Bode Plot

Rajeeb Dey, SMIT,Sikkim 1

Why Bode Plot?
The determination of frequency response by traditional methods (like
the analytical methods) is tedious, when transfer function has several
poles and zeros.

The difficulty involved in the computation in frequency domain

can be considerably reduced by utilizing graphical technique in
logarithmic co-ordinate system for the frequency response analysis for
the system.

Thus, a logarithmic plot of transfer function in frequency

domain is called BODE PLOT.

Bode Plot consists of two plots/graphs

1) G ( j ) in db Vs log 
2) G ( j ) in deg VsDey,
Rajeeb 
logSMIT,Sikkim 2
LOGARITHMIC UNITS
The magnitude of the sinusoidal transfer function (or in other words
transfer function in frequency domain) can be expressed in db
(decibel), which is a logarithmic unit as
20log10 G( j) db
This magnitude is called log magnitude.
Advantage:
The products of the factors in G ( j ) becomes additive terms because
of the use of log.
UNITS TO EXPRESS FREQUENCY BANDS / RATIOS IN LOG
SCALE.

 OCTAVE

 DECADE
Rajeeb Dey, SMIT,Sikkim 3
OCTAVE:
An octave is a frequency band from (say) f1 to f2 , where
(f2 / f1) = 2
Thus the frequency band from 1 to 2 c/s is one octave, or band from 2 to
4 c/s is also one octave.
DECADE:
If (f2 / f1) = 10, it is called DECADE

SIMPLE CALCULATIONS AND CONVERSIONS

No. of octaves in a frequency range from f1 to f2 = log (f2 / f1) / log 2
= 3.32 log (f2 / f1) oct.

No. of decades in a frequency range from f1 to f2 = log (f2 / f1) / log10 10

= log (f2 / f1) decade
No. of octaves = 1 / log 2 = 1/ 0.301 decade

20* N db/decade = (20*N) (0.301) db/ octave = 6*N db/octave

Rajeeb Dey, SMIT,Sikkim 4
BODE PLOT PRELIMINARIES

For bode plot the sinusoidal transfer function G ( j ) must be expressed in

time-constant form, as shown in the expression below,

Let us consider a generalized form of G ( j )

2 1
K ( j ) n (1  jT1 )[1  ( j )  ( j ) 2
].........
n n 2
G ( j ) 
2 1
( j ) n (1  jTa )[1  ( j )  2 ( j ) 2 ].......
n n
2
   
K ( j ) n (1  jT1 )[1   2   j 2  ]........
 n   n 
G ( j )  2
   
( j ) n (1  jTa )[1   2   j 2  ].......
 n   n 
We find from above that the numerator and denominator have 4 basic
possible types of factors :
Rajeeb Dey, SMIT,Sikkim 5
1. Constant gain K

2. Poles or zeros at origin ( j ) n

3. Simple poles or zeros (1  jT )1

For repeated poles or zeros (1  jT )

r

2
     1
4. Quadratic poles or zeros [1   2   j 2  ]
 n   n 
2
     r
For repetitions [1   2   j 2  ]
 n   n 

Note: The transfer function of the system may have all the factors in
it or combination of some of the factors.
Rajeeb Dey, SMIT,Sikkim 6
OBJECTIVE:

We are to draw the bode plot by straight line asymptotes or in other

words we will learn to draw approximate function plot.

The exact plot can be obtained from the approximate plot via a
technique called error corrections at each corner frequencies.

STEP- BY - STEP PROCEDURE TO DRAW BODE PLOT

 First we learn to draw the bode plot for each individual factors as
discussed above.

 Secondly we will learn to draw bode plot for a sinusoidal transfer

function which consists of combination of some of the factors of G ( j )
discussed above.

Rajeeb Dey, SMIT,Sikkim 7

BODE PLOT FOR INDIVIDUAL FACTORS OF G ( j )
1. CONSTANT GAIN FACTOR (K)
G ( j )  K
The gain “K” is frequency independent term. Finding the log magnitude,
G( j)  20 (log10 K ) db  Constant

G ( j )  0 degrees
G ( j )
G ( j )
+180

+90
20 (log10 K ) db  (log scale)
0
-90
-180

Rajeeb Dey, SMIT,Sikkim 8
0.1 1.0 10
2. POLES OR ZEROS AT ORIGIN
G ( j )  ( j )  n
where n = no. of repetations
+ n indicates no. of zeros at origin
- n indicates no. of poles at origin
1
G ( j )  ( j ) 1  here n  1  pole
j
G ( j )  ( j )1  j here n  1 zero

Finding log magnitude and angle of G ( j )

1
If G ( j )  ( j ) n

G ( j )  20 log   1
db ( j ) n
  20 log   db G ( j )  20 log    n db
  20  n log   db
Per unit change in log 
Rajeeb Dey, SMIT,Sikkim 9
 Unit change in log  means:
 2 
log   1
 1 
 log 2  log 1  log10 10
2
  10
1
 2  10 1
So, using the above concept, we can write
G ( j )   20 db / decade  for single pole at origin
and
G ( j )   20  n db / decade  for multiple poles at origin
Interpretation : This means, when G( j) db is plotted against  it is a
straight line with negative slope of 20*n db / decade for poles and
positive slope of 20*n db / decade for zeros.
Rajeeb Dey, SMIT,Sikkim 10
 Angle plot for G ( j )   j 
n

G ( j )   n  90 ; + ve for zeros and - ve for poles

If n 1 then If n  2 then
G ( j )   90 for zeros G ( j )   180 for zeros
G ( j )   90 for poles G ( j )   180 for poles

+ 40

+ 20
G ( j ) +20 db/ decade for single zero
0 at origin

- 20

- 40
- 20 db/ decade for single pole
at origin
Rajeeb Dey, SMIT,Sikkim 11 
0.1 1 10
 The angle plot is constant +/- 90 degrees for a single zero/ pole at origin
as the frequency  varies.

G ( j )
For zeros
180

 90

0.1 1 10 

90

 180

For poles

Rajeeb Dey, SMIT,Sikkim 12

3. SIMPLE POLES OR ZEROS
1
G ( j )   (1  jT )  n  This is a repeated simple pole
(1  jT ) n

If n = 1 , then
1
G ( j )   (1  jT ) 1  This is a non-repeated simple pole
(1  jT )
Similarly,
G ( j )  (1  jT ) n   This is a repeated simple zero
If n = 1 , then
G ( j )  (1  jT )1  This is a non-repeated simple zero

We consider the case of non-repeated simple pole first

1
G( j )   (1  jT ) 1
(1  jT )
 1  Unlike other factors discussed so far it
G ( j ) in db  20 log10  
 1 2 T 2



has two frequency regions in it
1 Low frequency region
 

 20 log10 1   T
2 2 2
If  T  1
 10 log10 (1   T )
2 2

High frequency region

Rajeeb Dey, SMIT,SikkimIf  T  1 13
In low frequency region In high frequency region
G ( j )  10 log10 (1   2 T 2 ) G ( j )  10 log10 (1   2 T 2 )
 10 log10 1  10 log10 ( 2 T 2 )
 0 db   20 log10 ( T ) db

The G( j) db plot is a st. line The G( j) db plot is a st. line of
of slope 0 db/decade for 0  T 1 slope -20 db/decade, passing
through 0db at  T 1 for 1  T 

1
Important Note: The frequency   or  T  1
at which two
T
asymptotes (high and low frequency) meet is called CORNER
FREQUENCY. It divides the plot into 2 regions (high and low).

Rajeeb Dey, SMIT,Sikkim 14

 High frequency asymptote for simple zero-
+ 20 db/decade st line passing through corner
G ( j ) db
frequency  T 1
+ 40
Low frequency asymptote

+ 20

- 20

- 40


0.1 1 10
High frequency asymptote for simple pole -
1 - 20 db/decade st line passing through corner
Corner frequency   
T frequency  T 1
Rajeeb Dey, SMIT,Sikkim 15
 Angle for the simple pole (non-repeated) Angle for thesimple pole (repeated)
1
G ( j )  is given by G ( j ) 
1
1  j T  (1  j T ) n
is given by

 T   T 
 G ( j )    tan  1    G ( j )    n  tan  1 
 1  
 1 
G ( j )
Phase plot for simple zero
180

 90
 45
0.1 1 10 
45
90

 180 Phase plot for simple pole

Rajeeb Dey, SMIT,Sikkim 16
4. COMPLEX CONJUGATE PAIR OF POLES OR ZEROS
1
   2     
G ( j )  1     j 2    , Let    u  normalized frequency
  n   n    n 
1
 G ( j ) 
(1  u 2 ) 2  (2  u ) 2
1

 G ( j ) db  20 log [ (1  u )  (2  u ) ]
2 2 2 2 Corner frequency for this T.F is u  1
 10 log[ (1  u 2 ) 2  (2  u ) 2 ] 
  1    n
In Low frequency region u  1
n
G ( j )   10 log1
 0 db
In High frequency region u  1
G ( j )   10 log (u 4  4  2 u 2 );as   1we know and u 2 < u 4
so second term is neglected
thus,
= -10 log u 4
G ( j ) db   40 log u
Rajeeb Dey, SMIT,Sikkim 17
 Log – Magnitude Plot

G ( j ) db

+ 40
Low frequency asymptotes + 40 db/decade (for zeros)
+ 20
High frequency asymptotes
0

- 40 db/decade (for poles)

--20
40

- 60 u
0.1 1 10
Rajeeb Dey, SMIT,Sikkim 18
 Phase Calculation
 2 u 
 G ( j )   tan 1    for poles For non-repeated complex
 1 u 
2

 2 u  conjugate pairs of poles or zeros

 G ( j )   tan 1    for zeros
 1 u 
2


The phase plot can be obtained by varying u
n
SUMMARY
In short the procedure for drawing “BODE PLOT” for a given system with
combination of various factors of G( j ) discussed above can summarized as:
1. Write the sinusoidal transfer function in time-constant form.
2. Identify the corner frequency (C.F) associated with each factor, if it exists.
3. Arrange all the factors in terms of ascending corner frequencies.
3. Knowing the C.F, draw the log magnitude plot. This plot consists of st. line
segments with line slope changing at each C.F.
+20*n db/decade for simple zero and -20*n db/decade for simple pole.
+40*n db/decade -40*n db/decade for complex conjugate pair of zeros and
poles respectively.
***Add slopes of all the factors algebraically at each C.F to get resultant
magnitude plot for the given T.F.
4. Draw phase angle curves for each factor
Rajeeb and add them algebraically to get phase
Dey, SMIT,Sikkim 19
plot for the given T.F.
 PROBLEM 1

Sketch the Bode plot for a unity feedback system characterized by the
loop transfer function

K (1  0.2 s) (1  0.025s)
G( s)  3
s (1  0.001 s) (1  0.005 s)

Show the system is conditionally stable. Find the range of ‘K’ for which
the system is stable.

Rajeeb Dey, SMIT,Sikkim 20

SOLUTION:
Assume K 1,and alsosubstitute s  j in the given G(s)
(1  0.2 j ) (1  0.025 j )
G( j ) 
( j )3 (1  0.001 j ) (1  0.005 j )

Log-magnitude characteristics for various factors

Factors C.F (rad/sec) Asymptotic log-mag. Characteristics

1 None -20 X 3 db/decade = -60db/decade. A st. line of

constant slope – 60 db/decade passing through
( j )3
 =1
1
(1  0.2 j )   5 A st. line of slope 0 db/decade upto C.F. Than a
0.2 st. line of slope + 20 db/decade after C.F.

(1  0.025 j )   40
A st. line of slope 0 db/decade upto C.F. Than a
st. line of slope + 20 db/decade after C.F.
1
(1  0.005 j )
  200 A st. line of slope 0 db/decade upto C.F. Than a
st. line of slope - 20 db/decade after C.F.
1
(1  0.001 j )
  1000 A st. line of slope 0 db/decade upto C.F. Than a
Rajeeb
st. Dey,
lineSMIT,Sikkim
of slope - 20 db/decade after C.F.21
Phase Plot Calculation So, resultant   is given by:
  = - 270 + tan  1  0.2    tan  1  0.025  

1  270  tan  1  0.005    tan  1  0.001 

 Phase angle
(rad/sec) degrees
 2 tan  1  0.2  
0.1 - 268

 0.025 
1 0.8 -260
 3 tan
1 -257
3 -236

 4  tan  1  0.005  10 -198

15 -183
30 -163
 5  tan 1
 0.001  60 -148
100 -147
300 -172
Rajeeb Dey, SMIT,Sikkim 22
400 -182
 + 60
+ 40 - 60 db/decade
+ 20
0
- 40 db/decade
- 40
-60 - 20 db/decade
- 80 - 40 db/decade
- 100

1 10 100 1000
- 60 db/decade
Rajeeb Dey, SMIT,Sikkim 23
 G ( j )

90

180

 270


0.1 1 10
For Phase Plot

Note: Draw both the log-magnitude and phase angle plot in the same
graph paper with common frequency axis.
Rajeeb Dey, SMIT,Sikkim 24
Rajeeb Dey, SMIT,Sikkim 25
Implementing Bode Plot in MATLAB

The transfer function must be specified in the form of polynomials in s.

The commands used for Bode plot is

num=[]
den=[]
bode (num, den)

MATLAB traces actual or exact log-magnitude plot.

Rajeeb Dey, SMIT,Sikkim 26

 RELATIVE STABILITY ANALYSIS FROM BODE
PLOT
For carrying out the relative stability analysis for a given system using
Bode Plot, two important terms will be introduced first

GAIN MARGIN

PHASE MARGIN

They are required for knowing the margin or limit of stability for a
system. It gives the relative stability measure of the system..

Rajeeb Dey, SMIT,Sikkim 27

GAIN MARGIN: The gain margin is a factor by which the gain of a
stable system is allowed to increase before the system reaches
instability.

PHASE MARGIN: The phase margin of a stable system is the amount

of additional phase lag required to bring the system to the point of
instability.

HOW GAIN AND PHASE MARGINS ARE CALCULATED

FROM BODE PLOT ? ?
Note: For these calculations, it is customary to plot log-magnitude
and phase plots in the same semi-log graph paper.

Rajeeb Dey, SMIT,Sikkim 28

 For Bode plot GAIN MARGIN is calculated using phase plot. We
find phase cross over frequency in the phase plot, which is defined as:
the frequency at which phase plot crosses “– 180” degree line,
denoted by  .

Now corresponding to phase cross over frequency in the phase plot, we

look for the amount of gain in db in the log-magnitude plot.

GAIN MARGIN will be amount of gain required to raise the the

magnitude curve to 0 db.

So, if G.M. is positive, system is stable.

If G.M. is negative than system is unstable.
If G.M. is 0 (zero) than system is marginally stable.

Please refer slide 33 to 35

Rajeeb Dey, SMIT,Sikkim 29
 For BODE PLOT phase margin is calculated from the log-magnitude
plot. We find gain cross over frequency, which is defined as
the frequency at which the log-magnitude plot crosses 0 db line,
denoted by  g .

Now corresponding to gain cross over frequency in the gain plot, we

look for the amount of phase angle in degrees in the phase plot to find
the Phase margin (P.M).
P.M .    ( 180 )
 180  
If P.M. comes out to be positive than the system is stable, else
unstable.
Please refer slide 33 to 35
Rajeeb Dey, SMIT,Sikkim 30
Example: Construct Bode plot for the system whose open-loop transfer
function is given below. From the plot find the gain margin and Phase
margin of the system. Comment on the stability of the system.

4
G( s) H (s) 
s(1  0.5s)(1  0.08s)
Example: Draw the Bode plot for the open-loop transfer function for a
unity feedback system and comment on the close-loop stability
50
G ( s) H ( s) 
( s  1)( s  2)
Example: Determine the values of ‘K’ for the open-loop transfer function
given below such that (i) G.M is 15 dB and (ii) phase margin is 60
degrees.
K
G( j ) H ( j ) 
j ( j 0.1  1)( j  1)
Rajeeb Dey, SMIT,Sikkim 31
 ALTERNATIVE TECHNIQUE

Analytical method to calculate the following parameters

GAIN CROSS OVER FREQUENCY
PHASE CROSS OVER FREQUENCY
GAIN MARGIN
PHASE MARGIN
Gain Margin (G.M) Calculation
G ( j ) H ( j ) A
Finding  (Phase cross over frequency) at   

1
Im G ( j ) H ( j )  0 G.M  20 log   db
 A

Finding  g (Gain cross over frequency) Phase Margin (P.M) Calculation

G ( j ) H ( j )  1 P.M  180   G ( j ) H ( j )  
g

Rajeeb Dey, SMIT,Sikkim 32

Thank You ! !

Questions????
Rajeeb Dey, SMIT,Sikkim 33
G( j ) g

0 db  Here G.M is positive

G.M
Here P.M is positive

G ( j )
 g  
P.M
180   System is stable

Go back to slide 29 or 30
Rajeeb Dey, SMIT,Sikkim 34
G( j ) g
G.M
0 db 
Here G.M is negative

Here P.M is negative

G ( j )
  g  
180  System is unstable
P.M

Rajeeb Dey, SMIT,Sikkim 35

G( j ) g
0 db 
Here G.M is zero

Here P.M is zero

G ( j )
 g  
180  System is marginally stable


Rajeeb Dey, SMIT,Sikkim 36

 2 n

s( s  2n )

c ( j ) n2 r  n 1  2 2

R( j ) ( j ) 2  j 2n  n2
1
 Mr 
put u   normalized frequency 2 1   2
n
1  2 2
M (j ) =
1 r   tan 1

(1-u 2 )  j 2 u 
1
M (j )  1

(1-u 2 )  (2 u ) 2 B.W  n 1  2 2   2  4 2  4 

4 2

2 u
M (j ) = - tan -1
1  u2
Rajeeb Dey, SMIT,Sikkim 37