Control Systems II

Frequency Response and Bode Plots

by Mr L. Simukonda
 The Concept of Frequency Response
Introduction
• Sinusoidal inputs to a linear system generate sinusoidal
responses of the same frequency. These responses are of the
same frequency as the input, they differ in amplitude and phase
angle from the input.
• Sinusoids can be represented as complex numbers called
phasors.
• The magnitude of the complex number is the amplitude of the
sinusoid, and the angle of the complex number is the phase
angle of the sinusoid. Thus,M1cos(⍵t+Φ1) can be represented as
M1 < Φ1 where the frequency, ⍵, is implicit.
 The Concept of Frequency Response
Introduction
• If the input force, f(t), is sinusoidal, the steady-state output
response, x(t), of the system is also sinusoidal and at the same
frequency as the input. Here the M’s are the amplitudes of the
sinusoids, and the Φ’s are the phase angles.
 The Concept of Frequency Response
• The output steady-state sinusoid is found by multiplying the complex number representation
of the input by the complex number representation of the system. Thus, the steady-state
output sinusoid is

• Equations (10.2) and (10.3) form our definition of frequency response. We call M(⍵) the
magnitude frequency response and Φ (⍵) the phase frequency response. The combination
of the magnitude and phase frequency responses is called the frequency response and is
M (⍵) < Φ (⍵).
• We define the magnitude frequency response to be the ratio of the output sinusoid’s
magnitude to the input sinusoid’s magnitude. We define the phase response to be the
difference in phase angle between the output and the input sinusoids.
 Frequency Domain Specifications
• The frequency domain specifications are resonant peak,
resonant frequency and bandwidth.
– Resonant Frequency: It is the frequency at which the
magnitude of the frequency response has peak value
for the first time.
– Resonant Peak: It is the peak (maximum) value of the
magnitude of T(jω)
– Bandwidth: Bandwidth can be defined as the range of
frequencies that a signal occupies. It is typically
measured in Hertz (Hz) and represents the difference
between the highest and lowest frequencies in a signal.
 Frequency Domain Analysis
• Some frequency domain analysis tools are
– The Bode plot
– Polar Plots
– Nyquist Plots
 Bode Plot
Introduction
• When you subject a sin wave to an LTI system the following things
change
– The phase
– Gain
 Bode Plot
Introduction
• It becomes inportant to know the frequence response of a
system.
• The bode plot helps us see the frequency response of a system
because it consists of two plots the
• Magnitute plot
• phase plot
• Bode plots are semilog plots of the magnitude (in Decibels)
and phase (in degrees) of a transfer function versus frequency.
 Bode Plot
Introduction

M=20log10|G(jw)|

θ=<G(jw)
 Importance of Bode Plots
• Bode plots are important because they provide a convenient and intuitive way to analyze the
frequency response of linear time-invariant (LTI) systems. By studying the Bode plot of a
system, engineers can gain insights into its stability, bandwidth, and other important properties.
• Control system design: Bode plots can be used to design and analyze control loops, which
are used to control the behavior of dynamic systems. By understanding the frequency response
of a control loop, engineers can design it to be stable and have the desired performance.
• Filter design: Bode plots can be used to design filters, which are used to select or reject
certain frequency components of a signal. For example, a low-pass filter can be used to
remove high-frequency noise from a signal.
• Amplifier design: Bode plots can be used to design amplifiers, which are used to increase the
power of a signal. By understanding the frequency response of an amplifier, engineers can
design it to have the desired gain and bandwidth.
• Audio system design: Bode plots can be used to design audio systems, such as speakers
and headphones. By understanding the frequency response of an audio system, engineers can
design it to reproduce the full range of audio frequencies with good fidelity.
 Example Use of Bode Plots
• A control engineer might use a Bode plot to design a feedback loop
for a motor controller. The goal would be to design a loop that is
stable and provides good tracking performance, even in the presence
of disturbances.
• A filter designer might use a Bode plot to design a low-pass filter for a
noise reduction circuit. The goal would be to design a filter that
removes high-frequency noise without significantly distorting the
desired signal.
• An amplifier designer might use a Bode plot to design a power
amplifier for a speaker system. The goal would be to design an
amplifier that has the desired gain and bandwidth, and that does not
introduce distortion into the signal.
 Bode Plot
Magnitude Plot
1. Determine the Transfer Function of the system:

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.

4. If we take the log10 of this magnitude and multiply it by 20 it takes on the form of
 Bode Plot
Where do the Bode diagram lines comes from?

• Each of the individual terms is very easy to show on a logarithmic plot.

• Begin atleast decade before the smallest pole or zero
• The entire Bode log magnitude plot is the result of the superposition of all the
straight-line terms. To do this we have to understand the effect of the different types
of terms.
1. Constant terms k

2. Poles and Zeros at the origin

3. Poles and Zeros not at the origin

 Bode Plot
Effect of Constant Terms

• The constant Term offsets the Magnitude plot.

• In most instances perform the offset first
 Bode Plot
Effect of Individual Zeros at the origin
 Bode Plot
Effect of Individual Poles at the origin
 Bode Plot
Effect of Individual Zeros and Poles Not at the Origin
 Bode Plot
Example 1
For the transfer function given, sketch the Bode log magnitude
diagram which shows how the log magnitude of the system is
affected by changing input frequency. (TF=transfer function)
 Bode Plot
Example 1 Solution
 Bode Plot
Example 1 Solution
 Bode Plot
Exe 1
Find the Bode log magnitude plot for the transfer function,

5 ∗ 104 �
�2 + 505� + 2500
Bode Plot
Exe 1 solution
Bode Plot
Exe 1 solution
 Bode Plot
Exe 2
Find the Bode log magnitude plot for the transfer function,

200(� + 20)
�(2� + 1)(� + 40)
Bode Plot
Exe 2 Solution
Bode Plot
Exe 2 Solution
 Bode Plot
Phase Plot
• 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.
 Bode Plot
Effect of Constants on Phase:
 Bode Plot
Effect of Zeros at the origin on Phase Angle:
 Bode Plot
Effect of Poles at the origin on Phase Angle:
 Bode Plot
Effect of Zeros not at the origin on Phase Angle
 Bode Plot
Effect of Poles not at the origin on Phase Angle:
 Bode Plot
Example 1
For the transfer function given, sketch the Bode log Phase
diagram which shows how the Phase of the system is affected by
changing input frequency. (TF=transfer function)
 Bode Plot
Example 1 solution
Red-Phase Plot

Blue-Magnitude Plot
 Bode Plot
Exe 1
Find the Bode log phase plot for the transfer function,

5 ∗ 104 �
�2 + 505� + 2500

5∗104 �
=
�2 +505�+2500
 Bode Plot
Exe 1
Find the Bode log phase plot for the transfer function,
5 ∗ 104 �
�2 + 505� + 2500
 Bode Plot
Exe 2
Find the Bode log phase plot for the transfer function ,

200(� + 20)
�(2� + 1)(� + 40)

200(�+20)
=
�(2�+1)(�+40)
 Bode Plot
Exe 2
Find the Bode log phase plot for the transfer function ,
200(� + 20)
�(2� + 1)(� + 40)
 Bode Plot
• Summary
– Always make sure the transfer function is in the form

– Identify the starting point

– Then follow the guide below
 Bode Plot
Practice

• Draw the bode plot for the following TF

 Bode stability criterion
• The gain crossover frequency is the frequency at which the
magnitude of the open-loop transfer function of the system is 0 dB.
• The phase crossover frequency is the frequency at which the
phase of the open-loop transfer function of the system is 180
degrees.
 Bode stability criterion
• To tell stability in Bode plots, you can use the Bode stability criterion, which
states that a system is stable if the following two conditions are met:
– The gain margin is positive.
– The phase margin is positive.
• The gain margin is the amount by which the gain of the system can be
increased before the system becomes unstable. It is measured in decibels
(dB) and is calculated as follows:
Gain margin = 0dB - (gain cross over frequency)
• The phase margin is the amount by which the phase of the system can be
decreased before the system becomes unstable. It is measured in degrees
and is calculated as follows:
Phase margin = phase Lag(Փ)-(-180). This is the phase as read from
the vertical axis of the phase plot at the gain crossover frequency.
Bode stability criterion
the Gain (G) is 20. Hence using our
formula for gain margin, the gain
margin is equal to 0 – 20 dB = -20
dB (unstable).

the phase lag is -189°. Hence using

our formula for phase margin, the
phase margin is equal to -189° – (-
180°) = -9° (unstable).
 Bode stability criterion
• If the gain margin and phase margin are both positive, then the
system is stable. If the gain margin or phase margin is negative, then
the system is unstable.
• Here are some additional tips for determining stability from Bode
plots:
– If the gain crossover frequency is much lower than the phase crossover
frequency, then the system is likely to be stable.
– If the gain crossover frequency is much higher than the phase crossover
frequency, then the system is likely to be unstable.
– If the gain plot has a large slope at the gain crossover frequency, then the
system is more sensitive to changes in gain and is therefore less stable.
– If the phase plot has a large slope at the phase crossover frequency, then the
system is more sensitive to changes in phase and is therefore less stable.
 Bode stability criterion
• What is the Gain & Phase Magin?
• Is the System stable?