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Control Systems - Bode Plots

The Bode plot or the Bode diagram consists of two plots −

Magnitude plot
Phase plot

In both the plots, x-axis represents angular frequency (logarithmic scale). Whereas, yaxis represents the magnitude (linear scale) of open loop transfer
function in the magnitude plot and the phase angle (linear scale) of the open loop transfer function in the phase plot.

The magnitude of the open loop transfer function in dB is -

M
M =
= 20
20 log
log ||G
G((j
jωω)
)HH(
(jjω
ω))||

The phase angle of the open loop transfer function in degrees is -

ϕ
ϕ =
= ∠
∠GG(
(jjω
ω))H
H((j
jωω)
)

Note − The base of logarithm is 10.

Basic of Bode Plots

The following table shows the slope, magnitude and the phase angle values of the terms present in the open loop transfer function. This data is useful
while drawing the Bode plots.

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Type of G(jω)H(jω) Slope(dB/dec) Magnitude (dB) Phase

term angle(degrees)

Constant
K
K 0
0 20
20 log
log K
K 0
0

Zero at
j
jωω 20
20 20
20 log
log ω
ω 90
90
origin

‘n’ zeros n
n
(
(jjω
ω)) 20
20 n
n 20
20 n
n log
log ω
ω 90
90 n
n
at origin

Pole at 1
1 −
−20
20 −
−20
20 log
log ω
ω −
−90
90 o
orr 270
270
origin j
jωω

‘n’ poles 1
1 −
−20
20 n
n −
−20
20 n
n log
log ω
ω −
−90
90 n
noor
r
at origin (
(jjω
ω))
n
n

270
270 n
n

Simple 1
1 1
1
1
1++j
jωωr
r 20
20 0
0ffo
orrω
ω <
< 0
0ffo
orrω
ω <
<
zero r
r r
r

1
1
20
20 log
log ω
ωrrf
foor
rωω >
> 90
90 f
foor
rωω
r
r
1
1
>
>
r
r

Simple
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pole 1
1 1
1 1
1
−
−20
20 0
0ffo
orrω
ω <
< 0
0ffo
orrω
ω <
<
1
1++j
jωωr
r r
r r
r

−
−20
20 log
log ω
ωrrf
foor
rωω −
−90
90 o
orr 270
270

1
1 1
1
>
> f
foor
rωω >
>
r
r r
r

Second 2
2
2 ω
ω
2
40
40 40
40 log
log ω
ωn f or ω
n f or ω
0
0ffo
orrω
ω
order ω
ωn (1 −
n (1 −
ω
ωn
22
n <
< ω
ωnn
<
< ω
ωnn
derivative 2
2jjδ
δωω
+
+ )
)
term ω
ωnn

2
2
20
20 log
log (
(22δ
δωωn ) f or ω 90
90 f
foor
rωω
n ) f or ω

=
= ω
ωn =
= ω
ωnn
n

40
40 log
log ω
ωffo
orrω
ω >
> ω
ωn 180
180 f
foor
rωω
n

>
> ω
ωnn

Second 1
1 −
−40
40 −
−40
40 log
log ω
ωn f or ω
n f or ω
−
−00f
foor
rωω
order 2
2
ω
ω
2
2 2
2jjδ
δωω
ω
ωn (1−
n (1−
+
+ ω
)
) <
< ω
ωnn
<
< ω
ωnn
integral
2
2 ωnn
ω
ωnn

term
2
2
−
−20
20 log
log (
(22δ
δωωn ) f or −
−90
90 f
foor
rωω
n ) f or

ω
ω =
= ω
ωn =
= ω
ωnn
n

−
−40
40 log
log ω
ωffo
orrω
ω −
−180
180 f
foor
rωω

>
> ω
ωn >
> ω
ωnn
n

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Consider the open loop transfer function G

G((s
s))H
H((s
s)) =
= K
K .

Magnitude M
M =
= 20
20 log
log K
K dB

Phase angle ϕ
ϕ =
= 0
0 degrees

If K
K =
= 1
1 , then magnitude is 0 dB.

If K
K >
> 1
1 , then magnitude will be positive.

If K
K <
< 1
1 , then magnitude will be negative.

The following figure shows the corresponding Bode plot.

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The magnitude plot is a horizontal line, which is independent of frequency. The 0 dB line itself is the magnitude plot when the value of K is one. For the
positive values of K, the horizontal line will shift 20
20 log
log K
K dB above the 0 dB line. For the negative values of K, the horizontal line will shift

20
20 log
log K
K dB below the 0 dB line. The Zero degrees line itself is the phase plot for all the positive values of K.

Consider the open loop transfer function G

G((s
s))H
H((s
s)) =
= s
s .

Magnitude M
M =
= 20
20 log
log ω
ω dB

Phase angle ϕ
ϕ =
= 90
90
0
0

At ω
ω =
= 0.1
0.1 rad/sec, the magnitude is -20 dB.

At ω
ω =
= 1
1 rad/sec, the magnitude is 0 dB.

At ω
ω =
= 10
10 rad/sec, the magnitude is 20 dB.

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The following figure shows the corresponding Bode plot.

The magnitude plot is a line, which is having a slope of 20 dB/dec. This line started at ω
ω =
= 0.1
0.1 rad/sec having a magnitude of -20 dB and it

continues on the same slope. It is touching 0 dB line at ω

ω =
= 1
1 rad/sec. In this case, the phase plot is 900 line.

Consider the open loop transfer function G

G((s
s))H
H((s
s)) =
= 1
1++s
sττ .

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−
− −
−−
−−
−−−−
− −
−
Magnitude M
M =
= 20
20 llo
ogg√
√11+
+ω
2
2
ω ττ
2
2
dB

Phase angle ϕ
ϕ =
= tan
tan
−
−11
ω
ωττ degrees

For ω
ω <
<
1
1
τ
τ
, the magnitude is 0 dB and phase angle is 0 degrees.

For ω
ω >
>
1
1
τ
τ
, the magnitude is 20
20 log
log ω
ωττ dB and phase angle is 900.

The following figure shows the corresponding Bode plot.

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The magnitude plot is having magnitude of 0 dB upto ω

ω =
=
1
1
τ
τ
rad/sec. From ω
ω =
=
1
1
τ
τ
rad/sec, it is having a slope of 20 dB/dec. In this case, the

phase plot is having phase angle of 0 degrees up to ω

ω =
=
1
1
τ
τ
rad/sec and from here, it is having phase angle of 900. This Bode plot is called the

asymptotic Bode plot.

As the magnitude and the phase plots are represented with straight lines, the Exact Bode plots resemble the asymptotic Bode plots. The only difference
is that the Exact Bode plots will have simple curves instead of straight lines.
Similarly, you can draw the Bode plots for other terms of the open loop transfer function which are given in the table.

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