) s ( Q

) s ( P
K ) s ( T =
) p s ( ) p s )( p s (
) z s ( ) z s )( z s (
K
n
m


=

2 1
2 1
) s ( T ) s ( T ) s ( T
3 2 1
=
Frequency response:
) j ( T ) j ( T ) j ( T ) j ( T e e e e
3 2 1
=
Let
) j ( j
i i
i
e ) j ( T ) j ( T
e u
e e =
Then
[
= ) j ( T ) j ( T
i
e e
and

= ) j ( ) j (
i
e u e u
) j ( G log ) j ( G
db
e e 20 =
Therefore;
) j ( T log ) j ( T
db
e e 20 =
[
= ) j ( T log
i
e 20

= ) j ( T log
i
e 20

=
db
i
) j ( T e
[
= ) j ( T ) j ( T
i
e e
Overall db gain
=sum of individual db gains
+
db
T
1
+
db
T
2
=
db
T
[
= ) j ( T ) j ( T
i
e e
Overall phase
=sum of individual phases
+
1
u +
2
u =
u
Bode plot
Plot of db magnitude
vs. Log frequency
Plot of phase
vs. Log
frequency
e log
e log
) j ( T e
) j ( T e <
Semi-log paper
Bode Diagram
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)

M
a
g
n
i
t
u
d
e

(
d
B
)

10
-1
10
0
10
1
10
2
1 decade
1
octave
Procedure
Factorize the transfer function in to simple
factors
Obtain magnitude(db) versus frequency and
phase versus frequency characteristics for
each
Obtain overall magnitude(db) versus
frequency characteristics by adding those of
factors
Obtain overall phase versus frequency
characteristics by adding those of factors
simple factors
Origin zero
s
Constant multiplier
K
Origin pole
s
1
Finite real zero
z
s
+ 1
Finite real pole
p
s
+ 1
1
Conjugate zero pair
2
2 1
|
.
|

\
|
+
|
.
|

\
|
+
n n
s s
e e

Conjugate pole pair

2
2 1
1
|
.
|

\
|
+
|
.
|

\
|
+
n n
s s
e e

Constant multiplier K
K ) j ( T = e
K log ) j ( T
db
20 = e

<
>
= =< <
0
0 0
K
K
K ) j ( T
t
e
e log
) j ( T e
e log
) j ( T e <
t
20log
K
e e j ) j ( T =
e e = ) j ( T
2
t
e = < ) j ( T
e e log ) j ( T
db
20 =
e log
) j ( T e <
2
t
e=
1
Slope =
20 db/decade
) j ( T e
e
log
db 0
Origin zero: s
s
1
e
e
j
) j ( T
1
=
e
e
1
= ) j ( T
2
t
e = < ) j ( T
e e log ) j ( T
db
20 =
e log
) j ( T e <
2
t

e=
1
) j ( T e
e
log
db 0
Slope =
-20 db/decade
Origin pole:
z
s
) s ( T + =1
z
j
) j ( T
e
e + =1
( )
2
1
z
) j ( T
e
e + =
As 1 ) j ( T e
As
z
) j ( T
e
e
0 e
e
Finite real zero
Asymptotes
1 = ) j ( T e
db 0
z
) j ( T
e
e
0 e
e
0 =
db
) j ( T e
z log log ) j ( T
db
20 20 e e
decade / db 20
z = e
Deviations from actual
db 0
decade / db 20
z = e
3 db
1 octave
1 db
1 octave
1 db
Finite real zero:
Phase vs. Frequency
z
j
) j ( T
e
e + =1
0
0

e
e u ) j (
z
tan ) j ( T ) j (
e
e e u
1
= =<
2
) (
t
e u
e


j 0
2
t
4
t
e=10z
e=z/10
4
) (
t
e u
e

z
j
e=z
1 decade 1 decade
1 decade 1 decade
t
2
t
e=z
0
0.1 rad
0.1 rad
p
s
) s ( T
+
=
1
1
p
j
) j ( T
e
e
+
=
1
1
( )
2
1
1
p
) j ( T
e
e
+
=
1 = ) j ( T e
e
e
p
) j ( T
0 e
e
0 =
db
) j ( T e
p log log ) j ( T
db
20 20 + e e
Finite real pole
decade db/ 20
db 0
z = e
3 db
1 octave
1 db
1 octave
1 db
Finite real pole:
Phase vs. Frequency
p
j
) j ( T
e
e
+
=
1
1
p
tan ) j ( T ) j (
e
e e u
1
= =<
1 decade 1 decade
2
t
4
t
e=z
0
0.1 rad
0.1 rad
2
2 1
|
.
|

\
|
+
|
.
|

\
|
+
n n
s s
e e

Conjugate zero pair:

|
.
|

\
|
+
|
.
|

\
|
=
n n
j ) j ( T
e
e
e
e
e 2 1
2
2
2
2
4 1
|
.
|

\
|
+
(
(

|
.
|

\
|
=
n n
) j ( T
e
e
e
e
e

|
.
|

\
|

e
e
e
e
2
0 1
n
0 1 20
0
=

log ) j ( T
db
e
e
db 0
decade / db 40
z = e
n
db
log log log ) j ( T
n
e e e
e
e
e
40 40 20
2
=
|
.
|

\
|


1 octave 1 octave
1 =
1 0. =
Magnitude vs. frequency
6
db
1 db
For the magnitude plot of complex conjugate
zeros draw a 0 dB at low frequencies, go
through a dip of magnitude:



at the break frequency and then rise at +40
dB per decade (i.e., the slope is +40
dB/decade). The high frequency asymptote
goes through the break frequency. Note that
the peak only exists for
0 < < 0.5
1 =
1 0. =
0
t
Phase vs. frequency
To draw the phase plot simply follow
low frequency asymptote at 0 until


then increase linearly to meet the high
frequency asymptote at 180 at

( ) ( )
2
2 1
1
n
s
n
s
e e
+ +
Conjugate pole pair:
( ) ( )
n n
j
) j ( T
e
e
e
e

e
2 1
1
2
+
=
1
2
2
2
4 1

|
|
|
.
|

\
|
|
.
|

\
|
+
(
(

|
.
|

\
|
=
n n
) j ( T
e
e
e
e
e

|
.
|

\
|

e
e
e
e
2
0 1
n
0 1 20
0
=

log ) j ( T
db
e
e
db 0
decade / db 40
z = e
e e e
e
e e
log log log ) j ( T
n
db
n
40 40 20
2
=
|
.
|

\
|


1 octave 1 octave
1 =
1 0. =
Magnitude vs. frequency

For the magnitude plot of complex conjugate poles
draw a 0 dB at low frequencies, go through a peak of
height,





at the break frequency and then drop at 40 dB per
decade (i.e., the slope is -40 dB/decade). The high
frequency asymptote goes through the break
frequency.

1 =
1 0. =
0
-t
Phase vs. frequency
To draw the phase plot simply follow low
frequency asymptote at 0 until


then decrease linearly to meet the high
frequency asymptote at -180 at


If <0.02, the approximation can be simply a
vertical line at the break frequency.


T
4

T
3

T
2

T
1

Example
) 4 2 (
1
8 ) (
2
+ +
+
=
s s s
s
s G
( ) ) 2 1 (
1
2
2
2 2 2
1 s s
s
s
+ +
+
=
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)

M
a
g
n
i
t
u
d
e

(
d
B
)

( ) ) 2 1 (
1
2 ) (
2
2 2 2
1 s s
s
s
s G
+ +
+
=
0.1 1 10 100
db 6 2 log 20 =
0
-20
-40
-60
90
0
-90
-180
-60
-40
-20
0
20
M
a
g
n
i
t
u
d
e

(
d
B
)

10
-1
10
0
10
1
10
2
-180
-135
-90
-45
P
h
a
s
e

(
d
e
g
)

Frequency (rad/sec)
Bode Plot Summary
Magnitude Behavior Phase Behavior
Factor
Low
Freq
Break Asymptotic Low
Freq
Break Asymptotic
Constant 20 log
10
(K) for all frequencies
0 for all frequencies
Poles or
zeros at origin
20N dB/decade for all
frequencies with a crossover of
0 dB at =1
90(N) for all frequencies
First order
(simple) poles
or zeros
0 dB 3N dB
at =1/t
20N
dB/decade
0 45(N) with
slope 45(N)
per decade
90(N)
Quadratic
poles or zeros
0 dB see at
=1/t
40N
dB/decade
0 90(N) 180(N)

where N is the number of roots of value
5/2/2012 Eng R. L. Nkumbwa @ CBU 2010
38


40
Bode plot construction
) (s G
) (s C
) (s G
c
+
-
) (s R
) 10 )( 5 (
150
) ( ) ( Let
+ +
=
s s s
s G s G
c
e ) ( ) ( e e j G j G
c
) ( ) ( log 20 e e j G j G
c
1

107 93 . 2 Z db 33 . 9
2

123 37 . 1 Z db 71 . 2
3

138 82 . 0 Z db 71 . 1
4

151 54 . 0 Z db 29 . 5
5

162 38 . 0 Z db 42 . 8
6

171 27 . 0 Z db 23 . 11
7

179 20 . 0 Z db 80 . 13
8

187 16 . 0 Z db 18 . 16
9

193 12 . 0 Z db 39 . 18
20

229 02 . 0 Z db 77 . 35
? =
c
e
5 . 2
?
180
= e
7 ? = GM db 8 . 13 ? = PM

48 =
-80
-60
-40
-20
0
20
M
a
g
n
i
t
u
d
e

(
d
B
)
10
0
10
1
10
2
-270
-225
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
-80
-60
-40
-20
0
20
M
a
g
n
i
t
u
d
e

(
d
B
)
10
0
10
1
10
2
-270
-225
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
100 30 20 10 7 6 5 4 3 2 1