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G(s) Log-
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3 4
Sketching Bode plot Bode plot of a constant gain
Basic functions (Today) TF
Constant gain 21
Double integrator 20
Time delay 1
20 20
0 0
-40
10
-2 -1
10
0
10
1
10
2
10
the bode plot of -40
10
-2 -1
10
0
10 10
1 2
10
91
1/s with respect -89
90.5
to ω-axis. -89.5
90 -90
89.5 -90.5
89 -91
-2 -1 0 1 2 -2 -1 0 1 2
10 10 10 10 10 10 10 10 10 10
7 8
Bode plot of a double integrator Bode plot of a 1st order system
Corner frequency
TF TF 0
100 -10
-20
50
-30
0
-40
-50
-50
-2 -1 0 1 2
-100 10 10 10 10 10
-2 -1 0 1 2
10 10 10 10 10
0
-179
-20
-179.5
-40
-180
-60
-180.5 -80
Straight line
-181 approximation -100
-2 -1 0 1 2 -2 -1 0 1 2
10 10 10 10 10 10 10 10 10 10
9 10
50 0
40
-20
30
20
-40
Mirror image of
10
Resonant freq -6010 -1 0
10
1
10
0
-2 -1 0 1 2
10 10 10 10 10
the original bode 0
100
plot with respect 80 Peak gain -50
to ω-axis. 60
-100
40
20 -150
0
-2 -1 0 1 2 -200
10 10 10 10 10 -1 0 1
10 10 10
11 12
Bode plot of a time delay Remark
TF 1
Use Matlab “bode.m” to obtain precise shape.
0.5 ALWAYS check the correctness of
0
Low frequency gain (DC gain)
-0 . 5
-1
High frequency gain
-2 -1 0 1 2
Example
10 10 10 10 10
Huge phase lag!
0
-2 0 0 0
-4 0 0 0
-6 0 0 0
-2 -1 0 1 2
10 10 10 10 10
Exercises Summary
Sketch bode plot. Bode plot of various simple transfer functions.
Constant gain
Differentiator, integrator
1st order and 2nd order systems
Time delay
Sketching Bode plot is just ….
to get a rough idea of the characteristic of a system.
to interpret the result obtained from computer.
to detect erroneous result from computer.
Next, Bode plot of connected systems
15 16