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Control Systems - Bode Plots

Control Systems - Bode Plots

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176 views5 pages

Control Systems - Bode Plots

Control Systems - Bode Plots

Uploaded by

josphat mbatha
Copyright
© © All Rights Reserved
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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 = 20 log |G(jω)H(jω)|

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

ϕ = ∠G(jω)H(jω)

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.

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

Consider the open loop transfer function G(s)H(s) = K.

Magnitude M = 20 log K dB

Phase angle ϕ = 0 degrees

If K = 1, then magnitude is 0 dB.

If K > 1, then magnitude will be positive.

If K < 1, then magnitude will be negative.


The following figure shows the corresponding Bode plot.

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.

Consider the open loop transfer function G(s)H(s) = s.

Magnitude M = 20 log ω dB

Phase angle ϕ = 900

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

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

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

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

Consider the open loop transfer function G(s)H(s) = 1 + sτ .


−−−−−−−
Magnitude M = 20 log√1 + ω2 τ 2 dB

Phase angle ϕ = tan−1 ωτ degrees


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

dB and phase angle is 900.


1
For ω > τ , the magnitude is 20 log ωτ

The following figure shows the corresponding Bode plot.


1
The magnitude plot is having magnitude of 0 dB upto ω = τ rad/sec. From
ω = τ1 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
1 0
ω= τ rad/sec and from here, it is having phase angle of 90 . 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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