Dr.

Noor Asmawati Binti Samsuri

[email protected]

1
 Outline

Introduction

Transfer Function

Frequency Response Plot

Bode Plot

Real Poles and Zeros

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 Bode Plot
3

Bode plots is a generalizations of obtaining the

frequency response of a network based on the
transfer functions.

Bode plots allow us to approximate the frequency

response of a circuit using straight line
approximations and becomes the industry
standard method of presenting frequency
response information
 Introduction to Bode Plot
4

 2 plots – both have logarithm of frequency on x-axis (ω)

 Y-axis: magnitude of transfer function |H(jω)|, in dB

 Y-axis: phase angle θ(ω), in degree

 Can be used to interpret how the input affects the output

in both magnitude and phase over frequency, ω.
 Bode Diagram Lines
5

1. Determine the transfer function of the system:

Ks( s  z1 )
H (s) 
( s  p1 )( s  p2 )

2. Rewrite it by factoring both the numerator and denominator

into the standard form
s 
s  1
 Kz1   z1 
H ( s)   
 p1 p2   s  s 
 1  1

 p1  p2 
 Bode Diagram Lines
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3. Replace s with jω.

 j 
j   1
 Kz1   z1 
H ( j )   
 p1 p2   j  j 
 1  1

 p1  p2 

4. We can rewrite H(jω) as:

(90 )( M 11 )
H ( j )  K 0 
M 2 2 M 33 
 Bode Diagram Lines
7

5. Find the magnitude and gain of the transfer function in dB:

 ( )( M1 ) 
20 log 10 H ( j )   20 log 10  K 0  
 M 2 M 3  
So, the gain in dB is:
H ( j )  20 log 10 K 0  20 log 10   20 log 10 M1  20 log 10 M 2
 20 log 10 M 3

The phase:
q (w ) = ÐK0 + 90° + q1 - q2 - q3
 Plot of Log Magnitude
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 Each of these individual terms is very easy to show on logarithmic plot.

 The entire Bode log magnitude plot is the result of superposition of all
the straight line terms.
 To find the effect of each term and the overall effect, we have to
understand the effect of different types of terms:
 These include: i) Constant term, K0
ii) Poles and zeros at the origin, |jω|
iii) Poles and zeros not at the origin:
or
j j
1 1
p1 z1
 Constant Term, K0
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 Constant terms such as K0 contribute a straight horizontal line of

magnitude 20 log10 (K0)
 Zeros at the Origin
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 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 20dB/decade.
Zeros at the origin
 j 
j 1  
 Kz1   z1 
H ( j )   
 p1 p2  1  j 1  j 
 p1  p2 

 Poles at the Origin
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 A pole at the origin occurs when there is an s or jω multiplying

the denominator.
 Each occurrence of this causes a negatively sloped line passing
through ω = 1 with a drop of 20dB/decade.
 j 
1  
 Kz1   z1  Poles at the origin
H ( j )   
 p1 p2  j 1  j 
 p1 

 Zeros and Poles Not at the Origin
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 The values of zi and pi in each of these expressions is called a

critical frequency (or break frequency).
 Below the 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 20dB/decade.
 Zeros give a positive slope while poles produce a negative slope.

 j 
j  1 
 
 Kz1   z1 
H ( j )   
 p1 p2   j  j 
1  1  
 p1  p2 
 Zeros and Poles Not at the Origin
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 To complete the log magnitude vs. frequency plot of a Bode

diagram, we superposition all the lines of different terms on the
same plot.
 Example 1
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 Sketch the Bode log magnitude diagram for the transfer function
given.
1
H (s) =
2s +100
 Answer:
 Example 2
15

 Find the Bode log magnitude plot for the transfer function:
5´10 4 s
Answer:
H (s) = 2

s + 505s + 2500

Chapter 5 – Part I
 Plot of Phase Angle
16

 To complete the full Bode diagram, we have to plot the phase

angle vs. input frequency on a log scale.

 Lines can be drawn for each of the different terms.

 Then, the total effect may be found by superposition.

 A positive constant, K > 0 has no effect on phase.

 A negative constant, K < 0 will set up a phase shift of ±180o.

q (w ) = ÐK0 + 90° + q1 - q2 - q3
 Effect of Zeros at the Origin on Phase
17

 Zeros at the origin, jω, cause a constant +90o shift for each zero.

Zeros at the origin

 j 
j 1  
 Kz1   z1 
H ( j )   
 p1 p2   j  j 
1  1  
 p1  p2 
 Effect of Poles at the Origin on Phase
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 Poles at the origin, 1/jω, cause a constant -90o shift for each
pole.
æ jw ö
æ Kz1 ö è ç1+ ÷ Poles at the origin
z1 ø
H ( jw ) = ç ÷
è p1 p2 ø æ jw ö
jw ç1+ ÷
è p1 ø
 Effect of Zeros Not at the Origin on Phase
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 Zeros not at the origin, (1 + jω/zi) have:

 No phase shift for frequencies much lower than zi
 A +45o shift at zi
 A +90o shift for frequencies much higher than zi
 To draw the lines for this type of term, the transition from
0o to +90o is drawn over 2 decades, starting at 0.1z1 and
ending at 10z1.
 Effect of Poles Not at the Origin on Phase
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 Poles not at the origin, (1/ 1 + jω/pi) have:

 No phase shift for frequencies much lower than pi
 A -45o shift at pi
 A -90o shift for frequencies much higher than pi
 To draw the lines for this type of term, the transition from
0o to -90o is drawn over 2 decades, starting at 0.1p1 and
ending at 10p1.
 Example 3
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 For the transfer function given, sketch the Bode diagram which
shows how the phase system is affected by changing the input
frequency. 5´10 4 s
H (s) =
s 2 + 505s + 2500

Chapter 5 – Part I
 Exercise
22

Draw the Bode plot (magnitude and phase response) for each
of the transfer function below:

200s  20
a) H s  
s2s  1s  40

s2
b) H s   s  1

100 103 s  1
H s  
c) s  10s  1000
Chapter 5 – Part II
 Example: Final Exam Question
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a) What relationship does the frequency response of a network

refers to and define the half power point (-3dB point)?

b) The transfer function of a TV amplifier is given as:

 
H s   10 
s
 
9
7 
 s  100  s  10 

i) On a semilog graph paper, draw the magnitude frequency

response (Bode plot) of the transfer function.

ii) Determine the bandwidth of the amplifier [Hint: Bandwidth

is the frequency range between -3dB cutoff points].
Chapter 5 – Part II
 Example: Final Exam Question
24

c) i) Show that the transfer function of the network in Figure

 s 
below is: H s   0.5 
 s  250 
20 kΩ 10-7 F

+ 20 kΩ
V1
–
–

H  j 
ii) Evaluate at ω = 0 and as ω  .
H  j 
iii) At what value of ω will be at -3db point? Verify your
Chapter 5 – Part II
answer.
Exercise- Bode Plot

H s  
10s
s  1s  100

10( s  1)
H s  
ss  100
H (s) dB
H2(s)=s
EXERCISE BODE PLOT

40

20

0 
1 10 100 1000

-20 H1(s)=K

-40 H4(s)=

H (s)=

H3(s)=
Ø(degree)

90 H2(s)=s

45

H1(s)=K
0 
0.1 1 10 100 1000

-45

H4(s)=
-90
H3(s)= H (s)=
H (s) dB
H3(s)=
EXERCISE BODE PLOT

40

20

0

1 10 100 1000

-20 H1(s)=K

-40 H4(s)=

H (s)=
H2(s)=
Ø(degree)

90 H3(s)=

45

H1(s)=K
0 
0.1 1 10 100 1000

-45

H4(s)= H2(s)=
-90
H (s)=
H (s) dB
H2(s)=
EXAMPLE PLOT (from bode plot lecture note)

40 H (s)=

H1(s)=K
20

0

1 10 100 1000

-20
H4(s)=

-40

H3(s)=
Ø(degree)

H2(s)=
90

45

H1(s)=K
0 
0.1 1 10 100 1000

-45 H4(s)=

-90
H3(s)= H (s)=
Example 5.5
Find the frequency response (magnitude and
phase plots) of the following transfer function.

12500( s  10)
H ( s) 
( s  50)( s  500)
Make the necessary gain corrections and
sketch the actual gain response.

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Solution
Substitute s=jω and write the transfer function in
standard form

5(1  j / 10)
H ( j ) 
(1  j 50)(1  j 500)

The scale factor Ko=5 and the corner frequencies

are  z1  10 ,  p1  50 and  p 2  500
rad/s.

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 At low frequency (   10rad / s ), H ( j )  5 so the
low frequency asymptote
H ( j) dB  20 log 10 5  13.98

Since there is no poles or zeros at the origin,

the low frequency asymptote is a horizontal
line (slope 0dB/dec) at 14dB

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The contributions of each pole and zero in the
transfer function are summarize as

i. Freq << 1 rad/s , slope change 0dB/dec

ii. At 10 rad/s (zero , slope change +20 dB/dec
iii. At 50 rad/s (pole , slope change -20dB/dec
iv. At 500 rad/s (pole , slope change -20dB/dec

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Below the first corner frequency at ω=10 rad/s the
straight line gain is the low frequency asymptote at 14 dB.
Between the first corner frequency ω=50 rad/s and the
second at ω=10 rad/s the straight line gain is

H ( j) dB  14  20 log 10   
 10 
Using this equation, the gain at ω=50 rad/s is calculated

 50 
H ( j 50) dB  14  20 log 10    28
 10 

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At corner frequency ω=50 rad/s, the net slope
change becomes 0dB/dec at gain of 28dB until at
corner frequency ω=500 rad/s. Thereafter, the
high frequency gain asymptote is
  
H ( j ) dB  28  20 log 10  dB
 500 
This asymptote reaches 0dB when
  
H ( j ) dB  28  20 log 10  
 500 
which occurs at rad/s
  500  10 28 / 20  12.6  10 3
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By applying the necessary corrections, the gains

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41
Example 5.6
Sketch the bode plot for the phase response
of the transfer function in example 5.5.

Solution
Substitute s=jω and write the transfer
function in standard form
5(1  j / 10)
H ( j ) 
(1  j 50)(1  j 500)

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The scale factor is Ko = 5 and the corner frequencies
are 10, 50 and 500 rad/s. At low frequency the
asymptote is  ( )  K 0  0 0 .The asymptote due to the
corner frequencies are summarized as below

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i. zero at s = -10,
At frequency 1 rad/s (one decade below) to
frequency 1000 rad/s (one decade above), slope
change of /dec. Exactly at 10 rad/s the phase =
+450

ii. pole at s = -50,

At frequency 5 rad/s (one decade below) to
frequency 500 rad/s (one decade above) slope
change . Exactly at 50 rad/s the phase is -450

iii. pole at s = -500,

At frequency 50 rad/s (one decade below) to
frequency 5000 rad/s (one decade above) slope
change . Exactly at 500 rad/s the phase is -450
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45