129

12. Bode Plots

12.1. Magnitude plot and phase plot on a semi-log paper
Magnitude plot on a semi-log paper

M  20 log | G ( j ) H ( j ) | dB

Phase plot on a semi-log paper

 130

12.2. Magnitude versus phase Bode plot Nichols plot

Table 12.1 Basic frequency response factors

No Laplace term Frequency response Type of factor

1 K K Constant

2 s j Derivative factor

3 1/s 1/ j Integral factor

4 s+1 (1+ j) First order derivative factor

5 1/(s+1) 1/(1+ j) First order integral factor

6 s 2  2 n s  n2 n2   2  j 2n Second order derivative factor

1 1
7 Second order integral factor
s  2 n s  n2
2 2 2
    j 2n
n
 131

12.3. Derivative factor: magnitude

M  20 log j  20log  dB (12.1)

j  90 0 (12.2)

2
M  20log 2  20log 1  20log dB/decade (12.3)
1

M  20log10  20 dB/decade (12.4)

M  20 log 2  6 dB/octave (12.5)

Table 12.2 Magnitude variation of a derivative factor for various multiples of the initial
frequency

2
1 2 3 4 5 6 7 8 9 10
1

M dB 0 6 10 12 14 16 17 18 19 20
 132

12.4. Derivative Factor: (phase)

Table 15.3Derivative factor

Frequency, rad/s
0.1 1 10 30 100
Magnitude, dB -20 0 20 30 40
Phase, degrees 90 90 90 90 90

12.5. Integral factor: magnitude

1
M  20log  20log  dB (12.6)
j

j  270 0 (12.7)

2
M  20log 2  20log 1  20log dB/decade (12.8)
1

M  20log10  20 dB/decade (12.9)

M  20log 2  6 dB/octave (12.10)

 133

Table 12.4Magnitude variation of an integral factor for various multiples of the initial frequency

2
1 2 3 4 5 6 7 8 9 10
1
M , dB 0 -6 -10 -12 -14 -16 -17 -18 -19 -20

12.6. Integral factor: phase

 134

Table 12.5Bode magnitude and phase of an integral factor

Frequency, rad/s

0.1 1 10 20 100

Magnitude, dB 20 0 -20 -26 -40

Phase, degrees 270 270 270 270 270

12.7. First-order derivative factor: magnitude

2
M  20 log 1  j  20log( 1    dB (12.11)

For << , M≈0 dB

c
For >> ,
c


M  20log dB (12.12)
c

Here,  =1/ = corner frequency

c
For >
c
2
M  20log 2  20log 1  20log (12.13)
1

M  20log10  20 dB/decade (12.14)

M  20 log 2  6 dB/octave (12.15)

Table 12.6Magnitude variation of a first-order derivative factor for various multiples of the corner
frequency


1 2 3 4 5 6 7 8 9 10
c
M , 0 6 10 12 14 16 17 18 19 20
dB

12.8. First-order derivative factor: phase

  1  j  arctan   (12.16)

wc
 0 ;w 
10
  w
  450  1  log  ; c  w  10 wc (12.17)
 c  10
  90 ; w  10 wc
 135

Table 12.7Phase angles of a first-order derivative factor around the corner frequency


1 2 3 4 5 6 7 8 9 10
c
 , deg 45 59 66 72 76 80 83 86 88 90

0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
c
 , deg 0 2 4 7 10 14 18 24 31 45

12.9. First-order derivative factor

For   1
Table 15.8Bode magnitude and phase

Frequency, rad/s

0.1 1 5 10 20 100

Magnitude, dB 0 3 14 20 26 40

Phase, degrees 0 45 76 90 90 90

First-order derivative factor: magnitude (3 dB correction at the corner frequency)

 136

First-order derivative Factor: phase

12.10. First-order integral factor: magnitude

 
1 1
M  20log  20log   dB (12.18)
1  j  2 
 1    

M  0, w  wc
 (12.19)
M  20log dB, w  wc
c

2
M  20log 2  20log 1  20log dB/decade (12.20)
1

M  20log 2  6 dB/octave (12.21)

Table 12.9Magnitude variation of a first-order integral factor for various multiples of the corner
frequency


1 2 3 4 5 6 7 8 9 10
c
M ,
0 -6 -10 -12 -14 -16 -17 -18 -19 -20
dB
 137

Table 12.10Phase angles of a first-order integral factor around the corner frequency


1 2 3 4 5 6 7 8 9 10
c
 deg 315 301 294 288 284 280 277 274 272 270

0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
c
 deg 360 358 356 353 350 346 342 336 329 315

First-order integral factor: phase

=360, <c /10

  
  360  450  1  log  , c/10<<10 c
  c 

  
  360  450  1  log 
 c 

=270, >10 c

Table 12.11Bode magnitude and phase of a first-order integral factor

Frequency, rad/s

0.01 0.1 0.7 1 7 10 20 100

Magnitude, dB 0 0 -2 -3 -17 -20 -26 -40

Phase, degrees 360 360 322 315 277 270 270 270

First-order integral factor: magnitude

 138

First-order integral factor: phase

12.12. Second-order derivative factor: magnitude

M  20 log | n2   2  j 2n |
 2 2 
 2  2      (12.22)
 20 log n  1  2    2 
  n   n  
 
M  40logw n , w  w n
M  20log (2zw n 2 ), w  w n (12.23)
M  40 logw, w  w n

For w  wn
 139

2
M  40log 2  40 log 1  40 log dB/decade (12.24)
1

M  40log10  40 dB/decade (12.25)

M  40log 2  12 dB/octave (12.26)

Magnitude variation of a second-order derivative factor for various multiples of the resonant
frequency

1 2 3 4 5 6 7 8 9 10
n
M dB 0 12 20 24 28 32 34 36 38 40

Second-order derivative factor: phase

  
 2 
n
   | n2   2  j 2n | arctan   (12.27)
 2 
 1 2 
 n 
wn
  00 , w
10
  900 , w  wn (12.28)
0
  180 , w  10 wn

Bode magnitude and phase

ωn =1 rad/s, ζ=0.3

Frequency, rad/s 0.01 0.1 0.7 1 3 10 100

Magnitude, dB 0 0 -4 -4 18 40 80

Phase, degrees 0 0 39 90 167 180 180

 140

Second-order integral factor

 
 
1  1 
M  20 log 2 2
dB  20 log   dB (12.29)
n    j 2n  2   2 2  2
  
 n 1  2    2  
  n   n  

M≈ - 40log n, <<n

M=-20log (2n2), = n

M= - 40 log , >>n

2
M  40log 2  40log 1  40log dB / decade (12.30)
1
 141

M  40 log10dB  40dB (12.31)

Magnitude variation of a second-order integral factor for various multiples of the resonant frequency


1 2 3 4 5 6 7 8 9 10
n
M 0 -12 -20 -24 -28 -32 -34 -36 -38 -40
, dB

  
 2 
1 n
  2  360  arctan   (12.32)
2
n    j 2n  2 
 1 2 
 n 
=0, <n

=2700, =n

=1800, >n

Bode magnitude and phase

Frequency, rad/s 0.01 0.1 0.7 1 3 10 100

Magnitude, dB 0 0 4 4 -18 -40 -80

Phase, degrees 360 360 321 270 193 180 180

Magnitude plot
 142

Phase plot

Example 14.1
Draw the Bode magnitude and phase plot of the following open-loop transfer function and determine
gain margin, phase margin and absolute stability?

1
G ( s) H ( s) 
s( s  1)

Solution

Applying s  j ,
 143

1
G ( j ) H ( j ) 
j ( j  1)

The above frequency response function has two factors: (1) Integral factor and (2) First order integral
factor with a corner frequency of 1 rad/s

Bode magnitude of the transfer function

Frequency, radians/s

0.01 0.1 1 10 100

1 40 20 0 -20 -40
20log dB
j

1 0 0 -3 -20 -40
20log dB
j  1

Magnitude, dB 40 20 -3 -40 -80

p= 100 rad/s

Frequency, rad/s

0.01 0.1 1 10 100

1
 degrees 270 270 270 270 270
j

1
 degrees 360 360 315 270 270
j  1

Bode phase, degrees 270 270 225 180 180

144

GM=80 dB
 145

Example 14.2
Draw the Bode magnitude and phase plot of the following open-loop transfer function and determine
gain margin, phase margin and absolute stability?

1
G (s) H (s) 
s ( s  2)  s  4) 
Solution
1
G ( j ) H ( j ) 
 j  j 
8 j   1  1
 2  4 
The corner frequencies corresponding to first order integral factors are 2 rad/s and 4 rad/s. Minimum
frequency is chosen as 0.01 rad/s and maximum frequency 100 rad/s.

Table 14.1 Computation of Bode magnitude using asymptotic properties of the integral first-order
1
term  
2
x1 x2 x1 x10 x2 x1 x1 x2 x1 x10
Frequency, rad/s 2 4 2 20 20 10 20 40 10 100
Magnitude, dB 0 -6 0 -20 -20 -14 -20 -26 -14 -34

Table 14.2 Computation of Bode magnitude using asymptotic properties of the integral first-order
1
term  
4
x1 x10 x2 x1 x2 x1 x1 x10
Frequency, rad/s 4 40 40 20 20 10 10 100
Magnitude, dB 0 -20 -20 -14 -14 -8 -8 -28

Table 12.3 Bode magnitude

Frequency, rad/s

Factor 0.01 0.1 0.2 0.4 1 2 4 10 20 40 100

1 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18 -18
20 log
8

1 40 20 14 8 0 -6 -12 -20 -26 -32 -40

20 log
j

1 0 0 0 0 -1 -3 -6 -14 -20 -26 -34

20 log
j
1
2

1 0 0 0 0 0 -1 -3 -8 -14 -20 -28

20log
j
1
4

Bode 22 2 -4 -10 -18 -28 -39 -60 -78 -96 -120

magnitude,
 146

dB

Bode magnitude

Bode phase

Frequency, rad/s

Factor 0.01 0.1 0.2 0.4 1 2 4 10 20 40 100

1 0 0 0 0 0 0 0 0 0 0 0

8

1 270 270 270 270 270 270 270 270 270 270 270

j

1 360 360 360 346 328 315 301 284 270 270 270

j
1
2

1 360 360 360 360 342 326 315 297 285 270 270

j
1
4

Phase 270 270 270 256 220 191 166 131 105 90 90
degrees

Phase plot
147
 148

Bode plot

Example 12.1
Draw the Bode magnitude and phase plot of the following open-loop transfer function and determine
gain margin, phase margin and absolute stability?

1
G ( s) H ( s) 
s 2 ( s  1)

Solution
1
G ( j ) H ( j ) 
( j )( j )( j  1)
There are two integral factors and an integral first-order term with a corner frequency of 1 rad/s
Bode magnitude

Frequency, rad/s

0.01 0.1 1 10 100

1
20log dB 40 20 0 -20 -40
j

1
20log dB 40 20 0 -20 -40
j
 149

1
20log dB 0 0 -3 -20 -40
j  1

Bode magnitude, dB 80 40 -3 -60 -120

Example 12.2
Draw the Bode magnitude and phase plot of the following open-loop transfer function and determine
gain margin, phase margin and absolute stability?

1
G (s) H (s) 
s  5 s  8s 2  6 s
4 3

Solution
1
G ( s ) H ( s) 
s( s 2  2s  2)( s  3)
1
G ( j ) H ( j ) 
 2

j ( j )  2( j )  2 (( j )  3)
1
G ( j ) H ( j )  3


j (2   2 )  j 2 )  2 ( j
3
 1) 
Comparing the second order term with a standard second order term,

 n2   2  j 2 n

1
n  2 and   .
2

For the first order integral factor, c=3 rad/s

For ζ> 0.5, the response at resonance is less than theresponse at frequencies less than the resonant
frequencies

Table Computation of Bode magnitude using asymptotic properties of the integral second-order term

x1 x10 x1 x2 x3 x1 x1 x10 x3 x1
Frequency, rad/s 1.4 14 14 30 30 10 10 100 30 3
- -
Magnitude, dB -6 -46 -46 -58 -38 -78 -58 -18
58 38

Table Computation of Bode magnitude using asymptotic properties of the integral first-order term

x1 x3 x2 x1 x3 x1 x1 x10
Frequency, rad/s 3 30 30 14 30 10 10 100
Magnitude, dB 0 -20 -20 -14 -20 -10 -10 -30
 150

Bode magnitude

Frequency, rad/s

n c

0.01 0.1 0.14 0.3 1 2 3 10 14 30 100

1 -10 -10 -10 -10 -10 -10 -10 -10 -10 -10 -10
20 log
3

1 40 20 17 10 0 -3 -10 -20 -23 -30 -40

20log
j

1 -6 -6 -6 -6 -6 -9 -18 -38 -46 -58 -78

20log
 2
(2   )  j (2 ) 
1 0 0 0 0 0 -1 -3 -10 -14 -20 -30
20log

j 1
3

Bode magnitude, dB 24 4 1 -6 -16 -23 -41 -78 -93 -118 -158

 151

Bode phase

Frequency, rad/s

n c

0.01 0.1 0.14 0.3 1 2 3 10 14 30 100

1 0 0 0 0 0 0 0 0 0 0 0

3

1 270 270 270 270 270 270 270 270 270 270 270
 degrees
j

1 360 360 360 343 297 270 221 192 180 180 180

 (2   2
)  j (2 ) 
degrees

1 360 360 360 360 336 330 315 291 285 270 270
 , degrees

j 1
3

Bode phase, degrees 270 270 250 253 183 150 86 33 15 0 0

 152

Nichols plot

13. Polar Plots

It is a graphical method of determining stability of feedback control systems by using the polar plot of
their open-loop transfer functions.

Example 13.1
Draw a polar plot of the open-loop transfer functionfor
K
G (s) H ( s)  (14.33)
s ( s  1)
Frequency response
K
G ( j ) H ( j )  (14.34)
j ( j  1)
Magnitude
K
G ( j ) H ( )  (14.35)
 1  2
Angle

G ( j ) H ( j )    tan 1  (14.36)
2

2700  G ( j ) H ( j )  1800 (14.37)

Magnitude and phaseof the open-loopfrequency transfer function

Frequency, Phase,
No. Magnitude
rad/s degrees

1 0 ∞ 270