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Lesson 3 - Bode - Plots

The Bode plot consists of two graphs that show the logarithm of the magnitude and phase angle of a system's transfer function plotted against frequency on a logarithmic scale. The magnitude is plotted in decibels and the phase in degrees. Straight lines are used to represent the effect of individual terms like constants, poles, and zeros. The overall Bode plot is created by superimposing the lines from each term. Zeros increase magnitude by 20dB/decade and increase phase by 90°, while poles have the opposite effect. Not-at-origin terms transition between frequencies around their critical value.

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Hosea Muchiri
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90 views11 pages

Lesson 3 - Bode - Plots

The Bode plot consists of two graphs that show the logarithm of the magnitude and phase angle of a system's transfer function plotted against frequency on a logarithmic scale. The magnitude is plotted in decibels and the phase in degrees. Straight lines are used to represent the effect of individual terms like constants, poles, and zeros. The overall Bode plot is created by superimposing the lines from each term. Zeros increase magnitude by 20dB/decade and increase phase by 90°, while poles have the opposite effect. Not-at-origin terms transition between frequencies around their critical value.

Uploaded by

Hosea Muchiri
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Bode Plot

A Bode diagram 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 on a logarithmic scale.

The standard representation of the logarithmic magnitude of


G ( jω )=20 log|G ( jω )|, where the base of the logarithm is 10. The unit used in
this representation of the magnitude is the decibel, usually abbreviated dB.
In the logarithmic representation, the curves are drawn on semi log paper,
using the log scale for frequency and the linear scale for either magnitude
(but in decibels) or phase angle (in degrees). (The frequency range of interest
determines the number of logarithmic cycles required on the abscissa.) The
main advantage of using the Bode diagram is that multiplication of
magnitudes can be converted into addition. Furthermore, a simple method
for sketching an approximate log-magnitude curve is available. It is based
on asymptotic approximations. Such approximation by straight-line
asymptotes is sufficient if only rough information on the frequency-response
characteristics is needed. Should the exact curve be desired, corrections can
be made easily to these basic asymptotic plots. Expanding the low-frequency
range by use of a logarithmic scale for the frequency is highly advantageous,
since characteristics at low frequencies are most important in practical
systems. Although it is not possible to plot the curves right down to zero
frequency because of the logarithmic frequency (log 0=∞ ), this does not
create a serious problem. Note that the experimental determination of a
transfer function can be made simple if frequency-response data are
presented in the form of a Bode diagram.

Advantage
• Multiplication of magnitude can be in to addition.
• A simple method for sketching an approximate log curve is
available.
• It is based on asymptotic approximation. Such approximation is
sufficient if rough information on the frequency response
characteristic is needed.
• The phase angle curves can be easily drawn if a template for the
phase angle curve of 1+ jω is available.
Disadvantage
• Absolute and relative stability of only nonminimum-phase
system can be determine from bode plot
• If the phase margin is measure below the -180 degree axis, the
phase margin is negative and the system is unstable.
Bode log magnitude plot
Where do the Bode diagram lines comes from?
1) Determine the Transfer Function of the system:
K ( s + z 1)
H ( s )=
s ( s+ p 1)
2) Rewrite it by factoring both the numerator and denominator into the
standard form

where the z s are called zeros and the p s are called poles.
3) Replace s with j? . Then find the Magnitude of the Transfer Function.

If we take the lo g 10 of this magnitude and multiply it by 20 it takes on


the form of

Each of these individual terms is very easy to show on a logarithmic


plot. The entire Bode log magnitude plot is the result of the superposition of
all the straight-line terms. This means with a little practice; we can quickly
sketch the effect of each term and quickly find the overall effect. To do this
we have to understand the effect of the different types of terms.
These include:
1) Constant terms K
2) Poles and zeros at the origin | jω |
jω jω
3) Poles and Zeros not at the origin |1+ | or |1+ |
p z
4) Complex Poles and Zeros
Effect of Constant Terms:
Constant terms such as K contribute a straight horizontal line of magnitude

20 lo g10 ( K )

Effect of Individual Zeros and Poles at the origin:


A zero at the origin occurs when there is an s or jω multiplying the
numerator. Each occurrence of this causes a positively sloped line passing
through ω = 1 with a rise of 20 db over a decade.

A pole at the origin occurs when there are s or jω multiplying the


denominator. Each occurrence of this causes a negatively sloped line
passing through ω = 1 with a drop of 20 db over a decade.

Effect of Individual Zeros and Poles Not at the Origin


Zeros and Poles not at the origin are indicated by the (1+jω/zi) and
(1+jω/pi). The values zi and pi in each of these expressions is called a
critical frequency (or break frequency). Below their critical frequency these
terms do not contribute to the log magnitude of the overall plot. Above the
critical frequency, they represent a ramp function of 20 db per decade. Zeros
give a positive slope. Poles produce a negative slope.
| |
jω
1+
zi
H ( j ω) =
jω
1+
pi

To complete the log magnitude vs. frequency plot of a Bode diagram, we


superposition all the lines of the different terms on the same plot.

Example 1:
Your turn. Find the Bode log magnitude plot for the transfer function,

Solution:
Simplify transfer function form:
Example 2:
Find the Bode log magnitude plot for the transfer function,
Solution:
Simplify transfer function form:

Recognize: K = 100 à 20 log10(100) = 40

1 pole at the origin

1 zero at z1 = 20

2 poles: at p1 = 0.5 and p2=40


Bode Phase angle plot
Technique to get started:
1) Draw the line of each individual term on the graph
2) Follow the combined pole-zero at the origin line back to the left side of
the graph.
3) Add the constant offset, 20 log10(K), to the value where the pole/zero at
the origin line intersects the left side of the graph.
4) Apply the effect of the poles/zeros not at the origin. working from left
(low values) to right (higher values) of the poles/zeros.
The plot of the log magnitude vs. input frequency is only half of the story.
We also need to be able to plot the phase angle vs. input frequency on a
log scale as well to complete the full Bode diagram..

For our original transfer function,

the cumulative phase angle associated with this function are given by

Then the cumulative phase angle as a function of the input frequency may
be written as

Once again, to show the phase plot of the Bode diagram, lines can be drawn
for each of the different terms. Then the total effect may be found by
superposition.

Effect of Constants on Phase:


A positive constant, K>0, has no effect on phase. A negative constant,
K<0, will set up a phase shift of ±180°. (Remember real vs imaginary plots –
a negative real number is at ±180° relative to the origin)

Effect of Zeros at the origin on Phase Angle:


Zeros at the origin, s, cause a constant +90 degree shift for each zero.
Effect of Poles at the origin on Phase Angle:
Poles at the origin, s -1, cause a constant -90 degree shift for each pole.

Effect of Zeros not at the origin on Phase Angle:

| |
Zeros not at the origin, like 1+
jω
z1
lower than zi, have a 45 deg shift at z1,

and have a +90 deg shift for frequencies much higher than z1.

To draw the lines for this type of term, the transition from 0 o to +90o is
drawn over 2 decades, starting at 0.1z1 and ending at 10z1.

Effect of Poles not at the origin on Phase Angle:

1
Poles not at the origin, like 1+ jω frequencies much lower than pi, have
p1
45 deg shift at p1, and have a -90 deg shift for frequencies much higher
than p1.

To draw the lines for this type of term, the transition from 0 o to -90o is
drawn over 2 decades, starting at 0.1p1 and ending at 10p1.

When drawing the phase angle shift for not-at-the -origin zeros and poles,
first locate the critical frequency of the zero or pole. Then start the transition
1 decade before, following a slope of ±45 o /decade. Continue the transition
until reaching the frequency one decade past the critical frequency.

Now let’s complete the Bode Phase diagrams for the previous examples:

Example 1:
For the Transfer Function given, sketch the Bode diagram which shows how
the phase of the system is affected by changing input frequency.

Example 2:
Repeat for the transfer function,
Example 3:
Find the Bode log magnitude and phase angle plot for the transfer function,
Example 4:
Sketch the Bode plot (Magnitude and Phase Angle) for

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