Overview of Bode Plots Transfer Function Review

• Transfer function review

x(t) H(s) y(t)
• Piece-wise linear approximations
• First-order terms Recall that if H(s) is known and
• Second-order terms (complex poles & zeros)
x(t) = A cos(ωt + φ),
then we can find the steady-state solution for y(t):
yss (t) = A|H(jω)| cos (ωt + φ + ∠H(jω))

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 1 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 2

Bode Plots Decibel Scales

It is important to become adept at translating between amplitude,
x(t) H(s) y(t) |H(jω)|, and decibels, HdB (jω).
Amplitude (|H(jω)|) Decibels (20 log10 |H(jω)|)
• Bode plots are standard method of plotting the magnitude and 1 20 log10 1 =
phase of H(s) 10 20 log10 10 =
• Both plots use a logarithmic scale for the x-axis 100 20 log10 100 =
1000 20 log10 1000 =
• Frequency is in units of radians/second (rad/s)
0.1 20 log10 0.1 =
• The phase is plotted on a linear scale in degrees 0.01 20 log10 0.01 =
• Magnitude is plotted on a linear scale in decibels 0.001 20 log10 0.001 =
1
2 20 log10 21 = -6.0206
HdB (jω)  20 log10 |H(jω)| 20 log10 2
2  =
1
2 20 log10 1
2 =

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 3 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 4
 Example 1: Bode Plots Example 1: Workspace

20 nF

10 kΩ
1 kΩ

+
vs(t)
vo(t)
RL
-

1. Find the transfer function of the circuit shown above.

2. Generate the bode plot.

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 5 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 6

Example 1: Bode Plot Example 1: MATLAB Code

w = logspace(1,5,500);
Active Lowpass RC Filter
H = -50e3./(j*w + 5e3);
20
|H(jω)| (dB)

subplot(2,1,1);
h = semilogx(w,20*log10(abs(H)));
10 set(h,’LineWidth’,1.4);
ylabel(’|H(j\omega)| (dB)’);
title(’Active Lowpass RC Filter’);
0 set(gca,’Box’,’Off’);
grid on;
1 2 3 4 5 set(gca,’YLim’,[-5 25]);
10 10 10 10 10
subplot(2,1,2);
180 h = semilogx(w,angle(H)*180/pi);
∠ H(jω) (degrees)

set(h,’LineWidth’,1.4);
160 ylabel(’\angle H(j\omega) (degrees)’);
140 set(gca,’Box’,’Off’);
grid on;
120 set(gca,’YLim’,[85 185]);
100 xlabel(’Frequency (rad/s)’);
1 2 3 4 5
10 10 10 10 10
Frequency (rad/s)

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 7 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 8
 Example 2: Bode Plots Example 2: Workspace

1 μF
2 μF

1 kΩ
1 kΩ

+
vs(t)
RL
-

1. Find the transfer function of the circuit shown above.

2. Generate the bode plot.

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 9 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 10

Example 2: Bode Plot Example 2: MATLAB Code

w = logspace(1,5,500);
Active Lead/Lag RC Filter
8 H = -2*(j*w+500)./(j*w + 1000);
6
|H(jω)| (dB)

subplot(2,1,1);
4 h = semilogx(w,20*log10(abs(H)));
set(h,’LineWidth’,1.4);
2 ylabel(’|H(j\omega)| (dB)’);
title(’Active Lead/Lag RC Filter’);
0 set(gca,’Box’,’Off’);
−2 grid on;
1 2 3 4 5 set(gca,’YLim’,[-2 8]);
10 10 10 10 10
subplot(2,1,2);
−160
h = semilogx(w,angle(H)*180/pi);
∠ H(jω) (degrees)

set(h,’LineWidth’,1.4);
−165 ylabel(’\angle H(j\omega) (degrees)’);
set(gca,’Box’,’Off’);
−170 grid on;
set(gca,’YLim’,[-180 -160]);
−175

−180 xlabel(’Frequency (rad/s)’);

1 2 3 4 5
10 10 10 10 10
Frequency (rad/s)

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 11 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 12
 Bode Plot Approximations Alternate Transfer Function Expressions
• Until recently (late 1980’s) bode plots were drawn by hand There are many equivalent expressions for transfer functions.
• There were many rules-of-thumb, tables, and template plots to N (s)
H(s) =
help D(s)
• Today engineers primarily use MATLAB, or the equivalent bm sm + bm−1 sm−1 + · · · + b1 s + b0
=
• Why discuss the old method of plotting by hand? an sn + an−1 sn−1 + · · · + a1 s + a0
– It is still important to understand how the poles, zeros, and bm ± (s − z1 )(s − z2 ) . . . (s − zm )
= s
gain influence the Bode plot an (s − p1 )(s − p2 ) . . . (s − pn )
    
– These ideas are used for transfer function synthesis, analog 1 − zs1 1 − zs2 . . . 1 − zsm
circuit design, and control systems = k s±     
1 − ps1 1 − ps2 . . . 1 − psn
• We will discuss simplified methods of generating Bode plots
• Based on asymptotic approximations
• This last expression is called standard form
• The first step in making bode plots is to convert H(s) to standard
form

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 13 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 14

Magnitude Components Magnitude Components Comments

Consider the expression for the transfer function magnitude:
|HdB (ω)| = 20 log10 |k| ±  20 log10 ω
|HdB (jω)| = 20 log10 |H(jω)|    
   jω 
  +20 log10 1 − jω  + · · · + 20 log 10 1 − zm 
 s± (1 − s ) . . . (1 − s )  
z1
  
 z1 zm 
  
= 20 log10 k  jω 
s s
 (1 − p1 ) . . . (1 − pn )  −20 log10 1 − jωp1  − · · · − 20 log 10 1 − pn 
s=jω
jω jω
|1 − z1 | . . . |1 − zm |
• Thus, |HdB (ω)| can be written as a sum of simple functions
= 20 log10 |k| · |jω|± jω jω
|1 − p1 | . . . |1 − pn | • This is similar like using basis functions {δ(t),u(t),& r(t)} to write
= 20 log10 |k| ±  20 log10 ω an expression for a piecewise linear signal
   
 jω   jω  • We will use this approach to generate our piecewise linear

+20 log10 1 − + · · · + 20 log10 1 −
z1  zm  approximations of the bode plot
   
 jω   jω  • Note that there are four types of components in this expression

−20 log10 1 −  − · · · − 20 log10 1 −
p1  pn  – Constant – Linear term
– Zeros – Poles

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 15 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 16
 Magnitude Components: Constant Magnitude Components: Linear Term

|H(jω)| (dB) |H(jω)| (dB)

40 40

20 20

0 0
ω (rad/sec) ω (rad/sec)
-20 -20

-40 -40

The constant term, 20 log10 |k|, is a straight line on the Bode plot. The linear term, ± 20 log10 |ω|, is a line on the magnitude plot with a
slope equal to ± 20 dB per decade.
The x-axis intercept occurs at ω = 1 rad/s.
Plot the bode magnitude plots for H(s) = s, 1s ,s2 , 1
s2 .

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 17 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 18

Magnitude Components: Real Zeros Magnitude Components: Real Zeros Continued

Consider two limiting
 conditions for a term containing a zero,
|H(jω)| (dB)
20 log10 1 − jω
z

40
First condition: ω  |z|
  20
lim 20 log10 1 −
ω
jω 
z =0
z →0 0
  ω (rad/sec)
Thus, if ω
|z|  1, then 20 log10 1 − jω 
z ≈ 0. -20

Second condition: ω  |z| -40

 
ω
lim 20 log10 1 − jω 
z = 20 log10 | −
jω
z | = 20 log10 |ω| − 20 log10 |z|
z →∞
Our piecewise approximation joins these two linear asymptotic
Thus, if ω
 1, then this term is linear (on a log scale) with a slope approximations at ω = |z|.
|z|  
of 20 dB per decade and an x-axis intercept at ω = |z|. Plot the piecewise approximation of the term 20 log10 1 − jω . z

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 19 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 20
 Magnitude Components: Real Zeros Continued 2 Magnitude Components: Real Poles
Bode Magnitude Real Zero: z = ±1 rad/s |H(jω)| (dB)
50

40
40
20
30
0
Mag (dB)

ω (rad/sec)
20
-20

10 -40

0
• Consider two
 limiting
 conditions for a term containing a pole,
 jω 
−10
−2 −1 0 1 2 −20 log10 1 − p 
10 10 10 10 10
Frequency (rad/sec)
• This is just the negative of the expression for a zero
The approximation is least accurate at ω = |z|. The true magnitude is • The piecewise approximation is the mirror image of that for a zero
3 dB higher than the approximation at this corner frequency.

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 21 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 22

Magnitude Components: Real Poles Continued Complex Poles & Zeros

10
Bode Magnitude Real Pole: p = −1 rad/s • Complex poles and zeros require special attention
• Will discuss later
0
• You will not be expected to plot approximations with complex
−10
poles or zeros on exams
• There are essentially 3 steps to generating piecewise linear
Mag (dB)

−20 approximations of bode plots

1. Convert to standard form
−30
2. Plot the components
−40 3. Graphically add the components together

−50
−2 −1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

The approximation is least accurate at ω = |p|. The true magnitude is

3 dB less than the approximation at this corner frequency.

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 23 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 24
 Example 3: Magnitude Components Example 3: Workspace
Draw the piecewise approximation of the bode magnitude plot for
|H(jω)| (dB)
(s + 10)(s + 100)2 60
H(s) =
10s2 (s + 1000)
40

20

0 ω (rad/sec)
100 101 102 103 104 105
-20

-40

-60

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 25 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 26

Example 3: Solution Example 4: Magnitude Components

Bode Magnitude Example 1 Draw the piecewise approximation of the bode magnitude plot for

60 1011 s(s + 100)

H(s) =
(s + 10)(s + 1000)(s + 10, 000)2
40

20
Mag (dB)

−20

−40

−1 0 1 2 3 4 5
10 10 10 10 10 10 10
Frequency (rad/sec)

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 27 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 28
 Example 4: Workspace Example 4: Solution
Bode Magnitude Example 2
|H(jω)| (dB) 80
60 70

40 60
50
20
40
ω (rad/sec)

Mag (dB)
0
100 101 102 103 104 105 30
-20 20

-40 10
0
-60
−10
−20
−30
0 2 4 6
10 10 10 10
Frequency (rad/sec)

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 29 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 30

Phase Components Phase Components: Comments

jω jω
(jω) (1 − z1 ) . . . (1 − zm ) ∠H(jω) = ηk π +  π2 + θ1 + · · · + θn − φ1 − · · · − φn
H(jω) = k jω jω

(1 − p1 ) . . . (1 − pn ) jω jω
= ηk π +  π2 + ∠ 1 − + ··· + ∠ 1 −
Each of these terms can be expressed in polar form: a + jb = Aejθ . z1 zm

π π
Note that (jω) = ω  j  = ω  (ej 2 ) = ω  ej 2  jω jω
−∠ 1 − − ··· − ∠ 1 −
π p1 pn
 j 2
jηk π (ω e )N1 ejθ1 . . . Nm ejθm
H(jω) = |k|e
D1 ejφ1 . . . Dn ejφn

• Thus the phase of H(jω) is also a linear sum of the phases due to
|ω| N1 . . . Nm
= |k| × each component
D . . . Dn
 1  • We will consider each of the four components in turn
exp j(ηk π +  π2 + θ1 + · · · + θn − φ1 − · · · − φn )
– Constant – Linear term
where  – Zeros – Poles
0 k≥0
ηk =
1 k<0

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 31 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 32
 Phase Components: Constant Phase Components: Linear Term

∠H(jω)(deg) ∠H(jω)(deg)
◦
180 180◦

90◦ 90◦

0 0
ω (rad/sec) ω (rad/sec)
−90◦ −90◦

−180◦ −180◦

The complex angle of the constant term, k, is either 0◦ if k > 0 or The linear term, ∠(jω) = ∠j  =  × 90◦ , is a constant multiple of 90◦
180◦ if k < 0. Plot the bode phase plots for H(s) = s, 1s ,s2 , 1
s2 .

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 33 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 34

Phase Components: Real Zeros Phase Components: Real Zeros Continued

Consider three limiting conditions for a term containing a zero,
∠H(jω)(deg)
∠1 − jω
z
First condition: ω  |z| 180◦
 jω
 90◦
lim ∠ 1 −
ω z = 0◦
z →0
0
ω
 jω
 ◦ ω (rad/sec)
Thus, if |z|  1, then ∠ 1 − z ≈0 .
−90◦
Second condition: ω = |z|
−180◦
 
∠ 1 − jω  = ∠ (1 − jηz ) = −ηz 45◦
z ω=|z|

where ηz = sign(z) Our piecewise approximation joins these three linear asymptotic
Third condition: ω  |z| approximations at ω = 10−1 |z| and ω = 10|z|.
     
lim ∠ 1 − jω
= ∠ − jω = −ηz 90◦ Plot the piecewise approximation of the term ∠ 1 − jω z . Assume
z z
ω
z →∞ that z is in the left-hand plane (i.e. Re{z} < 0)
ω
 jω

Thus, if |z|  1, then ∠ 1 − z ≈ −ηz 90◦ .

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 35 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 36
 Phase Components: Real Zeros in Left Plane Phase Components: Real Zeros Continued 2
100 ∠H(jω)(deg)
90
180◦
80
70 90◦
60
Phase (deg)

0
50
ω (rad/sec)
40 −90◦
30
−180◦
20
10
0
If the zero is in the right half plane (i.e. Re{z} > 0), then the phase
−10
−2 −1 0 1 2 approaches −90◦ asymptotically.
10 10 10 10 10
 
Plot the piecewise approximation of the term ∠ 1 − jω
Frequency (rad/sec)
z . Assume
The approximation is least accurate at ω = 0.1|z| and ω = 10|z|. that z is in the right half plane.

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 37 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 38

Phase Components: Real Zeros in Right Plane Phase Components: Real Poles
10
Real poles in the left half plane have the same phase as real zeros in
0
the right half plane. We will only discuss poles in the left half plane
−10
because only these systems are stable.
−20 First condition: ω  |p|
−30  
jω
= −0◦
Phase (deg)

−40 lim
ω
−∠ 1− p
p →0
−50
−60
Second condition: ω = |p|
−70
 

−80
−∠ 1 − jω
p  = −∠ (1 − sign(p) × j) = −∠ (1 + j) = −45◦
−90 ω=|p|
−100
Third condition: ω  |p|
−2 −1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
   
jω jω
The approximation is least accurate at ω = 0.1|z| and ω = 10|z|. ω
lim −∠ 1 − p = −∠ − p = −∠j = −90◦
p →∞

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 39 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 40
 Phase Components: Real Poles Phase Components: Real Poles in Left Plane

∠H(jω)(deg) 10
0
180◦
−10

90◦ −20
−30

Phase (deg)
0
−40
ω (rad/sec)
−90◦ −50
−60
−180◦
−70

  −80
jω
Plot the piecewise approximation of the term −∠ 1 − p . Assume −90
−100
that p is in the left-hand plane (i.e. Re{p} < 0) 10
−2
10
−1
10
0
10
1
10
2

Frequency (rad/sec)

The approximation is least accurate at ω = 0.1|p| and ω = 10|p|.

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 41 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 42

Example 5: Phase Components Example 5: Solution

∠H(jω)(deg) 50
270

180◦ 0
◦
90 Phase (deg)
0 (rad/sec) −50
100 101 102 103 104 105
−90◦
−100
−180◦

-270
−150
Draw the piecewise approximation of the bode phase plot for
(s + 10)(s + 100)2 −1 0 1 2 3 4 5
H(s) = 10 10 10 10 10 10 10
10s2 (s + 1000) Frequency (rad/sec)

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 43 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 44
 Example 6: Phase Components Example 6: Solution

∠H(jω)(deg) 100
270
50
180◦

90◦
0

Phase (deg)
0 (rad/sec)
100 101 102 103 104 105
−90 ◦ −50

−180◦
−100
-270

−150
Draw the piecewise approximation of the bode phase plot for
1011 s(s + 100)
H(s) = 0 2 4 6
(s + 10)(s + 1000)(s + 10, 000)2 10 10
Frequency (rad/sec)
10 10

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 45 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 46

Example 7: Magnitude Example 7: Phase

|H(jω)| (dB) ∠H(jω)(deg)

60 270
40 180◦

20 90◦

0 ω (rad/sec) 0 (rad/sec)
100 101 102 103 104 105 100 101 102 103 104 105
-20 −90◦

-40 −180◦

-60 -270

Plot the magnitude of Plot the phase of

s + 10 s + 10
H(s) = 10 H(s) = 10
s + 1000 s + 1000

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 47 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 48
 Example 7: Solution Example 8: Magnitude
Bode Example 1 |H(jω)| (dB)
40
60
20
Mag (dB)

40
0
20
−20
0 ω (rad/sec)
−1 0 1 2 3 4 5 100 101 102 103 104 105
10 10 10 10 10 10 10
-20
100
-40
Phase (deg)

50 -60

Plot the magnitude of

0
s − 10
−1 0 1 2 3 4 5 H(s) = −10
10 10 10 10
Frequency (rad/sec)
10 10 10 s + 1000

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 49 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 50

Example 8: Phase Example 8: Solution

Bode Example 2
∠H(jω)(deg) 40
270
20

Mag (dB)
◦
180
0
90◦
−20
0 (rad/sec)
100 101 102 103 104 105 10
−1 0
10 10
1
10
2
10
3
10
4
10
5
◦
−90
0
−180◦
Phase (deg)

−50
-270
−100

Plot the phase of −150

s − 10
H(s) = −10 −1 0 1 2 3 4 5
s + 1000 10 10 10 10 10 10 10
Frequency (rad/sec)

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 51 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 52
 Example 9: Circuit Example Example 9: Magnitude

100 mH 10 mF |H(jω)| (dB)

60
+
vs(t) 11 Ω vo(t) 40

- 20

0 ω (rad/sec)
Draw the straight-line approximations of the transfer function for the 100 101 102 103 104 105
-20
circuit shown above. Hint: Recall from one of the Transfer Functions
Examples -40
R
s
H(s) = 2 RL -60
s + L s + LC 1

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 53 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 54

Example 9: Phase Example 9: Solution

Bode Example 3
∠H(jω)(deg) 20
270
0

Mag (dB)
◦
180
−20
90◦
−40
0 (rad/sec)
100 101 102 103 104 105 10
−1
10
0
10
1
10
2
10
3
10
4
◦
−90
100
−180◦
50
Phase (deg)

-270
0

−50

−100
−1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/sec)

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 55 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 56
 Complex Poles Complex Poles Continued
Complex poles can be expressed in the following form: The transfer function C(s) can also be expressed in the following form
ωn2 1 1 1
C(s) = =  2 C(s) =  2 =  2
s2 + 2ζωn s + ωn2 1 + 2ζ ωsn + s s s
1 + 2ζ ωsn + s
ωn ωn 1+ Qωn + ωn

• ωn is called the undamped natural frequency where

1
• ζ (zeta) is called the damping ratio Q
 2ζ
• The poles are p1,2 = (−ζ ± ζ 2 − 1) ωn The meaning of Q, the Quality factor, will become clear in the
• If ζ ≥ 1, the poles are real following slides.
1
• If 0 < ζ < 1, the poles are complex C(jω) =  2
jω
1 − ωωn + Qω
• If ζ = 0, the poles are imaginary: p1,2 = ±jωn n

• If ζ < 0, the poles are in the right half plane (Re{p} > 0) and the
system is unstable

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 57 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 58

Complex Poles Magnitude Complex Poles Magnitude Continued


2
2

2 −1 ω2 ω
 ω jω 
 20 log10 |C(jω)| = −20 log10 1− 2 +
20 log10 |C(jω)| = 20 log10 1 − +  ωn Qωn
 ωn Qωn 

2
2 For ω = ωn ,
ω2 ω
= −20 log10 1− 2 + 1
ωn Qωn 20 log10 |C(jωn )| = −20 log10 = 20 log10 Q = QdB
Q
For ω  ωn ,
20 log10 |C(jω)| ≈ −20 log10 |1| = 0 dB

For ω  ωn ,
ω2 ω
20 log10 |C(jω)| ≈ −20 log10 = −40 log10 dB
ωn2 ωn

At these extremes, the behavior is identical to two real poles.

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 59 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 60
 Complex Poles Magnitude Complex Poles Phase
Complex Poles 1
40 ∠C(jω) = ∠  2
Q = 0.1 ω jω
Q = 0.5 1− ωn + Qωn
30
Q = 0.707
20 Q=1 For ω  ωn ,
10
Q=2
Q = 10 ∠C(jω) ≈ ∠1 = 0◦
Q = 100 For ω  ωn ,
Mag (dB)

0
−10 1 Qωn
∠C(jω) ≈ ∠ ω =∠− = ∠ − 1 = −180◦
−20 − Qω n
ω
−30 For ω = ωn ,
−40 1 1
∠C(jω) ≈ ∠ = ∠ = ∠ − j = −90◦
−50 Qj j
−60
−1 0 1 At the extremes, the behavior is identical to two real poles. At other
10 10 10
Frequency (rad/sec) values of ω near ωn , the behavior is more complicated.

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 61 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 62

Complex Poles Phase Complex Zeros

Complex Poles • Left half plane:
0 Q = 0.1 – Inverted magnitude of complex poles
−20
Q = 0.5 – Inverted phase of complex poles
Q = 0.707
−40 Q=1 • Right half plane:
Q=2
−60 Q = 10 – Inverted magnitude of complex poles
Phase (deg)

Q = 100
−80 – Same phase of complex poles
−100 • This is the same relationship real zeros had to real poles
−120
−140
−160
−180
−2 −1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 63 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 64
 Complex Zeros Magnitude Complex Zeros Phase
Complex Zeros Complex Zeros
80
180

60 160
140
40
120

Phase (deg)
Mag (dB)

20 100
80
0 Q = 0.1 Q = 0.1
Q = 0.5 60 Q = 0.5
Q = 0.707 Q = 0.707
−20 Q=1 40 Q=1
Q=2 Q=2
20
Q = 10 Q = 10
−40 Q = 100 Q = 100
0
−1 0 1 −2 −1 0 1 2
10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 65 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 66

Complex Poles Maximum Complex Poles Maximum Continued

What is the frequency at which |C(jω)| is maximized? If Q > 0.707, the maximum magnitude and frequency are as follows:

1 1 Q
C(jω) =    2 ωr = ωn 1 − |C(jωr )| =
1+ jω
+ jω 2Q2 1 − 4Q
1
2
Qωn ωn
1
|C(jω)| =  2  2 • ωr is called the resonant frequency or the damped natural
ω2 ω
1− 2
ωn + Qωn frequency
• As Q → ∞, ωr → ωn
• For high values of Q, the maximum of |C(jω)| > 1
• For sufficiently large Q (say Q > 5)
• This is called peaking
– ωr ≈ ωn
• The largest Q before the onset of peaking is Q = √1 ≈ 0.707
2 – |C(jωr )| ≈ Q
• This curve is said to be maximally flat • Peaked responses are useful in the synthesis of high-order filters
• This is also called a Butterworth response • Complex zeros (in the left half plane) have the inverted magnitude
• In this case, |C(jωn )| = −3 dB and ωn is the cutoff frequency and phase of complex poles

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 67 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 68
 Complex Poles Example Complex Poles Example Continued 1

50 mH R
1
ωn = = 10 k rad/s
+ LC
R√ R√
vs(t) 200 nF vo(t) ζ = LC = CL = R × 0.001
2L 2
-
1 L L 1 500
Q = √ = =
LC R C R R
Generate the bode plot for the circuit shown above.

1
ωn2 ω2 R=5Ω ζ = 0.005 Q = 100 Very Light Damping
H(s) = LC
R
= = 2 ωnn R = 50 Ω ζ = 0.05 Q = 10
s2 + L s + LC
1 s2 + 2ζωn s + ωn
2 s + Q s + ωn2 Light Damping
R = 707 Ω ζ = 1.41 Q = 0.707 Strong Damping
R = 1 kΩ ζ=1 Q = 0.5 Critical Damping
R = 5 kΩ ζ=5 Q = 0.1 Over Damping

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 69 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 70

Complex Poles Example Continued 2 Complex Poles Example Continued 3

Resonance Example Resonance Example
40 0

20 −20

0 −40
−60
−20
Phase (deg)
Mag (dB)

−80
−40
−100
R=5Ω R=5Ω
−60 −120
R = 50 Ω R = 50 Ω
−80 R = 707 Ω −140 R = 707 Ω
R = 1 kΩ R = 1 kΩ
R = 5 kΩ −160 R = 5 kΩ
−100
R = 50 kΩ −180 R = 50 kΩ
−120
2 3 4 5 6 2 3 4 5 6
10 10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 71 J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 72
 Complex Poles Example Continued 4

Resonance Example
2
R=5Ω
1.8
R = 50 Ω
1.6 R = 707 Ω
R = 1 kΩ
1.4
R = 5 kΩ
1.2 R = 50 kΩ
Output (V)

1
0.8
0.6
0.4
0.2
0
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01
Time (sec)

J. McNames Portland State University ECE 222 Bode Plots Ver. 1.19 73