Introduction To Bode Plot: P S S Z S K S H
Introduction To Bode Plot: P S S Z S K S H
The plot can be used to interpret how the input affects the output in both magnitude and phase over
frequency.
K ( s + z1 )
H ( s) =
s ( s + p1 )
2) Rewrite it by factoring both the numerator and denominator into the standard form
Kz1 ( s + 1)
z1
H (s) =
+ 1)
sp1 ( s
p1
where the z s are called zeros and the p s are called poles.
Kz1 ( jw z + 1)
H ( jw) = 1
jwp1 ( jw p + 1)
1
If we take the log10 of this magnitude and multiply it by 20 it takes on the form of
Kz ( jw + 1)
1 z1
20 log10 (H(jw)) = 20 log 10 =
jwp1 ( jw + 1)
p1
20 log 10 K + 20 log 10 z1 + 20 log 10 ( jw z + 1) − 20 log 10 p1 − 20 log 10 jw − 20 log 10 ( jw z + 1)
1 1
Each of these individual terms is very easy to show on a logarithmic plot. The entire Bode log magnitude plot is
the result of the superposition of all the straight line terms. This means with a little practice, we can quickly sket
the effect of each term and quickly find the overall effect. To do this we have to understand the effect of the
different types of terms.
jω jω
3) Poles and Zeros not at the origin 1+ or 1 +
p1 z1
H=K
? (log scale)
0.1 1 10 100
20 log(H)
20 db
H = | jω |
? (log scale)
0.1 1 dec 10 100
A pole at the origin occurs when there are s or j? multiplying the denominator. Each occurrence of this
causes a negatively sloped line passing through ? = 1 with a drop of 20 db over a decade.
20 log(H)
dec
? (log scale) 1
0.1 10 100 H=
1 jω
-20 db
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)
1
TF =
2s + 100
1
100
TF = K
recognized as TF =
s 1
+1 s +1
50 p1
20 log10 (MF)
-40 db
50
Example 2:
Your turn. Find the Bode log magnitude plot for the transfer function,
5 x104 s
TF = 2
s + 505s + 2500
40 db
0 db ? (log scale)
-40 db
-80 db
Example 2 Solution:
Your turn. Find the Bode log magnitude plot for the transfer function,
5 x104 s
TF =
s 2 + 505s + 2500
20log10 (TF)
40 db
0 db ? (log scale)
-40 db
-80 db
Example 3: One more time. This one is harder. Find the Bode log magnitude plo t for the transfer function,
200( s + 20)
TF =
s (2 s + 1)( s + 40)
Simplify transfer function form:
80 db
40 db
0 db ? (log scale)
-40 db
-80 db
1 zero at z1 = 20
80 db
20 db/dec
40 db
40 db/dec
0 db ? (log scale)
20 db/dec
-40 db
40 db/dec
20log10 (TF)
-80 db
jwp1 ( jw p + 1)
1
the cumulative phase angle associated with this function are given by
∠K∠z 1∠( jw z + 1)
∠H ( jw) = 1
jw
∠jw∠p1∠( p + 1)
1
Then the cumulative phase angle as a function of the input frequency may be written as
∠H ( jw) = ∠ K + z1 + ( jw z + 1) − ( jw) − p1 − ( jw p + 1)
1 1
Once again, to show the phase plot of the Bode diagram, lines can be drawn for each of the different terms.
Then the total effect may be found by superposition.
∠ TF +90 deg
? (log)
∠ TF ?
-90 deg
Effect of Zeros not at the origin on Phase Angle:
jω
Zeros not at the origin, like 1 + , have no phase shift for frequencies much lower than zi, have a +
z1
45 deg shift at z1 , and have a +90 deg shift for frequenc ies much higher than z1 .
+90 deg
∠H +45 deg
?
0.1z1 1z1 10z1 100z1
.
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 .
1
Poles not at the origin, like , have no phase shift for frequencies much lower than pi, have a -
jω
1+
p1
45 deg shift at p1 , and have a -90 deg shift for frequenc ies much higher than p1 .
∠ TF
?
0.1p1 1p1 10p1 100p1
. -45 deg
-90 deg
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 .
When drawing the phase angle shift for not-at-the-origin zeros and poles, first locate the critical frequency
of the zero or pole. Then start the transition 1 decade before, following a slope of
±45o /decade. Continue the transition until reaching the frequency one decade past the critical frequency.
Now let’s complete the Bode Phase diagrams for the previous examples:
Example 1:
For the Transfer Function given, sketch the Bode diagram which shows how the phase of the system is
affected by changing input frequency.
1 (1/100)
TF = =
2s + 100 ( s + 1)
50
20 log|TF|
-40db
+90
TF ?
-90
Example 2:
Repeat for the transfer function,
5 x10 4 s 20 s
20log|TF| TF = =
s + 505s + 2500 ( s + 1)( s + 1)
2
5 500
80 db
40 db
20 log10 (MF)
0 db ? (log scale)
-40 db
-80 db
180o
90o
Phase Angle
0o ? (log scale)
-90o
-180o
5 x10 4 s 20 s
20log|TF| TF = =
s + 505s + 2500 ( s + 1)( s + 1)
2
5 500
80 db
40 db
20 log10 (MF)
0 db ? (log scale)
-40 db
-80 db
180o
90o
Phase Angle
0o ? (log scale)
-90o
-180o
80 db
40 db
20 log10 (MF)
0 db ? (log scale)
-40 db
-80 db
180o
90o
Phase Angle
0o ? (log scale)
-90o
-180o
80 db
40 db
20 log10 (MF)
0 db ? (log scale)
-40 db
-80 db
180o
90o
Phase Angle
0o ? (log scale)
-90o
-180o
20log10 |TF|
Angle of TF
Example 4:
Sketch the Bode plot (Magnitude and Phase Angle) for
s
10( + 1)
100 × 10 ( s + 1)
3
1
TF = =
( s + 10)( s + 1000) s
( + 1)(
s
+ 1)
10 1000
Therefore: K = 10 so 20log10 (10) = 20 db
One zero: z1 = 1
Two poles: p1 = 10 and p2 = 1000
20log10 |TF|
40
20
0 db
-20
-40
180
90
0 deg
-90
-180
Matlab (with the sketched Bode Plot superimposed on the actual plot)
100 × 103 ( s + 1)
TF =
( s + 10)( s + 1000)
w=logspace(-1,5,100); %setup for x-axis
MagH=100000*sqrt(w.^2+1^2)./(sqrt(w.^2+10^2).*sqrt(w.^2+1000^2));
%transfer function
MagHdb=20*log10(MagH); %transfer function converted to dB
PhaseHRad=atan(w/1)-atan(w/10)-atan(w/1000); %phase done in radians
PhaseHDeg=PhaseHRad*180/pi; %phase done in degrees
subplot(2,1,1)
semilogx(w,MagHdb,':b',x,y,'-b') %semilog plot
xlabel('frequency [rad/s]'),ylabel('20 log10(|TF|) [db]'),grid %xaxis label
subplot(2,1,2)
semilogx(w,PhaseHDeg,':b',xAng,yAngDeg,'-b')
xlabel('frequency [rad/s]'),ylabel('Phase Angle [deg]'),grid
40
30
20 log10(|TF|) [db]
20
10
-10
-20
-2 0 2 4 6
10 10 10 10 10
frequency [rad/s]
100
50
Phase Angle [deg]
-50
-100
-2 0 2 4 6
10 10 10 10 10
frequency [rad/s]
Notice that the actual plot does not follow the sketched plot exactly. There is error between our sketched
method and the actual Bode plot. How much error is expected?
s
Let’s look at an example of a zero, TF = (1 + ) . Note, ? critical = 10 rad/s
10
The largest error that occurs on the Magnitude plot is right at the critical frequency. It is on the order of 3
50
40
20 log10(|TF|) [db]
30
20
10
0
-1 0 1 2 3
10 10 10 10 10
frequency [rad/s]
100
80
Phase Angle [deg]
60
40
20
0
-1 0 1 2 3
10 10 10 10 10
frequency [rad/s]
db.
The largest error that is shown on the Phase plot occurs at 0.1? critical and 10? critical (one decade above and
below the critical frequency). Error at these points is about 6 degrees.
It’s understood that sketching the Bode diagrams will contain some error but this is generally considered
acceptable practice.
To quickly sketch the graphs:
Examples: