BTE3323-Control Systems-CHAPTER 6 - Bode Plots-Lecture 13

BTE 3323: CONTROL SYSTEMS
Chapter 6
Bode Plots
Chapter Description
• Aims
– Sketch the bode diagram for a given system
– Identify the system’s stability based on the determined Gain Margin & Phase Margin
• Expected Outcomes
– Students will be able to sketch the bode diagram
– Students will study the stability of a control system using bode plote.
• References
– Norman S. Nise., Control System Engineering, 7th Ed. John Wiley & Sons, 2015.
– C. Dorf, Robert H. Bishop Richard, Modern control systems, 13th Ed, Pearson, 2017.
– Katsuhiko Ogata, Modern Control Engineering5th Ed, Pearson 2010
23 November 2023 Control Systems– BTE3323 By Dr. Waheb A. Jabbar Faculty of Engineering Technology 2
Chapter Contents #6
• Sketching a bode diagram

• Identify System Stability
Frequency Response Method
• A frequency response method was developed in the 1930s, earlier

than the root locus method.
• This technique has distinct advantages in the following situations:

▪ When modeling transfer functions from physical data.
▪ When designing lead compensators to meet a steady-state
error requirement and a transient response requirement.
▪ When finding the stability of nonlinear systems
▪ In settling ambiguities when sketching a root locus
▪ Frequency response analysis and design methods consider response

to sinusoids methods rather than steps and ramps.
▪ Frequency response is readily determined experimentally in

sinusoidal testing
▪ Frequency response is readily obtained from the system transfer

function (s = jω) , where ω is the input frequency.
▪ Link between frequency and time domains is indirect.
▪ Design criteria helps to obtain good transient time response.

▪ The frequency response of a system is steady-state response of

the system to a sinusoidal input signal.
▪ For linear dynamic systems, the steady state output of the system
is a sinusoid with the same frequency as the input, but differing in
amplitude and phase angle (there is a phase shift in the output).
▪ The frequency response can be computed for a single frequency,

and can be plotted for a single frequency, and can be plotted for a
range of frequencies.
M ( ) ( )
• Assume that the system is represented by the complex number

M ( ) ( )
• The output is found by multiplying the complex number representation of
the input by the complex number representation of the system.
• Thus, the steady-state output sinusoid is
M o ( )o ( ) = M ( )M i ( )[ ( ) + i ( )]
• Mo(ω) is the magnitude response and Φ(ω) is the phase response.
• The combination of the magnitude and phase frequency responses

is called the frequency response.
Bode Plot
There are two types of Bode plots:
• The Bode straight-line approximation to the log-magnitude (LM)

plot, LM versus ω (with ω on a log scale)
• The Bode straight-line approximation to the phase plot, (ω) versus

ω (with ω on a log scale)
• Both are plotted against the frequency (ω) on a logarithmic scale.
Bode Plot
The log scale is used for bode plot because of the

range of frequency is very large…up to
1 2 10
10 , 10 ,10 ......
Bode plot is plotted on semi-log paper
Bode Plot
Num=[a b]
Den=[c d]
Bode (num,den)
Decibels
V2 I P
Note that the quantities , 2 , and 2 are unitless quantities.
V1 I1 P1
However, when scaled logs of the quantities are taken, the unit
of decibels (dB), is assigned.
V2
20log10 = log-magnitude (LM) of the voltage gain in dB
V1
I2
20log10 = log-magnitude (LM) of the current gain in dB
I1
P2
10log10 = log-magnitude (LM) of the power gain in dB
P1
Bode Plot
• Bode plot is a magnitude plot for G(jω)H(jω) in decibel unit versus
frequency and phase plot in degree vs freq.
• G(jω)H(jω) is an open loop Transfer Function for a closed loop

system in Figure.
Reference Error
input, R signal, E output, Y
PLANT
+
- G
SENSOR
Feedback H
Standard form for G(jω)H(jω)
Before drawing a Bode plot, it is necessary to find G(jω)(H(jω) and
put it in “standard form.” (s = jω)
K(s + z1 )(s + z 2 )  (s + z N )
G(s) H(s) =
(s + p1 )(s + p 2 )  (s + p M )
K ( j + z1 )( j + z2 )....( j + z N )
G ( j ) H ( j ) =
( j + p1 )( j + p2 )...( j + pM )
  
+ 1)( j + 1)....( j + 1)
K( j
z1 z2 zN
G ( j ) H ( j ) =
  
( j + 1)( j + 1)...( j + 1)
p1 p2 pM
Basic Factors of a Transfer Function
The basic factors that very frequently occur in an arbitrary
transfer function are
1. Gain K (a constant)
𝟏
2. Integral and Derivative Factors (jω)±1 : 𝒋𝝎 (a zero) and (a pole)
𝒋𝝎
𝟏
3. First Order Factors: 𝟏 + 𝒋𝝎 (a zero) and (a pole)
𝟏+𝒋𝝎
1. Gain K
• The log-magnitude curve for a constant gain K is a horizontal straight line

at the magnitude of 20 log(K) decibels.
• The phase angle of the gain K is zero.
• The effect of varying the gain K in the transfer function is that it raises or
lowers the log-magnitude curve of the transfer function by the
corresponding constant amount, but it has no effect on the phase curve.
If K = 5 Then 20 log (K) = 20 log ( 5 ) = 14 db
Im -1 0
If K = 5 Then  = tan ( ) = tan ( ) = 0
-1
Re 5
2. Integral and Derivative Factors (jω)±1
Derivative Factor G( s ) = s, where s = j
Magnitude G( j ) = 20 log( )
ω 0.1 0.2 0.4 0.5 0.7 0.8 0.9 1
db -20 -14 -8 -6 -3 -2 -1 0
Slope=6db/octave
Slope=20db/decade

Phase G( j ) = tan −1( ) = 90
0
30
10 G ( j ) = j
Magnitude (decibels)
20db
0 decade
-10
-20
-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
180o
900
60o G ( j ) = j
Phase (degrees)
-1 
 = tan ( ) = 90
0o 0
-600
-180o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
2. Integral and Derivative Factors (jω)±1
• When expressed in decibels, the reciprocal of a number differs from
its value only in sign; that is, for the number N,
1
20 log( N ) = −20 log( )
N
• Therefore, for Integral Factor the slope of the magnitude line would be
same but with opposite sign (i.e -6db/octave or -20db/decade).
1
Magnitude G( j ) = = −20 log( )
j

Phase G( j ) = − tan −1 ( ) = −90
0
30
20
10
G ( j ) = 1 / j
0 − 20db
decade
-10
-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
180o
60o
G ( j ) = j
Phase (degrees)
0o -1 
 = tan ( ) = −90
0
-600
-900
-180o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
ω
3. First Order Factors (j +1)
ω𝟏
M ( ) = 20 log( 1 + j /  1 )
M ( ) = 20 log( 1 + ( /  1) 2
)
– For Low frequencies ω<< ω1
M ( ) = 20 log(1) = 0
– For high frequencies ω>>ω1
M ( ) = 20 log( /  1)
ω
3. First Order Factors (j +1)
ω𝟏
 ( ) = tan ( /  ) -1
1
-1
when  = 0, ( ) = tan (0) = 0 
when  =  1,  ( ) = tan (1) = 45 -1 
-1
when  = , ( ) = tan () = 90 
30
20
1
6 db/octave G( s ) = ( s + 3) = ( s + 1)
10 3
20 db/decade
0
ω=3
-10
-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
90o
45o
30o
Phase (degrees)
0o
-300
-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
ω
3. First Order Factors (j +1)-1
ω𝟏
M ( ) = −20 log( 1 + j /  1 )
M ( ) = − 20 log( 1 + ( /  1) 2
)
– For Low frequencies ω<< ω1
M ( ) = −20 log(1) = 0
– For high frequencies ω>>ω1
M ( ) = −20 log( /  1)
ω
3. First Order Factors (j +1)-1
ω𝟏
 ( ) = − tan ( /  ) -1
1
-1
when  = 0, ( ) = tan (0) = 0 
when  =  1,  ( ) = − tan (1) = −45 -1 
-1
when  = , ( ) = −tan () = −90 
30
10
0 1
ω=3 G( s ) =
( s + 3)
-10
-6 db/octave
-20 db/decade
-20
-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
90o
30o
Phase (degrees)
0o
-300
-45o
-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
continued on next slide
continued on next slide
Example-1
Draw the Bode Plot of following Transfer function.
20s
G( s ) =
( s + 10)
Solution:
2s
G( s ) =
( 0.1s + 1)
• The transfer function contains
1. Gain Factor (K=2)
2. Derivative Factor (s)
3. 1st Order Factor in denominator (0.1s+1)-1
2s
G( s ) =
( 0.1s + 1)
1. Gain Factor (K=2)

K db
= 20 log(2 ) = 6 db
2. Derivative Factor (s)
s db = 20 log( ) = 20 db/decade
3. 1st Order Factor in denominator (0.1s+1)
1
when   10, = −20 log(1) = 0
0.1 j + 1 db
1
when   10, = −20 log(0.1 ) = −20db/dec
0.1 j + 1 db
20s
G( s ) =
( s + 10)
20s
G( s ) =
( s + 10)
2 j
G( j ) =
( 0.1 j + 1)
G ( j ) = 2 + j − (0.1 j + 1)
0 −1  −1
G( j ) = tan ( ) + tan ( ) − tan −1 ( 0.1 )
2 0
G( j ) = 90 − tan −1(0.1 )
ω 0.1 1 5 10 20 40 70 100 1000 ∞
Φ(ω) 89.4 84.2 63.4 45 26.5 14 8 5.7 0.5 0
ω 0.1 1 5 10 20 40 70 100 1000 ∞
Φ(ω) 89.4 84.2 63.4 45 26.5 14 8 5.7 0.5 0
Bode Diagram
30
20
Magnitude (dB)
10
-10
-20
90
Phase (deg)
45
0
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
Example-2
In-Class
Exercise-1
In-Class Exercise-2
Plot a bode plot for a transfer function:-
1) 20( s + 1)
G( s) H ( s) =
s( s + 2)
2) 100( s + 1)
G( s) H ( s) =
s( s + 10)
3) 200( s + 1)( s + 10)

G( s) H ( s) =
s( s + 100)
1. Replace s=jω into G(s)H(s)
200
G( j ) H ( j ) =
j ( j + 2)( j + 10)
Rearrange form:-
10
G ( j ) H ( j ) =
 
j (1 + j )(1 + j )
2 10
This transfer function has 4 forms:-
i. Factor Constant, K=10

1
ii. Factor j
1
iii. Factor 
1+ j
2
1

iv. Factor 1+ j
10
Sketch for magnitude and phase!

20( s + 1)
G( s) H ( s) = Answers
s( s + 2)
Bode Diagram
50
40
30
Magnitude (dB)
20
10
-10
-20
-70
-75
Phase (deg)
-80
-85
-90
-1 0 1 2
10 10 10 10
Frequency (rad/s)
100( s + 1)
G( s) H ( s) =
s( s + 10)
Bode Diagram
70
60
50
40
Magnitude (dB)
30
20
10
-10
-20
-30
Phase (deg)
-60
-90
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/s)
200( s + 1)( s + 10)
G( s) H ( s) =
s( s + 100)
Bode Diagram
75
70
65
60
Magnitude (dB)
55
50
45
40
35
30
25
90
45
Phase (deg)
-45
-90
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequency (rad/s)
Stability, Gain Margin, and Phase Margin via Bode Plots
• Gain margin, GM. The gain margin is the change in

open-loop gain, expressed in decibels (dB), required at
180 of phase shift to make the closed-loop system
unstable.
• Phase margin, FM. The phase margin is the change in

open-loop phase shift required at unity gain to make the
closed-loop system unstable.
Gain Margin
GM = −20 log G ( j )  = = − LM (GM )

GM
Phase Margin
M = 180 + G( j )  =
o Relative Stability
M
For stable system: BOTH margins should be positive.

For marginal stable system : Both the margins are zero.
For unstable system : If any of them is the negative.
Gain crossover frequency (GCF)
Phase crossover frequency(PCF)
Example-3
Determine the system’s

stability
Example-4
Determine the system’s

stability
Example-5
• Obtain the phase and gain margins of the system shown in

following figure for the two cases where K=10 and K=100.
STABLE UNSTABLE
Exercise-1
Dr. Waheb A. Jabbar Al-Areeqi,
Ph.D in Electrical, Electronic and Systems Engineering UKM, Malaysia
Senior Lecturer
Faculty of Engineering Technology
University Malaysia Pahang, Kuantan Malaysia
Email: waheb@ump.edu.my
Tel. (Office): +6095492182
Mobile : +60173729028
Office: FTeK, A2, Level 1, Room No. 1003
https://sites.google.com/view/waheb/home

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BTE 3323: CONTROL SYSTEMS

• Sketching a bode diagram

• A frequency response method was developed in the 1930s, earlier

• This technique has distinct advantages in the following situations:

▪ Frequency response analysis and design methods consider response

▪ Frequency response is readily determined experimentally in

▪ Frequency response is readily obtained from the system transfer

▪ Link between frequency and time domains is indirect.

▪ Design criteria helps to obtain good transient time response.

▪ The frequency response of a system is steady-state response of

▪ The frequency response can be computed for a single frequency,

• Assume that the system is represented by the complex number

• Thus, the steady-state output sinusoid is

• Mo(ω) is the magnitude response and Φ(ω) is the phase response.

• The combination of the magnitude and phase frequency responses

There are two types of Bode plots:

• The Bode straight-line approximation to the log-magnitude (LM)

• The Bode straight-line approximation to the phase plot, (ω) versus

• Both are plotted against the frequency (ω) on a logarithmic scale.

The log scale is used for bode plot because of the

Bode plot is plotted on semi-log paper

• G(jω)H(jω) is an open loop Transfer Function for a closed loop

• The log-magnitude curve for a constant gain K is a horizontal straight line

• The phase angle of the gain K is zero.

ω 0.1 0.2 0.4 0.5 0.7 0.8 0.9 1

when  =  1,  ( ) = tan (1) = 45 -1 

when  =  1,  ( ) = − tan (1) = −45 -1 

1. Gain Factor (K=2)

G( j ) = 90 − tan −1(0.1 )

ω 0.1 1 5 10 20 40 70 100 1000 ∞

Φ(ω) 89.4 84.2 63.4 45 26.5 14 8 5.7 0.5 0

Plot a bode plot for a transfer function:-

3) 200( s + 1)( s + 10)

i. Factor Constant, K=10

Sketch for magnitude and phase!

• Gain margin, GM. The gain margin is the change in

• Phase margin, FM. The phase margin is the change in

GM = −20 log G ( j )  = = − LM (GM )

For stable system: BOTH margins should be positive.

Phase crossover frequency(PCF)

Determine the system’s

Determine the system’s

• Obtain the phase and gain margins of the system shown in

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