CHAPTER 7

BODE PLOT AND GAIN

COMPENSATION (Part 1)
BEEE2364
CONTROL PRINCIPLES

HAFEZ JTKEK FTKEE

 Learning Outcome
After completing Chapter 7 (Part 1), the student will be able to:

• draw the bode plots for first-order and second-order

system.

HAFEZ JTKEK FTKEE

 Frequency Response
• In steady-state, sinusoidal inputs generate sinusoidal
responses/output of the same frequency.
• However, they may differ in amplitude and phase angle.
• The differences are functions of frequency.
• Sinusoid can be represented as complex number called
phasor.
• For a given sinusoid 𝑀1 cos 𝜔𝑡 + 𝜙 , in can be represented
in phasor by 𝑀1 (𝜔)∠𝜙(𝜔).

HAFEZ JTKEK FTKEE

 Frequency Response (Cont.)
Mechanical system

Block diagram

The transfer function

𝑀𝑜 𝜔 ∠𝜙𝑜 𝜔 𝑀𝑜 𝜔
𝑀 𝜔 ∠𝜙 𝜔 = = ∠(𝜙𝑜 𝜔 − 𝜙𝑖 𝜔 )
𝑀𝑖 𝜔 ∠𝜙𝑖 𝜔 𝑀𝑖 𝜔

𝑀𝑜 𝜔
Magnitude frequency response 𝑀 𝜔 = 𝑀𝑖 𝜔
Phase frequency response 𝜙 𝜔 = 𝜙𝑜 𝜔 − 𝜙𝑖 𝜔
HAFEZ JTKEK FTKEE
 Frequency Response:
Analytical Expression
• For a transfer function 𝐺(𝑠), the frequency response is given by
𝐺 𝑗𝜔 = 𝐺 𝑠 |𝑠⟶𝑗𝜔

𝑁 𝑠
• Consider 𝐺 𝑠 = .
𝐷 𝑠 Im

• The magnitude frequency response:

|𝑁 𝑗𝜔 | Re2 +Im2 Re
𝑀 𝜔 = 𝐺 𝑗𝜔 = = 0
|𝐷 𝑗𝜔 | Re2 +Im2

• The phase frequency response:

𝜙 𝜔 = ∠𝐺 𝑗𝜔 = ∠𝑁 𝑗𝜔 − ∠𝐷 𝑗𝜔
Im Im
= tan−1 − tan−1
Re 𝑁 Re 𝐷
HAFEZ JTKEK FTKEE
 Frequency Response:
Analytical Expression (Cont.)
Example 7.1 Find the analytical expression of frequency
1
response for transfer function 𝐺 𝑠 = .
𝑠+2

Solution:
1
Substitute 𝑠 = 𝑗𝜔, then 𝐺 𝑗𝜔 = .
𝑗𝜔+2
The magnitude freq. response:
1 |1| 1 1
𝐺 𝑗𝜔 = = = =
𝑗𝜔+2 |𝑗𝜔+2| 22 +𝜔2 𝜔2 +4
The phase freq. response:
Im Im
∠𝐺 𝑗𝜔 = tan−1 − tan−1
Re 𝑁 Re 𝐷
𝜔 𝜔
=0 − tan−1 = −tan−1
2 2
HAFEZ JTKEK FTKEE
 Bode Plot
• Bode plot: The log-magnitude (dB) and phase (degree)
frequency response curves as functions of log 𝜔.
• Can be simplified by approximating a sequence of straight
lines (asymptotic approximations).

HAFEZ JTKEK FTKEE

 Bode Plot (Cont.)
First-order Bode plot for transfer function 𝑮 𝒔 = 𝒔 + 𝒂
𝜔
• Substitute 𝑠 = 𝑗𝜔, then 𝐺 𝑗𝜔 = 𝑗𝜔 + 𝑎 = 𝑎 𝑗 +1 .
𝑎

• At freq. 𝜔 = 𝑎, then 𝐺 𝑗𝜔 = 𝑎(𝑗 + 1). Thus

|𝐺 𝑗𝜔 | = 20 log 2𝑎 ≈ 20 log 𝑎 (𝑑𝐵), ∠𝐺 𝑗𝜔 = 45°

• At low freq., 𝜔 ≈ 0, then 𝐺 𝑗𝜔 ≈ 𝑎. Thus

|𝐺 𝑗𝜔 | = 20 log 𝑎 (𝑑𝐵), ∠𝐺 𝑗𝜔 = 0°

• At high freq., 𝜔 ≫ 0, then 𝐺 𝑗𝜔 ≈ 𝑗𝜔 = 𝜔∠90° . Thus

|𝐺 𝑗𝜔 | = 20 log 𝜔 (𝑑𝐵), ∠𝐺 𝑗𝜔 = 90°

HAFEZ JTKEK FTKEE

 Bode Plot (Cont.)
Normalized Bode plot

𝜔 = 𝑎,
𝑎
𝐺 𝑗𝜔 ≈ 20 log 𝑎 = 0(𝑑𝐵),
∠𝐺 𝑗𝜔 = 45°

𝜔 ≈ 0,
𝑎
𝐺 𝑗𝜔 = 20 log 𝑎 = 0 (𝑑𝐵),
∠𝐺 𝑗𝜔 = 0°

𝜔 ≫ 0,
𝜔
|𝐺 𝑗𝜔 | = 20 log (𝑑𝐵),
𝑎
∠𝐺 𝑗𝜔 = 90°

HAFEZ JTKEK FTKEE

 Bode Plot (Cont.)
𝟏
First-order Bode plot for transfer function 𝑮 𝒔 =
𝒔+𝒂
1 1 1
• Substitute 𝑠 = 𝑗𝜔, then 𝐺 𝑗𝜔 = = 𝜔 .
𝑗𝜔+𝑎 𝑎 𝑗 +1
𝑎

1 1
• At freq. 𝜔 = 𝑎, then 𝐺 𝑗𝜔 = . Thus
𝑎 𝑗+1
𝐺 𝑗𝜔 ≈ −20 log 𝑎 (𝑑𝐵), ∠𝐺 𝑗𝜔 = −45°
1
• At low freq., 𝜔 ≈ 0, then 𝐺 𝑗𝜔 ≈ . Thus
𝑎
𝐺 𝑗𝜔 = −20 log 𝑎 (𝑑𝐵), ∠𝐺 𝑗𝜔 = 0°
1
• At high freq., 𝜔 ≫ 0, then 𝐺 𝑗𝜔 ≈ = 𝜔∠ −90° . Thus
𝑗𝜔
𝐺 𝑗𝜔 = −20 log 𝜔 (𝑑𝐵), ∠𝐺 𝑗𝜔 = −90°

HAFEZ JTKEK FTKEE

 Bode Plot (Cont.)
Normalized Bode plot

𝜔 = 𝑎,
𝑎
𝐺 𝑗𝜔 ≈ −20 log 𝑎 = 0(𝑑𝐵),
∠𝐺 𝑗𝜔 = −45°

𝜔 ≈ 0,
𝑎
𝐺 𝑗𝜔 = −20 log 𝑎 = 0 (𝑑𝐵),
∠𝐺 𝑗𝜔 = 0°

𝜔 ≫ 0,
𝜔
𝐺 𝑗𝜔 = −20 log (𝑑𝐵),
𝑎
∠𝐺 𝑗𝜔 = −90°

HAFEZ JTKEK FTKEE

 Bode Plot (Cont.)
First-order Bode plot for other transfer functions
1
Normalized Bode plot for 𝐺 𝑠 = 𝑠 Normalized Bode plot for 𝐺 𝑠 = 𝑠

HAFEZ JTKEK FTKEE

 Bode Plot (Cont.)
𝑠+3
Example 7.2 Draw the Bode plots for 𝐺 𝑠 = .
𝑠(𝑠+1)(𝑠+2)

Solution:
Rewrite 𝐺 𝑠 showing each term normalized to a low-frequency gain of
unity
𝑠 𝑠
3 3+1 3 +1 3 𝑠 1 1
3
𝐺 𝑠 = = = +1 𝑠 .
𝑠 𝑠+1 2
𝑠
+1 2 𝑠 𝑠+1 𝑠 +1 2𝑠 3 𝑠+1 +1
2 2 2

Substitute 𝑠 = 𝑗𝜔, then

3 𝜔 1 1
𝐺 𝑗𝜔 = 𝑗 +1 𝜔 𝜔
2𝑗𝜔 3 𝑗 +1 𝑗 +1
1 2

Determine that the break frequencies are at 1, 2, and 3.

HAFEZ JTKEK FTKEE
 Bode Plot (Cont.)
Solution (Cont.):
3 𝜔 1 1
𝐺 𝑗𝜔 = 𝑗 +1 𝜔 𝜔
2𝑗𝜔 3 𝑗 +1 𝑗 +1
1 2

Draw all individual components of the magnitude freq. response

HAFEZ JTKEK FTKEE

 Bode Plot (Cont.)
Solution (Cont.):
3 𝜔 1 1
𝐺 𝑗𝜔 = 𝑗 +1 𝜔 𝜔
2𝑗𝜔 3 𝑗 +1 𝑗 +1
1 2

Draw all individual components of the phase freq. response

HAFEZ JTKEK FTKEE

 Bode Plot (Cont.)
Solution
(Cont.):

Combine all
components
of the
magnitude
freq. response

HAFEZ JTKEK FTKEE

 Bode Plot (Cont.)
Solution
(Cont.):

Combine all
components
of the phase
freq. response

HAFEZ JTKEK FTKEE

 Bode Plot (Cont.)
Second-order Bode plot transfer function 𝑮 𝒔 = 𝒔𝟐 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝟐𝒏
2
2 𝑠 𝑠
• Rewrite 𝐺 𝑠 = 𝜔𝑛 2 + 2𝜁 +1 .
𝜔𝑛 𝜔𝑛
𝜔 2 𝜔
• Substitute 𝑠 = 𝑗𝜔, then 𝐺 𝑗𝜔 = 𝜔𝑛2 − + 2𝜁𝑗 +1 .
𝜔𝑛 𝜔𝑛

• At freq. 𝜔 = 𝜔𝑛 , then 𝐺 𝑗𝜔 = 𝜔𝑛2 2𝜁𝑗 . Thus

𝐺 𝑗𝜔 ≈ 40 log 𝜔𝑛 (𝑑𝐵), ∠𝐺 𝑗𝜔 = 90°

• At low freq., 𝜔 ≈ 0, then 𝐺 𝑗𝜔 ≈ 𝜔𝑛2 . Thus

𝐺 𝑗𝜔 = 40 log 𝜔𝑛 (𝑑𝐵), ∠𝐺 𝑗𝜔 = 0°

• At high freq., 𝜔 ≫ 0, then 𝐺 𝑗𝜔 ≈ −𝜔2 = 𝜔2 ∠180° . Thus

𝐺 𝑗𝜔 = 40 log 𝜔 (𝑑𝐵), ∠𝐺 𝑗𝜔 = 180°
HAFEZ JTKEK FTKEE
 Bode Plot (Cont.)

Notice that the

slope is twice of
a first-order
term which is
40 dB/decade
(compared to
20 dB/decade
for the first-
order)

HAFEZ JTKEK FTKEE