2014 Lec 10 Bode

Control Systems
is on
er
y v
ar
m in
l i
p re Bode plots
L. Lanari
Monday, November 3, 2014

Outline
• Bode’s canonical form for the frequency response

• Magnitude and phase in the complex plane
• The decibels (dB)
• Logarithmic scale for the abscissa
• Bode’s plots for the different contributions
Lanari: CS - Bode plots 2

Frequency response
The steady-state response of an asymptotically stable system P(s)
to a sinusoidal input u(t) = sin ω̄t is given by
yss (t) = |P (j ω̄)| sin(ω̄t + ∠P (j ω̄))
P(j!) is the restriction of the transfer function to the imaginary axis P(j!)|s = j!
� |P (jω)|
gain curve
(or magnitude)
Frequency response P (jω)
∠P (jω) phase curve
for ω ∈ R+ = [0, +∞)

Bode canonical form
pole/zero representation of the transfer function
� � 2 2
� 1 k (s − z k ) � (s + 2ζ ω
� n� s + ω n� )
F (s) = K m � � 2 2 )
s i (s − p i ) z (s + 2ζ ω
z nz s + ω nz
with m such that
• m = 0 if no pole or zero in s = 0
• m < 0 if m zeros in s = 0
• m > 0 if m poles in s = 0
remarks
• numerator and denominator are by hypothesis coprime

• denominator is monic
• K’ is not the system gain

Bode canonical form
• the terms (s - zk) and (s - pi) are relative to

‣ real zeros (in s = zk)
‣ real poles (in s = pi)
• the terms (s2 + 2ζ� ωn� s + ωn�

2
) and (s2 + 2ζz ωnz s + ωnz
2
) are relative to
‣ complex conjugate zeros (in s = α� ± jβ� )
‣ complex conjugate poles (in s = αz ± jβz )
with
�
‣ natural frequency ωn∗ = α∗2 + β∗2
�
‣ damping coefficient ζ∗ = −α∗ /ωn∗ = −α∗ / α∗2 + β∗2

Bode canonical form
factoring out the constant terms
s − zk = −zk (1 − 1/zk s) = −zk (1 + τk s) with τk = −1/zk
s − pi = −pi (1 − 1/pi s) = −pi (1 + τi s) with τi = −1/pi
with ¿i and ¿k being time constants

� � 2 � � 2 2
� 1 k (−z k ) � (ω n� ) k (1 + τ k s) � (1 + 2ζ � /ω n� s + s /ω n� )
F (s) = K m � � 2
� � 2 2
s i (−pi ) z (ωnz ) i (1 + τi s) z (1 + 2ζz /ωnz s + s /ωnz )
� � 2
� �k (−zk )� � (ωn� )
defining K=K 2 )
K = [sm F (s)]s=0 for any m�0
i (−p i ) z (ω nz
how to compute K
� �
1 k (1 + τk s) � (1 + 2ζ� /ωn� s + s2 /ωn� 2
)
F (s) = K m � � 2 /ω 2 )
s i (1 + τ i s) z (1 + 2ζ z /ω nz s + s nz
Bode canonical form

Gains � �
= 1 for s = 0
1 k (1 + τk s) � (1 + 2ζ� /ωn� s + s2 /ωn� 2
)
F (s) = K m � � 2 /ω 2 )
s i (1 + τ i s) z (1 + 2ζ z /ω nz s + s nz
generalized gain K = [sm F (s)]s=0 for any m�0
Note that
• for a system with no poles (i.e. m negative or zero) we have defined as dc-gain (or static gain)
�
�
Ks = F (s)� = F (0)
s=0
if m < 0 (zeros in s = 0) we have F(0) = 0
• static and generalized gain coincide only when m = 0
K = Ks ⇔ m=0
• for an asymptotically stable system, the step response tends to the static gain Ks = F(0)

Bode canonical form
Examples
s−1 s−1 1 1−s
F (s) = 2
= =−
2s + 6s + 4 2(s + 1)(s + 2) 2 (1 + s)(1 + s/2)
1
K = Ks = −
2
s(s − 1) 1 s(1 − s)
F (s) = = 2
=−
2(s + 1) (s + 2) 2 (1 + s)2 (1 + s/2)
1
K = − Ks = 0
2
s−1 1 1−s
F (s) = =−
2s(s + 1)(s + 2) 2 s(1 + s)(1 + s/2)
1
K = − � Ks
2

Bode canonical form
frequency response
� � 2 2
1 k (1 + jωτ k ) � (1 + 2ζ � jω/ω n� + (jω) /ω n� )
F (jω) = K � �
(jω)m i (1 + jωτi )
2
z (1 + 2ζz jω/ωnz + (jω) /ωnz )
2
has 4 elementary factors
1. constant K (generalized gain)

2. monomial j! (zero or pole in s = 0)
3. binomial 1 + j!¿ (non-zero real zero or pole)
4. trinomial 1 + 2³(j!)/!n + (j!)2/!n2 (complex conjugate pairs of zeros or poles)
so first check which kind of root you have and then factor it out

Bode diagrams
for any real value of the angular frequency ! the frequency response F(j!) is a complex number
|F (jω)| magnitude of the frequency response as a function of the angular frequency !
∠F (jω) angle or phase of the frequency response as a function of the angular frequency !
F(j!)
Im[F(j!)]
F (jω) = Re[F (jω)] + jIm[F (jω)]
ω )|
|F (j
j∠F (jω)
F (jω) = |F (jω)|e ∠F (jω)
Re[F(j!)]
�
|F (jω)| = Re[F (jω)]2 + Im[F (jω)]2 ∠F (jω) = atan2(Im[F (jω)], Re[F (jω)])

Phase
Phase[F.G] = Phase[F ] + Phase[G]
the phase of a product is the sum of the phases
and therefore
� �
F
Phase = Phase[F ] − Phase[G]
G
the phase of a ratio is the difference of the phases
since
�1�
Phase G = −Phase[G]
very useful since we can find the contribution to the

phase of each term and then just do an algebraic sum

Phase
F(j!)
Im[F(j!)]
ω )| principal argument takes on values
|F (j
in (- ¼, ¼] and is implemented by
∠F (jω)
the function with two arguments
Re[F(j!)] atan2
 � �
for 

 arctan β
α if α>0 (I & IV quadrant)




P = ® + j¯ 
 � �

 arctan β
β ≥ 0 and α < 0 (II quadrant)

 α +π if


 � �
atan2(β, α) = β

 arctan α −π if β < 0 and α < 0 (III quadrant)





 π

 2 sign(β) if α = 0 and β �= 0






undefined if α = 0 and β = 0 II I
III IV

Magnitude
in order to have the same property we need to go through some logarithmic function
|F (jω)|dB = 20 log10 |F (jω)| decibels (dB)
|F.G|dB = |F |dB + |G|dB

same nice properties
as phase � �
�1�
� � = − |F |dB
�F �
dB
|1|dB = 0 dB
�√ � |F |dB � +∞ if |F | � ∞
|0.1|dB = −20 dB � 2�
dB ≈ 3 dB
|10|dB = 20 dB |100|dB = 40 dB |F |dB � −∞ if |F | � 0

Logarithmic scale
we use a logarithmic (log10) scale for the abscissa (angular frequency !)
a decade corresponds to multiplication by 10
20
20 log10(|x|)
log10(!) becomes a straight line 0
−20
if ! is in a logarithmic scale −40
−60
−3 −2 −1 0 1
10 10 10 10 10
x in logarithmic scale
10
very useful when we add

|x|
different contributions 0
10
−3 −2
10 10
−1 0
10
1
10
x in logarithmic scale
20
20 log10(|x|)
0
−20
−40
−60
1 2 3 4 5 6 7 8 9 10
x in linear scale
Logarithmic scale
advantages
• quantities can vary in large range (both ! and magnitude)
• easy to build the magnitude plot in dB of a frequency response given in its Bode canonical
form from the magnitudes of the single terms
• easy to represent series of systems
300
200
|F(jω)|
100
0
0 2 4 6 8 10
linear scale
same data 60
different scales 40
|F(jω)|dB
20
for abscissa and 0
−20
ordinates 1 2 3 4 5
linear scale
6 7 8 9 10
60
40
|F(jω)|dB
20
0
−20
−1 0 1
10 10 10
logarithmic scale

Bode diagrams
magnitude in dB of the frequency response as a function of the angular

|F (jω)|dB
frequency ! with logarithmic scale for !
angle or phase of the frequency response as a function of the angular

∠F (jω)
frequency ! with logarithmic scale for !
we need to find the magnitude (in dB) and phase for the 4 elementary factors
1. constant K (generalized gain)

2. monomial j! (zero or pole in s = 0)
3. binomial 1 + j!¿ (non-zero real zero or pole)
4. trinomial 1 + 2³(j!)/!n + (j!)2/!n2 (complex conjugate pairs of zeros or poles)
for ω ∈ R+ = [0, +∞)

Constant Im
K √ √
K3 = − 10 K1 = 10
Re
K2 = 0.5
Magnitude (dB)
| 10|dB = 10 dB 20
|K 1 | dB , |K 3 | dB
√ magnitude 10
| − 10|dB = 10 dB
20 log10 |K| 0
|K 2 | dB
|0.5|dB ≈ −6 dB −6
−10
−2 −1 0 1 2
10 10 10 10 10
frequency (rad/s)
√
∠ 10 = 0◦ 0
√ ! K1, ! K2
∠ − 10 = −180◦ = −π
Phase (deg)
−50
∠0.5 = 0◦ phase −100
∠K −150 ! K3
−180
−2 −1 0 1 2
10 10 10 10 10
frequency (rad/s)

Monomial - Numerator Im
j!
j!
90°
|jω|dB = 20 log10 ω Re
log scale
|jω|dB = 20x 40
Magnitude (dB)
20
20 dB/dec
magnitude 0
−20
−40
−2 −1 0 1 2
10 10 10 10 10
frequency (rad/s)
90
80
Phase (deg)
60
phase 40
20
0
−2 −1 0 1 2
10 10 10 10 10
frequency (rad/s)

Monomial - Denominator
from properties of log and phase
40
Magnitude (dB)
20
magnitude 0
−20 -20 dB/dec

−40
−2 −1 0 1 2
10 10 10 10 10
frequency (rad/s)
0
Phase (deg)
−20
phase −40
−60
−80
−90
−2 −1 0 1 2
10 10 10 10 10
frequency (rad/s)

Binomial - Numerator 1 + j!¿
�
magnitude |1 + jωτ |dB = 20 log10 1 + ω2 τ 2
approximation wrt the cutoff frequency 1/|τ | (corner frequency)


�  1 if ω � 1/|τ |
1 + ω2 τ 2 ≈
 √ 2 2
ω τ if ω � 1/|τ |
and therefore

 0 dB if ω � 1/|τ |
|1 + jωτ |dB ≈

20 log10 ω + 20 log10 |τ | if ω � 1/|τ |
√
at the cutoff frequency ∗
ω = 1/|τ | |1 + jτ /|τ | |dB = 20 log10 2 ≈ 3 dB
two half-lines approximation: 0 dB until the cutoff frequency, + 20dB/decade after

Binomial - Numerator 1 + j!¿
phase depends on the sign of ¿
Im
j!¿ ¿<0
Im
Re 1 Re
1
¿>0
j!¿
see how the phase changes as ! increases

Binomial - Numerator 1 + j!¿ phase depends on the sign of ¿

 0 if ω � 1/|τ |
case ¿ > 0 ∠(1 + jωτ ) ≈
 π
2 if ω � 1/|τ | and τ >0

 0 if ω � 1/|τ |
case ¿ < 0 ∠(1 + jωτ ) ≈

− π2 if ω � 1/|τ | and τ <0
the two asymptotes are connected by a segment starting a decade before (0.1/| ¿ | ) the cutoff
frequency and ending a decade after (10/| ¿ |). The approximation is a broken line.
¼/2
0 1/| ¿ |
-¼/2
 π
 4 if τ >0
at the cutoff frequency ω ∗ = 1/|τ | ∠(1 + jτ /|τ |) =

− π4 if τ <0
Binomial - numerator 1/| ¿ |
40
1 + j!¿
Magnitude (dB)
30
20
magnitude
10
3
0
−10
frequency (rad/s)
0.1/| ¿ | 10/| ¿ |
90
Phase (deg)
¿>0 phase 45
frequency (rad/s)
0.1/| ¿ | 1/| ¿ | 10/| ¿ |

0
Phase (deg)
¿<0 phase −45
−90
frequency (rad/s)

Binomial - denominator 1/| ¿ |
10
Magnitude (dB)
1 /(1 + j!¿) 0
−3
−10
magnitude −20
−30
−40
frequency (rad/s)
0.1/| ¿ | 10/| ¿ |
0
Phase (deg)
¿>0 phase −45
−90
frequency (rad/s)
0.1/| ¿ | 1/| ¿ | 10/| ¿ |

90
Phase (deg)
¿<0 phase 45
frequency (rad/s)

Trinomial
magnitude � � � �
� 2 � � 2 �
�1 + 2 ζ (jω) + (jω) � = �1 − ω + j2ζ ω �
� ωn ωn2 � � ωn2 ωn �
�� 2 � �
ω2 ω2
= 1− + 4ζ 2
ωn2 ωn2
approximation wrt !n


 1 if ω � ωn

|TRINOMIAL| ≈ ��

 2
ω2
 ω 2
= if ω � ωn
ω2 n
2
ωn

 0 dB if ω � ωn
|TRINOMIAL|dB ≈

40 log10 ω − 20 log10 ωn2 if ω � ωn

Trinomial
in ! = !n the magnitude | TRINOMIAL | is equal to 2 | ³ |
√
|ζ| 0 0.5 1/ 2 ≈ 0.707 1
|T RIN |dB in ωn −∞ 0 dB 3 dB 6 dB
large variation of the magnitude in ! = !n depending upon the value of the damping coefficient ³
no approximation around the natural frequency !n

Trinomial
") &'
" !!
How does a generic complex root "
" ) ! " (! " #
"(
varies in the plane as a function of ! "#
#
!"
$# % #

Phase 
 0 if ω � ωn


� � 

ζ (jω) 2 
∠ 1 + 2 (jω) + = π if ω � ωn and ζ≥0
ωn ωn2 






−π if ω � ωn and ζ<0
transition between - ¼ and ¼ is symmetric wrt !n and becomes more abrupt as | ³ |

becomes smaller. When ³ = 0 the phase has a discontinuity in !n

Trinomial - numerator
60
Magnitude (dB)
40
0.7
20
magnitude 0
1
0.5
−20 0.1
0.3
0
−40
frequency (rad/s)
0.1 !n !n 10 !n
180
0.1
Phase (deg)
135
0.3 0.7
phase 90
ζ≥0 45 1
0
0.5
0
frequency (rad/s)
0.1 !n !n 10 !n
0
0.01
Phase (deg)
−45 1
phase −90
ζ<0 −135
−180
frequency (rad/s)

Trinomial - denominator
40
Magnitude (dB)
0
20
0
magnitude 1
−20
−40
−60
frequency (rad/s)
0.1 !n !n 10 !n
0
Phase (deg)
−45 1
phase −90
ζ≥0 −135
−180
frequency (rad/s)
0.1 !n !n 10 !n
180
Phase (deg)
135
phase 90
ζ<0 45 1
0.01
0
frequency (rad/s)

Trinomial
When | ³ | = 1 the trinomial reduces to a product of identical binomials (real roots)
�
−ωn if ζ=1
roots =
ωn if ζ = −1
� 2
� � �2
ζ s s
1+2 s+ 2 = 1±
ωn ωn ζ=±1 ωn
and therefore the magnitude and phase coincides with that of a double binomial with corner
frequency
1
= ωn
|τ |
that is in ! = !n when | ³ | = 1
2 × (3 dB) = 6 dB (numerator)
2 × (−3 dB) = −6 dB (denominator)
example: MSD system with critical value for the damping (µ2 = 4km)

Trinomial
√
if |ζ| < 1/ 2 ≈ 0.707 the magnitude of a trinomial factor at the denominator has a peak
1 resonance
|F (jωr )| = �
2|ζ| 1 − ζ 2 peak
at the resonance frequency
�
ωr = ωn 1 − 2ζ 2
(similarly for the anti-resonance peak)
20
Magnitude (dB)
34
Magnitude (dB)
0.01
0
14
0.5
0.3 5
1
−20 0.1
0.01
−40 −20
frequency (rad/s) frequency (rad/s)
anti-resonance resonance
peak peak


2014 Lec 10 Bode

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Control Systems

Monday, November 3, 2014

• Bode’s canonical form for the frequency response

Lanari: CS - Bode plots 2

yss (t) = |P (j ω̄)| sin(ω̄t + ∠P (j ω̄))

for ω ∈ R+ = [0, +∞)

Lanari: CS - Bode plots 3

pole/zero representation of the transfer function

with m such that

• numerator and denominator are by hypothesis coprime

Lanari: CS - Bode plots 4

• the terms (s - zk) and (s - pi) are relative to

• the terms (s2 + 2ζ� ωn� s + ωn�

Lanari: CS - Bode plots 5

with ¿i and ¿k being time constants

Bode canonical form

Lanari: CS - Bode plots 6

generalized gain K = [sm F (s)]s=0 for any m�0

if m < 0 (zeros in s = 0) we have F(0) = 0

• static and generalized gain coincide only when m = 0

Lanari: CS - Bode plots 7

Lanari: CS - Bode plots 8

has 4 elementary factors

1. constant K (generalized gain)

Lanari: CS - Bode plots 9

|F (jω)| magnitude of the frequency response as a function of the angular frequency !

Lanari: CS - Bode plots 10

Phase[F.G] = Phase[F ] + Phase[G]

the phase of a product is the sum of the phases

the phase of a ratio is the difference of the phases

very useful since we can find the contribution to the

Lanari: CS - Bode plots 11

Lanari: CS - Bode plots 12

|F (jω)|dB = 20 log10 |F (jω)| decibels (dB)

|F.G|dB = |F |dB + |G|dB

Lanari: CS - Bode plots 13

we use a logarithmic (log10) scale for the abscissa (angular frequency !)

a decade corresponds to multiplication by 10

very useful when we add

Lanari: CS - Bode plots 15

magnitude in dB of the frequency response as a function of the angular

angle or phase of the frequency response as a function of the angular

1. constant K (generalized gain)

for ω ∈ R+ = [0, +∞)

Lanari: CS - Bode plots 16

∠0.5 = 0◦ phase −100

Lanari: CS - Bode plots 17

Lanari: CS - Bode plots 18

from properties of log and phase

−20 -20 dB/dec

Lanari: CS - Bode plots 19

approximation wrt the cutoff frequency 1/|τ | (corner frequency)

two half-lines approximation: 0 dB until the cutoff frequency, + 20dB/decade after

Lanari: CS - Bode plots 20

phase depends on the sign of ¿

see how the phase changes as ! increases

Lanari: CS - Bode plots 21

0.1/| ¿ | 1/| ¿ | 10/| ¿ |

¿<0 phase −45

Lanari: CS - Bode plots 23

0.1/| ¿ | 1/| ¿ | 10/| ¿ |

Lanari: CS - Bode plots 24

Lanari: CS - Bode plots 25