Modern Control Systems

Bode plot

Emam Fathy
Department of Electrical and Control Engineering
email: [email protected]
http://www.aast.edu/cv.php?disp_unit=346&ser=68525

1
 Introduction
• Frequency response is the steady-state response of a
system to a sinusoidal input.

r  A sin(t   0 ) r(t) C c(t)

 C (s) M (s)
assume : G ( s )  
R ( s ) ( s  p1 )( s  p 2 )    ( s  p n )
A
and r(t)  A sin t  R( s)  2
s 2
then C ( s )  G ( s ) R( s )
M ( s) A
 
( s  p1 )( s  p2 )    ( s  pn ) ( s  j )( s  j )

G ( j )  G ( s )
s  j

c(t )  A G ( j ) sin(t  G ( j ))
 Frequency Domain Plots
• Bode Plot

• Nyquist Plot

• Nichol’s Chart
 Bode Plot
• A Bode diagram consists of two graphs:

– One is a plot of the logarithm of the magnitude of

a sinusoidal transfer function.

– The other is a plot of the phase angle.

– Both are plotted against the frequency on a

logarithmic scale.
Decade
 Definitions
• The decibel (dB) is a logarithmic unit used to express the ratio
of two values of a physical quantity.
M  20 log ( | G ( s ) | )

• A logarithmic scale is a nonlinear scale used when there is a

large range of quantities.

– Log–log plots If both the vertical and horizontal axis of a plot is

scaled logarithmically, the plot is referred to as a log–log plot.

– Semi logarithmic plots If only one axis is scaled logarithmically,

the plot is referred to as a semi logarithmic plot.
 Basic Factors of a Transfer Function
• The basic factors that very frequently occur in
an arbitrary transfer function are
1. Gain K
2. Integral and Derivative Factors (jω)±1
3. First Order Factors (jωT+1)±1
4. Quadratic Factors

20( 3s  1) 10(3s  1)
G( s )  
s( s  1)( s 2  5s  2 )  / 2  (5 / 2) s  1)
2
s ( s 1)( s
 Basic Factors of a Transfer Function
1. Gain K

• The log-magnitude curve for a constant gain K is a horizontal

straight line at the magnitude of 20 log(K) decibels.

• The phase angle of the gain K is zero.

• The effect of varying the gain K in the transfer function is that

it raises or lowers the log-magnitude curve of the transfer
function by the corresponding constant amount, but it has no
effect on the phase curve.
 If K  5 Then 20 log (K)  20 log ( 5 )  14db
15

5
Magnitude (decibels)

-5

-15
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Im 0
If K  5 Then   tan-1( )  tan-1( )  0
90o
Re 5

30o
Phase (degrees)

0o

-300

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Basic Factors of a Transfer Function
2. Integral and Derivative Factors (jω)±1
Derivative Factor G( s )  s, where s  j

Magnitude G( j )  20 log( )

ω 0.1 0.2 0.4 0.5 0.7 0.8 0.9 1

db -20 -14 -8 -6 -3 -2 -1 0

Slope=20db/decade


Phase G( j )  tan 1 ( )  90 
0
 20db
decade
30

10
Magnitude (decibels)

-10

-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 
  tan-1( )  90
180o
0

900

60o
Phase (degrees)

0o

-600

-180o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Basic Factors of a Transfer Function
2. Integral and Derivative Factors (jω)±1
• When expressed in decibels, the reciprocal of a number
differs from its value only in sign; that is, for the number N,
1
20 log( N )  20 log( )
N
• Therefore, for Integral Factor the slope of the magnitude line would
be same but with opposite sign (i.e -6db/octave or -20db/decade).

1
Magnitude G ( j )   20 log( )
j

1 
Phase G( j )   tan ( )  90
0
 20db
decade
30

20

10
Magnitude (decibels)

-10

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 
  tan-1( )  90
180o
0

60o
Phase (degrees)

0o

-600

-900

-180o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Basic Factors of a Transfer Function
2. First Order Factors (jωT+1)
M ( )  20 log( 1  jT )

M ( )  20 log( 1   2T 2 )
1
– For Low frequencies ω<<1/T G( s )  ( s  3)  ( s  1)
3

M ( )  20 log(1)  0 1 T
T
– For high frequencies ω>>1/T

M ( )  20 log(T )
 Basic Factors of a Transfer Function
2. First Order Factors (jωT+1)

 ( )  tan-1(T )

when   0,  ( )  tan-1(0)  0
1 -1
when   ,  ( )  tan (1)  45 
T
when   ,  ( )  tan-1()  90
 1
G( s )  ( s  3)  ( s  1)
3
30

20

6 db/octave
10
Magnitude (decibels)

20 db/decade

0
ω=3

-10

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 90o

45o
30o
Phase (degrees)

0o

-300

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Basic Factors of a Transfer Function
3. First Order Factors (jωT+1)-1
M ( )  20 log( 1  jT )

M ( )  20 log( 1   2T 2 )
– For Low frequencies ω<<1/T 1
G( s ) 
( s  3)
M ( )  20 log(1)  0
– For high frequencies ω>>1/T

M ( )  20 log(T )
 Basic Factors of a Transfer Function
3. First Order Factors (jωT+1)-1

 ( )  tan-1(T )

when   0,  ( )  tan-1(0)  0
1 -1
when   ,  ( )  tan (1)  45 
T
when   ,  ( )  tan-1()  90
 1
G( s ) 
( s  3)
30

10
Magnitude (decibels)

0
ω=3

-10
-6 db/octave
-20 db/decade
-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 90o

30o
Phase (degrees)

0o

-300

-45o

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Example

10( s  1)
G (s) H (s)  2
s ( s / 100  1)
 ① ③

10( s  1)
－40dB/dec
G (s) H (s) 
s 2 ( s / 100  1)
② ④
40dB

20dB
－20dB/dec

0dB
0.1 10
 (log  )
1 100

-20dB

-40dB
－40dB/dec

-60dB
  ( )
①
10( s  1) ③
G (s) H (s)  2
② s ( s / 100  1)
④
90o

45o

 (log  )
0o
0.1 1 10 100

-45o

-90o

-135o

-180o
Basic Factors of a Transfer Function
4. Quadratic Factors

 2
 2
M ( )  20 log (1  2 )  ( 2 )
n n

– For Low frequencies ω<< ωn

M ( )  20 log(1)  0
– For high frequencies ω>> ωn

M ( )  40 log( )  40db / dec
n
 Example
Bode Diagram
16

14

Magnitude (dB)
12

3( 2s  1) 10

G( s ) 
( s  1) 8
20

15
Phase (deg)

10

0
-2 -1 0 1
10 10 10 10
Frequency (rad/sec)
 Example
Bode Diagram
35

Magnitude (dB)
30

25

10(3s  1)( 7 s  1)
G( s ) 
20
40
( s  1)( 5s  1) 30
Phase (deg)

20

10

0
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
 Example
Bode Diagram
30

20

Magnitude (dB)
10

6( s 2  4s  4)
G( s )  -10
0
(3s  1)( 5s  1)
Phase (deg)

-45

-90

-135
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
 Example
Bode Diagram
16

14

Magnitude (dB)
12

3( 2 s  1)
10

G( s ) 
( s  1)
8
180

135
Phase (deg)

90

45

0
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
 Example
Bode Diagram
40

30

Magnitude (dB)
20

10

10(5s  1)( 2 s  1) 0
G( s )  90
s( s 2  8s  16 ) 45
Phase (deg)

-45

-90
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Relative Stability
 Gain cross-over point

Phase cross-over point

ωg ωp
3/15/2020 47
 Unstable Stable

Stable Gain Margin

Stable
Phase Margin

Unstable Stable

ωg ωp
3/15/2020 48
 Example#3
• Obtain the phase and gain margins of the
system shown in following figure for the two
cases where K=10 and K=100.
End of Lecture
 Example
L( ),  ( )
－20dB/dec
40dB, 90o －20dB/dec
20dB, 45o
0dB, 0o  (log  )
0.1 1 10 100
-20dB, -45o
－60dB/dec
-40dB, -90o
-60dB.-135o
-80dB,-180o
-100dB,-225o
-120dB,-270o

10( s  1)
G (s) 
s (0.1s  1)(0.012 s 2  0.01s  1)