ME 461

Control Engineering
Semester: February 2015
Dr. Sumon Saha
Assistant Professor
Department of Mechanical Engineering
Bangladesh University of Engineering and Technology
Wednesday, June 17, 2015

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Todays topic

System Analysis: Bode Plot

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Bode Plot

Consider following Transfer Function

K 1( s + z1 )( s + z2 )...( s + zm )
G (s) =
2

s s
N
s ( s + p1 )( s + p2 ) ... ( s + pn ) 1 + 2
+
n n

Put s = j

G ( j ) =

K 1( j + z1 )( j + z2 )...( j + zm )
2

j
j
N
( j ) ( j + p1 )( j + p2 ) ... ( j + pn ) 1 + 2
+

n
n

Arrange in following form

G ( j ) =

K 1(1 + jT1 )(1 + jT2 )...(1 + jTm )

2

j j
N
( j ) (1 + jTa )(1 + jTb ) ... (1 + jTn ) 1 + 2
+

n n

G( j) =| G( j) | G( j)

Magnitude Phase Angle

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Bode Plot

It is the graphical representation of transfer function to find out

the stability of control system.
Bode Plot consists of two plots
Magnitude ( 20 log10 | G ( jw) | dB) versus frequency plot ()
Phase angle ( G( jw) ) versus frequency plot ()

K ( s + z1 )( s + z2 )

G(s) =
s ( s + p1 )( s + p2 )( s 2 + as + b)

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Logarithmic coordinate

2
Decade :dec = log10
1

Octave : oct = log 2 2

1

dB

3 4

10

20

100

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Bode Plot

How to draw different slopes

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Case I : K > 0

Bode Plot
GH (dB )

Magnitude:
K

dB

= 20 log K (dB )

0.1

10

GH

Phase:
K = 0

1800
o

900
0

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1
Case II :
sp

Bode Plot
40
GH (dB )
20

p=2
p =1

Magnitude:
1
( j )

0.1

10

= 20 p log (dB)

GH

dB

900

Phase:

1
( j )

00
p =1
0
90
= (90o ) p

180

p=2

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Case III : s

Bode Plot
p=2
40
GH (dB )
20

p =1

Magnitude:
0.1

( j ) p

dB

10

= 20 p log (dB)
GH

Phase:
( j ) p = (90 o ) p

180

90
00

900
1800

p=2
p =1

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Bode Plot

Case IV :

GH (dB)

a
1
or ( s + 1) 1
( s + a)
a

Magnitude:
(1 + j

0.1

10

) 1
dB

= 20 log 1 + ( ) 2
a

= 10 log[1 + ( ) 2 ]
a

a 0 dB = 10 log1 = 0
a

 a 1 + j dB 20 log
a a
dB = [20 log 20 log a]

= a 1 + j1 dB = 10 log 2 = 3.01

a =1

20 dB/decade

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Case IV :

Bode Plot
GH (dB)

a =1

a
1
or ( s + 1) 1
( s + a)
a
0.1

10

20 dB/decade

Phase:

(1 + j

GH
0

) = 0 tan

1800

900

a 0 GH tan 1 0 = 0o
a

 a GH tan 1 = 90o
a

= a 450

900

1800

45o /decade

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Bode Plot

Case V :

GH (dB)

a =1

( s + a)
1
or ( s + 1)
a
a

Magnitude:
(1 + j

0.1

)
dB

= 20 log 1 + ( ) 2
a

= 10 log[1 + ( ) 2 ]
a

a 0 dB = 10 log1 = 0
a

 a 1 + j dB 20 log
a a
dB = 20 log 20 log a

= a 1 + j1 dB = 10 log 2 = 3.01

+20 dB/decade

10

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Bode Plot

Case V :

GH (dB)

a =1

( s + a)
1
or ( s + 1)
a
a
0.1

Phase:

(1 + j

 a

a
a

GH

) = tan

1800

900

0 GH tan 1 0 = 0o
GH tan = 90
1

900
1800

+20 dB/decade

10

= a 450

+45o /decade

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Bode Plot

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Bode Plot

What are the advantages of using Bode plot for frequency

response analysis?
Bode diagram consists of two plots:
1.A plot of the logarithm of the magnitude of a sinusoidal transfer
function against the frequency on a log scale.
2.A plot of the phase angle against the frequency on a logarithmic
scale.
Advantages:
1.Multiplication of magnitudes can be converted into addition.
2.A simple method for sketching an approximate log-magnitude
curve based on asymptotic approximations is available.
3.Expanding the low-frequency range by use of a logarithmic
scale for the frequency is highly advantageous, since
characteristics at low frequencies are most important in practical
systems.

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Bode Plot

Plot the asymptotic attenuation and phase angle diagram for an

open-loop transfer function

G(s) =

25( s + 2)
s 2 + 10.5s + 5

25( s + 2)

25( s + 2)
G(s) =
=
s 2 + 10.5s + 5 ( s + 10)( s + 0.5)
s + 2 0.5 10
= 10

2 s + 0.5 s + 10
25( j + 2)
G ( j ) =
( j + 10)( j + 0.5)

10(0.5 j + 1)
G ( j ) =
(0.1 j + 1)(2 j + 1)

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Bode Plot

10(0.5 j + 1)
G ( j ) =
(0.1 j + 1)(2 j + 1)

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Bode Plot

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Bode Diagram (Phase Plot)

90
s+2

_______

Phase (d
deg)

45

2
10

10

_______

s + 10

-45
0.5

_________

-90

s + 0.5
Composite asymptotic
phase angle

-135
-180 -2
10

10-1

100
101
Frequency, (rad/sec)

102

103

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Actual Bode Plot

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Bode Plot: Gain and Phase Margin

Gain Margin: It is the amount of gain in db that can be

added to the system before the system become unstable.
GM in dB = 20log10(1/|G(j|) = -20log10|G(j|
Gain cross-over frequency: Frequency where magnitude
plot intersect the 0dB line (x-axis) denoted by g
Phase Margin: It is the amount of phase lag in degree that
can be added to the system before the system become
unstable.
PM in degree = -1800+angle[G(j)]
Phase cross-over frequency: Frequency where phase
plot intersect the -1800 dB line (x-axis) denoted by p
Less PM => More oscillating system

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Bode Plot: Gain and Phase Margin

Gain crossover frequency: g

phase crossover frequency: p

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Open loop transfer function

Bode Plot: Stability

G ( s) H ( s)

Closed-loop transfer function : 1 + G ( s) H ( s)

Open loop Stability
poles of G ( s ) H ( s) in LHP

Im

Closed-loop Stability

poles of G ( s ) H ( s) in left side of (-1,0)

RHP
Re
(1,0)

(0,0)

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Stability by Bode Plot
1. Stable
If wg<wp
GM & PM are +ve

2. Unstable
If wg>wp
GM & PM are ve

3. Marginally stable
If wg=wp
GM & PM are zero

Bode Plot: Stability

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Bode Plot: Stability

GH (dB)

G.M.<0

0 dB

Unstable system

GH

1800

Stable system

900
180

p
P.M.<0

Unstable system

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Example: Bode Plot

Example 1:Construct a Bode plot for a system with open

loop transfer function

1000
G(s) =
(1 + 0.1s )(1 + 0.001s )
Determine
(i) the gain margin (GM)
(ii) the phase margin (PM)
(iii) the nature of stability

1000
10 1000
G( s ) =
= 1000

( 1 + 0.1s )( 1 + 0.001s )
s + 10 s + 1000

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Example: Bode Plot

Solution:
1. Convert the TF in following standard form & put s=j

1000
G ( j ) =
(1 + 0.1 j )(1 + 0.001 j )
2. Find out corner frequencies
1
1
= 1000
= 10
0 . 001
0 .1
So corner frequencies are 10, 1000 rad/sec

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Bode Diagram (Magnitude Plot)

60
20log1000 = 60

Magnitude
e (dB)

40
20

Composite asymptotic
attenuation

g = 3100 rad/s

0
+GM = 2

-20

______________

0.001s + 1

-40
1

___________

-60
-80 0
10

0.1s + 1

101

102
103
Frequency, (rad/sec)

104

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Bode Diagram (Phase Plot)

1000

______________

0.001s + 1

Phase (d
deg)

-45

___________

0.1s + 1

-90
-135

Composite asymptotic
phase angle
+PM = 23o

-180
p = 10000 rad/s

-225
10-1

100

101
102
103
Frequency, (rad/sec)

104

105

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Actual Bode Plot

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Practice: Bode Plot

Construct a Bode plot for a system with open loop transfer

function
200
G ( s) =
( s + 2 ) ( s + 4)(s + 5)
Determine
(i) the gain margin (GM)
(ii) the phase margin (PM)
(iii) the nature of closed loop stability

200
2 4 5
G ( s) =
= 5

( s + 2 ) ( s + 4)( s + 5) s + 2 s + 4 s + 5

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Bode Diagram (Magnitude Plot)

40
20log5 = 14

20
5

Magnitude
e (dB)

0
-20

+GM = 5.5

_______

s+5

_______

g = 5.8 rad/s

s+4

-40
-60
2

_______

-80

Composite asymptotic
attenuation

-100
-120 -1
10

100

101
102
Frequency, (rad/sec)

s+2

103

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Bode Diagram (Phase Plot)

5

_______

s+5

Phase (d
deg)

-45

_______

s+4

-90

_______

Composite asymptotic
phase angle

-135

+PM = 13.5

-180
-225
10-2

10-1

s+2

p = 7.2 rad/s

100
101
Frequency, (rad/sec)

102

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Actual Bode Plot

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Extra Reading: Bode Plot

1. What are break points or corner frequency? What

are their significance in frequency response analysis?
2. Sketch the Bode plot for a simple log function. Show
that at Break point, the actual curve for magnitude
ratio is attenuated by -3db.