Dynamic System Analysis(EEC-3410)

9. Frequency Response , Bode Plot

Dr. Safia Akhtar Kazmi

26/04/2020 EEC-3410 Bode Plot 1

 Bode Plot
A Bode plot consists of two graphs:
– One is a plot of the logarithm of the magnitude of a
sinusoidal transfer function.
– The other is a plot of the phase angle.
– Both are plotted against the frequency (ω) on
logarithmic scale.
– Semi log graph paper is required to draw bode plot
and to comment on stability of control system.
– X axis is log scale (frequency ) and
– Y axis is normal scale (Magnitude and Phase angle)

26/04/2020 EEC-3410 Bode Plot 2

 Semi- log graph paper

Decade

0.1 1.0 Decade (10) = 10 10 100 1000

1.0 1
Decade (10) = Frequency ω (rad/sec)
0.1
26/04/2020 EEC-3410 Bode Plot 3
 Semi - log graph paper
Magnitude (decibels) 60

40

20

-20

0°

-90°
Phase (degree)

-180°

-30°

0.1 1 10 100 103

26/04/2020
Frequency
EEC-3410 Bodeω
Plot(rad/sec) 4
 Basic Factors of a Transfer Function

• The basic factors that very frequently occur in an arbitrary

transfer function are
1. Gain K
2. Integral and Derivative Factors (jω)±1
3. First Order Factors (jωT+1)±1
4. Quadratic Factors

26/04/2020 EEC-3410 Bode Plot 5

 Basic Factors of a Transfer Function

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.

26/04/2020 EEC-3410 Bode Plot 6

 If K = 16 Then 20 log(K)= 20 log (16) = 24 𝑑𝑏
30

24
20

10
Magnitude (decibels)

-10

-20

-30 0.1 1 10 100 103

26/04/2020
Frequency ω (rad/sec)
EEC-3410 Bode Plot 7
 𝐼𝑚 𝑜
If, K = 16 ∅ = tan−1 = tan−1 = 0°
𝑅𝑒 16
270o

180o

90o
Phase (degrees)

0o

-900

-180o

-270o
0.1 1 10 100 103
26/04/2020 EEC-3410 Bode Plot 8
Frequency (rad/sec)
 Integral and Derivative Factors (jω)±1
Derivative Factors (jω)+1
Derivative Factor G( s )  s , where s  j

Magnitude G( j )  20 log( )

Frequency 0.1 0.2 0.4 0.5 0.7 0.8 0.9 1

ω
Magnitude -20 -14 -8 -6 -3 -2 -1 0
db
Slope=20db/decade
By increasing the frequency Magnitude in db also increases but phase contribution
remains constant.
1 
Phase G( j )  tan ( )  90 
0
26/04/2020 EEC-3410 Bode Plot 9
 Derivative Factors S= (jω)+1 adds a slope of 20 db
decade
30

20

10
Magnitude (decibel)

-10

-20

-30 0.1 1 10 100 103

26/04/2020
Frequency
EEC-3410 Bode(rad/sec)
Plot 10
 𝜔
Derivative Factors S= (jω)+1 ∅ = tan−1 = 90°
0
270o

180o

90o
Phase (degree)

0o

-900

-180o

-270o
0.1 1 10 100 103
26/04/2020 EEC-3410 Bode Plot 11
Frequency (rad/sec)
 𝟏
Integral Factors = (jω)-1
𝑺

• Therefore, for Integral Factor the slope of the magnitude line would
be same but with opposite sign (i.e -20db/decade).

1
Magnitude G( j )   20 log( )
j

1 
Phase G( j )   tan ( )  90 
0

26/04/2020 EEC-3410 Bode Plot 12

 𝟏
Integral Factors = (jω)-1 20 db
𝑺 decade
30

20

10
Magnitude (decibels)

-10

-20

-30 0.1 1 10 100 103

26/04/2020
Frequency
EEC-3410 Bode(rad/sec)
Plot 13
 𝟏 𝜔
Integral Factors 𝑺
= (jω)-1 ∅ = tan−1 = 90°
0
270o

180o

90o
Phase (degrees)

0o

-900

-180o

-270o
0.1 1 10 100 103
26/04/2020 EEC-3410 Bode Plot 14
Frequency (rad/sec)
First Order Factors(ST+1)or (jωT+1)

Magnitude M ( )  20 log( 1  jT )

M ( )  20 log( 1   T ) 2 2

– For Low frequencies ω<<1/T

M ( )  20 log(1)  0
– For high frequencies ω>>1/T
M ( )  20 log(T )

26/04/2020 EEC-3410 Bode Plot 15

First Order Factors (ST+1) or (jωT+1)

Phase angle ( )  tan-1(T )

-1
when   0, ( )  tan (0)  0 

1 -1
when   ,  ( )  tan (1)  45 
T
-1
when   , ( )  tan ()  90 

26/04/2020 EEC-3410 Bode Plot 16

First Order Factors 1/(ST+1) or (jωT+1)-1
Magnitude M ( )  20 log( 1  jT )
M ( )  20 log( 1   T ) 2 2

– For Low frequencies ω<<1/T

M ( )  20 log(1)  0

– For high frequencies ω>>1/T

M ( )  20 log(T )
26/04/2020 EEC-3410 Bode Plot 17
First Order Factors 1/(ST+1) or (jωT+1)-1
Phase angle ( )  tan-1(T )

-1
when   0, ( )  tan (0)  0 

1
when   ,  ( )  tan-1(1)  45 
T
-1
when   , ( )  tan ()  90 

26/04/2020 EEC-3410 Bode Plot 18

 Example 1
• Draw the Bode Plot of following Transfer function.
20 s
G( s ) 
( s  10 )
Convert in to standard form of 1/ (ST+1)
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
26/04/2020 EEC-3410 Bode Plot 19
 Example 1, contd..
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
1
when   10,  20 log(1)  0
0.1 j  1 db
For Low frequencies ω<<1/T
1
when   10,  20 log( 0.1 )  20db/de
0.1 j  1 db
For higher frequencies ω>>1/T
26/04/2020 EEC-3410 Bode Plot 20
 Example 1, contd..
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

26/04/2020 EEC-3410 Bode Plot 21

 Bode Diagram
30

20
Magnitude (dB)

10

-10

-20
90
Phase (deg)

45

0
-1 0 1 2 3
10 10 10 10 10
26/04/2020 22
Frequency (rad/sec)
EEC-3410 Bode Plot
 Minimum-Phase & Non-minimum Phase Systems

• Transfer functions having neither poles nor zeros in the right-

half s plane are minimum-phase transfer functions.

• Whereas, those having poles and/or zeros in the right-half s

plane are non-minimum-phase transfer functions.

26/04/2020 EEC-3410 Bode Plot 23

 Relative Stability
 Phase crossover frequency (ωp) is the frequency at which
the phase angle of the open-loop transfer function equals –
180°.
 Gain crossover frequency (ωg) is the frequency at which the
magnitude of the open loop transfer function, is unity.
 Gain margin (Kg) is the reciprocal of the magnitude of G(jω)
at the phase cross over frequency.

 Phase margin (γ) is that amount of additional phase lag at

the gain crossover frequency required to bring the system to
the verge of instability.
26/04/2020 EEC-3410 Bode Plot 24
 Relative Stability

26/04/2020 EEC-3410 Bode Plot 25

 Gain cross-over frequency ωg

Phase cross-over frequency ωp

ωg ωp
26/04/2020 26
EEC-3410 Bode Plot
 Unstable Stable

Stable Gain Margin

Stable
Phase Margin

Unstable Stable

ωg ωp
26/04/2020 27
 Semi - log graph paper
Magnitude (decibels) 60

40

20

-20

0°

-90°
Phase (degree)

-180°

-30°

0.1 1 10 100 103

26/04/2020
Frequency ω (rad/sec) 28
EEC-3410 Bode Plot
• In next presentation we will learn the
procedure to draw Bode plot, find gain
margin, phase margin and stability of the
system.

27/04/2020 EEC-3410 Bode Plot 29