EECE 301 Signals & Systems Prof.
Mark Fowler
Discussion #11
Bode Plot Method and Example
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We have seen two cases: Real Pole & Real Zero
40
|H()| (dB)
30 20 10 0 10 20 30 40 50 10 102 103
H ( s) = s+a a
Real zero
H ( s) =
a s+a
Real pole
a 104 (rad/sec)
105
106
This allows us to handle all real poles/zeros in the left-hand plane. So we still need a way to handle two other cases. -zero/pole at s = 0 -zero/pole complex conjugate pairs 2nd order term
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Zero/Pole at s = 0
Zero at s = 0
H ( s) = s
Replace s j and take magnitude:
Pole at s = 0
H ( s) =
1 s
20 log10 ( ) vs. log10 ( )
Line of slope 20 that goes through 0dB at = 1
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Complex Conjugate Pair (0 1)
General Form: Complex pair of poles Complex pair of zeros
n 2 s 2 + 2n s + n
for 0 1 on j axis
s 2 + 2n s + n
n breakpoint
= 1 gives repeated real roots.
j 2 2 20 log10 + j + 1 vs. log10 ( ) n n
0dB (constant) 40dB per decade
for for
<< n >> n
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For a 2nd order pole:
(shown for n = 100)
20 10 0 -10 -20 -30 -40 -50
= 0.1
=1
-40 dB/decade Slope
Note that as gets smaller the pole gets closer to the j axis which causes a larger peak.
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For a 2nd order zero:
(shown for n = 100)
Note that as gets smaller the zero gets closer to the j axis which causes a deeper null.
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General Steps to Sequentially Build Bode Plots
1. Factor H(s) leave complex-root terms as quadratics 2. Convert to j form 3. Pull out constants into a gain term 4. Combine constant term with j terms (if any) 5. Identify break points and put in ascending order 6. Plot constant term with j terms at values below the lowest break point 7. At break point, change slope by 20dB/decade or 40dB/decade for 1st order or 2nd order terms, repectively. Repeat this step through ordered list of breakpoints. 8. Make resonant corrections for under damped 2nd order terms (i.e. when < 0.5).
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Example H ( s ) = 0.1s( s + 50)( s + 200) 2
n = 10 2n = 2
2. Convert to j:
= 0.1
( s + 2)( s + 2 s + 100)
1. Already factored
complex pair
0.1 j ( j + 50)( j + 200) H ( ) = ( j + 2)(( j ) 2 + 2 j + 100)
3. Pull Out Constants:
0.1 j ( j + 50)( j + 200) H ( ) = ( j + 2)(( j ) 2 + 2 j + 100)
0.1 50 200 j (1 + j / 50)(1 + j / 200) H ( ) = 2 1004 (1 + j / 2 ) 1 + 2 j / 100 + ( j / 10)2 14 24 3 4 =5
Gain Term
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4. Combine gain term with j term :
(5 j )(1 + j / 50)(1 + j / 200 ) H ( ) = (1 + j / 2 ) 1 + 2 j / 100 + ( j / 10)2
( (
) )
5. Identify Breakpoints and List in Ascending Order:
(5 j )(1 + j / 50)(1 + j / 200 ) H ( ) = (1 + j / 2 ) 1 + 2 j / 100 + ( j / 10)2
List breakpoints in ascending order: Break Points 2 10 50 200 Change in slope -20dB/decade 1st order term in denominator -40dB/decade 2nd order term in denominator +20dB/decade 1st order term in numerator +20dB/decade 1st order term in numerator
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6. Plot constant term with j terms at values below the lowest break point : -Pick value that is (at least) 1 decade below the lowest BP: = 0.1 -Evaluate |5j| there in dB:
20 log10 (5 0.1) = 20 log10 (0.5) = 6dB
-Plot a point at -6 dB at = 0.1 -Draw a line of slope 20dB/decade from this point up to the first BP
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7. At break point, change slope by 20dB/decade or 40dB/decade for 1st order or 2nd order terms, repectively. :
Break Points 2 10 50 200 Change in slope -20dB/decade 1st order term in denominator -40dB/decade 2nd order term in denominator +20dB/decade 1st order term in numerator +20dB/decade 1st order term in numerator
8. Make resonant corrections for under damped 2nd order terms (i.e. when < 0.5). : Finally: Make adjustment for the value from the plot of the 2nd order term: = 0.1 gives peak 14dB up
value 0.1 0.2 0.3 0.4 0.5 Adjustment 14 dB 8 dB 5 dB 3 dB 1 dB
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Approximate Bode Plot for Example in Notes
60 dB Adjust for = 0.1 up 1 decade down 0 dB up 1 decade -20 dB up 1 decade -40 dB 0.1 1 2 10 50 100 200 (rad/sec) 1000 10,000
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40 dB
|H()| (dB)
20 dB up 20 dB
40 dB down 20 dB
Exact Bode Plot for Example 60 50 40 30 |H( )| (dB) 20 10 0 -10 -20 -30 -40 -1 10
0 1 2 3 4
Exact Approximate
10
10
10 (rad/sec)
10
10
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