Bode Lect

Frequency Domain Analysis Using Bode Plot
Swagat Kumar
July 11, 2005
September 6, 2011 Control Systems Laboratory, IIT Kanpur Page 1
Topics to be covered
Frequency response of a linear system
Bode plots
Effect of Adding zero and poles
Minimum and Non-minimum phase
Relative stability: Gain Margin and Phase margin
Lead and Lag compensator Design
PID compensator design using bode plot
Summary
Frequency response of a linear system
Consider a stable linear system whose transfer function is given by
G(s) =
Y (s)
U(s)
For a sinusoidal input u(t) = Asint, the output of the system is given by
y(t) = Y sin(t +)
where
Y = A|G(j)|
= G(j) = tan
1
_
Im[G(j)]
Re[G(j)]
_
A stable linear system subjected to a sinusoidal input will, at steady state, have a
sinusoidal output of the same frequency as the input. But the amplitude and phase
of output will, in general, be different from those of the input.
Graphical tools for frequency response analysis
Bode Diagram
Nyquist plot or polar plot
Log-magnitude versus phase plot
In this lecture, we will only study about Bode Diagram and its application in
compensator design.
Bode Plot
A Bode diagram consists of two graphs:
a plot of 20 log |G(j)| (in dB) versus frequency , and
a plot of phase angle = G(j) versus frequency .
Advantages of Bode plot:
An approximate bode plot can always be drawn with hand.
Multiplication of magnitudes get converted into addition.
Phase-angle curves can easily be drawn if a template for phase-angle curve of
(1 +j) is available.
Construction of Bode plot
Any transfer function is composed of 4 classes of terms
1. K
2. (j)
1
3. (j + 1)
1
4.
_
(
j
n
)
2
+ 2
j
n
+ 1
_
1
The gain K:
Log-magnitude curve is a straight line at 20 log K and phase angle is zero for
all
The effect of varying the gain K in the transfer function is that it raises or lowers
the log-magnitude curve by a constant amount without effecting its phase curve.
Construction of bode plot
Integral and derivative term (j)
1
: The logarithmic magnitude of 1/j in
decibel is
20 log
1
j
= 20 log dB
The phase angle of j is constant and equal to 90
.
Octave: A frequency band from
1
to 2
1
Decade: A frequency band from
1
to 10
1
For (j)
n
term,
- slope of log-magnitude curve = 20n dB/decade or 6n dB/octave.
- phase angle = (n 90)

Construction of Bode Plot
|G(j)|
Slope = -20dB/decade
20
10
10
20
0.1 1 10 100 1000
(a) Magnitude Plot
G(j)
90
o
0.1 1 10 100 1000
(b) Phase Plot
Figure 1: Magnitude and Phase plot of G(j) =
1
j
|G(j)|
Slope = 20dB/decade
20
10
10
20
0.1 1 10 100 1000
(a) Magnitude Plot
G(j)
90
o
90
0.1 1 10 100 1000

(b) Phase Plot
Figure 2: Magnitude and Phase plot of G(j) = j
First order factors (1 +jT)
1
: The log magnitude of the rst order factor
1
(1+jT)
is
20log
1
(1 +jT)
= 20 log
_
1 +
2
T
2
dB
The phase angle is = tan
1
T. The log-magnitude curve can be
approximated by two asymptotes as given below:
For <<
1
T
, 20 log
1 +
2
T
2
20 log 1 = 0 dB
For >>
1
T
, 20 log
1 +
2
T
2
20 log T dB
Phase curve
0 1/T
0 45
90

Corner frequency
Asymptote
10
0
10
20
1
20T
1
10T
1
2T
1
T
2
T
10
T
20
T
|G(j)|
Slope = -20 dB/decade
(a) Magnitude plot
30
30
60
90
1
20T
1
10T
1
2T
1
T
2
T
10
T
20
T
G(j)
(b) Phase plot
Figure 3: Magnitude and phase plot of
1
(1+jT)
Corner frequency
Asymptote
30
20
10
0
10
1
20T
1
10T
1
2T
1
T
2
T
10
T
20
T
|G(j)|
(a) Magnitude plot
90
60
30
30
1
20T
1
10T
1
2T
1
T
2
T
10
T
20
T
G(j)
(b) Phase plot
Figure 4: Magnitude and phase plot of (1 +jT)
Error at corner frequency 3 dB and slope is +20 dB/decade.
Quadratic factors [1 + 2
_
j

n
_
+
_
j

n
_
2
]
1
: The log-magnitude curve for
1/(1 + 2
_
j

n
_
+
_
j

n
_
2
) is given by
20 log
1
1 + 2
_
j

n
_
+
_
j

n
_
2
= 20 log
_
1

2
2
n
_
2
+
_
2

n
_
2
The asymptotic frequency-response curve may be obtained by making following
approximations:
For <<
n
, log-magnitude = 20 log 1 = 0 dB
For >>
n
, log-magnitude = 20 log

2
2
n
= 40 log

n
dB
At corner frequency =
n
, the resonant peak occurs and its magnitude depends
on damping ratio .
The phase angle of
1
1+2
(
j

n
)
+
(
j

n
)
2
is
= tan
1
_
_
2

n
1
_

n
_
2
_
_
The phase curve passes through following points
0
n

0
90
180

Frequency domain specications
The resonant peak M
r
is the maxi-
mum value of |M(j)|.
The resonant frequency
r
is the fre-
quency at which the peak resonance
M
r
occurs.
The bandwidth BW is the frequency at
which M(j) drops to 70.7% (3 dB)
of its zero-frequency value.
1
0.707
M
r
0

r
|M(j)|
BW
Frequency domain specication
For a second order system, following relationships between frequency and
time-domain responses can be obtained.
Resonant Frequency:
r
=
n
_
1 2
2
Resonant Peak:
M
r
= |G(j)|
max
= |G(j
r
)| =
1
2
_
1
2
for 0 0.707. For > 0.707,
r
= 0 and
M
r
= 1
0 0.2 0.4 0.6 0.8 1.0
2
4
6
8
10
0.707
M
r
i
n
d
B
Bandwith:
BW =
n
[(1 2
2
) +
_
(
4
4
2
+ 2)]
1/2
= [
2
r
+
_
4
r
+
4
n
]
1/2
Frequency domain specication
M
r
indicates the relative stability of a stable closed loop system.
A large M
r
corresponds to larger maximum overshoot of the step response.
Desirable value: 1.1 to 1.5
BW gives an indication of the transient response properties of a control system.
A large bandwidth corresponds to a faster rise time. BW and rise time t
r
are
inversely proportional.
BW also indicates the noise-ltering characteristics and robustness of the
system.
Increasing
n
increases BW.
Increasing decreases BW as well as M
r
.
BW and M
r
are proportional to each other for 0 0.707.
Examples
Effect of adding a zero to the forward path transfer function
Consider following open loop transfer function
G(s) =
1
s(s + 1.414)
Adding a zero to the forward path transfer function leads to
G
1
(s) =
(1 +Ts)
s(s + 1.414)
The closed loop transfer function is given by
H
1
(s) =
1 +Ts
s
2
+ (T + 1.414s) + 1
The general effect of adding zero to the forward path transfer function is to
increase the bandwith of the closed loop system.
Examples
5
4
3
2
1
0
M
a
g
n
i
t
u
d
e

(
d
B
)
10
1
10
0
180
135
90
45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
T = 0
T = 0.2
T = 0.5
T = 2
T = 5
Figure 5: Effect of adding a zero
Examples
2 4 6 8 10 12 14 16 18
0
0.2
0.4
0.6
0.8
1
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
T = 0
T = 0.2
T = 0.5
T = 2
T = 5
Figure 6: Effect of adding a zero: Step response
Example: adding a zero
Observations
A zero provides a phase lead to the transfer function.
For very low values of T, bandwidth decreases.
For higher values bandwith increases and hence faster rise time.
For very high values of T, zero (s =
1
T
) moves very close to origin, causing
the system to have larger time constant and hence longer settling time.
Example
Adding a pole to the forward-path transfer function
Reconsider the previous open loop system
G(s) =
1
s(s + 1.414)
Adding a pole to the forward-path transfer function leads to
G
1
(s) =
1
s(s + 1.414)(1 +Ts)
The closed loop transfer function is given by
H
1
(s) =
1
Ts
3
+ (1.414T + 1)s
2
+ 1.414s + 1
The effect of adding a pole to the forward path transfer function is to make
the closed-loop system less stable while decreasing bandwidth
Example
10
5
0
5
10
M
a
g
n
i
t
u
d
e

(
d
B
)
10
1
10
0
270
225
180
135
90
45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
T = 0
T = 0.5
T = 1
T = 5
Figure 7: Effect of adding a pole
Example
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
0 5 10 15 20 25
0
0.2
0.4
0.6
0.8
1
1.2
1.4
T = 0
T = 0.5
T = 1
Figure 8: Effect of adding a pole
Example: Adding a pole
Observation
For smaller values of T, BW increases slightly but M
r
increases.
For higher values of T, BW decreases but M
r
increases.
In step response, the rise time increases with decreasing of BW.
Peak overshoot and settling time increses with increasing value of T.
Effect of adding a pole or a zero to a transfer function
Figure 9: G =
1
s(s+2)
, zero is (s + 0.5) and pole is
1
s+3
Minimum and nonminimum-phase system
Minimum-phase system Transfer functions having neither poles or zeros in the
right-half s plane are minimum-phase transfer functions.
Nonminimum-phase system Those having poles and/or zeros in the right-half s
plane are called nonminimum-phase system.
Consider following two systems
G
1
(s) = 10
s + 1
s + 10
G
2
(s) = 10
s 1
s + 10
|G
1
(j)| = |G
2
(j)|
G
1
(j) = G
2
(j)
minimum and non-minimum phase system
0
5
10
15
20
M
a
g
n
i
t
u
d
e

(
d
B
)
10
2
10
1
10
0
10
1
10
2
10
3
0
45
90
135
180
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
10(s1)/(s+10)
10(s+1)/(s+10)
In a minimum-phase system, the magnitude and phase-angle are uniquely related.
This does not hold for a NMP system.
Relative Stability
Phase Margin It is the amount of additional lag at the gain crossover frequency
g
required to bring the system to the verge of instability. At gain crossover
frequency, the magnitude of open loop gain is unity, i.e., |G(j
g
)| = 1. The
phase margin is given by
= 180
+
where = G(j
g
).
Gain Margin It is the amount of additional gain at phase crossover frequency
p
that can bring the system to the verge of instability. At phase crossover
frequency, the phase angle of open loop transfer function equals 180
, i.e.,
G(j
p
) = 180
. The gain margin is given by

K
g
=
1
|G(j
p
)|
or K
g
dB = 20 log |G(j
p
)|
Stability analysis using bode plot
The phase margin and gain margin must be positive for a minimum-phase
system to be stable.
Negative margins indicate instability.
For satisfactory performance, the phase margin should be between 30
and
60
and gain margin should be greater than 6 dB.

Either the gain margin or the phase margin alone does not give a sufcient
indication of the relative stability. Both should be given in order to determine the
relative stability.
For rst order and second order system, gain margin is always innity.
Disadvantage of Bode plot:
Bode plot cant be used for stability analysis of non minimum-phase system.
stability analysis using bode plot
100
50
0
50
100
M
a
g
n
i
t
u
d
e

(
d
B
)
10
2
10
1
10
0
10
1
10
2
270
225
180
135
90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm = 9.54 dB (at 2.24 rad/sec) , Pm = 25.4 deg (at 1.23 rad/sec)
Frequency (rad/sec)
Gain crossover frequency
Phase crossover frequency
Stable System
+ve gain
margin
+ve phase
Margin
Figure 10: Bode plot of
10
s(s+1)(s+5)
stability analysis using bode plot
100
50
0
50
100
M
a
g
n
i
t
u
d
e

(
d
B
)
10
2
10
1
10
0
10
1
10
2
270
225
180
135
90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
Unstable System
ve gain margin
ve phase
margin
Figure 11: Bode plot of
100
s(s+1)(s+5)
Lead Compensators
A lead compensator is given by following transfer
function
G
c
(s) =
Ts + 1
Ts + 1
0 < < 1
We see that the zero is always located to the right
of the pole in complex plane.

1
T
1
T
j
The maximum phase angle contributed by a lead compensator is given by
sin
m
=
1
1 +
at a frequency
m
=
1
T

Lead compensator
0
1
2
3
4
5
6
7
8
M
a
g
n
i
t
u
d
e

(
d
B
)
10
1
10
0
10
1
10
2
0
5
10
15
20
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
20 log 1/a
20 dB/decade
a < 1
Maximum phase angle
Figure 12: Bode plot of G
c
(s) =
1+s
1+0.5s
Lead compensator design
Consider following second order system
G(s) =
4
s(s + 2)
Design a compensator for the system so that the static velocity error constant
K
v
= 20 sec
1
and phase margin is at least 50
.
Design steps:
The open loop transfer function of the compensated system is given by
G
c
(s)G(s) = K
Ts + 1
1 +Ts
G(s) =
Ts + 1
1 +Ts
KG(s)
where 0 < < 1 and K = K
c
. K
c
is a gain constant. The attenuation
factor is assimilated into constant gain factor K. Determine gain K to satisfy
the requirement on given static error constant.
K
v
= lim
s0
sG
c
(s)G(s) = lim
s0
s
Ts + 1
1 +Ts
K
4
s(s + 2)
= 20
This gives K = 10.
Using the gain K, draw a Bode diagram of KG(j). Evaluate phase margin.
The phase margin is about 18
.
Determine the necessary phase lead angle to be added to the system.
For a PM of 50
, a phase lead angle of 32
is required. However, in order to

compensate for the shift in gain crossover frequency due to the lead
compensator, we assume that the maximum phase lead required
m
= 32 + 6 = 38
.
Using equation sin
m
=
1
1+
, Determine the attenuation factor .
For
m
= 38
, = 0.24.
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 18 deg (at 6.17 rad/sec)
Frequency (rad/sec)
50
0
50
System: untitled1
Frequency (rad/sec): 8.95
Magnitude (dB): 6.24
M
a
g
n
i
t
u
d
e

(
d
B
)
10
1
10
0
10
1
10
2
180
135
90
System: untitled1
Phase (deg): 162
System: untitled1
Phase (deg): 130
P
h
a
s
e

(
d
e
g
)
New
Gain crossover
Frequency
Figure 13: Bode plot of gain adjusted but uncompensated system KG(j)
Determine the frequency =
m
where
20 log |G
c
(j
m
)G(j
m
)| = 0dB
20 log |KG(j
m
)| = 20log
j
m
T + 1
j
m
T + 1
= 20 log
1
(
m
=
1
T
)
Get this frequency from the magnitude plot of KG(j). This is our new gain
crossover frequency and maximum phase shift
m
occurs at this frequency.
Here, 20 log
1
= 6.2 dB which occurs at

m
= 9 rad/sec.
Determine the time constant T from the equation
m
=
1
T
.
Here, T = 0.2278 seconds.
The compensated open loop transfer function is given by
G
c
(s)G(s) =
(0.2278s + 1)40
s(s + 2)(0.0547s + 1)
80
60
40
20
0
20
40
60
M
a
g
n
i
t
u
d
e

(
d
B
)
10
1
10
0
10
1
10
2
10
3
180
135
90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 50.6 deg (at 8.92 rad/sec)
Frequency (rad/sec)
Figure 14: Bode plot of compensated system
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Figure 15: Closed loop step response of the compensated system
Discussion
Lead compensator is a high-pass lter.
It adds more damping to the closed-loop system.
Bandwidth of closed loop system is increased. This leads to faster time
response.
The steady state error is not affected.
In lead compensator design, the phase of forward-path transfer function in the
vicinity of gain crossover frequency is increased.
Lag Compensator
A lag compensator is given by following
transfer function
G
c
(s) =
Ts + 1
Ts + 1
> 1
We see that the pole is always located to
the right of the zero in complex plane.

1
T
1
T
j
15
10
5
0
M
a
g
n
i
t
u
d
e

(
d
B
)
10
2
10
1
10
0
10
1
10
2
60
30
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
20 log 1/a
20 dB/decade
a > 1
Maximum phase angle
Figure 16: Bode plot of G
c
(s) =
1+s
1+5s
Lag compensator Design
Consider following open loop transfer function
G(s) =
1
s(s + 1)(0.5s + 1)
Design a compensator so the velocity error constant is K
v
= 5 sec
1
, the PM is
at least 40
and GM is atleast 10 dB.

Design steps:
The open loop transfer function of the compensated system is given by
G
c
(s)G(s) = K
Ts + 1
1 +Ts
G(s) =
Ts + 1
1 +Ts
KG(s)
where > 1 and K = K
c
. Determine forward path gain K so as to satisfy
the requirement of steady state performance.
Lag compensator design
K
v
= lim
s0
sG
c
(s)G(s) = lim
s0
s
Ts + 1
1 +Ts
K
s(s + 1)(0.5s + 1)
= K = 5
Plot the bode diagram of KG(j).
Assuming that the PM is to be increased, locate the frequency at which the
desired phase margin is obtained, on bode plot. To compensate for excessive
phase lag, the required phase margin is the specied PM + 5 to 12
. Call the
corresponding frequency new gain crossover frequency
g
.
The new gain crossover frequency for a PM of 40 + 12 = 52
is
g
= 0.5
rad/sec.
To bring the magnitude curve down to 0 dB at this new gain crossover
frequency, the phase-lag controller must provide the amount of attenuation
equal to the value of magnitude curve
g
. In other words
|KG(j
g
)| = 20 log
10
1
> 1
Bode Diagram
Gm = 4.44 dB (at 1.41 rad/sec) , Pm = 13 deg (at 1.8 rad/sec)
Frequency (rad/sec)
10
2
10
1
10
0
10
1
10
2
270
225
180
135
90
System: untitled1
Phase (deg): 140
System: untitled1
Phase (deg): 128
P
h
a
s
e

(
d
e
g
)
150
100
50
0
50
100
System: untitled1
Magnitude (dB): 19.6
M
a
g
n
i
t
u
d
e

(
d
B
)
Figure 17: Bode diagram of KG(j)
The magnitude of KG(j
g
) is 20 dB and thus we have 20 log = 20 and
this gives = 10.
Choose the corner frequency =
1
T
corresponding to the zero of lag
compensator 1 octave to 1 decade below the new gain crossover frequency
g
.
We choose the zero of lag compensator at =
1
T
= 0.1 rad/sec. This gives T
= 10.
Plot the bode diagram of compensated system.
The compensated open loop transfer function is given by
KG
c
(s)G(s) =
5(1 + 10s)
s(1 + 100s)(s + 1)(0.5s + 1)
150
100
50
0
50
100
150
M
a
g
n
i
t
u
d
e

(
d
B
)
10
4
10
3
10
2
10
1
10
0
10
1
10
2
270
225
180
135
90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
Figure 18: Bode diagram of compensated system KG
c
(s)G(s)
Discussion
Lag compensator is a low-pass lter.
The gain crossover frequency is decreased and thus the bandwidth of the
system is reduced.
The rise and settling time increases.
The steady state error reduces.
In phase lag control, the objective is to move the gain crossover frequency to a
lower frequency where desired PM is realized while keeping the phase curve
relatively unchanged at new gain crossover frequency. In other words,
phase-lag control utilizes attenuation of controller at high frequencies.
PID control design
Consider following open loop system
G(s) =
(s + 1)
s
2
(s + 8)
Design a PID compensator such that the compensated system has a PM of 60
and
a gain crossover frequency of 5 rad/sec and an acceleration error constant K
a
= 1.
The PID compensator is of following form
G
c
(s) = K
P
+K
D
s +
K
I
s
G
c
(j) = K
P
+j(K
D

K
I
)
= |G
c
(j)|(cos +j sin )
design of PID compensator
150
100
50
0
50
100
M
a
g
n
i
t
u
d
e

(
d
B
)
10
2
10
1
10
0
10
1
10
2
10
3
180
150
120
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 17.4 deg (at 0.365 rad/sec)
Frequency (rad/sec)
Figure 19: Bode plot of uncompensated system
0 10 20 30 40 50 60 70 80 90 100
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
System: h
Peak amplitude: 1.65
Overshoot (%): 64.9
At time (sec): 7.89
System: h
Settling Time (sec): 71.1
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
Figure 20: Step response of uncompensated closed loop system
For the PID compensator, we can write
K
P
= |G
c
(j)| cos
K
D

K
I
= |G
c
(j)| sin
We know that at gain crossover frequency, |G
c
(j
g
)||G(j
g
)| = 1. This gives
|G
c
(j
g
)| =
1
|G(j
g
)|
Substituting for |G
c
(j)| from previous equation, we get
K
p
=
cos
|G(j
g
)|
Similarly, we have
K
D
K
I
g
=
sin
|G(j
g
)|
Now at
g
= 1 rad/s,
G(j
g
) = 0.1754 142.1250
For the compensated system to have a phase margin of 60
at
g
= 1 rad/sec, we
should have
180 +
m
= +G(j) (
m
= PM)
= 180
+ 60
+ 142.1250
= 22.1250
Hence,
K
P
=
cos 22.1250
0.1754
= 3.9571
Lets choose K
I
= 0, then K
D
can be computed to be
K
D
=
sin 22.1250
0.1754
+ 1 = 3.1471
Hence we have a PD compensator G
c
(s) = 3.9571 + 3.1471s.
50
0
50
100
150
M
a
g
n
i
t
u
d
e

(
d
B
)
10
2
10
1
10
0
10
1
10
2
180
135
90
45
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm = Inf , Pm = 60 deg (at 1 rad/sec)
Frequency (rad/sec)
Figure 21: Bode plot of compensated systemG
c
(s)G(s) =
(3.9571+3.1471s)(s+1)
s
2
(s+8)
0 2 4 6 8 10 12 14 16
0
0.2
0.4
0.6
0.8
1
1.2
1.4
System: h
Peak amplitude: 1.26
Overshoot (%): 26
At time (sec): 3.24
System: h
Settling Time (sec): 9.89
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
Figure 22: Step response of compensated system
Summary
Following topics were covered in this lecture
Frequency domain specications.
Bode plot construction
Relative stability
Design of Lead and Lag compensators
PID control design example.
The Principle of Argument

Bode Lect

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Frequency Domain Analysis Using Bode Plot

September 6, 2011 Control Systems Laboratory, IIT Kanpur Page 7

0.1 1 10 100 1000

September 6, 2011 Control Systems Laboratory, IIT Kanpur Page 10

September 6, 2011 Control Systems Laboratory, IIT Kanpur Page 14

. The gain margin is given by

and gain margin should be greater than 6 dB.

September 6, 2011 Control Systems Laboratory, IIT Kanpur Page 34

, a phase lead angle of 32

is required. However, in order to

= 6.2 dB which occurs at

and GM is atleast 10 dB.

For the compensated system to have a phase margin of 60

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