40

Experiment No. (3)

Bode Plots

 Objectives:
The objectives of this experiment are to:
1. Plot Bode Diagrams and analyze stability.
2. Examine the relationship between open loop frequency
response and closed loop transient response.
3. Use frequency response to design the gain to meet
stability specification.
 Introduction:

The frequency response of the systems is defined as the

response of the system to a sinusoidal input signal, the
output is also sinusoidal signal, The genesis of the
frequency response analysis is to determine the stability of
closed loop systems from the frequency response of the
open loop systems, in the frequency response there are
many ways to determine the stability of a control systems,
such as Bode Plot, Nyquist criterion and Nichols Chart.
 Bode Plot:
Bode Plot is a graphical representation of the transfer
function for determining the stability of a Linear Time
Invariant (LTI) systems.
This technique has different advantages in the following
situations:

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1. When it is hard to sketch the Root Locus, Bode Plot is

simple and accurate.
2. The unknown transfer function of a system can be
deduced from the experimentally determined frequency
response of a system.
3. When response of the system subjected to undesired
noises and disturbances.
The main disadvantage of the Bode Plot (all frequency
response methods) for analysis and design is the indirect
link between the frequency and the time domain.
The Bode Plot consists of two graphs:
1. The magnitude curve of G ( jω ¿ plotted in the versusω.
2. The phase curve of G( jω ¿ plotted in degrees as a function
of ω .
Also, you must be know some parameters in this method:

1. Gain crossover frequency (ω c ):is the frequency at which

the magnitude curve of the system cross the 0 dB.
2. Phase crossover frequency ( ω π ) :is the frequency when the
phase curve of the system cross -180° .
3. Gain Margin (GM): is the magnitude in dB at which the
phase curve cross the -180° .

GM =0−|G ( jω)||ω π

4. Phase Margin (PM): is the angle with degree at which the

magnitude curve cross the 0 dB.

PM =∠ G( jω)|ω −(−180 ° ) .
c

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5. Bandwidth(ω BW ): the frequency at which the frequency

response has declined -3 dB from its low frequency
value.

Figure 4.1: Gain and phase margins and System bandwidth on the
Bode Diagrams.

 Bode Plot Stability Criterion:

The Bode Plot used to determine the stability of control

systems. For a minimum phase system, both phase and
gain margins should be positive or at least the phase
margin should be positive for the system to be stable. A
negative phase margin means that the system is unstable.

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In other words, when the gain crossover frequency is less

than phase cross over frequency, the system is stable. If
the gain crossover frequency is greater than phase
crossover frequency, the system is unstable. If the gain
crossover frequency equals phase crossover frequency
(the gain margin equal to 0 dB and the phase margin is 0° ),
the system is marginally stable.

Figure 4.2: Gain and phase margins of stable and

unstable systems.

Example 4.1: The unity feedback system shown in Figure

4.3:

1000 K
G ( s )=
s (s+5)(s+20)

Using MATLAB. Plot the Bode Diagram (let K=1), then

determine the following:
1. Gain and Phase crossover frequencies (ω c ∧ω π ¿ .
2. Gain and Phase Margins (GM & PM).
3. Range of K for stability from Bode Plots.

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Also, determine the peak time, overshoot, settling time,

and steady state error for the closed loop step response if
K = 0.5.

Figure 4.3: Feedback control system of Example 4.1.

Solution:
10
G ( jω )=
jω ( jω5 +1)( 20jω +1)
Since, the system has a pole at the origin.

Hence, the starting point at low frequency (ω=0.1 ¿is given

by:

S . P=20 log ( Kω ) → S . P=20 log ( 0.110 )=40 dB .

The break frequencies are at: 5 and 20 rad/sec.

>> % To plot the Bode diagram of Example 4.1 using MATLAB %

>> s=tf('s');

>> x=1000/(s*(s+5)*(s+20));

>> bode(x)
>> allmargin(x);

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B o d e Dia gSr ya smte m: x

50 G a in Ma r g in ( d B ) : 7 .9 6
A t f r e q u e n c y ( r a d /s e c ) : 1 0
Clo s e d L o o p S ta b le ? Y e s
M a g n itu d e ( d B ) 0

-50

-100

S y s te m: x
-150
-90 Ph a s e Ma r g in ( d e g ) : 2 2 .5
De la y Ma r g in ( s e c ) : 0 .0 6 4 7
A t f r e q u e n c y ( r a d /s e c ) : 6 .0 8
-135 Clo s e d L o o p S ta b le ? Y e s
Phas e (deg)

-180

-225

-270
-1 0 1 2 3
10 10 10 10 10
Fr e q u e n c y ( r a d /s e c )

Figure 4.4: Bode Plot diagram of Example 4.1.

From Figure 4.4:

1. The gain crossover frequency ( ω c )equals 6.08 rad/sec, and

the phase crossover frequency ( ω π )equals 10 rad/sec.
2. The Gain Margin (GM) equals 7.96 dB, and the Phase
Margin (PM) equals 22.5° .
Both phase and gain margins are positive, and gain cross
over frequency is less than phase cross over frequency.
Therefore, the system is stable.
3. To determine the range K for stability from Bode Plots:
GM =20 log K → 7.96=20 log K → K=2.5.
K = 2.5×1000=2500 will cause the system to be marginally
stable. Hence, the system is stable if 0< K < 2500.
>> % To determine the peak time, overshoot, settling time, and ess if
K = 0.5 %

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>> sys=feedback(0.5*x,1)
>> step(sys)

System: sys
Peak amplitude: 1.28 Step Response
Overshoot
1.4 (%): 27.8
At time (sec): 0.761

1.2
System: sys System: sys
Settling Time (sec): 2.26 Final Value: 1
1

0.8
Amplitude

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3 3.5
Time (sec)

Figure 4.5: Step response of Example 4.1.

From Figure 4.5: the peak time is 0.761 sec, overshoot is

27.8 %, settling time is 2.26 sec, and the steady state error
equals zero.

Example 4.2: Given a unity feedback system that has the

forward transfer function:
8000 K
G ( s )=
(s+ 2)(s+ 4)(s+10)

Using MATLAB. Plot the Bode diagram (let K=1), then

determine the following from the graph:
1. Gain and Phase crossover frequencies.
2. Gain and phase margins.
3. Stability of the system.

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Solution:

100
G ( jω )=
( jω2 +1)( jω
4
+1 )( 10jω +1)
Since, the system doesn’t have a pole nor a zero at the
origin.

Hence, the starting point is given by:

S . P=20 log K=20 log 100=40 dB .

The corner frequencies are at: 2, 4, and 10 rad/sec.

>> % To plot the Bode diagram of Example 4.2 using MATLAB %

>> s=tf('s');
>> x=8000/((s+2)*(s+4)*(s+10));
>> bode(x)
>> allmargin(x);

S y s te m: x
B o d e Dia g r a m G a in Ma r g in ( d B ) : - 1 8
50 A t f r e q u e n c y ( r a d /s e c ) : 8 .2 5
Clo s e d L o o p S ta b le ? No

0
M a g n itu d e ( d B )

-50

-100
0

-90 S y s te m: x
Phas e (deg)

Ph a s e Ma r g in ( d e g ) : - 4 4 .4
De la y Ma r g in ( s e c ) : 0 .2 8 9
A t f r e q u e n c y ( r a d /s e c ) : 1 9
-180
Clo s e d L o o p S ta b le ? No

-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Fr e q u e n c y ( r a d /s e c )

Figure 4.6: Bode Plot diagram (K=8000) of Example 4.2.

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From Figure 4.6:

1. The gain crossover frequency equals to 19 rad/sec, and

the phase crossover frequency equals to 8.25 rad/sec.
2. The gain margin equals to -18 dB, and the phase margin
equals to −44 °. So that…
3. The system is unstable. But it can be made stable by
reducing the gain K, where:

GM =20 log K →−18=20 log K → K=0.1258 .

K=0.1258× 8000=1006.4 will cause the system to be marginally

stable. Hence, the system is stable if 0< K < 1006.4 .

>> % Let K=¿800, then plot the Bode diagram %

>> x1=800/((s+2)*(s+4)*(s+10));
>> allmargin(x1);

>> bode(x1)

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B o d e Dia g r a m S y s te m : x 1
50 G a in M a r g in ( d B ) : 2 .0 2
A t f r e q u e n c y ( r a d /s e c ) : 8 .2 5
Clo s e d L o o p S ta b le ? Y e s
0
M a g n itu d e ( d B )

-50

-100

-150
0
S y s te m : x 1
Ph a s e M a r g in ( d e g ) : 7 .1 1
-90 De la y M a r g in ( s e c ) : 0 .0 1 6 8
Phas e (deg)

A t f r e q u e n c y ( r a d /s e c ) : 7 .3 9
Clo s e d L o o p S ta b le ? Y e s
-180

-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Fr e q u e n c y ( r a d /s e c )

Figure 4.7: Bode Plot diagram (K=800) of Example 4.2.

From Figure 4.7:

 The gain crossover frequency equals to 7.39 rad/sec, and

the phase crossover frequency equals to 8.25 rad/sec.
 The gain margin equals to 2.02 dB, and 7.11° phase
margin. Hence, the system is stable.

Example 4.3: Use MATLAB LTI Viewer with the Bode Plot
for a unity feedback system with:

50 K ( s+2 )
G ( s )=
( s2 +4 s +16 )

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To find the following:

1. Gain and phase crossover frequencies.
2. Gain and phase margins.
3. Stability of the system from Bode Plots.
4. Bandwidth (ω BW ).
Then, obtain the closed loop step response when K =2.

Solution:

G ( jω )=
6.25 ( jω2 +1)
( ( jω )2 4 jω
16
+
16
+1 )
Since, the system doesn’t have a pole nor a zero at the
origin.

Hence, the starting point is given by:

S . P=20 log K → S . P=20 log 6.25=15.91 dB .
2
ω n=16 → ωn =4 rad /sec , ζ =0.5 .

The break frequencies at: 2 and 4 rad/sec.

>> % To plot the Bode diagram of Example 4.3 using MATLAB %

>> s=tf('s');
>> x=50*(s+2)/( s^2+4*s+16);
>> ltiview(x)
>> allmargin(x);

>> bandwidth(x);

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Bode Diagram
30
System: x
Frequency (rad/sec): 0.101 System: x
20 Magnitude (dB): 15.9 Frequency (rad/sec): 12.1
Magnitude (dB): 12.9
Magnitude (dB)

10

-10
45

0
Phase (deg)

System: x
Phase Margin (deg): 92.3
-45 Delay Margin (sec): 0.0321
At frequency (rad/sec): 50.2
Closed Loop Stable? Yes
-90
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

Figure 4.8: LTI Viewer with Bode Plot diagram of Example 4.3.

From Figure 4.8:

1. The gain crossover frequency equals 50.2 rad/sec, and

the phase crossover frequency doesn’t exist.
2. The gain margin approaches to infinity, and the phase
margin equals 92.3° .
3. Phase margin is positive and phase cross over frequency
doesn’t exist. Therefore, the system is stable for any
value of K.
4. The system bandwidth (ω BW at 15.9−3=12.9 dB ) is equal to 12.1
rad/sec.

>> % To obtain the closed loop step response when K =2 using LTI
Viewer %
>> sys=feedback(2*x,1);

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>> ltiview(sys)

System: sys
Peak amplitude: 0.974
Overshoot (%): 5.21
At time (sec): 0.0675 Step Response System: sys
1
Final Value: 0.926

0.9 System: sys

Settling Time (sec): 0.529
0.8
System: sys
Rise Time (sec): 0.0177
0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 0.2 0.4 0.6 0.8 1 1.2
Time (sec)

Figure 4.9: LTI Viewer step response of Example 4.3.

From Figure 4.9: the peak time is 0.0675 sec, overshoot is

5.21%, settling time is 0.529 sec, and the steady state error
(e ss =1−0.926=0.0740).

Example 4.4: The unity feedback (Non-minimum phase)

system shown in Figure 4.10, where:

K ( s−5 ) ( s−15)
G ( s )=
(s+1) ( s +10 ) (s+30)

Using MATLAB. Plot the Bode diagram when K = 10, then

determine the following from the graph:
1. Gain and phase crossover frequencies.
2. Gain and phase margin.
3. Stability of the system.

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Also, determine the closed loop step response.

Figure 4.10: Feedback control system of Example 4.4.

Solution:

G ( jω )=
2.5 ( jω
5
−1)( −1 )
jω
15

( jω1 +1)( 10jω +1)( 30jω +1)

Since, the system doesn’t have a pole nor a zero at the
origin.

Hence, the starting point is given by:

S . P=20 log K → S . P=20 log 2.5=7.96 dB .

The break frequencies are at: 1, 5, 10, 15 and 30 rad/sec.

>> % To plot the Bode diagram of Example 4.4 using MATLAB %

>> s=tf('s');

>> x=10*(s-5)*(s-15)/((s+1)*(s+10)*(s+30));

>> bode(x)

>> allmargin(x)

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Bode Diagram
10

0
Magnitude (dB)

-10 System: x
Gain Margin (dB): 3.92
At frequency (rad/sec): 5.1
-20
Closed Loop Stable? Yes

-30
System: x
Phase Margin (deg): 55.2
-40
360 Delay Margin (sec): 0.376
At frequency (rad/sec): 2.56
Closed Loop Stable? Yes
270
Phase (deg)

180

90

-90
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)

Figure 4.11: Bode Plot diagram of Example 4.4.

From Figure 4.11:

1. The gain crossover frequency equals to 2.56 rad/sec, and

the phase crossover frequency equals to 5.1 rad/sec.
2. The gain margin equals to 3.92 dB, and the phase
margin equals to 55.2° .
3. In this case, the system is stable.

>> % To determine the closed loop step response %

>> sys=feedback(x,1);
>> step(sys)

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System: sys
Peak amplitude: 1.12
Overshoot (%): 57.2 Step Response
At 1.2
time (sec): 0.921

System: sys
0.8 Final Value: 0.714

0.6 System: sys

Settling Time (sec): 3.24
Amplitude

0.4

0.2

-0.2

-0.4
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

Figure 4.12: Step response of Example 4.4.

Time (sec)

From Figure 4.12: the peak time is 0.921 sec, overshoot is

57.2%, settling time is 3.24 sec, and the steady state error
equals 0.286.

Example 4.5: Given a unity feedback system that has the

forward transfer function:
5 K e−0.3 s
G ( s )=
(s+1) ( s +5 )

Do the following using MATLAB:

1. Plot the Bode diagram (let K =2).
2. Determine the values of gain and phase crossover
frequencies.
3. Find the values of gain and phase Margins.
4. Find the Range of K for stability from Bode Plots.

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Then, use SISO Design Tool to determine the closed loop

step response when the gains (K) are: 8, 4.5, and 2.5.

Solution:
−0.3 jω
2e
G ( jω )=
( jω1 +1)( jω5 +1)
Since, the system doesn’t have a pole nor a zero at the
origin.

Hence, the starting point is given by:

S . P=20 log K → S . P=20 log 2=6.02dB .

The corner frequencies at: 1 and 5 rad/sec.

>> % 1. To plot the Bode diagram of Example 4.5 using MATLAB %

>> a=10;

>> b=[1 6 5]; >> s=tf('s');

>> x=tf(a,b,'inputdelay',0.3); >>

x=10*exp(-0.3*s)/((s+1)*(s+5));

>> bode(x)

>> allmargin(x);

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Bode Diagram
20

0
Magnitude (dB)
-20 System: x
Gain Margin (dB): 8.08
-40 At frequency (rad/sec): 3.88
Closed Loop Stable? Yes
-60

-80

-100
0
System: x
Phase Margin (deg): 75.9
-5760 Delay Margin (sec): 0.819
Phase (deg)

At frequency (rad/sec): 1.62

Closed Loop Stable? Yes
-11520

-17280
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

Figure 4.13: Bode Plot Diagram of Example 4.5.

From Figure 4.13:

2. The gain crossover frequency equals to 1.62 rad/sec, and

the phase crossover frequency equals to 3.88 rad/sec.
3. The gain margin equals to 8.08 dB, and the phase
margin equals to 75.9° . Therefore, the system is stable.
4. To determine the range K for stability from Bode Plots:

GM =20 log K → 8.08=20 log K → K=2.535 .

K=2.535× 5=12.675 will cause the system to be marginally

stable. Hence, the system is stable if 0< K < 12.675.

To determine the closed loop step response (at K=8, 4.5,

and 2.5) using SISO Design Tool:

1. Write the transfer function of the system in the

command window.

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2. Write the command (sisotool) for the defined transfer

function.
3. From the given window, choose the Bode Plot and
closed loop step response only.
4. Move the magnitude curve up or down, until the
desired gains are achieved.
5. Record the system characteristics for each value of
gain.

System performance for each value of gain as shown in the

following table:

System
Performance
K=10 K=8 K=4.5 K=2.5

ω C(rad/sec) 1.62 1.2 --- ---

Gain Margin (dB) 8.08 10 15 20

ω π (rad/sec) 3.88 3.88 3.88 3.88

Phase Margin 75.9° 96° ∞ ∞

Bandwidth
0.9613 0.9613 0.9613 0.9613
(rad/sec)
Overshoot(OS %) 29.7 % 20.2 % 4.89 % ---

Peak Time ( T p) 1.04 sec 1.15 sec 1.59 sec ---

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Settling Time ( T s ¿ 3.42 sec 2.75 sec 2.19 sec 1.85 sec

Error(e ss ¿ 0.333 0.384 0.527 0.665

Discuss the effect of the system gain on the system

performance.
-------------------------------------------------------------------------------------------
-
Homework 4.1: Consider the system given in Figure 4.14:
1. If K I = 1, find gain margin using Bode Plot. Also, find
steady state error to a ramp input.
2. Using SISO Design Tool. Find K I so that gain margin is
5.
3. Corresponding to the K I obtained in (2). Find the steady
state error to a ramp input.

Figure 4.14: Speed control system.

Homework 4.2: A unity feedback system has an open loop

transfer function, where:

K (s +1)
G ( s )=
( s−1 ) ( s−6 )
1. Using a Bode diagram for K = 8, determine the system
stability.
2. Using SISO Design Tool. Select a gain K so that the
phase margin is at least 45° .

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----------------------------------------------------------------------------------------------------------
--
Homework 4.3: Consider two systems with transfer
function:
4 25
G 1 ( s )= 2
,G 2 ( s )= 2
s + 2 s+ 4 s +5 s +25
Using MATLAB:

1. Draw the Bode Plot of both systems on the same figure.

2. From the Bode Plot of both systems. Find the Bandwidth
(ω BW ).
3. From the closed loop step response. Find percentage
overshoot, rise time, peak time, settling time, and
steady state error.
4. What is the effect of bandwidth on time response?
--------------------------------------------------------------------------------------------------------------
-
Homework 4.4: Consider a unity feedback system with open
loop transfer function, where:
K
G ( s )=
s ( s +1 )( s+10 )

1. If K = 5, draw Bode Plot of G ( s ) and find gain and phase

margins.
2. Determine the closed loop step response of G ( s ).
3. Repeat (1) and (2) if a pure delay with transfer function
−1.2 s
D ( s )=e
is also present in the forward path.
4. Compare and discuss the results of the system with and
without time delay.

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