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Bode Rules PDF
Bode Rules PDF
Notes:
ω0 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 ω0.
† We assume any peaks for ζ>0.5 are too small to draw, and ignore them. However, for underdamped poles and zeros
peaks exists for 0<ζ<0.707=1/√2 and peak freq. is not exactly at, ω0 (peak is at ωpeak =ω0 1 − 2ζ 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). Don’t change
frequencies, only the plot values and slopes.
© Copyright 2005-2015 Erik Cheever, Swarthmore College. This page may be freely used for educational purposes.
Quick Reference for Making Bode Plots
If starting with a transfer function of the form (some of the coefficients bi, ai may be zero).
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).
(s + ωz1 )(s + ωz2 ) (s 2 + 2ζ z1ω0z1s + ω0z1
2
)(s 2 + 2ζ z2ω0z2s + ω0z2
2
)
H(s)= C ⋅ s p
s s s s s
2 2
s
+ 1 + + 2ζ z1 + 1 + 2ζ z2 + 1
ωz1 ωz2 ω0z1 ω0z1 ω0z2 ω0z2
= K ⋅ sp
s s s s
2 2
s s
+ 1 + 1 + ζ + + ζ + 1
ω p1
ω ω p2
ω
2 1 2
ω ω
p1 p2 0p1 0p1 0p2 0p2
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.
Matlab Tools for Bode Plots
>> n=[1 11 10]; %A numerator polynomial (arbitrary)
>> d=[1 10 10000 0]; %Denominator polynomial (arbitrary)
>> sys=tf(n,d)
Transfer function:
s^2 + 11 s + 10
----------------------
s^3 + 10 s^2 + 10000 s
>> abs(fr)
ans = 0.0014
>> %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') %Get numerator and denominator.
n =
0 1 11 10
d =
1 10 10000 0
>> %BodePlotGui - Matlab program shows individual terms of Bode Plot. Code at:
>> % http://lpsa.swarthmore.edu/NatSci/Bode/BodePlotGui.html
>>
>> BodePlotGui(sys)
© Copyright 2005-2015 Erik Cheever, Swarthmore College. This page may be freely used for educational purposes.