Control Systems - Bode Plots
Control Systems - Bode 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.
M = 20 log |G(jω)H(jω)|
ϕ = ∠G(jω)H(jω)
Type of Phase
G(jω)H(jω) Slope(dB/dec) Magnitude (dB)
term angle(degrees)
Constant K 0 20 log K 0
Zero at
jω 20 20 log ω 90
origin
‘n’ zeros
(jω)n 20 n 20 n log ω 90 n
at origin
Pole at 1
jω −20 −20 log ω −90 or 270
origin
‘n’ poles 1
n −20 n −20 n log −90 n or
(jω)
at origin ω 270 n
0 for ω 1
0 for ω <
Simple < 1r r
1 + jωr 20 90 for ω
zero 20 log ωr
> 1r
for ω > 1r
0 for ω
0 for ω < 1r
Simple 1 < 1r
1+jωr −20 −90 or 270
pole −20 log ωr
for ω > 1r
for ω > 1r
40 log ωn
for ω
< ωn 0 for ω
Second < ωn
ω2n (1 −
2
ω 20 log
order ω2n 90 for ω
40 (2δω2n ) for
derivative
+
2jδω
) = ωn
term ωn ω = ωn 180 for ω
40 log ω > ωn
for ω
> ωn
−40 log
ωn for ω
< ωn −0 for ω
Second 1
−20 log < ωn
ω2n (1−
ω2
order −90 for ω
ω2
n −40 (2δω2n ) for
integral = ωn
)
2jδω
term
+ ωn ω = ωn −180 for ω
−40 log ω > ωn
for ω
> ωn
Magnitude M = 20 log K dB
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
log K dB above the 0 dB line. For the negative values of K, the horizontal line will shift
20 log K dB below the 0 dB line. The Zero degrees line itself is the phase plot for all the positive
values of K.
Magnitude M = 20 log ω dB
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.