Bode Plots

Overview of Bode Plots
Review of transfer functions and Bode plots

Piece-wise linear approximations
First-order terms
Second-order terms (complex poles & zeros)
J. McNames Portland State University ECE 222 Bode Plots Ver. 1.22 1
Prerequisites and New Knowledge
Prerequisite knowledge
Ability to use transfer functions for steady-state sinusoidal circuit
analysis
Ability to generate and interpret Bode plots with tool such as
Matlab
New knowledge
Knowledge of how poles and zeros aect transfer function
frequency response
Transfer Function Review
H (s )
x ( t ) y ( t )
Recall that if H(s) is known and
x(t) = Acos(t + ),
then we can nd the steady-state solution for y(t):
y
ss
(t) = A|H(j)| cos (t + +H(j))
Bode Plots
H (s )
x ( t ) y ( t )
Bode plots are standard method of plotting the magnitude and
phase of H(s)
Both plots use a logarithmic scale for the x-axis
Frequency is in units of radians/second (rad/s)
The phase is plotted on a linear scale in degrees
Magnitude is plotted on a linear scale in decibels
H
dB
(j) 20 log
10
|H(j)|
Bode Plot Approximations
Until recently (late 1980s) Bode plots were drawn by hand
There were many rules-of-thumb, tables, and template plots to
help
Today engineers primarily use MATLAB, or the equivalent
Why discuss the old method of plotting by hand?
It is still important to understand how the poles, zeros, and
gain inuence the Bode plot
These ideas are used for transfer function synthesis, analog
circuit design, and control systems
We will discuss simplied methods of generating Bode plots
Based on asymptotic approximations
Alternate Transfer Function Expressions
There are many equivalent expressions for transfer functions.
H(s) =
N(s)
D(s)
=
b
m
s
m
+ b
m1
s
m1
+ + b
1
s + b
0
a
n
s
n
+ a
n1
s
n1
+ + a
1
s + a
0
=
b
m
a
n
s
(s z
1
)(s z
2
) . . . (s z
m
)
(s p
1
)(s p
2
) . . . (s p
n
)
= k s
_
1
s
z
1
__
1
s
z
2
_
. . .
_
1
s
z
m
_
_
1
s
p
1
__
1
s
p
2
_
. . .
_
1
s
p
n
_
This last expression is called standard form
The rst step in making Bode plots is to convert H(s) to standard
form
Magnitude Components
Consider the expression for the transfer function magnitude:
|H
dB
(j)| = 20 log
10
|H(j)|
= 20 log
10
k
s
(1
s
z
1
) . . . (1
s
z
m
)
(1
s
p
1
) . . . (1
s
p
n
)
s=j
= 20 log
10
|k| |j|
|1
j
z
1
| . . . |1
j
z
m
|
|1
j
p
1
| . . . |1
j
p
n
|
= 20 log
10
|k| 20 log
10

+20 log
10
1
j
z
1
+ + 20 log
10
1
j
z
m
20 log
10
1
j
p
1
20 log
10
1
j
p
n
Magnitude Components Comments
|H
dB
()| = 20 log
10
|k| 20 log
10

+20 log
10
1
j
z
1
+ + 20 log
10
1
j
z
m
20 log
10
1
j
p
1
20 log
10
1
j
p
n
Thus, |H
dB
()| can be written as a sum of simple functions
This is similar like using basis functions {(t),u(t),& r(t)} to write
an expression for a piecewise linear signal
We will use this approach to generate our piecewise linear
approximations of the Bode plot
Note that there are four types of components in this expression
Constant Linear term
Zeros Poles
Magnitude Components: Constant
20
0
-20
-40
(dB)
(rad/sec)
40
|H(j)|
The constant term, 20 log

10
|k|, is a straight line on the Bode plot.
Magnitude Components: Linear Term
20
0
-20
-40
(dB)
(rad/sec)
40
|H(j)|
The linear term, 20 log

10
||, is a line on the magnitude plot with a
slope equal to 20 dB per decade.
The x-axis intercept occurs at = 1 rad/s.
Plot the Bode magnitude plots for H(s) = s,
1
s
,s
2
,
1
s
2
.
Magnitude Components: Real Zeros
Consider two limiting conditions for a term containing a zero,
20 log
10
1
j
z
First condition: |z|

lim
z
0
20 log
10
1
j
z
= 0
Thus, if

|z|
1, then 20 log
10
1
j
z
0.
Second condition: |z|
lim
20 log
10
1
j
z
= 20 log
10
|
j
z
| = 20 log
10
|| 20 log
10
|z|
Thus, if

|z|
1, then this term is linear (on a log scale) with a slope
of 20 dB per decade and an x-axis intercept at = |z|.
Magnitude Components: Real Zeros Continued
20
0
-20
-40
(dB)
(rad/sec)
40
|H(j)|
Our piecewise approximation joins these two linear asymptotic

approximations at = |z|.
Plot the piecewise approximation of the term 20 log
10
1
j
z
.
Magnitude Components: Real Zeros Continued 2
10
2
10
1
10
0
10
1
10
2
10
0
10
20
30
40
50
Bode Magnitude Real Zero: z = 1 rad/s
M
a
g

(
d
B
)
Frequency (rad/sec)
The approximation is least accurate at = |z|. The true magnitude is
3 dB higher than the approximation at this corner frequency.
Magnitude Components: Real Poles
20
0
-20
-40
(dB)
(rad/sec)
40
|H(j)|
Consider two limiting conditions for a term containing a pole,

20 log
10
1
j
p
This is just the negative of the expression for a zero

The piecewise approximation is the mirror image of that for a zero
Magnitude Components: Real Poles Continued
10
2
10
1
10
0
10
1
10
2
50
40
30
20
10
0
10
Bode Magnitude Real Pole: p = 1 rad/s
M
a
g

(
d
B
)
Frequency (rad/sec)
The approximation is least accurate at = |p|. The true magnitude is
3 dB less than the approximation at this corner frequency.
Complex Poles & Zeros
Complex poles and zeros require special attention
Will discuss later
There are essentially 3 steps to generating piecewise linear
approximations of Bode plots
1. Convert to standard form
2. Plot the components
3. Graphically add the components together
Example 1: Magnitude Components
Draw the piecewise approximation of the Bode magnitude plot for
H(s) =
(s + 10)(s + 100)
2
10s
2
(s + 1000)
Example 1: Workspace
20
0
-20
-40
(dB)
(rad/sec)
40
60
-60
10
1
10
2
10
3
10
0
10
4
10
5
30 k
|H(j)|
Example 1: Solution
10
1
10
0
10
1
10
2
10
3
10
4
10
5
40
20
0
20
40
60
Bode Magnitude Example 1
M
a
g

(
d
B
)
Frequency (rad/sec)
Magnitude Components Summary
H(s) =
N(s)
D(s)
= k s
_
1
s
z
1
__
1
s
z
2
_
. . .
_
1
s
z
m
_
_
1
s
p
1
__
1
s
p
2
_
. . .
_
1
s
p
n
_
Can consider the roots of N(s) (zeros) and D(s) (poles) as
corner frequencies (radians/second)
Each zero z causes the magnitude to increase at 20 dB/decade
for |z|
Each pole p causes the magnitude to decrease at 20 dB/decade
for |p|
The constant term k just shifts the entire response up or down on
a log (dB) scale
The linear term causes a linear oset with a slope that is
20 dB/decade
Phase Components
H(j) = k
(j)
(1
j
z
1
) . . . (1
j
z
m
)
(1
j
p
1
) . . . (1
j
p
n
)
Each of these terms can be expressed in polar form: a + jb = Ae
j
.
Note that (j)
(e
j
2
)
e
j
H(j) = |k|e
j
k
e
j
2
)N
1
e
j
1
. . . N
m
e
j
m
D
1
e
j
1
. . . D
n
e
j
n
= |k|
||
N
1
. . . N
m
D
1
. . . D
n
exp
_
j(
k
+
2
+
1
+ +
n
1

n
)
_
where
k
=
_
0 k > 0
1 k < 0
Phase Components: Comments
H(j) =
k
+
2
+
1
+ +
n
1

n
=
k
+
2
+
_
1
j
z
1
_
+ +
_
1
j
z
m
_
_
1
j
p
1
_

_
1
j
p
n
_
Thus the phase of H(j) is also a linear sum of the phases due to
each component
We will consider each of the four components in turn
Constant Linear term
Zeros Poles
Phase Components: Constant
0
(deg)
(rad/sec)
H(j)
180
90
90
180
The complex angle of the constant term, k, is either 0
if k > 0 or
180
if k < 0.
Phase Components: Linear Term
0
(deg)
(rad/sec)
H(j)
180
90
90
180
The linear term, (j)
= j
= 90
, is a constant multiple of 90
Plot the Bode phase plots for H(s) = s,

1
s
,s
2
,
1
s
2
.
Phase Components: Real Zeros
Consider three limiting conditions for a term containing a zero,
1
j
z
First condition: |z|
lim
z
0
_
1
j
z
_
= 0
Thus, if

|z|
1, then
_
1
j
z
_
0
.
Second condition: = |z|
_
1
j
z
_
=|z|
= (1 j
z
) =
z
45
where
z
= sign(z)
Third condition: |z|
lim
_
1
j
z
_
=
_
j
z
_
=
z
90
Thus, if

|z|
1, then
_
1
j
z
_

z
90
.
Phase Components: Real Zeros Continued
0
(deg)
(rad/sec)
H(j)
180
90
90
180
Our piecewise approximation joins these three linear asymptotic

approximations at = 10
1
|z| and = 10|z|.
Plot the piecewise approximation of the term
_
1
j
z
_
. Assume
that z is in the left-hand plane (i.e. Re{z} < 0)
Phase Components: Real Zeros in Left Plane
10
2
10
1
10
0
10
1
10
2
0
20
40
60
80
100
P
h
a
s
e

(
d
e
g
)
Frequency (rad/sec)
The approximation is least accurate at = 0.1|z| and = 10|z|.
Phase Components: Real Zeros Continued 2
0
(deg)
(rad/sec)
H(j)
180
90
90
180
If the zero is in the right half plane (i.e. Re{z} > 0), then the phase
approaches 90
asymptotically.
_
1
j
z
_
. Assume
that z is in the right half plane.
Phase Components: Real Zeros in Right Plane
10
2
10
1
10
0
10
1
10
2
100
80
60
40
20
0
P
h
a
s
e

(
d
e
g
)
Frequency (rad/sec)
The approximation is least accurate at = 0.1|z| and = 10|z|.
Phase Components: Real Poles
Real poles in the left half plane have the same phase as real zeros in
the right half plane. We will only discuss poles in the left half plane
because only these systems are stable.
First condition: |p|
lim
p
0
_
1
j
p
_
= 0
Second condition: = |p|
_
1
j
p
_
=|p|
= (1 sign(p) j) = (1 + j) = 45
Third condition: |p|

lim
_
1
j
p
_
=
_
j
p
_
= j = 90
Phase Components: Real Poles
0
(deg)
(rad/sec)
H(j)
180
90
90
180

_
1
j
p
_
. Assume
that p is in the left-hand plane (i.e. Re{p} < 0)
Phase Components: Real Poles in Left Plane
10
2
10
1
10
0
10
1
10
2
100
80
60
40
20
0
P
h
a
s
e

(
d
e
g
)
Frequency (rad/sec)
The approximation is least accurate at = 0.1|p| and = 10|p|.
Example 2: Phase Components
0
(deg)
(rad/sec)
10
1
10
2
10
3
10
0
10
4
10
5
270
-270
60 k
H(j)
180
90
90
180
Draw the piecewise approximation of the Bode phase plot for

H(s) =
(s + 10)(s + 100)
2
10s
2
(s + 1000)
Example 2: Solution
10
1
10
0
10
1
10
2
10
3
10
4
10
5
150
100
50
0
50
P
h
a
s
e

(
d
e
g
)
Frequency (rad/sec)
Phase Components Summary
H(j) =
k
+
2
+
_
1
j
z
1
_
+ +
_
1
j
z
m
_
_
1
j
p
1
_

_
1
j
p
n
_
Each zero z causes a phase shift of 90
Spans from one decade before to one decade after the zero
Zeros in the left half plane cause a 90
increase
Zeros in the right half plane cause a 90
decrease (like poles)

Each zero z causes a phase shift of 90
Spans from one decade before to one decade after the pole
The constant k causes a phase shift of 0
(k > 0) or 180
(k < 0)
The linear term causes a phase shift of 90
Complex Poles
Complex poles can be expressed in the following form:
C(s) =

2
n
s
2
+ 2
n
s +
2
n
=
1
1 + 2
s
n
+
_
s
n
_
2

n
is called the undamped natural frequency
(zeta) is called the damping ratio
The poles are p
1,2
= (
_
2
1)
n
If 1, the poles are real
If 0 < < 1, the poles are complex
If = 0, the poles are imaginary: p
1,2
= j
n
If < 0, the poles are in the right half plane (Re{p} > 0) and the
system is unstable
Complex Poles Continued
The transfer function C(s) can also be expressed in the following form
C(s) =
1
1 + 2
s
n
+
_
s
n
_
2
=
1
1 +
s
Q
n
+
_
s
n
_
2
where
Q
1
2
Note that if
1
2
< Q < , the poles are complex.
The meaning of Q, the Quality factor, will become clear in the
following slides.
C(j) =
1
1
_

n
_
2
+
j
Q
n
Complex Poles Magnitude
20 log
10
|C(j)| = 20 log
10
1
_

n
_
2
+
j
Q
n
1
= 20 log
10
_
1

2
2
n
_
2
+
_

Q
n
_
2
For
n
,
20 log
10
|C(j)| 20 log
10
|1| = 0 dB
For
n
,
20 log
10
|C(j)| 20 log
10
2
n
= 40 log
10
n
dB
At these extremes, the behavior is identical to two real poles.
Complex Poles Magnitude Continued
20 log
10
|C(j)| = 20 log
10
_
1

2
2
n
_
2
+
_

Q
n
_
2
For =
n
,
20 log
10
|C(j
n
)| = 20 log
10
1
Q
= 20 log
10
Q = Q
dB
Complex Poles Magnitude
10
1
10
0
10
1
60
40
20
0
20
40
Frequency (rad/sec)
M
a
g

(
d
B
)
Complex Poles

Q = 0.1
Q = 0.5
Q = 0.707
Q = 1
Q = 2
Q = 10
Q = 100
Complex Poles Phase
C(j) =
1
1
_

n
_
2
+
j
Q
n
For
n
,
C(j) 1 = 0
For
n
,
C(j)
1

Q
n
=
Q
n
= 1 = 180
For =
n
,
C(j)
1
Qj
=
1
j
= j = 90
At the extremes, the behavior is identical to two real poles. At other

values of near
n
, the behavior is more complicated.
Complex Poles Phase
10
2
10
1
10
0
10
1
10
2
180
160
140
120
100
80
60
40
20
0
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
Complex Poles

Q = 0.1
Q = 0.5
Q = 0.707
Q = 1
Q = 2
Q = 10
Q = 100
Complex Zeros
Left half plane:
Inverted magnitude of complex poles
Inverted phase of complex poles
Right half plane:
Inverted magnitude of complex poles
Same phase of complex poles
This is the same relationship real zeros had to real poles
Complex Zeros Magnitude
10
1
10
0
10
1
40
20
0
20
40
60
80
Frequency (rad/sec)
M
a
g

(
d
B
)
Complex Zeros

Q = 0.1
Q = 0.5
Q = 0.707
Q = 1
Q = 2
Q = 10
Q = 100
Complex Zeros Phase
10
2
10
1
10
0
10
1
10
2
0
20
40
60
80
100
120
140
160
180
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
Complex Zeros

Q = 0.1
Q = 0.5
Q = 0.707
Q = 1
Q = 2
Q = 10
Q = 100
Complex Poles Maximum
What is the frequency at which |C(j)| is maximized?
C(j) =
1
1 +
_
j
Q
n
_
+
_
j
n
_
2
|C(j)| =
1
_
_
1

2
2
n
_
2
+
_

Q
n
_
2
For high values of Q, the maximum of |C(j)| > 1
This is called peaking
The largest Q before the onset of peaking is Q =
1
2
0.707
This curve is said to be maximally at
This is also called a Butterworth response
In this case, |C(j
n
)| = 3 dB and
n
is the cuto frequency
Complex Poles Maximum Continued
If Q > 0.707, the maximum magnitude and frequency are as follows:
r
=
n
_
1
1
2Q
2
|C(j
r
)| =
Q
1
1
4Q
2

r
is called the resonant frequency or the damped natural
frequency
As Q ,
r

n
For suciently large Q (say Q > 5)

r

n
|C(j
r
)| Q
Peaked responses are useful in the synthesis of high-order lters
Complex zeros (in the left half plane) have the inverted magnitude
and phase of complex poles
Example 3: Complex Poles
v
s
( t ) v
o
( t )
-
+
50 mH R
200 nF
Generate the Bode plot for the circuit shown above.
H(s) =
1
LC
s
2
+
R
L
s +
1
LC
=

2
n
s
2
+ 2
n
s +
2
n
=

2
n
s
2
+

n
Q
s +
2
n
Example 3: Complex Poles Continued
n
=
_
1
LC
= 10 k rad/s
=
R
2L
LC =
R
2
CL = R 0.001
Q =
1
LC
L
R
=
_
L
C
1
R
=
500
R
R = 5 = 0.005 Q = 100 Very Light Damping
R = 50 = 0.05 Q = 10 Light Damping
R = 707 = 1.41 Q = 0.707 Strong Damping
R = 1 k = 1 Q = 0.5 Critical Damping
R = 5 k = 5 Q = 0.1 Over Damping
Example 3: Magnitude Response (dB)
10
2
10
3
10
4
10
5
10
6
120
100
80
60
40
20
0
20
40
Frequency (rad/sec)
M
a
g

(
d
B
)
Resonance Example

R = 5
R = 50
R = 707
R = 1 k
R = 5 k
R = 50 k
Example 3: Phase Response
10
2
10
3
10
4
10
5
10
6
180
160
140
120
100
80
60
40
20
0
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
Resonance Example

R = 5
R = 50
R = 707
R = 1 k
R = 5 k
R = 50 k
Example 3: Step Response
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Time (sec)
O
u
t
p
u
t

(
V
)
Resonance Example

R = 5
R = 50
R = 707
R = 1 k
R = 5 k
R = 50 k
Example 3: MATLAB Code
function [] = Resonance ();
close all;
%==============================================================================
% User -Specified Parameters
%==============================================================================
wn = 1; % Undamped natural frequency
L = 50e-3; % Inductance
C = 200e-9; % Capacitance
R = [5 50 707 1e3 5e3 50e3]; % Resistances
N = 1000; % Number of frequencies to evaluate plot at
PL = 2; % Lower frequency decade (w = 10^PL)
PH = 6; % Upper frequency decade (w = 10^PH)
%==============================================================================
% Preprocessing
%==============================================================================
functionName = sprintf(%s,mfilename ); % Get the function name
fileIdentifier = fopen([ functionName .tex],w);
%==============================================================================
% Calculate the Responses
%==============================================================================
mag = [];
phs = [];
t = 0:0 .00001:0.01;
stp = zeros(length(t),length(R));
st = {};
w = logspace(PL,PH,N);
for cnt = 1:length(R),
sys = tf([1/(L*C)],[1 R(cnt)/L 1/(L*C)]);
[m, p] = bode(sys ,w);
mag = [mag reshape(m,N ,1)];
phs = [phs reshape(p,N ,1)];
stp(:,cnt) = step(sys ,t);
end
%==============================================================================
% Plot the Figures
%==============================================================================
figure(1);
FigureSet(1,Slides);
h = semilogx(w,20* log10(mag));
set(h,LineWidth ,1.5);
grid on;
xlabel(Frequency (rad/sec));
ylabel(Mag (dB));
title(Resonance Example);
box off;
xlim ([w(1) w(end)]);
ylim ([ -120 45]);
AxisSet (8);
legend(R = 5 \Omega, R = 50 \Omega, R = 707 \Omega, R = 1 k\Omega, R = 5 k\Omega, R = 50 k\Omega
fileName = sprintf(%s-Magnitude ,functionName );
print(fileName ,-depsc);
fprintf(fileIdentifier ,%%==============================================================================\n
fprintf(fileIdentifier ,\\ newslide\n);
fprintf(fileIdentifier ,\\ slideheading {Example \\arabic{exc}: Magnitude Response (dB)}\n);
fprintf(fileIdentifier ,\\ includegraphics[scale=1]{ Matlab/%s}\n,fileName);
figure(2);
h = semilogx(w,phs);
grid on;
xlabel(Frequency (rad/sec));
ylabel(Phase (deg));
box off;
axis ([10^PL 10^PH -190 10]);
AxisSet (8);
fileName = sprintf(%s-Phase,functionName );
fprintf(fileIdentifier ,\\ slideheading {Example \\arabic{exc}: Phase Response}\n);
figure(3);
h = plot(t,stp);
grid on;
xlabel(Time (sec));
ylabel(Output (V));
AxisSet (8);
fileName = sprintf(%s-StepResponse ,functionName );
fprintf(fileIdentifier ,\\ slideheading {Example \\arabic{exc}: Step Response}\n);
%==============================================================================
% Post Processing
%==============================================================================
fprintf(fileIdentifier ,\\ newslide \n);
fprintf(fileIdentifier ,\\ slideheading {Example \\arabic{exc}: MATLAB Code }\n);
fprintf(fileIdentifier ,\t \\ matlabcode {Matlab/%s.m}\n,functionName );
fclose(fileIdentifier);
Bode Plots Summary
Magnitude and phase are just made up of simple components
Constant gains shift the entire magnitude plot up or down
Linear terms cause a linear attenuation or gain in the magnitude
Poles
At low frequencies ( p) have no eect
At high frequencies ( p) cause a magnitude decrease
(attenuation) of 20 dB per frequency decade and a phase shift
of 90
Zeros
At low frequencies ( p) have no eect
At high frequencies ( p) cause a magnitude increase (gain)
of 20 dB per frequency decade and a phase shift of 90
Complex poles and zeros can cause peaking or resonance

We can think of the poles and zeros as corner frequencies

Bode Plots

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Bode Plots

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Overview of Bode Plots

Review of transfer functions and Bode plots

The constant term, 20 log

The linear term, 20 log

First condition: |z|

Our piecewise approximation joins these two linear asymptotic

Consider two limiting conditions for a term containing a pole,

This is just the negative of the expression for a zero

The complex angle of the constant term, k, is either 0

The linear term, (j)

Plot the Bode phase plots for H(s) = s,

Our piecewise approximation joins these three linear asymptotic

Second condition: = |p|

Third condition: |p|

Plot the piecewise approximation of the term

Draw the piecewise approximation of the Bode phase plot for

decrease (like poles)

At the extremes, the behavior is identical to two real poles. At other

Complex poles and zeros can cause peaking or resonance

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