FREQUENCY RESPONSE ANALYSIS:

BODE PLOT

Examples When 'K' value is Given

Example 1:

Sketch the Bode plot for the system having:

20
G  s H  s 
s(1  0 . 1s )

Solution:

...
Compare ( .
with
)

1). K =20, Magnitude (dB) = 20 log(20)= +26dB

2). = 1 pole at origin

1
3). Simple pole = T=0.1 and  c  10 rad / sec
. T 2

1
Magnitude Plot Table:

Corner Contribution
Factor Resultant Slope
Frequency 𝝎𝒄 (dB)

K=20 Nil 26 -
1 -20 dB/dec
Nil -20 dB/decade
𝑠 (0ωto 10ω)

1 -40 dB/dec
10 -20 dB/decade (10ω to ∞)
1 + 0.1𝑠

20
Phase angle plot table: G  j  H  j  
j (1  0 . 1 j )

  900  tan 1  0.1 

𝜙 due to 1 𝜙 due to 1
ω (rad/sec) pole at simple pole 𝜙Resultant
origin = -tan 0.1𝜔
0.1 -900 -0.570 -90.570
0.5 -900 -2.860 -92.860
1 -900 -5.70 -95.70
2 -900 -11.30 -101.30
10 -900 -450 -1350
50 -900 -78.790 -1680
80 -900 -82.870 -172.870

0.1, 0.5, 1,2, 10, 50, 80

4

2
 Example 1
+60
Resultant slope Scale : Y-axis- 1 cm = 20 dB
+40 -20 dB/dec Y-axis- 1 cm = 150
26 dB
+20

0
Resultant slope
-20
-40 dB/dec
-40 
-60

-900

-1050

-1200 Phase angle

plot
-1350

-1500

-1650

-1800

0.1 1 10 102 103 104

Example 2:

A unity feedback control system has

80
G  s 
s( s  2)  s  20 
Draw the Bode Plot. Determine Gain Margin(GM), Phase
Margin(PM), Gain crossover frequency( 𝜔 ), Phase crossover
frequency(𝜔 )

80
G  s H s 
s( s  2)  s  20 

The given Open loop transfer function is not in time constant

form:
K 1  T1s 1  T2 s  ...
G s H s  P
S 1  Ta s 1  Tb s 

80
80 
G s H s  s  s 
s( s  2)  s  20  s  2 (1  )  20 1  
2  20 

2

s  s 
s(1  )  1  
2  20 

3
 ...
Compare with
( )

1). K =2, Magnitude (dB) = 20 log(2)= +6dB

2). = 1 pole at origin

1
3). Simple pole = T= 0.5 and  c  2 rad / sec
T

1
4). Simple pole = T= 0.05 and  c  20 rad / sec
T

Magnitude Plot Table:

Corner Contribution
Factor Resultant Slope
Frequency 𝝎𝒄 (dB)

K=2 Nil 20log2 = 6dB -

1 -20 dB/dec
Nil -20 dB/decade
𝑠   0 to 2
1
-40 dB/dec
1+𝑠 2 -20 dB/decade
2   2 to 20
1
1+ 𝑠 -20 dB/decade -60 dB/dec
20 20
  20 to 

4
 2
G  j  H  j  
Phase angle plot table:  j  j 
j  1  1
 2 
 20 


  900  tan 1  0.5   tan 1  0.05 

𝜙 due to 𝜙 due to 1 𝜙 due to 1 simple

ω
1 pole at simple pole pole 𝜙Resultant
(rad/sec)
origin = -tan 0. 𝟓𝜔 = -tan 0. 𝟎𝟓𝜔
0.2 -900 -5.70 -0.570 -96.270
1 -900 -26.50 -2.860 -119.360
2 -900 -450 -5.710 -140.710
5 -900 -68.190 -14.030 -172.220
10 -900 -78.60 -26.560 -195.160
15 -900 -82.40 -36.860 -209.260
20 -900 -84.280 -450 -219.280
30 -900 -86.180 -56.530 -232.48

0.2, 1, 2, 5, 10, 15, 20, 30 9

10

5
 Example 2

+60 Scale : Y-axis- 1 cm = 20 dB

Y-axis- 1 cm = 300
+40 Resultant slope
-20 dB/dec Resultant slope
+20 -40 dB/dec
6dB
0
GM Magnitude Plot
-20 PM = + 390
-40 Resultant slope
GM = +21 dB
-60 dB/dec
-60  gc  2 rad / sec
-900  pc  6 . 5 rad / sec
-1200 Since 𝒈𝒄 𝒑𝒄
-1500 System is STABLE
PM
-1800
Phase angle
-2100 plot

-2400
gc  pc
0.1 0.2 1 2 5 10 15 20 30 102 103 104
Criterion to determine contribution of 's' in Magnitude
and Phase Angle Plot

To determine contribution of ‘s’ towards MAGNITUDE PLOT:

Poles at Origin Zeros at Origin

1 s
20 dB / dec 20 dB / dec
s

1
40 dB / dec s2 40 dB / dec
s2

1
60 dB / dec s3 60 dB / dec
s3

1
80 dB / dec s4 80 dB / dec
s4

1 s5
100 dB / dec 100 dB / dec
s5

To determine contribution of ‘s’ towards PHASE ANGLE PLOT:

For phase angle plot replace ‘s’ by ‘jω’

Poles at Origin Zeros at Origin

1 1
 900 s  j 900
s j
1 1
 s 2   j 
2
1800 1800
 j 
2 2
s

1
 2700 s 3   j 
3
s 3  j 3 2700

1
CONDITIONS FOR STABILITY
 Stable
gc   pc
 Unstable
gc   pc
Marginally Stable

 gc   pc
Example 3:

Draw the Bode Plot for the following transfer function and Gain
Margin(GM), Phase Margin(PM), Gain crossover frequency(𝜔 ),
Phase crossover frequency(𝜔 )

10 . 5
G  s H s 
( s  0 . 2)  s  0 . 8  s  10 

11

The given Open loop transfer function is not in time constant

form:
K 1  T1s 1  T2 s  ...
G s H s  P
S 1  Ta s 1  Tb s 

10 . 5
G  s H  s 
( s  0 . 2)  s  0 . 8  s  10 

10 . 5

0 . 2 (1  5s ) 0. 8 1  1 .25s  10 1  0 .1s 
10 . 5
6 . 5625 1. 6

(1  5s ) 1  1 . 25s 1  0 . 1s 
12

6
 Comparing

6 . 5625 K 1  T1s 1  T2 s  ...

G  s H  s  & G s H s  P
(1  5s ) 1  1 . 25s 1  0 . 1s  S 1  T s 1  T s 
a b

1). K =6.5625, Magnitude (dB) = 20 log(6.5625)= +16.34dB

1
2). Simple pole = T= 5 and  c  0 . 2 rad / sec
T
1
3). Simple pole = T= 1.25 and  c  0 . 8 rad / sec
. T
1
4). Simple pole = T= 0.1 and  c  10 rad / sec
. T

13

Magnitude Plot Table:

Corner Contribution
Factor Resultant Slope
Frequency 𝝎𝒄 (dB)

20log(6.5625) =
K=6.5625 Nil -
+16.34dB
1 -20 dB/dec
0.2 -20 dB/decade
1 + 5𝑠   0 . 2 to 0.8
1 -40 dB/dec
0.8 -20 dB/decade
1 + 1.25𝑠   0 . 8 to 10
1 -20 dB/decade -60 dB/dec
10
1 + 0.1𝑠   10 to 

14

7
 6 . 5625
Phase angle plot table: G  j  H  j   1  5 j 1  1 . 25 j 1  0 . 1 j 

   tan 1  5   tan 1 1.25   tan 1  0.1 

ω 𝜙 due to 1 𝜙 due to 1 simple 𝜙 due to 1 simple
(rad/s simple pole pole pole 𝜙Resultant
ec) = -tan 𝟓𝜔 = -tan 𝟏. 𝟐𝟓𝜔 = -tan 𝟎. 𝟏𝜔
0.1 -26.5651 -7.12502 -0.57294 -34.263
0.2 -45 -14.0362 -1.14576 -60.182
0.5 -68.1986 -32.0054 -2.86241 -103.066
0.8 -75.9638 -45 -4.57392 -125.538
1 -78.6901 -51.3402 -5.71059 -135.741
5 -87.7094 -80.9097 -26.5651 -195.184
10 -88.8542 -85.4261 -45 -219.28
20 -89.4271 -87.7094 -63.4349 -240.571
50 -89.7708 -89.0833 -78.6901 -257.544
0.1, 0.2, 0.5, 0.8, 1, 5 10,20, 50 15

16

8
 Example 3

Scale : Y-axis- 1 cm = 20 dB
+60
Y-axis- 1 cm = 300
Resultant slope
+40 Resultant slope
-20 dB/dec
+20
-40 dB/dec 16.34dB

0
GM Magnitude Plot
-20
PM = + 120
Resultant slope
-300
-60 dB/dec GM = +6 dB
-600 Phase angle
 gc  2 . 2 rad / sec
plot
-900  pc  3 . 2 rad / sec
-1200 Since 𝒈𝒄 𝒑𝒄
-1500 System is STABLE
PM
-1800

-2100

-2400
 gc  pc
0.1 0.2 0.8 1 10 102 103 104
 Summary of previous 3 examples

20
1 .G  s  H  s  
s(1  0 . 1s )

80 K value is
2 .G  s  
s( s  2)  s  20  known

10 . 5
3 .G  s  H  s  
( s  0 . 2)  s  0 . 8  s  10 

**Note:
1. Reference will shift from 0 dB to 20 log(K) line
2. Initial resultant slope should pass through Intersection of log 1 with
20 log (K)
17

Procedure of Next Section of Examples

BODE PLOT WHEN K IS UNKNOWN

**Note:
1. No 20 log (K) line since it is unknown. Reference will be 0 dB line itself
2. Initial resultant slope should trace/overlap through the corresponding
resultant slope construction line.

18

9
Examples when 'K' value id NOT given

Example 4:

The open loop control system has

K
G  s H  s 
s( s  4)  s  10 

Draw the Bode Plot. Find the marginal value of K and Phase cross
over frequency  pc

19

The given Open loop transfer function is not in time constant

form:
K 1  T1s 1  T2 s  ...
G s H s  P
S 1  Ta s 1  Tb s 

K
K 
G s H s  s  s 
s( s  4)  s  10  s  4 (1  ) 10  1  
4  10 

A

s  s 
s(1  ) 1  
4  10 
K
Where A
40
20

10
 ...
Compare with
( )

1). K =A, Unknown

2). = 1 pole at origin

1
3). Simple pole = T= 0.25 and  c  4 rad / sec
T

1
4). Simple pole = T= 0. 1 and  c  10 rad / sec
T

21

Magnitude Plot Table:

Corner Contribution
Factor Resultant Slope
Frequency 𝝎𝒄 (dB)

K=A Nil Unknown -

1 -20 dB/dec
Nil -20 dB/decade
𝑠   0 to 4
1
-40 dB/dec
1+𝑠 4 -20 dB/decade
4   4 to 10
1
1+ 𝑠 -20 dB/decade -60 dB/dec
10 10
  10 to 

22

11
 A
G  j  H  j  
Phase angle plot table:  j  j 
j  1  1
 4 
 10 


  900  tan 1  0.25   tan 1  0.1 

𝜙 due to 𝜙 due to 1 𝜙 due to 1
ω
1 pole at simple pole simple pole 𝜙Resultant
(rad/sec)
origin = -tan 0. 𝟐𝟓𝜔 = -tan 0. 𝟏𝜔
0.2 -900 -2.860 -1.140 -940
2 -900 -26.560 -11.30 -127.860
4 -900 -450 -21.80 -156.80
6 -900 -56.300 -30.970 -177.270
8 -900 -63.430 -38.660 -192.090
10 -900 -68.190 -450 -203.190
25 -900 -80.900 -68.190 -239.090

0.2 2 4 6 8 10 25
23

For marginal Stability:  pc   gc log x  y

10 y  x
From Bode Plot, + 20 dB shift is required (Upwards)

20 log A = 20

log A = 1

A= 101 =10
K
But, A  A  40  K
40

K  400 (For marginal Stability)

24

12
 Example 4
+60

+40 Scale : Y-axis- 1 cm = 20 dB

Resultant slope Resultant slope Y-axis- 1 cm = 300
+20 -20 dB/dec -40 dB/dec
0
Shifting for Marginal
-20 Magnitude Plot Stability = + 20 dB

-40 Resultant slope

-60 dB/dec
-60 
-900

-1200

-1500

-1800

-2100 Phase angle

plot
-2400

-2700
 gc  1 rad / sec  pc  6.2 rad / sec
0.1 0.2 1 2 4 6 8 10 25 102 103 104
Example 5:

The open loop control system has

Ks 2
G  s H s 
1  0 . 2s 1  0. 02s 
Draw the Bode Plot. Find the marginal value of K for the 𝜔 to be 5
rad/sec

25

...
Compare with
. .

1). K = Unknown

2). 𝑠 = 2 zeros at origin

1
3). Simple pole = T= 0.2 and  c  5 rad / sec
. T
1
4). Simple pole = T= 0. 02 and  c  50 rad / sec
. T

26

13
 Magnitude Plot Table:

Corner Contribution
Factor Resultant Slope
Frequency 𝝎𝒄 (dB)

K=A Nil Unknown -

+ 40 dB/dec
𝑠 Nil + 40 dB/decade
  0 to 5
1 + 20 dB/dec
5 -20 dB/decade
1 + 0.2𝑠   5 to 50
1
-20 dB/decade 0 dB/dec
1 + 0.02𝑠 50
  50 to 

27

K  j 
2
Phase angle plot table: G  j  H  j  
1  0 . 2 j 1  0 . 02 j 
  1800  tan 1  0.2   tan 1  0.02 

𝜙 due to 𝜙 due to 1 𝜙 due to 1

ω
2 zero at simple pole simple pole 𝜙Resultant
(rad/sec)
origin = -tan 0. 𝟐𝜔 = -tan 0. 𝟎𝟐𝜔
0.5 +1800 -5.710 -0.570 + 173.720
2 +1800 -21.800 -2.290 + 155.910
5 +1800 -450 -5.170 +129.290
10 +1800 -63.430 -11.310 +105.260
30 +1800 -80.540 -30.960 +68.50
50 +1800 -84.290 -450 +50.710
100 +1800 -87.130 -63.430 +29.440

0.5 2 5 10 30 50 100
28

14
From Bode Plot, 20 log K = - 28 dB

log K = - 1.4

10 -1.4 = K

K = 0.0398 ≈ 0.04 for ωgc = 5 rad/sec

29

30

15
 Example 5
+60

+40 Resultant slope


Resultant slope A
+40 dB/dec Resultant slope 0 dB/dec
+20
+20 dB/dec
0
AI
-20
Magnitude Plot
-40

-60

1800

1500

1200

900 Phase angle

plot
600

300

00
 gc  5 rad / sec
0.1 0.5 1 2 5 10 30 50 102 103 104
 Example 6:

The open loop control system has

Ke 0.1s
G  s H s 
s  s  11  0 . 1s 

Draw the Bode Plot.

a). Find the marginal value of K for the 𝜔 to be 5 rad/sec

b). Find the marginal value of K so that gain margin of the system is 20 dB

31

.
...
Compare with
.

1). K = Unknown

2). = 1 pole at origin

1
3). Simple pole = T= 1 and T  c  1 rad / sec

1
4). Simple pole = T= 0. 1 and  c  10 rad / sec
. T

32

16
 e0.1s  e 0.1 j  cos  0 . 1   j sin  0 . 1 
ei  cos   i sin 
e i  cos   i sin 
For Magnitude Plot:

e 0 .1 j  cos 2  0 . 1   sin 2  0 . 1   1

20 log 1  0
Exponential term has no effect on Magnitude Plot

33

e0.1s  e 0.1 j  cos  0 . 1   j sin  0 . 1 

For Phase Angle Plot:

 Im    sin  0 . 1  
  tan  1    tan  1 
  cos  0 . 1  
 Re   

  tan 1  tan  0 . 1  

  0 . 1 rad / sec

  57 . 3  0.1  deg

  5 . 73 deg

34

17
 Magnitude Plot Table:

Corner Contribution
Factor Resultant Slope
Frequency 𝝎𝒄 (dB)

K Nil Unknown -

1 -20 dB/dec
Nil -20 dB/decade
𝑠   0 to 1
1 -40 dB/dec
1 -20 dB/decade
1+𝑠   1 to 10
1
-20 dB/decade -60 dB/dec
1 + 0.1𝑠 10
  10 to 

35

Phase angle plot table: G  j  H  j   Ke 0. 1 j

j 1  j 1  0 . 1 j 

  900  tan 1    tan 1  0.1   5.7

ω 𝜙 due to 1 𝜙 due to 1 𝜙 due to 1 𝜙 due to

(rad/ pole at simple pole simple pole exponential 𝜙R
sec) origin = -tan 𝜔 = -tan 0. 𝟏𝜔 = -5.73 ω
0.5 -900 -26.560 -2.860 -2.860 -122.280
1 -900 -450 -5.710 -5.730 -146.440
3 -900 -71.560 -16.690 -17.190 -195.440
5 -900 -78.690 -26.560 -28.650 -223.90
7 -900 -81.860 -34.990 -40.110 -246.960
10 -900 -84.280 -450 -57.30 -276.580
20 -900 -87.130 -63.430 -114.60 -355.160

0.5 1 3 5 7 10 20
36

18
 Case A: K for the 𝝎𝒈𝒄 to be 5 rad/sec

From Bode Plot, + 28 dB shift is required (Upwards)

20 log K = +28
log x  y
log K = 1.4 10 y  x
K= 101.4 =25.1

37

Case B: K so that gain margin of the system is 20 dB

From Bode Plot, * For GM to be 20 dB, shift A1 6dB (downwards)

20 log K = -6 dB
log x  y
log K = -0.3 10 y  x
K= 10-0.3 =0.5

38

19
 Example 6 (Case A): Case A: K for the to be 5 rad/sec
+60

+40 Scale : Y-axis- 1 cm = 20 dB

Y-axis- 1 cm = 300
+20

0
Shifting up for Marginal
-20
stability = +28 dB
-40

-60

-900

-1200

-1500

-1800

-2100

-2400

-2700  gc  5 rad / sec

0.1 1 10 102 103 104

 Example 6 (Case B): Case B: K so that gain margin of the system is 20 dB
+60

+40 Scale : Y-axis- 1 cm = 20 dB

Y-axis- 1 cm = 300
+20

0
A
A1 GM =AA1 = +14 dB
-20
A11 * For GM to be 20 dB, shift
-40 A1 to A11 6dB downwards
-60

-900

-1200

-1500

-1800

-2100

-2400

-2700  pc  2.1 rad / sec

0.1 1 10 102 103 104

Example 7:

The open loop control system has

K
G  s H s 
s(1  0 . 1s ) 1  s 

1. Determine the value of K so that the GM is + 30 dB. What is the

corresponding PM?
2. Determine the value of K so that the PM is 300 . What is the
corresponding GM?

39

...
Compare with
( . )

1). K = Unknown

2). = 1 pole at origin

1
3). Simple pole = T= 0.1 and T  c  10 rad / sec
.

1
4). Simple pole = T= 1 and  c  1 rad / sec
T

40

20
 Magnitude Plot Table:

Corner Contribution
Factor Resultant Slope
Frequency 𝝎𝒄 (dB)

K Nil Unknown -

1 -20 dB/dec
Nil - 20 dB/decade
𝑠   0 to 1
1 - 40 dB/dec
1 -20 dB/decade
1+𝑠   1 to 10
1
-20 dB/decade -60 dB/dec
1 + 0.1𝑠 10
  10 to 

41

K
Phase angle plot table: G  j  H  j  
j 1  j 1  0 . 1 j 

  900  tan 1    tan 1  0.1 

𝜙 due to 𝜙 due to 1 𝜙 due to 1

ω
1 pole at simple pole simple pole 𝜙Resultant
(rad/sec)
origin = -tan 𝜔 = -tan 0. 𝟏𝜔
0.1 -900 -5.710 -0.570 -96.270
0.5 -900 -26.560 -2.860 - 119.420
1 -900 -450 -5.710 -140.710
3 -900 -71.560 -16.690 -178.250
5 -900 -78.690 -26.560 -195.250
10 -900 -84.280 -450 -219.280
20 -900 -87.130 -63.430 -240.560

0.1 0.5 1 3 5 10 20
42

21
Determine the value of K so that the GM is + 30 dB. What is
the corresponding PM?

43

To find K for given GM = +30 dB

20 log K = -10

log K = -0.5

K = 10 -0.5 = 0.3162

The corresponding 𝜔 = 0.33 rad/sec and PM = + 680

44

22
 Example 7 - To find K for given GM=+30dB
+60

+40 Scale : Y-axis- 1 cm = 20 dB

Y-axis- 1 cm = 300
+20

0
A GM =
-20 + 30 dB
-40 B For GM to be 30dB:
-60 shift A to B = - 10dB

-900

-1200

-1500 PM
=680
-1800

-2100

-2400

-2700
 gc  0 . 33 rad/sec
0.1 0.5 1 3 5 10 20 102 103 104
Determine the value of K so that the PM is 300 . What is
the corresponding GM?

45

To find K for given PM = +300

20 log K = + 6 dB(upwards)

log K = 0.3

K = 10 0.3 = 2

The corresponding 𝜔 = 1.4 rad/sec and GM = + 15 dB

46

23
 Example 7 - To find K for given PM = +30 degree
+60

+40 Scale : Y-axis- 1 cm = 20 dB

Y-axis- 1 cm = 300
+20
D
0
C GM=15dB GM =
-20 + 30 dB
-40 For PM to be 300 :
-60 shift C to D = + 6 dB

-900

-1200

-1500
PM = + 300
-1800

-2100

-2400

-2700

0.1 0.5 1 3 5 10 20 102 103 104

 Summary of all examples from 1 to 7

Summary of Bode plot

for Simple Poles/Zero

47

Summary of Bode plot for Simple Poles/Zero

K S Z 1  T1s 1  T2 s  ...

G s H s  Time constant form
S P 1  Ta s 1  Tb s 

S Z → Number of Zeros at Origin

1
→ Number of Poles at Origin
SP

1  T1s  → Simple Zero →T1 = Time period and c  1 = corner frequency

T1
1
→ Simple Pole →Ta = Time period and c  1 = corner frequency
1  Ta s  Ta

Sign Convention :Positive (+) for Numerator and

Negative (-) for Denominator

48

24
Magnitude Plot :

• Gain (dB) = 20 log (K)

• Contribution : S 1 or 1  Ts   20 dB / dec S 2  40dB / dec

1 1
 20dB / dec  40dB / dec
S or 1  Ts 
1 S2

Phase angle plot: Replace s by j

  900  Z
   tan 1 T1 

K j Z 1  T1 j 1  T2 j  ...
G  j  H  j  
j P 1  Ta j 1  Tb j 

  900  P    tan 1 Ta 

49

When K Value is Given:

1. Reference will shift from 0 dB to 20 log(K) line

2. Initial resultant slope should pass through Intersection of log 1 with
20 log (K)

When K Value is Unknown

1. No 20 log (K) line since it is unknown. Reference will be 0 dB line

itself
2. Initial resultant slope should trace/overlap through the
corresponding resultant slope construction line.

50

25
51

52

26
Procedure for Next Section where power of poles will be 2

Bode Plot for Quadratic Pole/Zero

53

For Quadratic Pole/Zero

G s H s 

K S Z 1  T1s  Tp s 2  Tq s  1 ... 
S P
1  T s  T s
a m
2
 T s  1
n

Magnitude Plot :
1
T s
p
2

 Tq s  1 → + 40 dB/dec T s
m
2

 Tn s  1
→ - 40 dB/dec

Corner Frequency:

1
T s
p
2

 Tq s  1 
Tp
 c

or
1 2  1 
 s  Tq s  1  Tx  c   Tp 
 Tx   Tx  54

27
 For Quadratic Pole/Zero

G s H s 

K S Z 1  T1s  Tp s 2  Tq s  1 ... 
S P
1  T s  T s
a m
2
 T s  1
n

Phase angle plot: Replace s by j

G  s H  s 

K j Z 1  T1 j  Tp j 2  Tq j  1 ... 
j 1  Ta
P
j  T m j  Tn
2
j  1

tan 1 Tq  tan 1 Tn 

 
Tp j 2  Tq j  1  
1  T    Tm j 2  Tn j  1   
p
2
1  T  
m
2

55

56

28
 Examples on Quadratic Poles
Example 8:

The open loop control system has

245  s  5 
G  s H  s 

s  s  1 s 2  5s  121 
Draw the Bode Plot. Find the GM, PM, 𝜔 and 𝜔

Roots are: -2.5+10.8 j and -2.5-10.8 j

57

The given Open loop transfer function is not in time constant

form:
K 1  T1s 1  T2 s  ...
G s H s  P
S 1  Ta s 1  Tb s 

 1 
242  5  1  s 
242  s  5   5 
G s H s  

s( s  1) s 2  5s  121  
s(1  s ) 121  1 
5
s
1 2
s 
 121 121 

 1 
10 1  s 
  5 
 5 1 2
s(1  s ) 1  s s 
 121 121 
58

29
 ...
Compare= with
( )

1). K =10, 20log(10) = 20 dB

2). = 1 pole at origin

1
3). Simple Zero =1 + T= 0.2 and  c  5 rad / sec
T
1
4). Simple pole = T= 1 and  c  1 rad / sec
T

5). Quadratic Pole = c  121 =11 rad / sec

59

Magnitude Plot Table:

Corner Frequency Contribution

Factor Resultant Slope
𝝎𝒄

K=10 Nil 20 dB -

1 -20 dB/dec
Nil -20 dB/decade
𝑠   0 to 1

1 -20 dB/decade -40 dB/dec

1
1+𝑠   1 to 5

𝑠
1+ 5 + 20 dB/decade -20 dB/dec
5   5 to 11
1
-40 dB/decade -60 dB/dec
5 1 11
1+
121
𝑠+
121
𝑠   11 to 

60

30
Phase angle plot table:

 1 
10  1  j 
G  j  H  j    5 
 5 1 
j (1  j ) 1  j  j 2 
 121 121 

1
 
 0 . 042 
1
5 1  tan  
 1 1 2 
1+ 𝑗𝜔 + 𝑗𝜔
121 121
 121 

= 0.042
61

 
 0.042 
  900  tan 1  0.2   tan 1     tan 1 
1 
 1 
 121 

𝜙 due
ω 𝜙 due to 1 𝜙 due to 1 𝜙 due to 1
to 1
(rad/s simple zero = simple pole Quadratic
 pole
 𝜙Resultant
pole at = -tan  0 . 042 
ec) + tan 0. 𝟐𝜔 = -tan 𝜔 tan  1
𝜔1 
origin  1 2 
 121 

0.1 -900 +1.140 -5.710 -0.230 -94.80

1 -900 11.30 -450 -2.420 -126.120
3 -900 30.960 -71.560 -7.750 -138.350
5 -900 450 -78.690 -14.80 -138.490
7 -900 54.460 -81.860 -26.690 -143.690
9 -900 60.940 -83.650 -48.820 -161.530
11 -900 65.560 -84.800 -900 -199.80
+19.620-1800=
20 -900 75.960 -87.130 -261.550
-160.380
0.1 1 3 5 7 9 11 20
62

31
 Example 8
+60
Resultant slope
+40 -20 dB/dec Scale : Y-axis- 1 cm = 20 dB
Resultant slope
-40 dB/dec Y-axis- 1 cm = 300
+20

0
GM Magnitude Plot
-20 Resultant slope
-20 dB/dec Resultant slope
PM = + 390
-40
-60 dB/dec
GM = +14 dB
-60
 gc  3 . 3 rad / sec
-900
 pc  10 rad / sec
-1200

-1500
Since 𝒈𝒄 𝒑𝒄
PM System is STABLE
-1800

-2100 Phase angle

plot
-2400

-2700
 gc  pc
0.1 1 10 102 103 104
Example 9:

The open loop control system has

4 1  0 . 5s 
G  s H s 

s 1  2s  1  0 . 05s  0 . 1252 s 2
2

Draw the Bode Plot. Find the GM, PM, 𝜔 and 𝜔

Roots are: -1.6+7.9j and -1.6-7.9j

63

. ...
Compare with
. .

1). K =4, 20log(4) = 12.04 dB

2). = 2 pole at origin

1
3). Simple Zero =1 + 0.5𝑠T= 0.5 and  c  2 rad / sec
T
1
4). Simple pole = T= 2 and  c  0 . 5 rad / sec
T

5). Quadratic Pole = . .

1
c  0 . 1252 = 0.015625 =  64  64  8 rad / sec
0.01562 5 64

32
 Magnitude Plot Table:

Corner Frequency Contribution

Factor Resultant Slope
𝝎𝒄

K=4 Nil +12.04 dB -

1 -40 dB/dec
Nil -40 dB/decade
𝑠   0 to 0 . 5

1 -20 dB/decade -60 dB/dec

0.5
1 + 2𝑠   0 . 5 to 2

1 + 0.5𝑠 2 +20 dB/decade -40 dB/dec

  2 to 8
1 - 40 dB/decade -80 dB/dec
1 + 0.05𝑠 + 0.125 𝑠 8
  8 to 

65

Phase angle plot table:

4 1  0 . 5 j 
G  j  H  j  

j 1  2 j  1  0 . 05 j  0 . 1252 j 2
2


1  0 . 05 
 tan 1  2 
1 + 0.05𝑗𝜔 + 0.125 𝑗𝜔  1  0.015625  

0.1252 = 0.015625
66

33
  0.05 
  1800  tan 1  0.5   tan 1  2   tan 1  2 
 1  0.015625 
𝜙 due
ω to 2 𝜙 due to 1 𝜙 due to 1 𝜙 due to 1
(rad/s pole simple zero = simple pole Quadratic pole 𝜙Resultant
ec) at + tan 0. 𝟓𝜔 = -tan 𝟐𝜔 = -tan
1
 tan
 𝜔 
0 . 05
 1  0.015625 2 
 
origin
0.2 -180 5.71 -21.80 -0.57 -196.66
0.5 -180 14.04 -45.00 -1.44 -212.40
1 -180 26.57 -63.43 -2.91 -219.78
2 -180 45.00 -75.96 -6.09 -217.05
4 -180 63.43 -82.87 -14.93 -214.37
6 -180 71.57 -85.24 -34.44 -228.11
8 -180 75.96 -86.42 -90.00 -280.46
10 -180 78.69 -87.14 41.63 -146.81

0.2 0.5 1 2 4 6 8 10 67

68

34
 Example 9
+80

+60 Resultant slope Scale : Y-axis- 1 cm = 20 dB

-40 dB/dec Y-axis- 1 cm = 300
+40
Resultant slope
+20
-60 dB/dec
0 Resultant slope
-40 dB/dec PM = - 400
-20
Resultant slope GM = - ∞ dB
-40 -80 dB/dec
 gc  1 . 3 rad / sec
 pc  0 rad / sec
-1800
PM = - 400 Since 𝒈𝒄 𝒑𝒄
-2100
System is UNSTABLE
-2400

-2700

-3000

 gc
0.1 1 10 102 103 104
 Example 10:

The open loop control system has

G  s H  s 

300 s 2  2s  4 
s  s  10  s  20 

Draw the Bode Plot. Find the GM, PM, 𝜔 and 𝜔

Roots are: -1+1.74 j and -1-1.74 j

69

The given Open loop transfer function is not in time constant

form:
K 1  T1s 1  T2 s  ...
G s H s  P
S 1  Ta s 1  Tb s 

 2 1 
300  4 1  s  s 2 
G  s H s 

300 s 2  2 s  4    4 4 
s  s  10  s  20   s  
s 10  1    20 1 
s 

 10   20 

 1 
6  1  0 . 5s  s 2 
4 
 
 s  s 
s  1   1  
 10  20 
70

35
 . ...
Compare= with

1). K =6, 20log(6) = 15.56 dB

2). = 1 pole at origin

3). Quadratic Zero =1 + 0.5𝑠 + 𝑠 and c  2 rad / sec

4). Simple pole = T= 0.1 and 1

 c  10 rad / sec
T
1
5). Simple Pole = T= 0.05  c  20 rad / sec
T
71

Magnitude Plot Table:

Corner Frequency Contribution

Factor Resultant Slope
𝝎𝒄

K=6 Nil 15.56 dB -

1 -20 dB/dec
Nil -20 dB/decade
𝑠   0 to 2

1 + 20 dB/dec
1 + 0.5𝑠 + 𝑠 2 +40 dB/decade
4   2 to 10
1
1+
𝑠 10 - 20 dB/decade 0 dB/dec
10   10 to 20
𝑠 - 20 dB/decade -20 dB/dec
1+ 20
20   20 to 

72

36
Phase angle plot table:

 1 
6 1  0 . 5 j  j 2 
 4 
G  j  H  j  
 j  j 
j 1  1  
 10  20 

 
1
1
 0 . 5 
1 + 0.5𝑗𝜔 + 𝑗𝜔
4  tan  
1 1 2 
 4 

73

 0.5 
  900  tan 1  2 
 tan 1  0.1   tan 1  0.05 
 1  0.25 
𝜙 due 𝜙 due to 1
ω 𝜙 due to 1 𝜙 due to 1
to 1 Quadratic pole
(rad/s Quad zero = simple pole 𝜙Resultant
pole at = -tan 𝟎. 𝟎𝟓𝜔
ec) + tan  00. 𝟓𝜔
. 5 = -tan 𝟎. 𝟏𝜔
origin 1
tan  1  0 . 25 2 
 
𝜔

0.5 -90 14.93142 -2.86241 -1.4321 -79.3631

2 -90 90 -11.3099 -5.71059 -17.0205
3 -90 -50.1944 -16.6992 -8.53077 -165.424
4 -90 -33.6901 -21.8014 -11.3099 -156.801
8 -90 -14.9314 -38.6598 -21.8014 -165.393
10 -90 -11.7683 -45 -26.5651 -173.333
15 -90 -7.73046 -56.3099 -36.8699 -190.91
20 -90 -5.76789 -63.4349 -45 -204.203
30 -90 -3.83105 -71.5651 -56.3099 -221.706
0.5 2` 3 4 8 10 15 20 30 74

37
 Example 10
+60

+40 Scale : Y-axis- 1 cm = 20 dB

Y-axis- 1 cm = 300
+20
GM = -26dB
0

-20
PM = ---
-40 GM = - 26 dB
-600
 gc   rad / sec
-900
 pc  12 rad / sec
-1200

-1500
Since 𝒈𝒄 𝒑𝒄
System is UNSTABLE
-1800

-2100

-2400

-2700
 pc
0.1 1 10 102 103 104
Example 11:

The open loop control system has

2000  s  0 . 3
G  s H  s 
 4  s   s 2  30s  20 
Draw the Bode Plot. Find the GM, PM, 𝜔 and 𝜔

Roots are : -0.69 and -29.31

No Imaginary roots !!!

75

2000  s  0 . 3
G  s H s 
 4  s   s 2  30s  20 

2000  s  0 . 3
G  s H s 
 4  s  s  0 . 69  s  29 . 31

Roots are : -0.69 and -29.31

No Imaginary roots

76

38
 2000  s  0 . 3
G  s H s 
 4  s  s  0 . 69  s  29 . 31

2000  0 . 3 1  3 . 33s 
G  s H s 
 4 1  0. 25s  0 . 69 1  1 . 45s   29 . 31 1  0 . 03s 

600 1  3 . 33s 
G  s H s 
80 . 9 1  0 . 25s 1  1 . 45s 1  0 . 03s 

7 . 42 1  3 . 33s 
G  s H s 
1  0 . 25s 1  1 . 45s 1  0 . 03s 
77

Draw Magnitude Plot, Phase angle plot and

Bode Plot with Usual Procedure

78

39
Example 12:

The open loop control system has

100
G  s H  s 
s  8s  25s  26
3 2

Draw the Bode Plot. Find the GM, PM, 𝜔 and 𝜔

Roots are : -2, -3-2j and -3+2j

79

100
G  s H  s 
s  8s  25s  26
3 2

Roots are : -2, -3-2j and -3+2j

Factorizing:

-2 1 8 25 26

0 -2 -12 -26
1 6 13 0

s 3  8s 2  25s  26  s  2   s 2  6s  13
Check the roots
80

40
 100
G  s H s 
s 3  8s 2  25s  26

100
G  s H s 

 s  2  s 2  6s  13 

81

Draw Bode Plot with Usual Procedure

82

41
Example 13:

The open loop control system has

K 1  0 . 1s 
G  s H  s 
s 1  s 1  0 . 1s 

Draw the Bode Plot. Find the GM, PM, 𝜔 and 𝜔

83

Maclaurin Series expansion is given by:

x x 2 x3
e  1  x    ...
2 ! 3!
Neglecting Higher Powers

e x  1  x
OR

e s  1  s
84

42
 K 1  0 . 1s 
G  s H s 
s 1  s 1  0 . 1s 

Ke0 .1s
G s H s 
s 1  s 1  0 . 1s 

85

Draw Bode Plot with Usual Procedure

86

43
Example 14:

The open loop control system has

4
1  s 
3

87

...
Compare= with

1). K =4, 20log(4) = 12.04 dB

2). Three simple Poles = 1 + 𝑠 T= 1 sec

1
 c  1 rad / sec
T

88

44
Magnitude Plot Table:

Corner Frequency Contribution

Factor Resultant Slope
𝝎𝒄

K=4 Nil 12.04 dB -

1 -60 dB/dec
1 -60 dB/decade
1+𝑠   1 to 

89

Phase Angle Plot Table:

  3 tan 1  

𝜙 due to 3 simple pole

ω
= -3 × tan 𝜔 𝜙Resultant
(rad/sec) 𝜔

0.1 -17.130 -17.130

0.5 -79.690 -79.690
1 -1350 -1350
2 -190.300 -190.300
5 -236.070 -236.070

90

45
 Example 14:
+60

+40 Scale : Y-axis- 1 cm = 20 dB

Y-axis- 1 cm = 300
+20

-20

-40

-60

-900

-1200

-1500

-1800
Draw phase angle plot with usual procedure
-2100

-2400

-2700

0.1 1 10 102 103 104