8.1.

Review of Bode plots

Decibels
G
dB

Table 8.1. Expressing magnitudes in decibels Actual magnitude 1/2 Magnitude in dB 6dB 0 dB 6 dB 20 dB 6 dB = 14 dB 20dB 3 20dB = 60 dB

= 20 log 10 G

Decibels of quantities having units (impedance example): normalize before taking log
Z
dB

1 2 5 = 10/2 10 1000 = 103

= 20 log 10

Z Rbase

5 is equivalent to 14dB with respect to a base impedance of Rbase = 1, also known as 14dB. 60dBA is a current 60dB greater than a base current of 1A, or 1mA.
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Chapter 8: Converter Transfer Functions

Bode plot of fn
Bode plots are effectively log-log plots, which cause functions which vary as fn to become linear plots. Given: f n G = f0 60dB 2
40dB/decade

Magnitude in dB is
G
dB

40dB

f f0

= 20 log 10

f f0

= 20n log 10

f f0

20dB 0dB

20dB/decade

2
n= 1

f f0

Slope is 20n dB/decade Magnitude is 1, or 0dB, at frequency f = f0

20 dB/decade 20dB

n=

n
40dB 40dB/decade 60dB

f f0 f f0

0.1f0

f0

10f0

f
log scale

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Chapter 8: Converter Transfer Functions

8.1.1. Single pole response

Simple R-C example
R + v1(s) + C v2(s)

Transfer function is
1 v2(s) G(s) = = sC 1 +R v1(s) sC

Express as rational fraction:

G(s) = 1 1 + sRC

This coincides with the normalized form 1 G(s) = s 1+

0

with
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11

0 = 1 RC
Chapter 8: Converter Transfer Functions

G(j) and || G(j) ||

Let s = j:
1 j 0 1 G( j) = = 2 1+ 1+ j 0 0

Im(G(j)) G(j)

G( j) = =

Re (G( j)) + Im (G( j)) 1 2 1+

0

Magnitude in dB:
G( j) = 20 log 10 dB 1+ 0
2

dB

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Chapter 8: Converter Transfer Functions

||
G(j) Re(G(j))

Magnitude is

(j

)|

Asymptotic behavior: low frequency

For small frequency, << 0 and f << f0 :
0 << 1
|| G(j) ||dB
0dB 20dB

G( j) =

1 1+ 0

Then || G(j) || becomes

G( j) 1 = 1 1

0dB

20dB/decade
40dB 60dB

f f0

Or, in dB,
G( j) 0dB dB

0.1f0

f0

10f0

This is the low-frequency asymptote of || G(j) ||

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Chapter 8: Converter Transfer Functions

Asymptotic behavior: high frequency

For high frequency, >> 0 and f >> f0 :
0 >> 1 1+ 0
2

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

1 1+ 0

0dB 20dB

0dB

Then || G(j) || becomes

G( j) 1 0
2

20dB/decade
40dB

f f0

f = f0

60dB

0.1f0

f0

10f0

The high-frequency asymptote of || G(j) || varies as f-1. Hence, n = -1, and a straight-line asymptote having a slope of -20dB/decade is obtained. The asymptote has a value of 1 at f = f0 .
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14

Chapter 8: Converter Transfer Functions

Deviation of exact curve near f = f0

Evaluate exact magnitude:

at f = f0:
G( j0) = 1 1 + 0 0
2

= 1 2
1 + 0 0
2

G( j0)

dB

= 20 log 10

3 dB

at f = 0.5f0 and 2f0 :

Similar arguments show that the exact curve lies 1dB below the asymptotes.

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15

Chapter 8: Converter Transfer Functions

Summary: magnitude
|| G(j) ||dB

0dB

1dB

3dB

0.5f0
10dB

f0 2f0

1dB

20dB

20dB/decade

30dB

f
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Chapter 8: Converter Transfer Functions

Phase of G(j)
Im(G(j)) G(j)
(j )| |

1 j 0 1 G( j) = = 2 1+ 1+ j 0 0

||

G(j) Re(G(j))

G( j) = tan 1

G( j) = tan

Im G( j) Re G( j)

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17

Chapter 8: Converter Transfer Functions

Phase of G(j)
0

0 asymptote

G( j) = tan 1

G(j)
-15 -30 -45 -60 -75 90 asymptote -90 0.01f0 0.1f0 f0 10f0 100f0 -45 f0

G(j) 0 45 90

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18

Chapter 8: Converter Transfer Functions

Phase asymptotes
Low frequency: 0 High frequency: 90 Low- and high-frequency asymptotes do not intersect Hence, need a midfrequency asymptote

Try a midfrequency asymptote having slope identical to actual slope at the corner frequency f0. One can show that the asymptotes then intersect at the break frequencies
fa = f0 e / 2 f0 / 4.81 fb = f0 e / 2 4.81 f0

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Chapter 8: Converter Transfer Functions

Phase asymptotes
fa = f0 / 4.81

G(j)
-15 -30 -45 -60 -75 -90 0.01f0 -45 f0

fa = f0 e f0 / 4.81 fb = f0 e / 2 4.81 f0

/2

0.1f0

f0

fb = 4.81 f0

100f0

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Chapter 8: Converter Transfer Functions

Phase asymptotes: a simpler choice

fa = f0 / 10 0

G(j)
-15 -30

fa = f0 / 10 fb = 10 f0

-45 -60 -75 -90 0.01f0

-45 f0

0.1f0

f0

fb = 10 f0

100f0

f
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Chapter 8: Converter Transfer Functions

Summary: Bode plot of real pole

|| G(j) ||dB
0dB 1dB 0.5f0 f0 2f0 3dB 1dB

G(s) =

1 s 1+

20dB/decade

G(j)

f0 / 10 5.7 -45/decade -45 f0 5.7 10 f0

22

-90

Fundamentals of Power Electronics

Chapter 8: Converter Transfer Functions

8.1.2. Single zero response

Normalized form:
s G(s) = 1 + 0

Magnitude:
G( j) = 1+ 0
2

Use arguments similar to those used for the simple pole, to derive asymptotes: 0dB at low frequency, << 0 +20dB/decade slope at high frequency, >> 0 Phase:
G( j) = tan 1 0

with the exception of a missing minus sign, same as simple pole

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Chapter 8: Converter Transfer Functions

Summary: Bode plot, real zero

s G(s) = 1 + 0
2f0 f0 0.5f0 1dB 3dB +20dB/decade

|| G(j) ||dB

0dB

1dB

10 f0 5.7 f0 45 +45/decade

+90

G(j)

0 f0 / 10

5.7
24

Fundamentals of Power Electronics

Chapter 8: Converter Transfer Functions

8.1.3. Right half-plane zero

Normalized form:
s G(s) = 1 0

Magnitude:
G( j) = 1+ 0
2

same as conventional (left half-plane) zero. Hence, magnitude asymptotes are identical to those of LHP zero. Phase:
G( j) = tan 1 0

same as real pole. The RHP zero exhibits the magnitude asymptotes of the LHP zero, and the phase asymptotes of the pole
Fundamentals of Power Electronics
25

Chapter 8: Converter Transfer Functions

Summary: Bode plot, RHP zero

s G(s) = 1 0
2f0 f0 0.5f0 1dB 3dB +20dB/decade

|| G(j) ||dB
0

0dB

1dB

G(j)

f0 / 10 5.7 -45/decade -45 f0 5.7 10 f0 -90

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Chapter 8: Converter Transfer Functions

8.1.4. Frequency inversion

Reversal of frequency axis. A useful form when describing mid- or high-frequency flat asymptotes. Normalized form, inverted pole: 1 G(s) = 1 + s0 An algebraically equivalent form:
G(s) = s 0 s 1+ 0

The inverted-pole format emphasizes the high-frequency gain.

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27

Chapter 8: Converter Transfer Functions

Asymptotes, inverted pole

G(s) = 1 1 + s0
3dB 1dB 0.5f0 f0 2f0 1dB 0dB

|| G(j) ||dB
+20dB/decade

G(j)

+90

f0 / 10 5.7 -45/decade +45 f0 5.7 10 f0 0

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Chapter 8: Converter Transfer Functions

Inverted zero
Normalized form, inverted zero: G(s) = 1 + s0 An algebraically equivalent form:
s 1+ 0 G(s) = s 0

Again, the inverted-zero format emphasizes the high-frequency gain.

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Chapter 8: Converter Transfer Functions

Asymptotes, inverted zero

G(s) = 1 + s0
0.5f0 f0 1dB 3dB 2f0 1dB 0dB

|| G(j) ||dB

20dB/decade

10 f0 5.7 f0 45 +45/decade

G(j)

90 f0 / 10

5.7
30

Fundamentals of Power Electronics

Chapter 8: Converter Transfer Functions

8.1.5. Combinations
Suppose that we have constructed the Bode diagrams of two complex-values functions of frequency, G1() and G2(). It is desired to construct the Bode diagram of the product, G3() = G1() G2(). Express the complex-valued functions in polar form:
G1() = R1() e j 1() G2() = R2() e j 2() G3() = R3() e j 3()

The product G3() can then be written

G3() = G1() G2() = R1() e j 1() R2() e j 2() G3() = R1() R2() e j( 1() + 2())

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Chapter 8: Converter Transfer Functions

Combinations
G3() = R1() R2() e j( 1() + 2())

The composite phase is

3() = 1() + 2()

The composite magnitude is

R3() = R1() R2() R3()
dB

= R1()

dB

+ R2()

dB

Composite phase is sum of individual phases. Composite magnitude, when expressed in dB, is sum of individual magnitudes.

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32

Chapter 8: Converter Transfer Functions

Example 1: G(s) =

G0 s 1+ 1 s 1+ 2

with G0 = 40 32 dB, f1 = 1/2 = 100 Hz, f2 = 2/2 = 2 kHz

40 dB

|| G ||
20 dB 0 dB 20 dB 40 dB 60 dB

G0 = 40 32 dB || G ||
0 dB 0

f1 100 Hz

20 dB/decade

f2 2 kHz f1/10 10 Hz f2/10 200 Hz 45/decade 90/decade 10f1 1 kHz

40 dB/decade

0 45 90

10f2 20 kHz 45/decade

10 kHz

135 180 100 kHz

1 Hz

10 Hz

100 Hz

1 kHz

f
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33

Chapter 8: Converter Transfer Functions

Example 2
Determine the transfer function A(s) corresponding to the following asymptotes:

|| A ||
|| A0 ||dB f1

f2

|| A ||dB

+20 dB/dec

10f1

f2 /10 45/dec
0

A
0

+45/dec

90

f1 /10
Fundamentals of Power Electronics
34

10f2
Chapter 8: Converter Transfer Functions

Example 2, continued
One solution:

A(s) = A 0

s 1+ 1 s 1+ 2

Analytical expressions for asymptotes: For f < f1

A0
For f1 < f < f2
A0

s 1+
1

s 1+
2

= A0 1 = A0 1
s = j

s 1 + s 1+
2

= A0
s = j

s 1 1

s = j

=A f = A0 0 f1 1

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Chapter 8: Converter Transfer Functions