EEE 3153-Control System

Lecture on Frequency Response Analysis and Bode Plot

Dr. Tushar Kanti Roy

Associate Professor
Rajshahi University of Engineering & Technology, Rajshahi-6204, Bangladesh
email: tkroy@ete.ruet.ac.bd
URL :https://www.ete.ruet.ac.bd/roykanti03
Introduction
• Frequency response is the steady-state response of a system
to a sinusoidal input.
• In frequency-response methods, the frequency of the input
signal is varied over a certain range and the resulting
response is studied.
• Even though these responses are of the same frequency as
the input, they differ in amplitude and phase angle from the
input. These differences are functions of frequency.

System
The Concept of Frequency Response

• Sinusoids can be represented as complex numbers

called phasor.
• The magnitude of the complex number is the
amplitude of the sinusoid, and the angle of the
complex number is the phase angle of the sinusoid.
• Thus M1 cos(t   ) can be represented as M11
where the frequency, ω, is implicit.
The Concept of Frequency Response

• A system causes both the amplitude and phase angle

of the input to be changed.

• Therefore, the system itself can be represented by a

complex number.

• Thus, the product of the input phasor and the system

function yields the phasor representation of the
output.
The Concept of Frequency Response

M ( ) ( )

• Assume that the system is represented by the complex number

M ( ) ( )

• The output is found by multiplying the complex number

representation of the input by the complex number
representation of the system.
The Concept of Frequency Response

M ( ) ( )

• Thus, the steady-state output sinusoid is

M o ( )o ( )  M ( )M i ( )[( )  i ( )]

• Mo(ω) is the magnitude response and Φ(ω) is the phase response.

The combination of the magnitude and phase frequency
responses is called the frequency response.
Frequency Domain Plots

• Bode Plot
• Nyquist Plot
• Polar Plot
• Nichol’s Chart
• M and N Circle Method
Bode Plot
• It is plot of magnitude of OLTF G(s)H(s) in dB and phase of
G(s)H(s) in degree, both versus the frequency ( 𝜔 ) in
logarithmic scale (i.e., log10 𝜔).
• The stability of closed loop systems can be determined by
observing the behaviour of magnitude and phase plots
against the frequency (𝜔).

• This method is only applicable for a minimum phase

system.
Decade
Basic Factors of a Transfer Function

• The basic factors that very frequently occur in

an arbitrary transfer function are
1. Gain K
2. Integral (Poles at origin) and Derivative (Zeros at
origin) Factors (jω)±1
3. First Order Factors (jωT+1)±1
4. Quadratic Factors
20(3s  1)
G( s )  2
s( s  1)( s  5s  2)
The procedure for drawing the bode diagram
• Replace s by 𝑗𝜔.
• Pull out “constants” into a “gain” term.
• If the transfer function is given in the frequency format, then
convert it into a time constant format to get the gain term.
• Identify the “break points” and put in ascending order.
• Find out the magnitude of the system and convert it into dB.
[𝑑𝐵 = 20𝑙𝑜𝑔10 |𝐺 𝑗𝜔 𝐻(𝑗𝜔)|].
• Find out the phase of the system.
• Plot the magnitude and phase with respect to increasing value
of 𝜔.
• At break point changes slope by ±20 𝑑𝐵/𝑑𝑒𝑐 or ±40 𝑑𝐵/𝑑𝑒𝑐
for 1st order or 2nd order systems, respectively.

Frequency Format: Time Constant Format:

𝟐(𝒔 + 𝟒) 𝟐 × 𝟒(𝟏 + 𝒔/𝟒)
𝑮 𝒔 = 𝑮 𝒔 =
(𝒔 + 𝟏)(𝒔 + 𝟑)(𝒔 + 𝟔) 𝟑 × 𝟔(𝒔 + 𝟏)(𝒔/𝟑+)(𝒔/𝟔 + 𝟏)
Basic Factors of a Transfer Function

1. Gain K

• The log-magnitude curve for a constant gain K is a horizontal

straight line at the magnitude of 20 log(K) decibels.

• The phase angle of the gain K is zero.

• The effect of varying the gain K in the transfer function is that

it raises or lowers the log-magnitude curve of the transfer
function by the corresponding constant amount, but it has no
effect on the phase curve.
 If K  5 Then 20 log(K)  20 log( 5 )  14db
15

5
Magnitude (decibels)

-5

-15
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Im 0
If K  5 Then   tan-1( )  tan-1( )  0
90o
Re 5

30o
Phase (degrees)

0o

-300

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Basic Factors of a Transfer Function
1
2. Integral (Poles at origin) Factor (𝐺 𝑠 = )
𝑠𝑛
Put 𝑠 = 𝑗𝜔, then magnitude |𝐺 𝑗𝜔 |𝑑𝐵 = 20 log 𝜔−𝑛 = −20𝑛 log(𝜔)
𝑑|𝐺 𝑗𝜔 |𝑑𝐵 −20𝑛 log(𝜔)
Slope, = = −20 𝑛 dB/dec
𝑑 𝑙𝑜𝑔𝜔 𝑑 𝑙𝑜𝑔𝜔
𝜔 𝜋
Phase, ∠𝐺 𝑗 = 0 − 𝑛 tan−1 ( ) = −𝑛 = −𝑛900
0 2
Basic Factors of a Transfer Function
3. Derivative (Zero at origin) Factor (𝐺 𝑠 = 𝑠 𝑛 )
Put 𝑠 = 𝑗𝜔, then magnitude |𝐺 𝑗𝜔 |𝑑𝐵 = 20 log 𝜔𝑛 = 20𝑛 log(𝜔)
𝑑|𝐺 𝑗𝜔 |𝑑𝐵 20𝑛 log(𝜔)
Slope, = = 20 𝑛 dB/dec
𝑑 𝑙𝑜𝑔𝜔 𝑑 𝑙𝑜𝑔𝜔
𝜔 𝜋
Phase, ∠𝐺 𝑗 = 𝑛 tan−1 ( ) = 𝑛 = 𝑛900
0 2
Basic Factors of a Transfer Function
Pole at origin Zero at origin
Magnitude −20𝑛 log(𝜔) 20𝑛 log(𝜔)
Slope −20 𝑛 dB/dec 20 𝑛 dB/dec
Phase −𝑛900 𝑛900
𝐾
Now, if 𝐺 𝑠 = , then
𝑠𝑛
Magnitude |𝐺 𝑗𝜔 |𝑑𝐵 = 20 log 𝐾 − 20𝑛 log(𝜔)
𝑑|𝐺 𝑗𝜔 |𝑑𝐵 −20𝑛 log(𝜔)
Slope, = = −20 𝑛 dB/dec
𝑑 𝑙𝑜𝑔𝜔 𝑑 𝑙𝑜𝑔𝜔
−1 𝜔 𝜋
Phase, ∠𝐺 𝑗 = 0 − 𝑛 tan ( ) = −𝑛 = −𝑛900
0 2

 From the above analysis, it is clear that the initial slope of a magnitude plot is always
defined by poles and zeros at its origin.
 Whenever the transfer function consists of pole and zero at origin, the magnitude plot
starts at a frequency of 𝝎 = 𝟎. 𝟏 𝒓𝒂𝒅/𝒔 from a magnitude of the opposite sign of
slope and it should pass through the 0 dB line at 𝝎 = 𝟏 𝒓𝒂𝒅/𝒔 and extend up to ∞ if
there is no corner frequency given.
Basic Factors of a Transfer Function
4. First order Factor (𝐺 𝑠 = 1 + 𝑠𝑇
Put 𝑠 = 𝑗𝜔, then magnitude |𝐺 𝑗𝜔 |𝑑𝐵 = 20 log 1 + 𝜔 2 𝑇 2

When 𝜔𝑇 ≪ 1, then |𝐺 𝑗𝜔 |𝑑𝐵 = 20 log 1 = 0 dB

When 𝜔𝑇 ≫ 1, then
|𝐺 𝑗𝜔 |𝑑𝐵 = 20 log 𝜔 2 𝑇 2 =
1
20 log 𝜔𝑇 = 20 log 𝜔 + 20 log 𝑇 = 20 log 𝜔 − 20 log (A)
𝑇

𝑑|𝐺 𝑗𝜔 |𝑑𝐵 20 log 𝜔+20 log 𝑇

Slope, = = 20 dB/dec
𝑑 𝑙𝑜𝑔𝜔 𝑑 𝑙𝑜𝑔𝜔

Equating equation (A) to zero, then the following equation can be written

1
20 log 𝜔 − 20 log = 0
𝑇
1
=> 𝜔 = corner frequency or cut-off frequency.
𝑇
Basic Factors of a Transfer Function
4. First order Factor (𝐺 𝑠 = 1 + 𝑠𝑇

Phase:
∠𝐺 𝑗𝜔 = tan−1 𝜔𝑇
When 𝜔 = 0, ∠𝐺 𝑗𝜔 = tan−1 0 = 0°
1
When 𝜔 = , ∠𝐺 𝑗𝜔 = tan−1 1 = 45°
𝑇
When 𝜔 = ∞, ∠𝐺 𝑗𝜔 = tan−1 ∞ = 90°
 1
G( s )  ( s  3)  ( s  1)
3
30

20

6 db/octave
10
Magnitude (decibels)

20 db/decade

0
ω=3

-10

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 90o

45o
30o
Phase (degrees)

0o

-300

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Basic Factors of a Transfer Function
5. First order Factor (𝐺 𝑠 = 1 1+𝑠𝑇
1
Put 𝑠 = 𝑗𝜔, then |𝐺 𝑗𝜔 |𝑑𝐵 = 20 log = 20 log 1 − 20 log 1 + 𝜔 2 𝑇 2
1+𝜔2 𝑇 2

When 𝜔𝑇 ≪ 1, then |𝐺 𝑗𝜔 |𝑑𝐵 = 0 − 20 log 1 = 0 dB

When 𝜔𝑇 ≫ 1, then
|𝐺 𝑗𝜔 |𝑑𝐵 = 0 − 20 log 𝜔 2 𝑇 2 =
1
− 20 log 𝜔𝑇 = −20 log 𝜔 − 20 log 𝑇 = −20 log 𝜔 + 20 log 𝑇 (A)

𝑑|𝐺 𝑗𝜔 |𝑑𝐵 −20 log 𝜔−20 log 𝑇

Slope, = = −20 dB/dec
𝑑 𝑙𝑜𝑔𝜔 𝑑 𝑙𝑜𝑔𝜔

Equating equation (A) to zero, then the following equation can be written

1
−20 log 𝜔 + 20 log = 0
𝑇
1
=> 𝜔 = 𝑇 corner frequency or cut-off frequency.
Basic Factors of a Transfer Function
5. First order Factor (𝐺 𝑠 = 1 1+𝑠𝑇 )
Phase:
∠𝐺 𝑗𝜔 = −tan−1 𝜔𝑇
When 𝜔 = 0, ∠𝐺 𝑗𝜔 = −tan−1 0 = 0°
1
When 𝜔 = , ∠𝐺 𝑗𝜔 = −tan−1 1 = −45°
𝑇
When 𝜔 = ∞, ∠𝐺 𝑗𝜔 = −tan−1 ∞ = −90°
 1
G( s ) 
( s  3)
30

10
Magnitude (decibels)

0
ω=3

-10
-6 db/octave
-20 db/decade
-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 90o

30o
Phase (degrees)

0o

-300

-45o

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Basic Factors of a Transfer Function
6. Quadratic term: 𝑠 2 + 𝑏2 𝑠 + 𝑏3
It is quite common to express the above term as:

For the time being, we are not interested in the gain 𝜔𝑛2 .
Therefore, by putting 𝑠 = 𝑗𝜔, the magnitude can be
expressed as follows:
𝜔 𝑗𝜔 2
𝑀 = 20 log10 |1 + 2𝑗𝜁 +( ) |
𝜔𝑛 𝜔𝑛
Now when 𝜔 ≪ 𝜔𝑛 , 𝑀 = 20 log10 1 = 0 dB
when 𝜔 ≫ 𝜔𝑛 ,
𝜔 2 𝜔
𝑀 = 20 log10 |( ) | = 40 log10 | |dB
𝜔𝑛 𝜔𝑛
Relative Stability

 Phase crossover frequency (ωp) is the frequency at which the phase angle of
the open-loop transfer function equals –180°.

 The gain crossover frequency (ωg) is the frequency at which the magnitude
curve crosses the 0 dB line.

 The gain margin (Kg) is the reciprocal of the magnitude of G(jω) at the phase
cross over frequency.

 The phase margin (γ) is that amount of additional phase lag at the gain
crossover frequency required to bring the system to the verge of instability.

 For a minimum phase system both phase margin and gain margin must be
positive for the system to be stable.
Relative Stability
 Gain cross-over point

Phase cross-over point

ωg ωp
6/26/2022 30
 Unstable Stable

Stable Gain Margin

Stable
Phase Margin

Unstable Stable

ωg ωp
6/26/2022 31
Example #3

• Obtain the phase and gain margins of the

system shown in following figure for the two
cases where K=10 and K=100.
Stable System Unstable System
Example #4
# Construct a Bode plot for a unity feedback system whose open loop transfer function is given by
𝜔
4(1+𝑗 )
2
𝐺 𝑠 = 𝜔 𝜔 . From the Bode plot check the stability of the closed loop system.
𝑗𝜔(1+2𝑗𝜔)(1+𝑗0.4 −( )2 )
8 8

Solution:
S. No. Factor Corner Slope
Frequency
(rad/s)
(i) 4=20log4=12 dB None 0 dB/decade

(ii) 1 None -20 dB/decade

| | = −20𝑙𝑜𝑔𝜔
𝑗𝜔

(iii) 1 0.5 -20 dB/decade

| | = −20𝑙𝑜𝑔 1 + 4𝜔 2
1 + 𝑗2𝜔

(iv) 2 -20 dB/decade

𝜔 1
1+𝑗 = 20𝑙𝑜𝑔 1 + 𝜔 2
2 4

(v) 𝜔 𝜔 8 -40 dB/decade

𝑀5 = −40𝑙𝑜𝑔 (1 − ( )2 )2 +(0.4 )2
8 8

𝜔 𝜔
Note: For 0 ≤ 𝜁 ≤ 1, 𝜔𝑛 break point can be selected based on: 1 + 2𝑗𝜁 𝜔 + (𝑗 𝜔 )2
𝑛 𝑛
Example #4
Example #4
Segment 1 (𝟎. 𝟏 ≤ 𝝎 ≤ 𝟎. 𝟓): 𝑦 = 𝑚𝑥 + 𝑐1 where x = 𝑙𝑜𝑔𝜔 and 𝑚=slope
 32 = −20 log 0.1 + 𝑐1
 𝑐1 = 12
Now, 𝑦 = −20 log 0.5 + 12 = 18 dB
Segment 2 (𝟎. 𝟓 ≤ 𝝎 ≤ 𝟐): 𝑦 = 𝑚𝑥 + 𝑐2
=> 18 = −40 log 0.5 + 𝑐2
 𝑐2 = 6
Now, 𝑦 = −40 log 2 + 6 = −6 dB

Segment 3 (𝟐 ≤ 𝝎 ≤ 𝟖): 𝑦 = 𝑚𝑥 + 𝑐1
 −6 = −20 log 2 + 𝑐3
 𝑐3 = 0
Now, 𝑦 = −20 log 8 + 0 = −18 dB

Segment 4 (𝟖 ≤ 𝝎 ≤ 𝟏𝟎𝟎): 𝑦 = 𝑚𝑥 + 𝑐4
 −18 = −60 log 8 + 𝑐4
 𝑐4 = 36
Now, 𝑦 = −60 log 100 + 36 = −84 dB
Example #5
# Construct a Bode plot for a unity feedback system whose open loop transfer
50
function is given by 𝐺 𝑠 = . From the Bode plot check the stability
𝑠(1+𝑠)(1+0.5𝑠)
of the closed loop system.
Solution:
Step 1: Put 𝑠 = 𝑗𝜔 in the transfer function
50
𝐺 𝑗𝜔 =
𝑗𝜔(1 + 𝑗𝜔)(1 + 0.5𝑗𝜔)
Step 2: Magnitude, M=|𝐺 𝑗𝜔 |
|𝐺 𝑗𝜔 |=20𝑙𝑜𝑔50 − 20 log 𝑗𝜔 − 20 log 1 + 𝑗𝜔 − 20log |1 + 0.5𝑗𝜔|
=34 − 20𝑙𝑜𝑔𝜔 − 20𝑙𝑜𝑔 1 + 𝜔 2 − 20𝑙𝑜𝑔 1 + (0.5𝜔)2

0 𝜔 𝜔 0.5𝜔
Phase angle, 𝜑 = tan−1 − tan−1 − tan−1 − tan−1
50 0 1 1
0 −1 −1
=−90 − tan 𝜔 − tan 0.5𝜔
Example #5

S. Factor Corner Slope Remark

No. Frequenc
y
1. 50=20log50=34 dB None 0 Straight line of slope 0 dB/dec.,
dB/decade starting from 34 dB
2. 1 None -20 Straight line of slope -20
= −20𝑙𝑜𝑔𝜔
𝑠 dB/decade dB/dec., passing through 𝜔 = 1
3. 1 1 -20 Straight line of slope -20
1+𝑠 dB/decade dB/dec., starting from 𝜔 = 1
= −20𝑙𝑜𝑔 1 + 𝜔 2
4. 1 2 -20 Straight line of slope -20
1 + 0.5𝑠 dB/decade dB/dec., starting from 𝜔 = 2
= −20𝑙𝑜𝑔 1 + (0.5𝜔)2
Example # 5

S. 𝝎 (𝐫𝐚𝐝/𝐬) 𝝋
No.
1. 0 −900
2. 0.1 −98.60
3. 0.5 −130.60
4. 1 −161.60
5. 1.4 −179.50
6. 1.5 −183.20
7. 2 −198.40
8. 4.45 −2330

0 𝜔 𝜔 0.5𝜔
𝜑 = tan−1 − tan−1 − tan−1 − tan−1
50 0 1 1
0 −1 −1
=−90 − tan 𝜔 − tan 0.5𝜔
Transfer function from a Bode plot
Procedure:
 Identify the initial slope, which is given by the number of
poles and zeros at the origin.

 Find the change in slope at every corner frequency. If the

slope is positive, then it introduces ZERO into the system.
If the slope is negative, it introduces POLE into the system.

 Find the value of K by using a known magnitude at a

known frequency.
Transfer function from a Bode plot
Example-6: The magnitude plot of the open loop transfer function G(s) is shown in the
following. Determine G(s) if it is known that the system is of minimum phase type.
Solution: Since the system is of minimum phase type, it has no poles or zeros in the right-
hand side of the s-plane.

𝐾
Transfer function, 𝐺 𝑠 = 𝑠 𝑠 2 𝑠
(1+ ) 1+ (1+ )
5 40 100
 At 𝜔 = 5 rad/s, the slope changes to -20dB/dec
So, it introduces a pole 1 + 𝑠/5 in the denominator.

 At 𝜔 = 40 rad/s, the slope changes to -60dB/dec

𝑠 2
So, it introduces two poles in the denominator i.e., 1 + .
40

 At 𝜔 = 100 rad/s, the slope changes to -80dB/dec

𝑠
So, it introduces a pole 1 + 100 in the denominator.
Transfer function from a Bode plot
|𝐺 𝑠 |𝑑𝐵
𝜔 2 𝜔 2 𝜔 2
= 20 log10 𝐾 − 20 log10 1 + − 40 log10 1 + ( ) − 20 log10 1 + ( )
5 40 100
At 𝜔 = 0.1 𝑟𝑎𝑑/𝑠, the magnitude is 100 dB. Therefore,
100
2
0.1 0.1 2 0.1 2
= 20 log10 𝐾 − 20 log10 1+ − 40 log10 1 + ( ) − 20 log10 1 + ( )
5 40 100
 100 = 20 log10 𝐾
 5 = log10 K 𝟏𝟎𝟓
𝑮 𝒔 = 𝒔 𝟐
 K = 105 𝒔
(𝟏+𝟓)
𝒔
𝟏+𝟒𝟎 (𝟏+𝟏𝟎𝟎)

Note: If 𝝎𝑪𝑭 ≥ 𝝎𝒌𝒏𝒐𝒘𝒏 then eliminate all terms of corner frequencies in the final
expression of magnitude equation.
Transfer function from a Bode plot
Example-7: Find the open loop transfer function of the following Bode plot.

𝐾𝑠
Transfer function, 𝐺 𝑠 = 𝑠 𝑠
(1+ ) (1+ )
1 10
 The initial slope is 20 dB/dec. Therefore, there is a zero at the origin. So, it introduces a
s term in the numerator.
𝑠
 At 𝜔 = 1 rad/s, the slope changes to zero. So, it introduces a pole (1 + ) in the
1
denominator
𝑠
 At 𝜔 = 10 rad/s, the slope changes to -20dB/dec. So, it introduces a pole 1 + 10 in the
denominator.

Now, 6 = 20log10 K
 K ≈ 1.99 = 2

2𝑠
Therefore, transfer function, 𝐺 𝑠 = 𝑠
(1+𝑠) (1+ )
10
Transfer function from a Bode plot
Example-8: Find the open loop transfer function of the following Bode plot.

𝐾(1+𝑠/10)
Transfer function, 𝐺 𝑠 = (1+𝑠/2)2 (1+𝑠/20)2

Now, 40 = 20log10 K
 K = 100

100(1+𝑠/10)
Therefore, transfer function,𝐺 𝑠 =
(1+𝑠/2)2 (1+𝑠/20)2

Example-9: Find the open loop transfer function of the following Bode plot.
(1+𝑠/2)
 𝐺 𝑠 = 𝐾 𝑠(1+𝑠/5)(1+𝑠/10)

*Now, for magnitude 32 dB at frequency 0.1 rad/s,

We cannot make s term in the denominator to zero
Because it is the initial slope and it is not the corner
Frequency under the condition of 𝜔𝐶𝐹 > 𝜔𝑘𝑛𝑜𝑤𝑛 .
Therefore, 32 = 20log10 K − 20log10 ω
K=4
4(1 + 𝑠/2)
𝐺 𝑠 =
𝑠(1 + 𝑠/5)(1 + 𝑠/10)
Basic Factors of a Transfer Function
2. Derivative (Zeros at origin) Factor

Derivative Factor G( s )  s, where s  j

Magnitude G( j )  20 log( )

ω 0.1 0.2 0.4 0.5 0.7 0.8 0.9 1

db -20 -14 -8 -6 -3 -2 -1 0

Slope=6b/octave
Slope=20db/decade


Phase G( j )  tan1 ( )  90
0
 20db
decade
30

10
Magnitude (decibels)

-10

-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 
  tan-1( )  90
180o
0

900

60o
Phase (degrees)

0o

-600

-180o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Example#1

• Draw the Bode Plot of following Transfer function.

20s
G( s ) 
( s  10)
Solution:
2s
G( s ) 
( 0.1s  1)
• The transfer function contains
1. Gain Factor (K=2)
2. Derivative Factor (Zero at origin) (s)
3. 1st Order Factor in denominator (0.1s+1)-1
Example#1
2s
G( s ) 
( 0.1s  1)
1. Gain Factor (K=2)
K db
 20 log( 2)  6 db
2. Derivative Factor (Zero at origin) (s)
s db  20 log( )  20 db/decade
3. 1st Order Factor in denominator (0.1s+1)
1
w hen   10,  20 log(1)  0
0.1 j  1 db
1
w hen   10,  20 log(0.1 )  20db/dec
0.1 j  1 db
 20s
G( s ) 
( s  10)
30

20 db/decade
10
Magnitude (decibels)

K=2
0

-10

-20 db/decade
-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 20s
G( s ) 
( s  10)
30

-20 db/decade+20db/decade

10
Magnitude (decibels)

20 db/decade
0

-10

-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
Example#2
2 j
G ( j ) 
( 0.1 j  1)

G( j )  2  j  (0.1 j  1)

0 1 
G( j )  tan ( )  tan ( )  tan1 ( 0.1 )
1
2 0

G( j )  90  tan1 ( 0.1 )

ω 0.1 1 5 10 20 40 70 100 1000 ∞

Φ(ω) 89.4 84.2 63.4 45 26.5 14 8 5.7 0.5 0

 ω 0.1 1 5 10 20 40 70 100 1000 ∞
Φ(ω) 89.4 84.2 63.4 45 26.5 14 8 5.7 0.5 0
90o

30o
Phase (degrees)

0o

-300

-45o

-90o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Bode Diagram
30

20
Magnitude (dB)

10

-10

-20
90
Phase (deg)

45

0
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)