Lect.

Hasan Noaman Muslim Computer Control Systems\Al-Najaf

III. Bode Plot (Classical Design in the Frequency Domain)

Control system design in the frequency domain can be undertaken using a purely
theoretical approach, or alternatively, using measurements taken from the components
in the control loop. Frequency domain analysis is concerned with the calculation or
measurement of the steady-state system output when responding to a constant
amplitude, variable frequency sinusoidal input.
A Bode diagram is a logarithmic version of the frequency response diagrams consists
of two graphs:
1. Plot of the magnitude of a transfer function against the frequency.
2. Plot of the phase angle against the frequency on a logarithmic scale.
Notes:
1. The standard representation of the logarithmic magnitude of G (jw) is 20 log G (jw)
where the base of the logarithm is 10.
2. The unit used in this representation of the magnitude is the decibel, usually
abbreviated dB.
3. In the logarithmic representation, the curves are drawn on Semi Log paper, using
the log scale for frequency and the linear scale for either magnitude (but in decibels)
or phase angle (in degrees).
4. The main advantages of using the Bode diagram are:
 Multiplication of magnitudes can be converted into addition.
 Sketching an approximate log-magnitude curve (asymptotic approximations).

Now, the procedure to represent a Bode plot diagram in Semi Log Paper
is as follows:
1. Determine the transfer function of the control system.
( )( ) ( )
( )
( )( ) ( )
2. Rewrite the transfer function into following standard form.

( )( )
( )
( )( )

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Lect. Hasan Noaman Muslim Computer Control Systems\Al-Najaf

3. Take each factor of standard transfer function to be plotted separately from the others,

( ) ( )

The Bode plot of constant which be assumed 'K'

( ) ( )
Then it is represented as a straight line in Semi Log paper. You should divide the axis
with a range that includes all the values of amplitudes and frequencies.
Semi_Log Paper
60

40
K
20
Amplitude in dB

-20

-40

-60
0.1 1 10 100 1000
Frequency in rad/sec

The Bode Plot of zero (s) and pole (1/s) At Origin , it is a line plotted from -20dB
passes through 1 rad/sec for zero at origin, and from 20dB passes through 1 rad/sec
for pole at origin, as shown below.
60

40

20
Amplitude in dB

-20

-40

-60
0.1 1 10 100 1000
Frequency in rad/sec

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Lect. Hasan Noaman Muslim Computer Control Systems\Al-Najaf

The Bode Plot of Zeros and Poles of transfer function, They are plotted based on
the z1, z2,…p1, p2,… in which directly assigned in the bode diagram in the
frequency axis and increases 20dB per decade, and as shown in below Figure.
60

40
decade
20
Amplitude in dB

20dB
0
-20dB
-20
decade
-40

-60
z1 p1
0.1 1 10 100 1000
Frequency in rad/sec

After plotting each part in the transfer function separately from the other parts, all
bode plots are combined based on algebraic summation in each point of the shared
points of bode plots.

Example: Construct the bode plot diagram in a semi log paper for the following T.F.
( )
( )
( )( )
Solution: The first step is converting the given T.F to standard form,

( ) ( )
( )
( )( ) ( )( )

The bode plot of constant K=40,

The other factors are:

( )

( ) ( )

( )

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Lect. Hasan Noaman Muslim Computer Control Systems\Al-Najaf

60

40 constant
K=32

20
dB

-20

-40

-60
0.1 1 10 50 100 200 1000
rad/sec

Now, we sum the shared points to construct the bode plot diagram as shown below.

60
52

40
K=32

20
12
dB

0 -2

-20
-28

-40

-60
0.1 1 10 50 100 200 1000
rad/sec

Using MATLAB m-file to represent the bode plot diagram of this example according to
the following commands. You should note that the transfer function is written in the
given form not in the standard form.

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Lect. Hasan Noaman Muslim Computer Control Systems\Al-Najaf

MATLAB Program
num=[40000 400000];
den=[1 250 10000 0];
bode(num, den)
grid on
( )
title ('Bode Plot Diagram of ( ) ')
( )

The simulation results as shown in Figure below,

Bode Plot Diagram of H(s)=(40000(s+10))/(s(s 2+s+10000))

100

50
Magnitude (dB)

-50

-100
-45

-90
Phase (deg)

-135

-180
-1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/s)

Problem: Construct the bode plot diagram in a semi log paper for the following transfer
functions. Check your solution based on MATLAB Program.

( ) ( )
( )( )
( )
( ) ( )
( )( ) ( )
( )
( ) ( )
( )( ) ( )( )

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