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Rules For Making Bode Plots: Term Magnitude Phase
Rules For Making Bode Plots: Term Magnitude Phase
Term
Magnitude
Constant: K
20log10(|K|)
Phase
Real Pole:
s
+1
0
Real Zero*: s + 1
0
Pole at Origin: 1
s
Zero at Origin*: s
Underdamped Poles:
1
2
s
s
+ 2 + 1
0
0
Underdamped Zeros*:
s
s
+ 2 + 1
0
0
K>0: 0
K<0: 180
Low freq. asymptote at 0.
High freq. asymptote at
-90.
Connect with straight line
from 0.10 to 100.
Low freq. asymptote at 0.
High freq. asymptote at
+90.
Connect with line from
0.10 to 100.
No change in magnitude
Notes:
0 is assumed to be positive
* Rules for drawing zeros create the mirror image (around 0 dB, or 0) of those for a pole with the same 0.
We assume any peaks for >0.5 are too small to draw, and ignore them. However, for underdamped poles and zeros
peaks exists for 0<<0.707=1/2 and peak freq. is not exactly at, 0 (peak is at peak =0 1 2 2 ).
For nth order pole or zero make asymptotes, peaks and slopes n times higher than shown. For example, a double (i.e.,
repeated) pole has high frequency asymptote at -40 dB/dec, and phase goes from 0 to 180o). Dont change
frequencies, only the plot values and slopes.
Copyright 2005-2015 Erik Cheever, Swarthmore College. This page may be freely used for educational purposes.
s n + + b1s + b0
H(s) = C m
s + + a1s + a 0
Factor polynomial into real factors and complex conjugate pairs (p can be positive, negative, or zero; p is zero if a0 and b0 are both non-zero).
2
2
(s + z1 )(s + z2 ) (s 2 + 2 z10z1s + 0z1
)(s 2 + 2 z20z2s + 0z2
)
H(s)= C s
2
2
2
2
(s + p1 )(s + p2 ) (s + 2 p10p1s + 0p1 )(s + 2 p20p2s + 0p2 )
p
+ 1
+ 1
+ 2 z1
+ 1
+ 2 z2
+ 1
z1 z2
0z1
0z1 0z2
0z2
2
2
z1z2 0z1
0z2
p
H(s) C
s
2
2
2
2
p1p2 0p10p2
s s
s
s
s
s
+ 1
+ 2 p2
+ 1
+ 1
+ 1
+ 2 p1
0p1 0p2
0p2
p1 p2
0p1
2
2
s s
s
s
s s
+ 1
+
+ 2 z1
+ 1
+ 2 z2
+ 1
z1 z2 0z1
0z1 0z2
0z2
= K sp
2
2
s s
s
s
s
s
+
2
+
1
+
2
+ 1
+ 1
+ 1
p1
p2
0p1 0p2
0p2
p1 p2
0p1
Take the terms (constant, real poles and zeros, origin poles and zeros, complex poles and zeros) one by one and plot magnitude and phase
according to rules on previous page. Add up resulting plots.
Copyright 2005-2015 Erik Cheever, Swarthmore College. This page may be freely used for educational purposes.
>> damp(d)
Eigenvalue
0.00e+000
-5.00e+000 + 9.99e+001i
-5.00e+000 - 9.99e+001i
>> damp(n)
Eigenvalue
-1.00e+000
-1.00e+001
>>
>>
>>
>>
>>
Damping
1.00e+000
1.00e+000
%Easy way
>> abs(fr)
ans =
0.0014
>> angle(fr)*180/pi
ans =
38.7107
%Convert to degrees
>> %You can even find impulse and step response from transfer function.
>> step(sys)
>> impulse(sys)
Copyright 2005-2015 Erik Cheever, Swarthmore College. This page may be freely used for educational purposes.
>> [n,d]=tfdata(sys,'v')
n =
0
1
11
10
d =
1
10
>> [z,p,k]=zpkdata(sys,'v')
z =
-10
-1
p =
0
-5.0000 +99.8749i
-5.0000 -99.8749i
k =
1
10000
0
%Get poles and zeros
Code at:
Copyright 2005-2015 Erik Cheever, Swarthmore College. This page may be freely used for educational purposes.