 1 2
1
 H ( j )  ,
101
 Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
With   10, A  1,
1 1 1  j 1  j 1 
H ( j )       j
j  1 1  j (1  j )(1  j ) 1   2 1   2 1 2
1
 H ( j )  ,   tan 1    1 
  tan 1
 10  -1.4711 rad.
101  1  1  
2 2
 Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
With   10, A  1,
1 1 1  j 1  j 1 
H ( j )       j
j  1 1  j (1  j )(1  j ) 1   2 1   2 1 2
1
 H ( j )  ,   tan 1    1 
  tan 1
 10  -1.4711 rad.
101  1  1  
2 2
 Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
With   10, A  1,
1 1 1  j 1  j 1 
H ( j )       j
j  1 1  j (1  j )(1  j ) 1   2 1   2 1 2
1
 H ( j )  ,   tan 1    1 
  tan 1
 10  -1.4711 rad.
101  1  1  
2 2
 Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
With   10, A  1,
1 1 1  j 1  j 1 
H ( j )       j
j  1 1  j (1  j )(1  j ) 1   2 1   2 1 2
1
 H ( j )  ,   -1.4711 rad.
101
 Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
With   10, A  1,
1 1 1  j 1  j 1 
H ( j )       j
j  1 1  j (1  j )(1  j ) 1   2 1   2 1 2
1
 H ( j )  ,   -1.4711 rad.
101
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
With   10, A  1,
1
H ( j )  ,
101

  -1.4711 rad.
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
10 t time domain. A H ( j ) sin(t   )
e
101
With   10, A  1,
1
H ( j )  ,
101
  -1.4711 rad.
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
time domain. 1
10 t 1 sin(10t   )
e 101
101
With   10, A  1,
1
H ( j )  ,
101
  -1.4711 rad.
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
time domain. 1
10 t 1 sin(10t  1.4711)
e 101
101
With   10, A  1,
1
H ( j )  ,
101
  -1.4711 rad.
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
time domain. 1
10 t sin(10t  1.4711)
e 101
101
Partial fraction expansion:

1 10   
Y ( s)    
s  1 s 2  100 s  1 ( s  j10) ( s  j10)

Transient part. Steady state

This part will exponentially decay in oscillation part.
time domain. 1
10 t sin(10t  1.4711)
e 101
101

Now we will plot this output.

10 t
e
101
10 t
e
101

1
sin(10t  1.4711)
101
Combined signal

10 t
e
101

1
sin(10t  1.4711)
101
Combined signal

10 t The combined signal and the

e
101 sinusoidal signal are the
same in the steady state.

1
sin(10t  1.4711)
101
 Combined signal

10 t The combined signal and the

e
101 sinusoidal signal are the
same in the steady state.

1
sin(10t  1.4711)
101
 For steady state analysis it suffices to work with the sinusoidal output only.
 1
sin(10t  1.4711)
Input and sinusoidal output plots: 101

u (t )  sin(10t )

Note the amplitude and phase differences.

These differences are decribed by the gain H ( j ) and the phase  ,
respectively.
 1
sin(10t  1.4711)
Input and sinusoidal output plots: 101

u (t )  sin(10t )

Note the amplitude and phase differences.

These differences are decribed by the gain H ( j ) and the phase  ,
respectively.
Example: Frequency response

System
u (t )  sin(t ) 1 y (t )  ?
H ( s) 
s 1

What is the effect of on the gain and phase of the system?

Example: Frequency response

System
u (t )  sin(t ) 1 y (t )  ?
H ( s) 
s 1

What is the effect of on the gain and phase of the system?

Remember: 1 
H ( j )  j
1  2
1  2
2 2
 1    
H ( j )   2 
 2 
1   1  
  1 
  tan 
1
2 
 1  1  
2
Example: Frequency response

System
u (t )  sin(t ) 1 y (t )  ?
H ( s) 
s 1

What is the effect of  on the gain and phase of the system?

Remember: 1 
H ( j )  j
1  2
1  2
2 2
 1    
H ( j )   2 
 2 
1   1  
  1 
  tan  1
2 
 1  1  
2

We can plot gain and phase versus frequency .

Usually linear ranges are not
used in gain and phase plots.
A program with logarithmic axis ranges.
The Matlab function “bode” can be used to obtain gain and phase plots too.
Note the scale difference here.
Note the scale difference here.
20 log10  H ( j )  is plotted.
 Note the scale difference here.
20 log10  H ( j )  is plotted.

The unit is decibell.

 Note the scale difference here.
20 log10  H ( j )  is plotted.

The unit is decibell.

The phase and gain plots are called “Bode plots.”

 Note the scale difference here.
20 log10  H ( j )  is plotted.

The unit is decibell.

The phase and gain plots are called “Bode plots.”

(We will learn hand plotting rules for asymptotic Bode diagrams.)
 (Asymptotic approximation)

(We will learn hand plotting rules for asymptotic Bode diagrams.)


G ( j )


G ( j )


G ( j )

10

G ( j )

10 100

G ( j )

10 100 1000

G ( j )

1 10 100 1000

G ( j )

0.1 1 10 100 1000


G ( j )

0.01 0.1 1 10 100 1000


G ( j )

0.01 0.1 0.5 1 10 100 1000


G ( j )

0.01 0.1 0.5 1 10 100 1000


G ( j )

0.01 0.1 0.5 1 10 100 1000


G ( j )

0.01 0.1 0.5 1 5 10 100 1000


G ( j )

0.01 0.1 0.5 1 5 10 50 100 1000


G ( j )

0.01 0.1 0.5 1 5 10 50 100 500 1000


G ( j )

0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

20 dB

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
 G ( j )

90

45

0.005 0.01 0.05 0.1 0.5 1 5 10 50 100 500 1000


 45 

 90
.
.
.
.


.


.


.


.