4.10. BODE PLOT ‘ =
Bode plot is a graphical representation of the transfer function for determining the stability of the
control system. Bode plot consists of two separate plots. One is a plot of the logarithm of the magnitude
ofa sinusoidal transfer function, the other is a plot of the phase angle, both plots are plotted against
the frequency. The curves are drawn on semilog graph paper, using the log scale for frequency and
linear scale for magnitude (in decibles) or phase angle (in degrees). The magnitude is represented in
decibles. Thus, Bode plot consists of
(8) 20 logy, 1G(jo)| V, loge.
(ii) Phase shift V, logo iia
e main advantage of usi ee ; na
a vata 8 ing Bode plot is that multiplication of magnitudes can be converted
inte
Consider open loop transfer function of a closed loop control system
GG) H(s) = KG+sT,) (1457)...
SM(ST) (1457, Jan
Put S =jo
K(1+ joT,) (1+ j@T,) sesees
(jo) (1+ joT,) (14 joT)
2logig |GGia) HG)! =(2010g K+ 20108 i+ 0°, + 20log 140°,
~(20N 10g @ + 20108 y i+ oP? +2010g +0" )...)
Hence, in order to get | G(jw) H (j@)| we will have to obtain the individual plots and adding
individual components, the resultant can be obtained. Suppose, H(s) = 1.
G(ja) H Ga) =
Case 1. The Gain K
Put
2Wlogyy! Gia)! = 2log, 4K wu(41)
Phase angle ¢ = G(j@) = 0° (4.2)
From equations (4.1) and (4.2) itis clear that the magnitude
isindependent of og, and phase angle always zero. The plots M {———F¥——
are shown in Fig. (4.20). 20 logyg K
1
Case 2: Gs) = or
S' log,ga >
Put 5 = (jo) @
7 1 +90"
G(ja) = =
69) = Gay" é
1 3 °
20 logyg \G(ju»)! = 20 logig G7 joy A Lt
= 20 logyg (ja) Logi
= -20 N logyg (@) ®
Fig. 4.20,
,G(jo)" = 90 N°
Where \N =123, Apps
_gq Ihe Plot M Vs logy isa straight line, ForN=1 the linehas a slope of 20 db /decade and angle
90” For N'=2, the slape ofthe line will be ~40 db/decade and angle will be - 180° and so on. -60 db/decade
40 db/decade
The plot M V, logy @ is a straight line having a slope of
+20 db/dec. and angular phase shift of + 90°.
4
Case 4: G(s) = est
Put s = (jo)
e 1
Go) = Ty jer
. 1
60)! = Te
20 logy, !G(ja)! = 20logio Late]
@
= 201og 9 1-20log1g V14+w?T?
= -20logyy V1+0?T?
Put the different values of w, we will get | G(jw)| consider fol
(@ For oT <<1 (very low frequencies)
-20logyy V1+0°T? = -20logyy VI =0
M =Oforw?'<
>1 (very high frequencies)
=201ogyg V1+0°T? = ~20logyy Vo2T?
=~ 20 logo @:
20
+#20db/dec.
@
®
Fig. 4.22.
lowing two cases.
Tog go
Toe 8
+: logyg 1 =0 eB ence, M Vs 1089 ® has two parts :
( one part having M=0 for @ <<1/T
{ip In other part M varies as a straight line with slope of - 20 db/decade for >> :
1,
© = F is called break frequency or corner frequency
M =~ 20 logy ©T =~ 20 (logy 0+ logy)
M =~20 logy «~ 20 logyy T
20 logy + 20 logy 1/T 3)
The above two parts of the graph intersect 0 db axis is determine! by equating the eq” (4.3)
zero
2 0 =~20 logy, «+20 logyy 1/7
© =1/Tis called break frequency.
Fig. 4.23.
Case 5: G(s) = (1+ sT)
(OF
G(jo) = (1+ joT)
1GGo)! = fi+0T?
20 logyy 1 G(j@)! = 2010810 ior
() When wT <<1
M = 20logy vi = Odd
(i) When oT >> 1
M = 20 logy) oF
oO
M = 20 logy) OT = 20/0810 7T
1
= 20 logyy © - 20 logyo TF
Equate the above equation to zero
1
0 = 20 logy © 20 0810 T
@ = = comer frequency.
he the two pars of the graph intersects the ‘0” db
+20
1 the second partis a straight line having the
Thus,
axis at = Tv 7
slope of + 20 db/decade. ae
Phase Angle Plot ab)
6 = 2Gliw) = tan? oF .
( At very low frequencies oT is very very small
6 = tant (= 0
(i) AtoT=1
o = tan? = 45°
(ii) At very high frequencies
= tant (#) = 90°
‘Thus, the value of 6 gradually changes from 0° to 90!
as @ increases from 0 to very high values.
Case 6 : General second order system
ors
CO) = 27 2t0,s+0%
Put s=jo
2
oy
SO) = Gok + 20, (ja)+o%
w,2 1
Ge) 07-07 + 20,0 (oS 0
i 2) + jee
1
20 logy |G(ja)! = 2010g,9 7 = -20logig '
o
(2) +02
o
Suppose =~ =u
20 logis IG(ja)! = M=~201ogi (Iw) aE
Consider the two cases Bio V(1-w?)? +40
o
Louccd te cei
M = ~20logig vi = Odb,
a)
2 u>>1ie—>>1
On
++20db/ decade
@=1/T
logy > E jsa straight line having slope of — 49
b/dec. and pass
$0, : =
aherefore the a2ymPIOtc Plot consists of ing through the point u.
@M=0 u<>1 +20
pase Angle Plot ;
9 = Gio) = ~tan 2 3 ei
aa 8
(p Forsmall value of u, 1? is smal a
- o =- tan 2&u
(i For large value of u, u? >> 1
o =+tan? 2b
u
8 a -
| art
| pial Slope of Bode Plot ie
G(s) H(s) = * S
10g; >
let
Put s =jo i :
K ay ®
GG) HG) = (jay Fig, 428.
© Wlog,) |G(ja) Ho)! = 20log,9
= 20 logy K-20 N log, 44)
(jwy
1 For N=0 (Type zero system)
20 logy | G(ja) H (i) |= 20 logyo K-
This is a straight line. The graph is shown in Fig. 4.26.
2. ForN=1 (type one system)
Put N =1 in equation (4.4)
2Wlogyy |G(ja) H (ja)! = 20 logy K- 20 logio® 40
Intersection with 0 db axis t
0 = 20 logy K-20 10830 — ya 20
K=0
and at this point draw a line 0 mes
vane Fig. 4.26.
20 1og,0K
locate w= Kon 0 db axis i
~20 db/decade produce it till it intersect the
‘hat willbe the starting point on Bode plot.
3. For N=2 (type two system)
Put N = 2 in equation (4.4)
7 o
logis | G(ja) HG)! = 20 lo8i0 K ae
= 20 logy K-40 10810
Intersection with 0 db axis
0. = 20 logyy K-40 !0810 156 1/ Automatic Control
20 logyg K = 40 logiy @
20 logyy K = 20 logy @
w?=K
@= JK
Hence, graph intersect the 0 db axis at @= YK. Locate = JK on 0 db axis and draw a line — 49
db/dec. and produce it to the y-axis. Graph having the slope of - 40 db/ ‘decade is shown in Fig. 4.27,
-40 db/dec.
+ 520 db/dee. +
= 2 :
t = S
logpa> ork o@=VK log
Fig. 4.27. i‘
1
Table 43. |
Typeofthe |__| Initial Slope
‘System N _ Odb Axis
0 0 db/decade
7 = 20 db/dec.
2 - 40 db/dec. = VK
3 ~ 60 db/dec. = Ke
N -20N db/dec. KUN
aw MINIMUM PHASE SYSTEMS AND NON.
The transfer functions having no poles and zeros in the right half s-plane are called
transfer functions. Systems with minimum phase transfer
minimum phase
functions are called minimum phase systems.
The transfer functions having poles and /or zeros in the right half s-plane are called non-minimum
phase transfer functions. Systems with non-minimum phase transfer functions are called non-
minimum-phase systems,
1+ joT,
Let 6,Ga) = 7A
T+ joT,
(4.5)
w=(4.6)
phase transfer function and transfer
type transfer function,
The transfer function given by equation (4.5) is a minimum
function given by equation (4.6) is non- -1/Ts
Ts R,
/Ty WT, *
Minimum phase Non-mii fi
-minimum phase
Fig. 4.28, :
minimum phase it
care cae eras a ae and Pies angle plots are uniquely related. It means
them Sp juen infini
cave niqely related, This snot appiabe or nocd en te Pe ae
FO or ad dean the phase angle at «= «is 90° (gp) where p and q are the degrees
of the ets tor ae a polynomials of transfer function. For both minimum and non-
minimum phase a a slope is 20 (g —p) db/decade. But the phase angle for non-minimum
gystem is differ from — 90° (q —p). Thus it is Possible to determine whether the system is minimum
pst or See plete ae the slope of the log-magnitude curve as approaches
infinity is -20 (q ~ p) db/dec. and the phase angle is equal to 00° (4 =o i
ninimum phase otherwise not. eae ee na etd inet
Sees phase systems are slow in response. In control system excessive phase lag should.
beavoided.
4.12. PROCEDURE FOR DRAWING THE BODE PLOTS
Consider the transfer function
oe K(1+8T,) (1+ 8Tp) esseee
SN(1+sT,) (1+5T)).......|1+2¢
oN
7”
where N is the number of poles at the origin i.e. N defines the type of system.
For type zero system K = K,
For type one system K = K,
For type two system K = K,
In above transfer function put s =jo
io) = K(1+joT,) (1+ joT, )...
(jo)" (1+ jo, ) (1+ jo,)...[1+26(a/0,)+(jo/,)]
20 logig | G(ia)|= 200g K + 20log f1+a°T,? + 20log f1+0"T, +
7 2 2 © 2
2]
-(2J] sae (2) (49)
2600,
=| (4.10)
(4.8)
20log 1+ 0°77? —20log 1+ 077,” - 20log
Phase angle
phase crossover frequency both P.M. and
GM. will be negative and the system is unstable. If gain crossover frequency = phase crossover
frequency, the system is marginally stable.
The transfer function changes with the cha i
system is also affected by supply voltage, supply gece are & Pressure. The gain of he
gain margin is low and for step response the colline ene at Pressures. If the gain is high,
Ponse the settling time is large. If the gain is low G.M. & PM.
will be high and settling time will be more i, ti i i
rise time and steady state error will be high,” he system response will be sluggish and ako
4.14. DETERMINATION OF X, x, ANID K FROM BODE PLOT
Orctnmes ie sine Seeette Pri
(a) Static Position Error Constant K, :
Static position error constant is defined for
Put e ED Fi IgE re
From equation (4.4) Frequency Domain Analysis 1 161) (7)
2010819 |GG@) HG)! = 20 log 9K —«s Nag
Consider the Bode plot shown in Fi
# 'B: 4.26, the magnitude of G(ja) H(ja) is 20 log K which
Kp = 20 log K
(0) Static Velocity Error Constant k, :
Static velocity error constant is defi ined for type one s
K, = Lim s G(s) H(s)
yystem and is given by
From equation (4.4) put N =1
20 logig | GG) HGo)! = 20 logy, K-20 logig ©
Odb = 20 logy K - 20 log, 0
K=o
This is static velocity error constant
K,=0
For type one system, the initial slope of Bode plot (magnitude) is - 20 db/decade. So, draw a
line having slope - 20 db/dec. which intersect 0 db line. The frequency at which initial slope of a
line is - 20db /dec. intersects 0 db line is the value of
static velocity error constant (K,) as shown
in Fig. 4.27.
(0 Acceleration Error Constant K, :
Acceleration error constant is defined for type two system and is given by
K, = Lims?* G(s) H(s)
For type two system the initial slope of Bode plot is - 40 db/dec.
From equation 4.4. .
20 logy | G(j@) H(j@) | = 20 logy, K- 20.2 logyg @
Extend the line having slope - 40 db/dec. to intersect 0 db line
* 0 = 20 logyy K-40 logy @
or o=/K
or K =o
This is the acceleration error constant.
So, the frequency at which initial line of slope -40 db/decade intersects 0 db line, gives the
Value of square root of acceleration constant. as shown in Fig. 4.27.
o= JK
or K, =o.
a
4.15. BODE PLOT WITH TRANSPORTATION LAG
Transportation lag is also known as time delay. Due to the
to stop the action for some time. Such time delay is
Such as hydraulic, pneumatic and thermal pure delay occ
!ag is given by eT, where ‘T” is the delay in seconds.
7 G(s) =e
sometimes it is necessary
rt ag. In many systems
aplace domain the transportation
Put 462 // Automatic Control ‘System
it
Cece ef? = cos 0—jsin®
G(jo)'= cos oT -j sin oT
1G)! = foto ean oF :
all values of @.
Therefore, the magnitude is always equal to unity for
In db = 20 log | G(ja) |= 20 log 1= 0
In other words we can say that the intro
plot.
Phase angle of transportation lag
duction of time delay has no effect on magnitude
E a} _ sin of
ZG(j) = tan [ ae
=~ tan"! (tan @T)
=~ oT (radians)
@is in radians/sec. and t is in seconds, therefore phase lag is in radians.
ZG(j@) =-57.3 wT degree (:: radians = 180°)
The phase angle linearly varies with the frequency ©.
For T
O1 -5.73°
05 = 28.65°
10 -114.6°
5.0. = 286.5°
20 573°
EXAMPLE 4.9. Sketch the Bodes plot for the transfer function
G(s) = 1000
= 1009
(140.1,
Determine the(a) PM $)(1+0.001s) ‘
©) Gain margin
(©) Stability of the
Solution : Step 1: Put 8 = jo oe
Gja) = Go
: (1+ j0-To) é
The given transfer function is of = (1+ 70.001)
0 db/decade. The starting, ‘o' system,
Point is given by, ace the i
20 log) K = 20 "ti ioe initial slope of the Bode plot is
Comer frequencies @, =
a =10; step 2*
step 3+
Step 4°
Step 5:
Step 6:
Step 7:
" Brequency Domain Analysis
1
©, = TOT = 1000 rad/sec.
Mark the starting point 60 db on y-axis and draw a line of slop Odb/decade upto first
comer frequency.
From first corner frequency to second corner frequency draw a line with slope (0-20 = -20
db/decade).
From second corner frequency to next corner frequency (if given) draw a line having the
slope -20 + (-20) = -40 db/decade.
The magnitude plot is complete and now draw the phase Plot by calculating the phase at
different frequencies (as given in table).
From the bode plot .
From the point of intersection of magnitude curve with 0 db axis draw a a line on phase
curve. This line cuts the phase curve at - 154°
ES P.M = —154-(- 180)
= +26°
Gain margin G.M = «>
Since, P.M = + 26° and gain margin = », the system is inherently stable.
‘Table 4.4
oe
50
100
150
200
500
800 — 89.28 * = 38,65° 127.93"
1000 - 89.48" 45° - 134.42"
2000 89,72 = 63.43° = 153,15°
3000 | - 898° - 7156 = 161.36°
5000 — 89,88" -78.69° - 168.57°
8000 — 89,92° cE 82,87° = 172.79° IG Go| db
20!0g qk = 2009491000
41000
—
G(s) = (740.18) (140.0018)
Soe Frequency Domain Analysis // 165 La
EXAMPLE 4.10. Sketch the Bode Plot for the transfer function.
1000
os) = TS
s(1+0.1s)(1+0.001s)
Determine:
( Gain crossover frequency
(ii) Phase crossover frequency
(ii) GM and P.M
(io) Stability of the given system
solution : Step 1:
Puts = jo
Ge) = 1000/ (je) (1 + j O10) (1+ j 0.0010)
Step 2: Draw the magnitude curve
: 1
Comer frequencies @, = 57 =10rad/sec.
1
®2= Ooo1 = 1000 rad/sec.
Initial slope of the curve will be - 20 db/decade due to 1/g term. On @-axis mark w = K = 1000.
From this point draw a line having the slope 20 db/decade to meet y-axis. This will be the starting
point. From the starting point to the first corner frequency the slope will be - 20 db/decade, then
from comer frequency 10 the slope will be - 20 + (-20) = - 40 db/dec. upto 1000.
‘After 1000, the slope will be — 40 + (-20) = - 60 db/decade.
Step 3: Draw the phase curve
6 = —90°- tan 0.10 - tan 0.0010
Table 4.5.
o ‘Arg Ga) Arg 1 +j0.10) | —Arg(+j0.0010) | Resultant
-tan 0.10 tan“ 0.0010 > :
1 -90° -5.7° 0.06" -95.7°
5 90° -26.5° 0.28" 116.5°
10 90° 45° 057° -135.63°
50 90° -78.6° -2.86° ~171.46°
100 90° ~84,2° “57° -179.9°
150 90° -86,2° ~8.5° ~184°
200 90° . -87.13° -11,3° —188°
500 90° -88.85° -26.56° -205.41°
Step 4: From Bode plot
( Gain cross over frequency = 100 rad/sec.
(ii) Phase crossover frequency = 100 rad/sec,
(i) GM=0
PM=0
(i) Since G.M = P.M = 0, the system is marignally stable 166 1 Automatic Control System
oo
| GIS) = 5440-16) (140.0018)
Hee ll Hl
40d ‘th i Hl
HHH ia i
He
a 1000
3
=
s
2
| Gain crossover
frequency
\
10:
80"
-100°f
120°
Phase crossover
220 frequency EXAMPLE 4.11. Draw the Bode plot for the transfer function
16(1+0.5s)
S?(140.125s) (1+0.15)
G(s) =
From the graph determine
( Phase crossover frequency (ii) Gain crossover frequency
(i) PM (iv) GM
(0) Stability of the system
golution : Step 1: Put s = jo
i 16(1+ j0.5@)
* (jo)? (1+ j0.1250)(1+ jo.10)
Step 2: Draw the magnitude plot
Corner frequencies
G(w)
@, = 1/05 = 2rad/sec.
@, = 1/0.125 = 8 rad/sec.
@3 = 1/0.1 = 10 rad/sec.
Ato-axis mark @ = JK = J16 = 4 rad/sec. because this is a type two system. From 4 rad/sec.
draw a line having the slope of - 40 db/decade to meet the y-axis. This will be the starting point.
From the starting point to the first corner frequency the slope will be - 40 db/dec. from first corner
frequency (2 rad/sec.) to the second corner frequency (8 rad/sec.) the slope of the line will be —40 +
(420) =-20 db /decade From second corner frequency to the third corner frequency (10 rad/sec.) the
slope of the line will be -20 + (-20) = — 40 db/decade. After 10 rad/sec. the slope will be — 40 + (20)
=-60 db/decade.
Step 3 : Draw the phase diagram
Step 4: Phase-cross over frequency =
Gain cross over frequency = @,,
P.M = -8°
GM = -2db
(2) Since gain crossover frequency > phase crossover frequency hence the system is un stable.
Also both P.M & G.M are negative.
5 rad/sec (2)
rad/sec. 468 // Automatic Control System
T 46(1+0.58)
-6odb/decad G(s) = 's/(1+0.25s) (140-18)
ine
40db/decade
-20db/decade
| 4odb/decade |
: }
3
3 mt
z HL
oO i
Poablscade HOUT
GM =o, Odb/decade
Gain crossover,
frequency (0 ¢4)
g 160°
8) isco
ole |80'
200° Phase crossover
220° frequency (0 «)
=240°
-260° Frequency Domain Analysis
eKAMPLE 4.72. Draw the Bode plot for the transfer function ae
50
G(s) =
S) = ‘s(1+0.25s) (1+0.1s)
From the graph determine
4. Gain crossover frequency
2, Phase crossover frequency
3, GM and P.M.
4, Stability of the system.
solution : Since this is type one system, the initial slope of the line will be — ade. Mark the
int on @-axis at 50 rad/sec and draw a line with ae 20 Cb ae eae pi 50, this line
Fill meet the y-axis. This is the starting point.
: al
Comer frequencies are @, 0.25 =41ad/sec.
iS
@)= 001 = 10 rad/sec.
Slope of the line from starting point to I comer freqency
Slope of the line from I corner frequency to I
20 db/dec.
-20 + (-20)
40 db/dec.
After second corner frequency the slope will be - 40 + (-20) = - 60 db/dec.
Phase Plot : For phase plot calculate the phases at different frequencies.
Table 4.7.
o jo tan 0.10 stan 0250 | Resultant
1 =90° -571° —14.03° — 109.74"
2 90° -11.3° — 26.56" - 127.86°
5 -90° —26.56° -51.34° —168°
10 -90° -45° — 68.19° — 203.19°
20 -90° - 63.43" -78.69° = 232.12°
40 -90° -76 - 84.28° — 250.28°
60 90° - 80.53" — 86.18° ~256.71°
80 90° — 82.87° -87.13° ~ 260°
200 fibeapOewn| = 84.29° 87.7 — 262°
Gain crossover frequency (@,) = 13 rad/sec.
Phase crossover frequency (2) = 6.5 rad/sec.
PM =-36°
GM =-13db
Since, both phase margin and gain margin are negative and gain crossover frequency > phase
essover frequency, the system is, unstable. (70 i Automatic Control System
-60db/decade:
50
2am
G(s) = (740.255) (140.18)
—4odb/decade|
-20db/decade
—40dbidecad
-60db/decade|
gh. AMPLE fe eas eee plot of the open}
a . 4.36.
jgshow?
‘Cop transfer function G(s) of a certain system
(qDetermine G(s) if it is known that the system is
(Estimate the phase at each of the comer frequen
of minimum phase type.
cies,
100 db}
~20 db/decade
i
1eGe)1 ~60 db/decade
80 db/decade
iz 5 40 100
o(rad/sec.) +
Fig. 4.36.
Solution : Since, the system is of minimum phase type, it has no poles or zeros in the right hand
side of s-plane.
a. At@=5 rad/sec. slope changes to - 20 db/decade indicating a term (1 5) or (1+0.2s) in
denominator.
2
b. Ato =40, slope changes to - 60 db/decade indicating a term ( +) in denominator (net
slope changes is - 40 db/decade)
s
c. Atw= 100, slope changes to - 80 db/decade, indicating the term (+355) in denominator. ~
a. 20 logy K = 100
K=10 :
_108
= OST As
GS) = Gy0.2s) (1+0.025s)? (1+0.01s) .
® Ato=5
5 = — [+ tant 0.2x5+2 (tan“! 0.025 x 5) + tan 0.01 x 5]
= -62.11° :
Atw=40
4 = ~ [tan 40 x 0.2 +2 (tan 40 x 0,025) + tan“ 40 x 0.01]
— [82.87 + 90 + 21.8]
49 = 194.67" ie a
Ato= 100 a Seat
top = — [tan 100 x 0.2 + (tan 100 x 0,025)? + tan 100 x 0.01] <
‘100 ~ re
= — [87.13 + 136.39 +'45]
= — 268.53° ‘an sem from the data given on Bode diag.
176 1 Automatic Control Be i
fer junction of the sys
: ‘EXAMPLE 4.16. Find the trarts!
10 é
o>
-10} 20 db/dec.
+ -60 db/dec.
40 db/dec.
60 db/decade
-60 db/dec.
ee Fig. 4.37.
Solution : First line having a slope of -20 db/decade and it is not passing through w = 1 rad/sec, it
means there is term K/s
At@=1 rad/sec. of initial part = 20 log 1. 5 = 3.521
20log K = 3.521
K=15
yt
At @=4 rad/sec. there is a term [p-2ee =] because the slope changes from ~ 20 db/
nn
decade to - 60 db/decade and also a peak of 4 db is given.
©, = 4rad/sec.
xo eT
Valueof|1+ 525+ =| ato=o, 5
Put s = jo
2 :
| [ net =| - = [1 + 0.1585 + 0.0625s?]1
At w = 10 rad/sec. the slope changes from — 60 db/dec. to ~ 40 db/d
. to = lec indicating the term
tet
*10) in numerator. 1.5(1+5/10) __48(5+10)
s(1+0.158s-+0.06255")(1+ 5/20) ~ 5(5? +2.52s +16) (+20)
This is the required transfer frnction.
G) =
EXAMPLE 4.17. Find the transfer function of
the given Bode diagram.
Solution: 1. First line having a slope of + 20 db/
decade. Therefore there is a term's’ in nu-
merator.
2. At@= 1, theslope changes to zero, it means
there is a term (1+ 5/,) = (5 + 1) in
denominator.
3. At @ = 10, the slope changes to - 20 db/
decade, this indicates there isa term (1 +
$/,9) in denominator.
4. 20105 K= 6
K =199~20
2s 20s i f :
G@) = GendFyI = GF (s+10) is the required transfer function.
