Bode Plot

10/30/2007

Rajeeb Dey, SMIT,Sikkim

Why Bode Plot? The determination of frequency response by traditional methods (like the analytical methods) is tedious, when transfer function has several poles and zeros. The difficulty involved in the computation in frequency domain can be considerably reduced by utilizing graphical technique in logarithmic co-ordinates system to carry out the frequency response analysis for the system. Thus, a logarithmic plot of transfer function in frequency domain is called BODE PLOT. Bode Plot consists of two plots/graphs
1) G ( j ) in db Vs log
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2) G ( j ) in deg VsDey, log Rajeeb SMIT,Sikkim

LOGARITHMIC UNITS The magnitude of the sinusoidal transfer function (or in other words transfer function in frequency domain) can be expressed in db (decibel), which is a logarithmic unit, expressed as

20 log10 G ( j ) db
This magnitude is called log magnitude. Advantage: The products of the factors in G ( j ) becomes additive terms because of the use of log. UNITS TO EXPRESS FREQUENCY BANDS / RATIOS IN LOG SCALE. OCTAVE DECADE
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OCTAVE: An octave is a frequency band from (say) f1 to f2 , where (f2 / f1) = 2 Thus the frequency band from 1 to 2 c/s is one octave, or band from 2 to 4 c/s is also one octave. DECADE: If (f2 / f1) = 10, it is called DECADE SIMPLE CALCULATIONS AND CONVERSIONS No. of octaves in a frequency range from f1 to f2 = log (f2 / f1) / log 2 = 3.32 log (f2 / f1) oct. No. of decades in a frequency range from f1 to f2 = log (f2 / f1) / log10 10 = log (f2 / f1) decade No. of octaves = 1 / log 2 = 1/ 0.301 decade
10/30/2007 Rajeeb Dey, SMIT,Sikkim 20* N db/decade = (20*N) (0.301) db/ octave = 6*N db/octave 4

BODE PLOT PRELIMINARIES For bode plot the sinusoidal transfer function G ( j ) must be expressed in time-constant form, as shown in the expression below, Let us consider a generalized form of G ( j )
G ( j ) = K (1 + jT1 ) (1 + jT2 )......... 2 1 ( j ) n (1 + jTa )[1 + ( j ) + 2 ( j ) 2 ].......

G ( j ) =

K (1 + jT1 ) (1 + jT2 )......... ( j ) n (1 + jTa )[1 2 + j 2 ]....... n n

2

We find from above that the numerator and denominator have 4 basic possible types of factors :
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1. Constant gain K
n 2. Poles or zeros at origin ( j )

3. Simple poles or zeros (1 + jT ) 1

r (1 + j T ) For repeated poles or zeros

4. Quadratic poles or zeros [1 2 + j 2 ]1 n n

r For repetitions [1 2 + j 2 ] n n
2

Note: The transfer function of the system may have all the factors in it or combination of some of the factors.
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OBJECTIVE: We are to draw the bode plot by straight line asymptotes or in other words we will learn to draw approximate function plot. The exact plot can be obtained from the approximate plot via a technique called error corrections at each corner frequencies. STEP- BY - STEP PROCEDURE TO DRAW BODE PLOT First we learn to draw the bode plot for each individual factors as discussed above. Secondly we will learn to draw bode plot for a sinusoidal transfer function which consists of combination of some of the factors of G ( j ) discussed above.
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BODE PLOT FOR INDIVIDUAL FACTORS OF G ( j ) 1. CONSTANT GAIN FACTOR (K)

G ( j ) = K
The gain K is frequency independent term. Finding the log magnitude,

G ( j ) = 20 (log10 K ) db = C onstant

G ( j ) = 0 degrees
G ( j )
G ( j )
+180D
20 (log10 K ) db

+90D

(log scale)

0D -90D

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0.1

1.0

10

Rajeeb Dey, SMIT,Sikkim

-180D
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2. POLES OR ZEROS AT ORIGIN

G ( j ) = ( j ) n where n = no. of repetations + n indicates no. of zeros at origin - n indicates no. of poles at origin
G ( j ) = ( j )
1

1 = here n = 1 pole j

G ( j ) = ( j ) +1 = j here n = 1 zero

Finding log magnitude and angle of G ( j )

G ( j ) = 20 log ( ) 1 db = 20 log ( ) db
If G ( j ) = ( j ) n = 1 ( j ) n

G ( j ) = 20 log ( ) n db = 20 n log ( ) db
9

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Rajeeb Dey, SMIT,Sikkim Per unit change in log

Unit change in log means: 2 log =1 1

log 2 log 1 = log10 10

2 = 10 1 2 = 10 1

So, using the above concept, we can write G ( j ) = 20 db / decade for single pole at origin and G ( j ) = 20 n db / decade for multiple poles at origin
Interpretation : This means, when G ( j ) db is plotted against it is a straight line with negative slope of 20*n db / decade for poles and positive slope of 20*n db / decade for zeros.
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Angle plot for G ( j ) = ( j )

G ( j ) = n 90D ; + ve for zeros and - ve for poles If n = 2 than If n = 1 than G ( j ) = + 90D for zeros G ( j ) = 90D for poles

G ( j ) = + 180D for zeros G ( j ) = 180D for poles

+ 40 + 20
G ( j )

0 - 20 - 40
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+20 db/ decade for single zero at origin

0.1

- 20 db/ decade for single pole at origin Rajeeb Dey, SMIT,Sikkim 11 10

The angle plot is constant +/- 90 degrees for a single zero/ pole at origin as the frequency varies.
G ( j )
D

180

For zeros

+ 90D

0.1
90D

10

+ 180D

For poles
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3. SIMPLE POLES OR ZEROS

1 = (1 + jT ) n This is a repeated simple pole n (1 + jT ) If n = 1 , then 1 G ( j ) = = (1 + jT ) 1 This is a non-repeated simple pole (1 + jT ) Similarly, G ( j ) = G ( j ) = (1 + jT ) n = This is a repeated simple zero If n = 1 , then G ( j ) = (1 + jT )1 This is a non-repeated simple zero

We consider the case of non-repeated simple pole first

G ( j ) = 1 = (1 + jT ) 1 (1 + jT )
1 G ( j ) in db = 20 log10 1+ 2 T 2 = 20 log10 1 + T
2 2

)
2

1 2

Unlike other factors discussed so far it has two frequency regions in it Low frequency region
If T << 1

= 10 log10 (1 + T )
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High frequency region

Rajeeb Dey, SMIT,Sikkim If

T >> 1

13

In low frequency region

G ( j ) = 10 log10 (1 + 2 T 2 ) = 10 log10 1 = 0 db

In high frequency region

G ( j ) = 10 log10 (1 + 2 T 2 ) = 10 log10 ( 2 T 2 ) = 20 log10 ( T ) db

The G ( j ) db plot is a st. line The G ( j ) db plot is a st. line of of slope 0 db/decade for 0 < T <<1 slope -20 db/decade, passing through 0db at T = 1 for 1< T <<
1 or T = 1 T

Important Note: The frequency

at which two asymptotes (high and low frequency) meet is called CORNER FREQUENCY. It divides the plot into 2 regions (high and low).

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Rajeeb Dey, SMIT,Sikkim

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G ( j )

db

High frequency asymptote for simple zero+ 20 db/decade st line passing through corner frequency T = 1 Low frequency asymptote

+ 40 + 20 0 - 20 - 40 0.1
Corner frequency =
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1
1 T

10
High frequency asymptote for simple pole - 20 db/decade st line passing through corner Rajeeb Dey, SMIT,Sikkim 15 frequency T = 1

Angle for the simple pole (non-repeated) 1 G ( j ) = is given by (1 + j T ) T G ( j ) = tan 1 1

G ( j )

Angle for the simple pole (repeated) G ( j ) = 1 is given by (1 + j T ) n

T G ( j ) = n tan 1 1

Phase plot for simple zero

+ 90D + 45D
0.1 45D 1 10

180D

90D

+ 180D
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Phase plot for simple pole

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4. COMPLEX CONJUGATE PAIR OF POLES OR ZEROS

2 G ( j ) = 1 + j 2 , Let n n 1 G ( j ) = (1 u 2 ) 2 + (2 u ) 2 G ( j )
2 2 2 db 1

= u = normalized frequency

= 20 log [ (1 u ) + (2 u ) ]

1 2

Corner frequency for this T.F is u = 1

= 10 log[ (1 u 2 ) 2 + (2 u ) 2 ]
In Low frequency region u << 1 G ( j ) = 10 log1 = 0 db In High frequency region u >> 1 G ( j ) = 10 log (u 4 + 4 2 u 2 );as < 1we know and u 2 < u 4 so second term is neglected thus, = -10 log u 4 G ( j )
db

= 1 = n n

= 40 log u
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Log Magnitude Plot

G ( j )

db

+ 40
Low frequency asymptotes + 40 db/decade (for zeros)

+ 20
High frequency asymptotes

- 40 db/decade (for poles)

--20 40 - 60 0.1
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10
Rajeeb Dey, SMIT,Sikkim 18

 2 u G ( j ) = tan 1 2 1 u 2 u G ( j ) = + tan 1 2 1 u

for zeros

Phase Calculation for poles For non-repeated complex conjugate pairs of poles or zeros

The phase plot can be obtained by varying =u n SUMMARY

This is in short the procedure for drawing BODE PLOT for a given system with combination of various factors of G ( j ) discussed above. 1. Write the sinusoidal transfer function in time-constant form. 2. Identify the corner frequency (C.F) associated with each factor, if it exists. 3. Knowing the C.F, draw the log magnitude plot. This plot consists of st. line segments with line slope changing at each C.F. +20*n db/decade for simple zero and -20*n db/decade for simple pole. +40*n db/decade -40*n db/decade for complex conjugate pair of zeros and poles respectively. Add slopes of all the factors algebraically at each C.F to get resultant magnitude plot for the given T.F. 4. Draw phase angle curves for each factor and add them algebraically to get phase 10/30/2007 Rajeeb Dey, SMIT,Sikkim 19 plot for the given T.F.

PROBLEM 1 Sketch the Bode plot for a unity feedback system characterized by the loop transfer function

K (1 + 0.2 s ) (1 + 0.025s ) G(s) = 3 s (1 + 0.001 s ) (1 + 0.005 s )

Show the system is conditionally stable. Find the range of K for which the system is stable.

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Rajeeb Dey, SMIT,Sikkim

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SOLUTION:
Assume K = 1, and also substitute s = j in the given G(s)
G ( j ) = (1 + 0.2 j ) (1 + 0.025 j ) ( j )3 (1 + 0.001 j ) (1 + 0.005 j )

Log-magnitude characteristics for various factors

Factors
1 ( j )3

C.F (rad/sec) Asymptotic log-mag. Characteristics None

-20 X 3 db/decade = -60db/decade. A st. line of constant slope 60 db/decade passing through =1 A st. line of slope 0 db/decade upto C.F. Than a st. line of slope + 20 db/decade after C.F. A st. line of slope 0 db/decade upto C.F. Than a st. line of slope + 20 db/decade after C.F. A st. line of slope 0 db/decade upto C.F. Than a st. line of slope - 20 db/decade after C.F. A st. line of slope 0 db/decade upto C.F. Than a Rajeeb SMIT,Sikkim 21 st. Dey, line of slope - 20 db/decade after C.F.

(1 + 0.2 j )

1 =5 0 .2

(1 + 0.025 j ) = 40
1 (1 + 0.005 j ) 1 (110/30/2007 + 0.001 j )

= 200 = 1000

Phase Plot Calculation

So, resultant is given by: = - 270 + tan 1 ( 0.2 ) + tan 1 ( 0.025 ) tan 1 ( 0.005 ) tan 1 ( 0.001 )

1 270 2 3 4 5

(rad/sec) 0.1

tan 1 ( 0.2 ) tan 1 ( 0.025 ) tan 1 ( 0.005 ) tan

1

Phase angle degrees - 268 -260 -257 -236 -198 -183 -163 -148 -147 -172 -182
22

0.8 1 3 10 15 30 60 100 300

( 0.001 )

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Rajeeb Dey, SMIT,Sikkim

400

+ 60 + 40 + 20 0 - 40 db/decade - 40 -60 - 80 - 100 1

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- 60 db/decade

- 20 db/decade - 40 db/decade

10
Rajeeb Dey, SMIT,Sikkim

100 - 60 db/decade

1000
23

G ( j )

90D
180D 270D

0.1

10

For Phase Plot

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Implementing Bode Plot in MATLAB

The transfer function must be specified in the form of polynomials in s. The commands used for Bode plot is num=[] den=[] bode (num, den) MATLAB traces actual or exact log-magnitude plot.

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Rajeeb Dey, SMIT,Sikkim

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RELATIVE STABILITY ANALYSIS FROM BODE PLOT

For carrying out the relative stability analysis for a given system using Bode Plot, two important terms will be introduced first GAIN MARGIN PHASE MARGIN They are required for knowing the margin or limit of stability condition for a system. They gives us relative stability measure.

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Rajeeb Dey, SMIT,Sikkim

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GAIN MARGIN: The gain margin is a factor by which the gain of a stable system is allowed to increase before the system reaches instability. PHASE MARGIN: The phase margin of a stable system is the amount of additional phase lag required to bring the system to the point of instability. HOW GAIN AND PHASE MARGINS ARE CALCULATED FROM BODE PLOT ? ? Note: For these calculations, it is customary to plot log-magnitude and phase plots in the same semi-log graph paper.

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 For Bode plot GAIN MARGIN is calculated from phase plot. We find phase cross over frequency in the phase plot, which is defined as: the frequency at which phase plot crosses 180 degree line, denoted by . Now corresponding to phase cross over frequency in the phase plot, we look for the amount of gain in db in the log-magnitude plot. GAIN MARGIN will be amount of gain required to raise the the magnitude curve to 0 db. So, if G.M. is positive, system is stable. If G.M. is negative than system is unstable. If G.M. is 0 (zero) than system is marginally stable. Please refer slide 33 to 35
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 For BODE PLOT phase margin is calculated from the logmagnitude plot. We find gain cross over frequency, which is defined as the frequency at which the log-magnitude plot crosses 0 db line, denoted by g . Now corresponding to gain cross over frequency in the gain plot, we look for the amount of phase angle in degrees in the phase plot to find the Phase margin (P.M).

P.M . = ( 180D ) = 180D +

If P.M. comes out to be positive than the system is stable, else unstable. Please refer slide 33 to 35
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ALTERNATIVE TECHNIQUE Analytical method to calculate the following parameters GAIN CROSS OVER FREQUENCY PHASE CROSS OVER FREQUENCY GAIN MARGIN PHASE MARGIN
Finding (Phase cross over frequency) Im G ( j ) H ( j ) = 0

Gain Margin (G.M) Calculation G ( j ) H ( j )

at =

= A

1 G.M = 20 log db A

Finding g (Gain cross over frequency) Phase Margin (P.M) Calculation G ( j ) H ( j ) = 1

P.M = 180D + G ( j ) H ( j ) =
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Thank You ! !
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G ( j )

0 db G.M

Here G.M is positive Here P.M is positive

G ( j )

P.M

g <

180D

System is stable

Go back to slide 29 or 30
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G ( j )

g
G.M

0 db

Here G.M is negative Here P.M is negative

G ( j )

P.M

g >
System is unstable

180D

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G ( j )

Here G.M is zero Here P.M is zero

0 db

G ( j )

g =

System is marginally stable

180D

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2
n

s ( s + 2n )

2 n c ( j ) = 2 R( j ) ( j ) 2 + j 2n + n

r = n 1 2 2
Mr = 1 2 1 2 1 2 2

put u =

= normalized frequency n
1 (1-u2 ) + j 2 u 1 (1-u2 ) + (2 u ) 2 2 u 1 u2

M (j ) = M (j ) =

r = tan 1

2 2 1 4 2

B.W = n 1 2 + ( 2 4 + 4

M (j ) = - tan -1
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