Bode Diagram

Magnitude (dB)

60
40
20
0
-20
-40
90
Phase (deg)

45
0
-45
-90
-135
-180

-2

10

-1

10

10

10

Frequency (rad/sec)

10

10

Poles and Zeros and Transfer

Functions
Transfer Function:

A transfer function is defined as the ratio of the Laplace

transform of the output to the input with all initial
conditions equal to zero. Transfer functions are defined
only for linear time invariant systems.

Considerations:

Transfer functions can usually be expressed as the ratio

of two polynomials in the complex variable, s.

Factorization:

A transfer function can be factored into the following form.

G(s)

K ( s z )( s z ) ... ( s z )
( s p )( s p ) ... ( s p )
1

m
n

The roots of the numerator polynomial are called zeros.

The roots of the denominator polynomial are called poles.
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Poles, Zeros and the S-Plane

An Example:

You are given the following transfer function. Show the

poles and zeros in the s-plane.
G ( s)

( s 8)( s 14)
s ( s 4)( s 10)
j axis
S - plane

o
-14

x
-10

-8

-4

origin
0

axis

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Poles, Zeros and Bode Plots

Characterization:Considering the transfer function of the
previous slide. We note that we have 4 different
types of terms in the previous general form:
These are:
G(s)

( s 8)( s 14)
s ( s 4)( s 10)

K ,
B

1
1
,
,
s ( s / p 1)

( s / z 1)

Expressing in dB: Given the tranfer function:

G ( jw)

K ( jw / z 1)
( jw)( jw / p 1)
B

20 log | G ( jw | 20 log K 20 log | ( jw / z 1) | 20 log | jw | 20 log | jw / p 1 |

B

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Poles, Zeros and Bode Plots

Mechanics: We have 4 distinct terms to consider:
20logKB
20log|(jw/z +1)|
-20log|jw|
-20log|(jw/p + 1)|

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Poles, Zeros and Bode Plots

Mechanics: The gain term, 20logKB, is just so many
dB and this is a straight line on Bode paper,
independent of omega (radian frequency).
The term, - 20log|jw| = - 20logw, when plotted
on semi-log paper is a straight line sloping at
- 20dB/decade. It has a magnitude of 0 at w = 1.

20

-20db/dec

0
-20

=1

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Poles, Zeros and Bode Plots

Mechanics:

The term, - 20log|(jw/p + 1), is drawn with the

following approximation: If w < p we use the
approximation that 20log|(jw/p + 1 )| = 0 dB,
a flat line on the Bode. If w > p we use the
approximation of 20log(w/p), which slopes at
-20dB/dec starting at w = p. Illustrated below.
It is easy to show that the plot has an error of
- 3dB at w = p and 1 dB at w = p/2 and w = 2p.
One can easily make these corrections if it is
appropriate.

2
0
0

-20db/dec

-20
-40

=p

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Poles, Zeros and Bode Plots

Mechanics: When we have a term of 20log|(jw/z + 1)| we
approximate it be a straight line of slop 0 dB/dec
when w < z. We approximate it as 20log(w/z)
when w > z, which is a straight line on Bode paper
with a slope of + 20dB/dec. Illustrated below.

20

+20db/dec
0
-20
-40

=z

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F(s)=s+1
Bode Diagram

Magnitude (dB)

40
30

Slope= +20 db/dec

20
10

Phase (deg)

0
90

45

BF

0 deg up to 1/10th of Break Freq

90 deg beyond 10 times BF
In betw approx slope of 45 deg/dec
Phase angle 45 deg at BF
Phase Shift = +45 deg/dec

-2

10

-1

10

10

Frequency (rad/sec)

10

10

F(s)=1/s+1
Bode Diagram

Magnitude (dB)

0
-10
-20

Slope= - 20 db/dec
-30
-40
0

Phase (deg)

Phase Shift = - 45 deg/dec

-45

-90

-2

10

-1

10

10

Frequency (rad/sec)

10

10

F(s)=s+10/10
Bode Diagram

Magnitude (dB)

40
30

Slope= + 20 db/dec
20
10

Phase (deg)

0
90

45

Phase Shift = +45 deg/dec

0

-1

10

10

10

Frequency (rad/sec)

10

10

F(s)=10/s+10
Bode Diagram

Magnitude (dB)

0
-10

Slope= - 20 db/dec
-20
-30

Phase (deg)

-40
0

-45

-90

Phase Shift = - 45 deg/dec

-1

10

10

10

Frequency (rad/sec)

10

10

Bode Diagram

Magnitude (dB)

0
-10
-20

-10/(s-10)

-30

Phase (deg)

-40
90

45

-1

10

10

10

Frequency (rad/sec)

10

10

F(s)=50(s+2)/s(s+10)
Bode Diagram

60

Magnitude (dB)

(S+2)2

m=-20 db/dec
0=1rad/sec
y0=20

40
20

(10)

1/s

=2 rad/sec

10/(s+10)

-20
-40
-30

(S+2)2

-90

Phase (deg)

m=+45 deg/dec
-60

(10)

0=.2rad/sec
=1 rad/sec

-60

y0=-90 deg
-90

-1

10

0.2

10

10/(s+10)

1/s

10

20

Frequency (rad/sec)

10

10

100/(s2+2s+100)
Bode Diagram

20

Zeta=.1

Magnitude (dB)

10

Zeta=.6
Zeta=.7o7

0
-10

The peak/dip (pole/zero) only exists for

-20
-30

Phase (deg)

-40
0
-45
-90
-135
-180

10

10

Frequency (rad/sec)

10