4B9 Control 1 Bode Diagrams

Bode Diagrams

We can write the frequency response function G(jω) in polar form as:
G ( jω ) = G ( jω ∠φ
where G ( jω ) is the gain of the system or, alternatively, the Amplitude Ratio, AR.
The amplitude ratio is a more informative term as it reminds us that the output can be
either amplified or attenuated i.e. the gain may be less than unity.
The argument φ = ∠G ( jω ) gives us the phase difference between the excitation
frequency and the output frequency. We are of course assuming that the system is
linear and consequently the response of the system to a sinusoidal input is a sinusoid
which has been amplified or attenuated and which has been phase shifted with respect
to the input.
Also, the AR and the phase difference between input and output are frequency
dependent. We often represent these relationships graphically as direct polar plots i.e.
AR vs. frequency and phase versus frequency. One form of this representation is the
so called Bode diagram which consists of two plots – AR vs. frequency and phase
angle vs. frequency.
An example of a Bode diagram is given in Figure 1. It shows the frequency response
of the following system:
s 2 + 0.1s + 7.5
G (s) = 4
s + 0.12 s 3 + 9 s 2

Figure 1 Example Bode Diagram

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4B9 Control 1 Bode Diagrams

Note that the Bode diagram is plotted on log-linear graph paper with frequency
plotted logarithmically. Also, it is usual to plot the amplitude ratio AR in decibels
since it allows the diagram to represent a much greater dynamic range. Decibels are
defined:
dB = 20 log10 AR
While it is possible to plot the Bode diagram for a system using Matlab (e.g. using the
Control Systems Toolbox) another method is to use asymptotic approximations to plot
the AR. (Note that while asymptotic approximations are widely used to plot the AR
they are rarely used to plot the phase angle – this is normally done by tabulating the
phase angle and drawing a smooth curve through a selected number of points). The
method of asymptotic approximations is very convenient because the Bode plot for
each identifiable component in the overall transfer function can be plotted
independently and then the Bode diagram for the complete transfer function
determined by summing the components graphically.
To ease this process we will examine the frequency responses for the most common
functional blocks and plot their Bode diagrams.

Common functional blocks.

Some common functional blocks are:

1. A pure gain, K
2. A transport delay, e −τ s
3. A derivative term, s.
1
4. An integral term
s
1
5. A simple lag, .
1 + jωτ
6. A Proportional plus Derivative Controller Term τ s + 1
1
7. A Proportional plus Integral Controller Term
1 + jωτ
1
8. A 2nd order term 2 2
τ s + 2ςτ s + 1

We can determine asymptotic approximations to each of the above and use these
approximations to assist in sketching the Bode diagram for more complex transfer
functions. Note that to use these asymptotes we will have to transform the numerator
and denominator terms in the complex transfer function into the Bode forms given
above.

Determining Asymptotes

To sketch the Bode diagram we will need to determine to asymptotes:

• The low frequency asymptote and
• The high frequency asymptote
We will also need to know the slopes of the asymptotes and the point of intersection.
Once we know these we can easily sketch the Bode diagram.

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4B9 Control 1 Bode Diagrams

First let’s sketch the Bode plots for some of the above functional blocks and, in doing
so, determine the appropriate asymptotes (Note that not all are done here – you should
try to do the others yourself). We can also generalise from the case of a single block
to multiple similar blocks in series e.g. in a Type II system we will have two
integrators.

1. A pure gain term, K. This is not dependent on frequency so the AR is simply

20 log10 K . There is no phase shift. Often, in sketching Bode diagrams pure
AR
gain terms can be factored out and the ratio plotted.
K

Figure 2 Bode for pure gain

2. A transport delay, e −τ s . The amplitude ratio is 1 and the phase angle is
φ = −ωτ .
3. The derivative term. s. The AR is ω and the phase angle is a constant lead of
90° i.e. φ=90°. The AR has a slope of 20log10ω.

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4B9 Control 1 Bode Diagrams

Figure 3 Derivative Term

1 1
4. A simple integrator, . The AR is and the phase angle is a constant lag of
s ω
1
90° i.e. φ=-90°. We can write: 20 log10 AR = 20 log10 = −20 log10 ω . This is a
ω
line of slope –1 passing through the point ω=0, 0dB. We observe that the
response of a simple integrator to a sinusoidal input rolls off at –20 dB per
decade of frequency i.e. if we increase the input frequency by a factor of 10
then the output will experience 20 dB of attenuation. Each integrator in the
system contributes -90° of phase lag and 20 dB/decade attenuation. A Type II
system will have a constant phase lag of -180° and 40dB/ decade attenuation.

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4B9 Control 1 Bode Diagrams

Figure 4 Bode Diagram for an Integrator

Figure 5 Type II system- note –180° phase lag

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4B9 Control 1 Bode Diagrams

1 1
5. The simple lag . We find AR = and φ = − tan −1 ωτ . We will
1 + jωτ 1+ ω τ
2 2

need the low and high frequency asymptotes to sketch the amplitude response
of the simple lag. We divide the amplitude response into two distinct regions
delineated by the corner frequency, ωc which occurs at ωτ=1. For ωτ<<1,
AR≅1, so the low frequency asymptote is the 0 dB line on the Bode diagram.
1
For ωτ>>1, AR ≅ . In decibels, this is a line of slope –20 dB/ decade of
ωτ
frequency passing through the point ωτ=1, AR=1 (0dB). The phase lag is -45°
at the corner frequency and is bounded by -90° .

6. The PD controller. We find AR = 1 + ω 2τ 2 and φ = tan −1 ωτ . Note that the

PD controller provides phase lead. We will need the low and high frequency
asymptotes here. For ωτ << 1, AR ≅ 1 and for ωτ >> 1, AR ≅ ωτ. The low
frequency asymptote is at 0 dB and the high frequency asymptote is a line of
slope 20 dB/ decade. The two asymptotes intersect at the corner frequency i.e.
at ωτ = 1. Note that the PD controller exhibits a gain of 20 dB/ decade past the
corner frequency. Note also that the amplitude and phase behaviour of the PD
controller is exactly the inverse of the simple lg.

1 1 1
7. The PI Controller 1 + . We find AR = 1 + and φ = − tan −1 . At
jωτ (ωτ I ) 2
ωτ
1
low frequencies we can see that the term dominates the amplitude
(ωτ ) 2
1
response. We can make the approximation AR ≅ for ωτ << 1. When
ωτ
expressed in dB this is a line of slope –20dB which intersects the high
frequency asymptote at ωτ I = 1 .

1
8. A 2nd order term . Note that the amplitude and phase responses
τ s + 2ςτ s + 1
2 2

depend on the damping factor as well as the frequency of the excitation. We

can plot a family of Bode curves based on the damping factors. Lets use the
following 2nd order system (the natural frequency is 1 rad/s for convenience):
1
G (s) = 2
s + 2ζ s + 1

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4B9 Control 1 Bode Diagrams

Figure 6 Bode diagrams for damping factors of 0.1, 0.25, 0.8, 1.2
Note the sharp transition in the phase plot at the natural frequency and the
magnification factor for under-damped 2nd order systems shown in the amplitude
response.

Dermot Geraghty Page 7 3/27/2018