Drawing Bode Plot

 Bode plot (Logarithmic plot)

 Examples for Bode plot
 Gain and phase margin.

Dr. Yousif Al Mashhadany Bode Plot 1 - 30

 Input: u(t) = M sin(ωt + φ)
Output: Magnitude and Phase Shift y(t) = |G(ıω)|M sin(ωt + φ + ∠G(ıω))
Frequency Response to sin ω t is given by G(ıω)

Dr. Yousif Al Mashhadany Bode Plot 2 - 30

 We know G(ıω) determines the frequency
response. How to plot this information?
• 1 independent Variable: ω
• 2 Dependent Variables: Re(G(ıω)) and I m(G(ıω))

Im(iω)

Re G(iω)

Dr. Yousif Al Mashhadany Bode Plot 3 - 30

 An Alternative is to plot Polar Variables
• 1 independent Variable: ω
• 2 Dependent Variables: ∠G (ıω) and |G(ıω)|

|G(iω)|

< G(iω)

• Advantage: All Information corresponds to physical data.

Can be found directly using a frequency sweep.
Dr. Yousif Al Mashhadany Bode Plot 4 - 30
If we only want a single plot we can use ω as a parameter.
Nyquist Diagram

0.6

0.4
Imaginary Axis

0.2

−0.2
−0.4

−0.6

−0.6 −0.4 −0.2 0 0.2 0.4 0.6

Real Axis
A plot of Re(G(ıω)) vs. I m(G(ıω)) as a function of ω.
• Advantage: All Information in a single plot.
• AKA: Nyquist Plot
Dr. Yousif Al Mashhadany Bode Plot 5 - 30
 Definition 1.
The Bode Plot is a pair of log-log and semi-log plots:
1.Magnitude Plot: 20 log10 |G(ıω)| vs. log10 ω

2. Phase Plot: ∠G(ıω) vs. log10 ω

20 log10 |G(ıω)| is units of Decibels (dB)

• Used in Power and Circuits.
• 10 log10 | · | in other fields.

Note that by log, we mean log base 10 (log10 )

• In Matlab, log means natural logarithm.

Dr. Yousif Al Mashhadany Bode Plot 6 - 30

Dr. Yousif Al Mashhadany Bode Plot 7 - 30
Bode Plots
1
Lets do a simple pole G(s) =
s+ 1
We need Im(s)

}
• Magnitude of G(ıω)
√1+ω2
• Phase of G(ıω) ω

We can write:
Re(s)
|s −z1 | · · · |s −zm |

}
|G(s)| = 1
|s − p1 | · · · |s − pn |

1
|G(jω)| =
|jω + 1|

Dr. Yousif Al Mashhadany Bode Plot 8 - 30

Bode Plots

How to Plot |G(ıω)| =

Dr. Yousif Al Mashhadany Bode Plot 9 - 30

 Bode Diagram
10
5
0
Magnitude (dB)

-5
-10
-15
-20
-25
-30
-35

-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

Dr. Yousif Al Mashhadany Bode Plot 10 - 30

Dr. Yousif Al Mashhadany Bode Plot 11 - 30
 Bode Diagram
10
5
0
Magnitude (dB)

-5
-10
-15
-20
-25
-30
-35
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
But we use a log − log plot.
• x-axis is x = log ω ; y-axis is y = 20 log |G(ıω)| = −20 log ω = −20x
Conclusion: On the log-log plot, when ω > > 1,
• Plot is Linear i.e. Slope is -20 dB/Decade!

Dr. Yousif Al Mashhadany Bode Plot 12 - 30

Of course, we need to connect the dots.

Bode Diagram
10
5
0
Magnitude (dB)

-5
-10
-15
-20
-25
-30
-35
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

Dr. Yousif Al Mashhadany Bode Plot 13 - 30

 Compare with real thing:
Bode Diagram
0

-10
Magnitude (dB)

-20

-30

-40
0
Phase (deg)

-45

-90
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/s)

Dr. Yousif Al Mashhadany Bode Plot 14 - 30

Now lets do the phase. Recall:

Dr. Yousif Al Mashhadany Bode Plot 15 - 30

 225
180
135
Phase (deg)

90
45
0
-45
-90
-135
-180
-225

-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

Dr. Yousif Al Mashhadany Bode Plot 16 - 30

Dr. Yousif Al Mashhadany Bode Plot 17 - 30
We need to connect the dots somehow.
0
ω<<1
Phase (deg)

ω=1
- 45

ω>>1
-90
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Dr. Yousif Al Mashhadany Bode Plot 18 - 30
 So far, drawing Bode Plots seems pretty intimidating.
• Solving tan− 1;
• dB and log-plots
• Lots of trig

The process can be Greatly Simplified:

• Use a few simple rules.

Example: Suppose we have

G(s) = G1 (s)G 2 (s)
Then
|G(ıω)| = |G1 (ıω)||G2 (ıω)|
and
log |G(ıω)| = log |G1 (ıω)| + log |G2 (ıω)|
Dr. Yousif Al Mashhadany Bode Plot 19 - 30
Bode Plot Rules:
Rule # 1: Magnitude Plots Add in log-space. For
G(s) = G1 (s)G 2 (s),
20 log |G(ıω)| = 20 log |G1 (ıω)| + 20 log G2 (ıω)|

1 1
G(s) = (s + 1) 2 = G1 (s)G 2 (s)G 3 (s)
s+ 3 s + 3s + 1
Dr. Yousif Al Mashhadany Bode Plot 20 - 30
 Rule #2
Phase Plots Add. For
G(s) = G1 (s)G 2 (s),
∠G(ıω) = ∠G1 (ıω) + ∠G2 (ıω)

Dr. Yousif Al Mashhadany Bode Plot 21 - 30

Rule # 3: The Constant
Before rushing in, lets make sure we don’t forget the
constant term. If

Magnitude: G1 (s) = c; • |G1 (ıω)| = |c|

• 20 log |G1 (ıω)| = 20 log |c|

Conclusion: Magnitude is Constant for all ω

Dr. Yousif Al Mashhadany Bode Plot 22 - 30
 Conclusion: phase is 0◦ if c > 0, otherwise 180◦ .
Dr. Yousif Al Mashhadany Bode Plot 23 - 30
Rule # 4: “Pure” Zero
Lets start with a zero at the origin: G1 (s) = s.
Magnitude: G1(s) = s

• |G1 (ıω)| = |ıω| = |ω|

• 20 log |G1 (ıω)| = 20 log |ω| Phase: G1 (s) = s
Our x-axis is log ω. • ∠G1 (ıω) = ∠ıω = 90◦
• Plot is Linear for all ω
• Always 90◦ !
• Slope is +20 dB/Decade!
• Need a point: ω = 1

20 log |G1 (ıω)||ω= 1 = 20 log 1 = 0

• Passes through 0dB at ω = 1

Dr. Yousif Al Mashhadany Bode Plot 24 - 30

 Bode Diagram
20
15
Magnitude (dB)

10
5
0
-5
91
Phase (deg)

90.5

90

89.5

89
0 101
10 Frequency (rad/s)

Dr. Yousif Al Mashhadany Bode Plot 25 - 30

Rule # 5. A “Pure” Zero: Multiple Zeros
What happens if there are multiple pure zeros
• Just what you would expect.

Magnitude: G1 (s) = sk
• |G1 (ıω)| = |ıω|k = |ω|k

20 log |G1 (ıω)| = 20 log |ω|k

= 20k log |ω|

• Slope is +20k dB/Decade!

Need a Point
• At ω = 1:

20 log |G1 (ıω)||ω= 1 = 20k log 1 = 0 k pure zeros added together.

• Still Passes through 0dB at ω = 1

Dr. Yousif Al Mashhadany Bode Plot 26 - 30

A “Pure” Zero: Multiple Zeros
k pure zeros added together.

And phase for multiple pure zeros?

Phase: G1 (s) = sk
• ∠G1 (ıω) = ∠(ıω) k = k∠ıω = 90◦ k; Always 90◦ k

405
360
k=4
315
k=3
270
225
k=2
Phase (deg)

180
135
90 k=1
45
0
-45 -2 -1 0 1 2
10 10 10 10 10

Frequency (rad/sec)
Dr. Yousif Al Mashhadany Bode Plot 27 - 30
Rule # 6. Normal Zeros
Compare this to the magnitude plot of G1 (s) = s + a

ω << τ -1 ω >> τ -1

This is why we use the format G1 (s) = τ s + 1

• We want 0dB (no gain) at low frequency.
Dr. Yousif Al Mashhadany Bode Plot 28 - 30