Control Systems

EE-475
Bode plots
Frequency Response
Analysis
Lec Sara

Frequency Response Analysis

1. Introduction
Steady State Response of System to a Sinusoidal
input. (Effect of input frequency variation on
output).
Three common frequency response analysis
methods are

Bode Diagrams
Nyquist Plots
Nicholas Charts

If input is sin wave than output will also be

wave but with different amplitude and phase
angle.
By replacing = we can shift from Laplace to
frequency domain (Fourier)

Example

Let a System

For sin input put

s = j

G ( j ) =

K
jT + 1

As its a complex number so it s

magnitude and angle can be determined
as
G ( j ) =

K
1 + T 2 2

=
G ( j ) =
tan 1 (T )
5

Bode Diagrams/Logarithmic Plots

Consists of two plots magnitude and
phase angle plotted against frequency on
logarithmic scale.
Standard Logarithmic magnitude for base
10 is represented as 20 log
Curves are drawn on semi graph
paper using log scale for frequency and
linear scale for magnitude in dB and phase
angle in degrees.

Cont

Followings are the basic factors that

frequently occur in arbitrary transfer
functions.
Gain K
Integral and Derivative Factors
( j )

First order Factors

(1 + jT )

Quadratic Factors

in second order Transfer function

jw s s2
1
2

j j
1 + 2
+

n n
real part

imaginary part

Cont

Once we become familiar with

these basic factors we will be
construct plot of any general
function by adding individual
graphically.

plots of
able to
transfer
curves

Gain Factor K
Gain is some constant value so logmagnitude curve for gain is horizontal
20log ( K )
straight line curve at
its phase angle will be zero.
Effect of variation in Gain is that it raise
or lower the log-magnitude curve of
transfer function and have no effect on
the phase curve.

10

Cont

10

Integral and Derivative Factors

For integral part ( j )

Logarithmic magnitude is
20log10

Phase angle is

1
j

1
= 20log10 ( ) dB
j

= 90deg

if (jw)-2 then -40log(w),phi=-180...

So log-magnitude plot will be straight line

with a slope of -20db per decade and phase
o

90
angle will be straight horizontal line at
11

Cont

12

Cont

For derivative part ( j )

Logarithmic magnitude is
20log10 j = 20log10 ( ) dB

Phase angle is

= 90deg

So log-magnitude plot will be straight line

with a slope of +20db per decade and phase
angle will be straight horizontal line at
+90deg
13

Cont

14

First Order Factors

1
(1 + jT )

For
Logarithmic magnitude is

20log10

1
=
20log10 1 + 2T 2 dB
1 + jT

1
For lower frequencies

T
magnitude is zero
1

For higher frequencies

T
20
magnitude is 20log (T ) db . =

10

15

Cont
So log magnitude plot for this factor can
be approximated by two straight lines
asymptotes.
1
0

<
<
Horizontal line of 0db for
T
Straight line of slope 20 dB decade for 1T < <
Frequency at which two asymptotes
meets is called Corner/Break frequency
1
that in this case will be = T

16

Cont

17

Cont

Phase angle will be

= Tan 1 (T )

At zero frequency
0deg
=
Tan 1 (0) =

At corner frequency
1 T
Tan
=

At infinity

1
=
T

45deg
=

=Tan 1 () =90deg

18

Cont

19

Cont
Error due to use of asymptotes can be
calculated as
1
At corner frequency = T

20 log10 (1) 20 log10

1+1 =
10 log10 ( 2 ) = 3.03db

At frequency one octave below

5
1
20 log10 (1) 20 log10 1 + =
20 log10
0.97 db
=
4

At frequency one octave above

20 log10 ( 2 ) 20 log10

1
2T

5
1+ 4 =
20 log10
0.97 db
=
2

2
T

octave=2*w and decade = 10 * w

20

Cont
So asymptotic plot can be corrected to
exact by making correction of 3 at
corner frequency and 1 at one octave low
and one octave high.
Variation in T only shifts the corner freq
to the left or right but no effect on the
shape of plot.
1
So (1 + jT ) .

factor value omega

and this what a low pass filter does, it just allows lower frequencies

21

Cont

To Draw the Phase curve Accurately

locate different points on curve

22

Cont

These are octaves, NOT decades

23

Cont
For (1 + jT )
Logarithmic magnitude is

20log10 1 + =
jT 20log10

1 + 2T 2 dB
1
T

For lower frequencies

magnitude is zero
1
For higher frequencies T
magnitude is 20log (T ) db

10

24

Cont
Horizontal line of 0db for
Straight line of slope +20db for

0< <

1
T

1
< <
T

25

Cont

Phase angle will be

= Tan 1 (T )

At zero frequency
1
=
Tan
=
(0) 0deg

At corner frequency

T
Tan
=
=
45deg
T

1
T

At infinity

=
Tan 1 =
() 90deg

26

Cont

27

Quadratic Factor
For quadratic

if

>1

j j
factor 1 + 2 +

n n

it will be product of two first order

factors.(Because itll be over-damped system will two real poles)

If 0 < < 1 it will be product of two complex
conjugate factors. (Because itll be under-damped system will
two complex conjugate poles)

Magnitude and phase of quadratic factor

depends upon corner freq. and damping
ratio ( and )
n

28

Cont

Magnitude will be

2
2

20 log10
20
=

+
log
1
2

10
2

j j
n
n

1 + 2
+

n n

For <<
Magnitude will be
For >>
Magnitude will be

20log10 1 =
0db

2

20log10 2 =
40log10 db
n
n
29

Cont

So log-magnitude plot can be estimated by

two straight line asymptotes.
Horizontal line of 0db for
Straight line with

40

0 < < n

slope for

n < <

The frequencyn Is corner frequency in this

case.
Near the corner freq.( ) a resonant peak occurs.
Damping ratio determines the magnitude of
that peak . Asymptotes are independent of
the damping ratio.

30

Cont

Phase Angle will be

n
1
= Tan
2

1

n

At zero frequency

= 0deg

At corner frequency
= 90deg

At infinity

= 180deg
31

Resonant peak Freq and Magnitude

Resonant Frequency will be

2
1
2
=

r
n

for 0 0.707

Peak Magnitude will be

=
M r G ( j=
jr )
) max G (=

1
2 1

for 0 0.707

Phase angle at resonant freq will be

G ( jr ) =
90 + sin
1 2

32

Cont

33

Contd.

For quadratic factor

2

j j
1 + 2
+

n n

Magnitude will be
2

j j

+
=

20log10 1 + 2
20log
1

+ 2

10

n
n
n n

34

Cont
For <<
Magnitude will be
For >>
Magnitude will be

20log10 1 = 0db

20log10 2 = 40log10
n
n

db

35

Cont

So log-magnitude plot can be estimated

by two straight line asymptotes.
Horizontal line of 0db for 0 < < n
Straight line with 40db/decade slope for
n < <

36

Cont

Phase Angle will be

n
1
= Tan
2

1

n

At zero frequency

= 0deg

At corner frequency
= 90deg

At infinity

= 180deg
37

Cont

38

Example#1 Bode Plots

Let a System
50000 s
G (s) =
( s + 5)( s + 500 )

Put =

G ( j )
=

50000 j
20 j
=
( j + 5)( j + 500 ) 1 + j 1 + j

5 500

Split into Sub Systems

G1 ( j ) = 20

39

Cont
G2 ( j ) = j
j
G3 ( j=
) 1 +
5

j
G4 ( j=
) 1 +
500

Draw bode plot for each factor

for G1( j ) = 20
=
=
G1( j ) 20log
26.02
10 (20)

= 0deg

40

Cont
Magnitude (dB)

27.5

Bode Diagram

27
26.5
26
25.5

Phase (deg)

25
1
0.5
0
-0.5
-1
0
10

10

Frequency (rad/sec)

41

Cont
for

G2 ( j ) = j

G2 ( j ) = 20log10 ( )

= 90deg
Magnitude (dB)

20

Bode Diagram

15
10
5
0

Phase (deg)

-5
91
90.5
90
89.5
89
0
10

10

Frequency (rad/sec)

42

Cont
For

j
G3 ( j=
) 1 +
5

G3 ( j ) = 0

for lower freq

G3 ( j ) = 20log10
5

for higher freq

j
T

1
1
+
=+
(
)

1
T=
deg for 0
=
0=
5
5
=
45deg for =
1
cutt
off
freq
=
= 5
=
90 deg for =

= Tan 1

43

Cont
Bode Diagram

Magnitude (dB)

10
0
-10
-20

Phase (deg)

-30
0

-45

-90
-1
10

10

10

10

Frequency (rad/sec)

44

Cont
For

j
G4 ( j=
) 1 +
500

G4 ( j ) = 0

for lower freq

G4 ( j ) = 20log10

500

for higher freq

500

1
+
j

T
=+
1
(
)

500
1
T=
=
0=
deg for 0
500
=
45deg for =
500
1
cutt
off
freq
=
= 500
=
90 deg for =

= Tan 1

45

Cont
Bode Diagram

Magnitude (dB)

10
0
-10
-20

Phase (deg)

-30
0

-45

-90
1
10

10

10

10

Frequency (rad/sec)

46

Cont

Phase (deg)

Magnitude (dB)

Now Plot All of them on Single Graph

Paper.
Bode Diagram

50
0
-50
90
45
0
-45
-90
10

-1

10

10
10
Frequency (rad/sec)

10

10

47

Cont

Now add the graphs to get final plot

Phase (deg)

Magnitude (dB)

Bode Diagram
50
0
-50
90
45
0
-45
-90
10

-1

10

10
10
Frequency (rad/sec)

10

10
48

Cont
Bode Diagram

Magnitude (dB)

60
40
20

Phase (deg)

0
90
45
0
-45
-90
-1
10

10

10
10
Frequency (rad/sec)

10

10

49

Example#2 Bode Plots

Let a System
107
G (s) =
(1 + .01s ) ( s 2 + 100s + 106 )

Put s=jw
107
G ( j ) =
(1 + .01 j ) ( 2 + 100 j + 106 )

Split into Sub Systems

G1( j ) = 107

50

Cont
G2 ( j )=

(1 + .01 j )

G3 ( j ) =
( 2 + 100 j + 106 )

Draw bode plot for each factor

for G1( j ) = 10
7

7
=
G1 ( j ) 20log
=
140
10 (10 )

= 0deg

51

Cont

Magnitude (dB)

141

Bode Diagram

140.5
140
139.5

Phase (deg)

139
1
0.5
0
-0.5
-1
0
10

10

Frequency (rad/sec)

52

Cont
For

G2 ( j )=

(1 + 0.01 j )

G2 ( j ) = 0

for lower freq

G2 ( j ) = 20log10 (.01 )

= Tan 1 (.01 )

for higher freq

(1 + .01 j )
(1 + jT ) =
T = .01

=
0deg
=
for 0
1
cutt off freq= = 100
=
45deg for =
100
T
= 90deg for =

53

Cont
Bode Diagram

Magnitude (dB)

10
0
-10
-20
-30

Phase (deg)

-40
0

-45

-90
0
10

10

10
Frequency (rad/sec)

10

10

54

Cont
For

G3 ( j ) =
( + 100 j + 10
2

G3 ( j ) = 0

for lower freq

G3 ( j ) = 40log10 (.001 )

n 2 = 106
n = 1000
2n = 100
= 0.05
for higher freq

1
2

= 997
r
n
n
1
= Tan
2

1
G ( jr ) =
90 + sin
87.13
=
1 2

n
1
0deg
for 0
=
=
=
M r = 10
2
2
1

=
1000
90deg for =
Do apply 20 log to get
=
180deg for =

magnitude of in dB

55

.20 log 10 = 20
This has been verified in
Matlab

Cont
Do apply 20 log

to get
magnitude of in dB

56

Cont

Plot all on same graph

Magnitude (dB)

Bode Diagram
100
0
-100

Phase (deg)

0
-45
-90
-135
-180
0
10

10

10
Frequency (rad/sec)

10

10

57

Cont
Magnitude (dB)

Bode Diagram
100
0
-100

Phase (deg)

-200
0
-45
-90
-135
-180
-225
-270
0
10

10

10
Frequency (rad/sec)

10

10

58

Cont
Bode Diagram

Phase (deg)

Magnitude (dB)

40
20
0
-20
-40

-60
45
0
-45
-90
-135
-180
-225
-270
0
10

10

10
Frequency (rad/sec)

10

10

59