CT Frequency Response and Bode Plots: March 9, 2010

6.
003: Signals and Systems

CT Frequency Response and Bode Plots
March 9, 2010
Last Time
Complex exponentials are eigenfunctions of LTI systems.
H(s)
e
s
0
t
H(s
0
) e
s
0
t
H(s
0
) can be determined graphically using vectorial analysis.
H(s
0
) = K
(s
0
z
0
)(s
0
z
1
)(s
0
z
2
)
(s
0
p
0
)(s
0
p
1
)(s
0
p
2
)
z
0
z
0
s
0
z
0
s
0
s-plane
s
0
Response of an LTI system to an eternal cosine is an eternal cosine:
same frequency, but scaled and shifted.
H(s) cos(
0
t) |H(j
0
)| cos
_
0
t +H(j
0
)
_
Frequency Response: H(s)|
sj
s-plane
5
5
5 5
H(s) = s z
1
5 0 5
5
|H(j)|
5 5
/2
/2
H(j)
sj
s-plane
5
5
5 5
H(s) =
9
s p
1
5 0 5
5
|H(j)|
5 5
/2
/2
H(j)
sj
s-plane
5
5
5 5
H(s) = 3
s z
1
s p1
5 0 5
5
|H(j)|
5 5
/2
/2
H(j)
Poles and Zeros
Thinking about systems as collections of poles and zeros is an im-
portant design concept.
simple: just a few numbers characterize entire system
powerful: complete information about frequency response
Today: poles, zeros, frequency responses, and Bode plots.
Asymptotic Behavior: Isolated Zero
The magnitude response is simple at low and high frequencies.
5
5
5 5
H(j) = j z
1
5 0 5
5
|H(j)|
5 5
/2
/2
H(j)
5
5
5 5
H(j) = j z
1
5 0 5
5
|H(j)|
z
1
5 5
/2
/2
H(j)
5
5
5 5
H(j) = j z
1
5 0 5
5
|H(j)|
z
1
5 5
/2
/2
H(j)
Two asymptotes provide a good approxmation on log-log axes.
H(s) = s z
1
5 0 5
5
|H(j)|
2 1 0 1 2
2
1
0
log

z
1
1
log
|H(j)|
z
1
lim
0
|H(j)| = z
1
lim
|H(j)| =
Asymptotic Behavior: Isolated Pole
5
5
5 5
H(s) =
9
s p
1
5 0 5
5
|H(j)|
9
p
1
9
5 5
/2
/2
H(j)
Two asymptotes provide a good approxmation on log-log axes.
H(s) =
9
s p
1
5 0 5
5
|H(j)|
2 1 0 1 2
0
1
2
log

p
1
1
log
|H(j)|
9/p
1
lim
0
|H(j)| =
9
p
1
lim
|H(j)| =
9
Check Yourself
Compare log-log plots of the frequency-response magnitudes of
the following system functions:
H
1
(s) =
1
s + 1
and H
2
(s) =
1
s + 10
The former can be transformed into the latter by
1. shifting horizontally
2. shifting and scaling horizontally
3. shifting both horizontally and vertically
4. shifting and scaling both horizontally and vertically
5. none of the above
Check Yourself
Compare log-log plots of the frequency-response magnitudes of the
following system functions:
H
1
(s) =
1
s + 1
and H
2
(s) =
1
s + 10
2 1 0 1 2
0
1
2
log
1
|H
1
(j)|
|H
2
(j)|
log |H(j)|
Check Yourself
Compare log-log plots of the frequency-response magnitudes of
the following system functions:
H
1
(s) =
1
s + 1
and H
2
(s) =
1
s + 10
The former can be transformed into the latter by 3
1. shifting horizontally
2. shifting and scaling horizontally
3. shifting both horizontally and vertically
4. shifting and scaling both horizontally and vertically
no scaling in either vertical or horizontal directions !
Asymptotic Behavior of More Complicated Systems
Constructing H(s
0
).
H(s
0
) = K
Q
q=1
(s
0
z
q
)
P
p=1
(s
0
p
p
)
product of vectors for zeros
product of vectors for poles
z
1
p
1
s
0
z
1
s
0
p
1
s-plane s
0
Asymptotic Behavior of More Complicated Systems
The magnitude of a product is the product of the magnitudes.
|H(s
0
)| =
K
Q
q=1
(s
0
z
q
)
P
p=1
(s
0
p
p
)
= |K|
Q
q=1
s
0
z
q
p=1
s
0
p
p
z
1
p
1
s
0
z
1
s
0
p
1
s-plane s
0
Bode Plot
The log of the magnitude is a sum of logs.
|H(s
0
)| =
K
Q
q=1
(s
0
z
q
)
P
p=1
(s
0
p
p
)
= |K|
Q
q=1
s
0
z
q
p=1
s
0
p
p
log |H(j)| = log |K| +

Q
q=1
log
j z
q
p=1
log
j p
p
Bode Plot: Adding Instead of Multiplying

s-plane
10
10
10 10
H(s) =
s
(s + 1)(s + 10)
2 1 0 1 2 3
0
1
2
log
log
j
(j + 1)(j + 10)
log |j|
2 1 0 1 2 3
0
1
log
log
1
j + 1
2 1 0 1 2 3
1
2
log
log
1
j + 10

s-plane
10
10
10 10
H(s) =
s
(s + 1)(s + 10)
2 1 0 1 2 3
0
1
2
log
log
j
(j + 1)(j + 10)
log
j
j + 1
2 1 0 1 2 3
1
2
log
log
1
j + 10

s-plane
10
10
10 10
H(s) =
s
(s + 1)(s + 10)
2 1 0 1 2 3
1
2
3
log
log
j
(j + 1)(j + 10)
2 1 0 1 2 3
1
2
log
log
1
j + 10

s-plane
10
10
10 10
H(s) =
s
(s + 1)(s + 10)
2 1 0 1 2 3
1
2
3
log
log
j
(j + 1)(j + 10)
2 1 0 1 2 3
1
2
log
log
1
j + 10

The angle response is simple at low and high frequencies.
s-plane
5
5
5 5
H(s) = s z
1
5 0 5
5
|H(j)|
5 5
/2
/2
H(j)
Three straight lines provide a good approxmation versus log .
H(s) = s z
1
5 5
/2
/2
H(j)
2 1 0 1 2
4
0
log

|z
1
|
H(j)
lim
0
H(j) = 0
lim
H(j) = /2
The angle response is simple at low and high frequencies.
s-plane
5
5
5 5
H(s) =
9
s p
1
5 0 5
5
|H(j)|
5 5
/2
/2
H(j)
Three straight lines provide a good approxmation versus log .
H(s) =
9
s p
1
5 5
/2
/2
H(j)
2 1 0 1 2
4
0
log

p
1
H(j)
lim
0
H(j) = 0
lim
H(j) = /2
Bode Plot
The angle of a product is the sum of the angles.
H(s
0
) =
_
_
_
_
_
_
_
_
K
Q
q=1
(s
0
z
q
)
P
p=1
(s
0
p
p
)
_
_
_
_
_
_
_
_
= K+
Q
q=1
_
s
0
z
q
_
p=1
_
s
0
p
p
_
z
1
p
1
(s
0
z
1
) (s
0
p
1
)
s-plane s
0
The angle of K can be 0 or for systems described by linear dier-
ential equations with constant, real-valued coecients.
Bode Plot
s-plane
10
10
10 10
H(s) =
s
(s + 1)(s + 10)
2 1 0 1 2 3
/2
0
/2
log
log
s
(s + 1)(s + 10)
j
2 1 0 1 2 3
0
/2
log
1
j + 1
2 1 0 1 2 3
0
/2
log
1
j + 10
Bode Plot
s-plane
10
10
10 10
H(s) =
s
(s + 1)(s + 10)
2 1 0 1 2 3
/2
0
/2
log
log
s
(s + 1)(s + 10)
j
j + 1
2 1 0 1 2 3
0
/2
log
1
j + 10
Bode Plot
s-plane
10
10
10 10
H(s) =
s
(s + 1)(s + 10)
2 1 0 1 2 3
/2
0
/2
log
log
s
(s + 1)(s + 10)
j
(j + 1)(j + 10)
2 1 0 1 2 3
0
/2
log
1
j + 10
Bode Plot
s-plane
10
10
10 10
H(s) =
s
(s + 1)(s + 10)
2 1 0 1 2 3
/2
0
/2
log
log
s
(s + 1)(s + 10)
j
(j + 1)(j + 10)
2 1 0 1 2 3
0
/2
log
1
j + 10
From Frequency Response to Bode Plot
The magnitude of H(j) is a product of magnitudes.
|H(j)| = |K|
Q
q=1
j z
q
p=1
j p
p
The log of the magnitude is a sum of logs.

log |H(j)| = log |K| +
Q
q=1
log
j z
q
p=1
log
j p
p
The angle of H(j) is a sum of angles.

H(j) = K +
Q
q=1
_
j z
q
_
p=1
_
j p
p
_
Check Yourself
1 0 1 2 3 4
2
3
4
log
log |H(j)|
Which corresponds to the Bode approximation above?
1.
1
(s + 1)(s + 10)(s + 100)
2.
s + 1
(s + 10)(s + 100)
3.
(s + 10)(s + 100)
s + 1
4.
s + 100
(s + 1)(s + 10)
Check Yourself
1 0 1 2 3 4
2
3
4
log
log |H(j)|
Which corresponds to the Bode approximation above? 2
1.
1
(s + 1)(s + 10)(s + 100)
2.
s + 1
(s + 10)(s + 100)
3.
(s + 10)(s + 100)
s + 1
4.
s + 100
(s + 1)(s + 10)
Bode Plot: dB
s-plane
10
10
10 10
H(s) =
10s
(s + 1)(s + 10)
2 1 0 1 2 3
0
1
2
[log scale] log
1
1
log |H(j)|
2 1 0 1 2 3
/2
0
/2
[log scale] log
log
s
(s + 1)(s + 10)
H(j)
Bode Plot: dB
s-plane
10
10
10 10
H(s) =
10s
(s + 1)(s + 10)
0.01 0.1 1 10 100 1000
0
1
2
[log scale] [log scale]
1
1
log |H(j)|
0.01 0.1 1 10 100 1000
/2
0
/2
log
s
(s + 1)(s + 10)
H(j)
Bode Plot: dB
s-plane
10
10
10 10
H(s) =
10s
(s + 1)(s + 10)
0.01 0.1 1 10 100 1000
0
20
40
1
1
|H(j)|[dB]= 20 log
10
|H(j)|
0.01 0.1 1 10 100 1000
/2
0
/2
log
s
(s + 1)(s + 10)
H(j)
Bode Plot: dB
s-plane
10
10
10 10
H(s) =
10s
(s + 1)(s + 10)
0.01 0.1 1 10 100 1000
0
20
40
20 dB/decade 20 dB/decade
|H(j)|[dB]= 20 log
10
|H(j)|
0.01 0.1 1 10 100 1000
/2
0
/2
log
s
(s + 1)(s + 10)
H(j)
Bode Plot: Accuracy
The straight-line approximations are surprisingly accurate.
0.1 1 10
0
10
20
[log scale]
|
H
(
j
)
|
[
d
B
]
1 dB
3 dB
1 dB
X
20 log
10
X
1 0 dB
2 3 dB
2 6 dB
10 20 dB
100 40 dB
H(j) =
1
j + 1
0.01 0.1 1 10 100
0
/4
/2
[log scale]
H
(
j
)
0.1 rad
(6
)
Check Yourself
Could the phase plots of any of these systems be equal to
each other? [caution: this is a trick question]
1
1
1 1
2
1
( )
2
3
1
( )
2
4
Check Yourself
1.
1
2.
1 1
3.
1
2
4.
1
2
Check Yourself
1.
1
2.
1 1
if K < 0
3.
1
2
4.
1
2
Check Yourself
Could the phase plots of any of these systems be equal to
each other? [caution: this is a trick question] yes
1
1
1 1
2
1
( )
2
3
1
( )
2
4
phase of 2 could be same as phase of 3: depends on sign of K
Frequency Response of a High-Q System
The frequency-response magnitude of a high-Q system is peaked.
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
1
2
log

0
log |H(j)|
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
1
2
log

0
log |H(j)|
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
1
2
log

0
log |H(j)|
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
1
2
log

0
log |H(j)|
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
1
2
log

0
log |H(j)|
Check Yourself
Find dependence of peak magnitude on Q (assume Q > 3).
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
1
2
log

0
log |H(j)|
Check Yourself
Find dependence of peak magnitude on Q (assume Q > 3).
Analyze with vectors.
low frequencies
/
0
/
0
1
1
2Q
1 1 = 1
high frequencies
/
0
/
0
1
1
2Q
1
2Q
2 =
1
Q
Peak magnitude increases with Q!
As Q increases, the width of the peak narrows.
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
1
2
log

0
log |H(j)|
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
1
2
log

0
log |H(j)|
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
1
2
log

0
log |H(j)|
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
1
2
log

0
log |H(j)|
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
1
2
log

0
log |H(j)|
Check Yourself
Estimate the 3dB bandwidth of the peak (assume Q > 3).
Let
l
(or
h
) represent the lowest (or highest) frequency for
which the magnitude is greater than the peak value divided by
2. The 3dB bandwidth is then

h
l
.
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
2 1 0 1 2
0
1
2
log

0
log |H(j)|
Check Yourself
Estimate the 3dB bandwidth of the peak (assume Q > 3).
low frequencies
/
0
/
0
1
1
2Q
2
1
2Q
2 =

2
Q
1
1
2Q
high frequencies
/
0
/
0
1
1
2Q
2
1
2Q
2 =

2
Q
1 +
1
2Q
Bandwidth approximately
1
Q
As Q increases, the phase changes more abruptly with .
s
0
plane
1
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
/2
log

0
|H(j)|
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
/2
log

0
|H(j)|
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
/2
log

0
|H(j)|
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
/2
log

0
|H(j)|
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
/2
log

0
|H(j)|
Check Yourself
Estimate change in phase that occurs over the 3dB bandwidth.
s
0
plane
1
1
2Q
_
1
_
1
2Q
_
2
_
1
_
1
2Q
_
2
H(s) =
1
1 +
1
Q
s
0
+
_
s
0
_
2
2 1 0 1 2
0
/2
log

0
|H(j)|
Check Yourself
Estimate change in phase that occurs over the 3dB bandwidth.
low frequencies
/
0
/
0
1
1
2Q
2

4
=

4
1
1
2Q
high frequencies
/
0
/
0
1
1
2Q
2
+

4
=
3
4
1 +
1
2Q
Change in phase approximately

2
.
Summary
The frequency response of a system can be quickly determined using
Bode plots.
Bode plots are constructed from sections that correspond to single
poles and single zeros.
Responses for each section simply sum when plotted on logarithmic
coordinates.

CT Frequency Response and Bode Plots: March 9, 2010

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CT Frequency Response and Bode Plots: March 9, 2010

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6.

003: Signals and Systems

log |H(j)| = log |K| +

Bode Plot: Adding Instead of Multiplying

Bode Plot: Adding Instead of Multiplying

Bode Plot: Adding Instead of Multiplying

Bode Plot: Adding Instead of Multiplying

Asymptotic Behavior: Isolated Zero

The log of the magnitude is a sum of logs.

The angle of H(j) is a sum of angles.

2. The 3dB bandwidth is then

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