Control Systems

EE-475
Bode plots
Frequency Response
Analysis
Lec Sara

Frequency Response Analysis

1. Introduction

Steady

State Response of System to a

Sinusoidal input. (Effect of input frequency
variation on output).
Three common frequency response analysis
methods are

Bode Diagrams
Nyquist Plots
Nicholas Charts
If

input is sin wave than output will also be wave

but with different amplitude and phase angle.
By replacing
we can shift from Laplace to
frequency domain (Fourier)
4

Example
Let

a System

For

s j
sin input put

K
G ( j )
jT 1

As

its a complex number so it s

magnitude and angle can be
determined as
G ( j )

K
1 T 2 2

G ( j ) tan 1 T
5

Bode Diagrams/Logarithmic Plots

Consists

of two plots magnitude

and phase angle plotted against
frequency on logarithmic scale.
Standard Logarithmic magnitude
for base is represented as
Curves are drawn on semi graph
paper using log scale for frequency
and linear scale for magnitude in
dB and phase angle in degrees.
6

Cont
Followings

are the basic factors

that frequently occur in arbitrary
transfer functions.
Gain K
Integral and Derivative Factors

First order Factors

1 jT

Quadratic

j
1 2

Factors

Cont
Once

we become familiar with

plots of these basic factors we
will be able to construct plot of
any general transfer function by
adding
individual
curves
graphically.

Gain Factor K
Gain

is some constant value so

log-magnitude curve for gain is
20log curve
K
horizontal straight line
at
its phase angle will be zero.
Effect of variation in Gain is that
it raise or lower the logmagnitude curve of transfer
function and have no effect on
the phase curve.
10

Cont

10

Integral and Derivative Factors

integral part j
Logarithmic magnitude is
1

For

20log10

Phase

angle is

1
j

1
20log10 dB
j

90deg

So

log-magnitude plot will be straight line

with a slope of -20db per decade and
phase angle will be straight horizontal line
o

90
at
11

Cont

12

Cont
For

derivative part
j
Logarithmic magnitude is
20log10 j 20log10 dB

Phase

angle is
90deg

So

log-magnitude plot will be straight line

with a slope of +20db per decade and
phase angle will be straight horizontal line
at
+90deg
13

Cont

14

First Order Factors

For

1
1 jT

Logarithmic
20log10

magnitude is

1
20log10
1 jT

1 2T 2 dB

For

lower frequencies = 1
T
magnitude is zero
1
?
For higher frequencies
T
magnitude is20log T db
10

15

Cont
Solog

magnitude plot for this

factor can be approximated by
two straight lines asymptotes.
1T
Horizontal line of 0db0 for
1
20 dB
Straight line of slope
T for
decade
Frequency
at
which
two
asymptotes meets is called
1

Corner/Break frequency
that in
T
this case will be
16

Cont

17

Cont
Phase

angle will be
Tan 1 T

At

zero frequency
Tan 1 (0) 0deg

At

corner frequency

T
Tan 45deg
T
1

At

infinity

Tan 1 () 90deg

18

Cont

19

Cont
Error

due to use of asymptotes

can be calculated as
1
At corner frequency

T
20 log10 1 20 log10

At

1 1 10 log10 2 3.03db

frequency one octave

20 log10 1 20 log10

At

below
2T

5
1
1 20 log10
0.97 db
4

2
2

T
5
1 4 20 log10
0.97 db
2

frequency one octave above

20 log10 2 20 log10

20

Cont
So

asymptotic plot can be

corrected to exact by making
correction of at corner frequency
and at one octave low and one octave
high.
Variation in T only shifts the
corner freq to the left or right but
1
no effect
on the shape of plot.
1 jT
So
21

Cont
To

Draw the Phase curve

Accurately locate different points
on curve

22

Cont

23

Cont
For 1 jT
Logarithmic

magnitude is

20log10 1 jT 20log10

For

1 2T 2 dB

=
frequencies

1
T

lower
magnitude is zero
1
?
For higher frequencies
T
magnitude is 20log T db
10

24

Cont
Horizontal

1
0
T

line of 0db for

1

Straight line of slope +20dbTfor

25

Cont
Phase

angle will be
Tan 1 T

At

zero frequency
Tan 1 (0) 0deg

At

corner frequency 1
T
Tan 45deg
T

At

infinity

Tan 1 () 90deg

26

Cont

27

Quadratic
Factor

2 1

j

j

For
1 2

quadratic
factor

n n

if
1 it will be product of two first order

factors

.(Because itll be over-damped system will two real

poles)

0 1
If
it will be product of two complex
conjugate factors.

(Because itll be under-damped system will

two complex conjugate poles)

Magnitude

and phase of quadratic

factor depends upon corner freq. and
n and
damping ratio
28

Cont
Magnitude
20 log10

will be

1
j
1 2

For n

20 log10 1

20log 1 0db
Magnitude will be
For

20log

40log

Magnitude will be

10

10

db
10

n
29

Cont

So

log-magnitude plot can be estimated

by two straight line asymptotes.

Horizontal line of 0db for 0 n

Straight line with slope for

frequency
n Is corner frequency in
this case.
Near the corner freq. a resonant peak
occurs. Damping ratio determines the
magnitude of that peak . Asymptotes
are independent of the damping ratio.
The

30

Cont
Phase

Angle will be

Tan 1

At

2
n
2

1
n

zero frequency
0deg

At

corner frequency
90deg

At

infinity

180deg
31

Resonant peak Freq and

Magnitude
Resonant

Frequency will be

r n 1 2 2

Peak

for 0 0.707

Magnitude will be

M r G j max G jr

Phase

be

1
2 1

for 0 0.707

angle at resonant freq will

G jr 90 sin

32

Cont

33

Contd.
For

quadratic factor

j
1 2

Magnitude
j

20log10 1 2

will be

20log10 1

2
n

34

Cont
For n

Magnitude will be20log 1 0db

For

Magnitude will be
20log
40log
10

10

db
10

n

35

Cont
So

log-magnitude plot can be

estimated by two straight line
0
asymptotes.
n

Horizontal line of 0db for

n
Straight
line with 40db/decade slope
for

36

Cont
Phase

Angle will be

Tan 1

At

2
n
2

1
n

zero frequency
0deg

At

corner frequency
90deg

At

infinity

180deg
37

Cont

38

Example Bode Plots

Let

a System
50000s
G s
s 5 s 500

Put
G j

Split

50000 j

j 5 j 500

20 j
j
j
1

5
500

into Sub Systems

G1 ( j ) 20
39

Cont
G2 j j
G3
G4

j
j 1

500

Draw

for

j
j 1
5

bode plot for each factor

G1( j ) 20

G1( j ) 20log10 (20) 26.02

0deg

40

Cont
Magnitude (dB)

27.5

Bode Diagram

27
26.5
26
25.5

Phase (deg)

25
1
0.5
0
-0.5
-1 0
10

Frequency (rad/sec)

10

41

Cont
for

G2 j j
G2 ( j ) 20log10 ( )

90deg
Magnitude (dB)

20

Bode Diagram

15
10
5
0

Phase (deg)

-5
91
90.5
90
89.5
89 0
10

Frequency (rad/sec)

10

42

Cont
For

G3

j
j 1
5

G3 ( j ) 0

for lower freq

G3 ( j ) 20log10

Tan 1

0 deg for 0
45deg for 5
90 deg for

for higher freq

j

1
T
5
1
cutt off freq 5
T

43

Cont
Bode Diagram

Phase (deg)

Magnitude (dB)

10
0
-10
-20
-30
0

-45

-90 -1
10

10

Frequency (rad/sec)

10

10

44

Cont
For

G4

j
j 1

500

G4 ( j ) 0

for lower freq

500

G4 ( j ) 20log10

500

Tan 1

0 deg for 0
45deg for 500
90 deg for

for higher freq

j

500

1
T
500
1
cutt off freq 500
T

45

Cont
Bode Diagram

Phase (deg)

Magnitude (dB)

10
0
-10
-20
-30
0

-45

-90 1
10

10

Frequency (rad/sec)

10

10

46

Cont
Plot All of them on Single
Graph Paper.Bode Diagram

Phase (deg)

Magnitude (dB)

Now
50
0
-50
90
45
0
-45
-90
10

-1

10

10
10
Frequency (rad/sec)

10

10

47

Cont
Now

add the graphs to get final

Phase (deg)

Magnitude (dB)

plot

Bode Diagram

50
0
-50
90
45
0
-45
-90
10

-1

10

10
10
Frequency (rad/sec)

10

10
48

Cont
Bode Diagram

Magnitude (dB)

60
40
20

Phase (deg)

0
90
45
0
-45
-90 -1
10

10

10
10
Frequency (rad/sec)

10

10

49

Example#2 Bode Plots

Let

a System
107
G s
1 .01s s 2 100s 106

Put

s=jw
107
G j
1 .01 j 2 100 j 106

Split

into Sub Systems

G1( j ) 107
50

Cont
G2 j 1 .01 j

G3 j 2 100 j 106

Draw

for

bode plot for each factor

G1( j ) 107

G1 ( j ) 20log10 (107 ) 140

0deg

51

Cont

Magnitude (dB)

141

Bode Diagram

140.5
140
139.5

Phase (deg)

139
1
0.5
0
-0.5
-1 0
10

Frequency (rad/sec)

10

52

Cont
For G j 1 0.01 j

G2 ( j ) 0

for lower freq

G2 ( j ) 20log10 .01

Tan 1 .01
0deg for 0
45deg for 100
90deg for

for higher freq

1 jT 1 .01 j
T .01
cutt off freq

1
100
T

53

Cont
Bode Diagram

Magnitude (dB)

10
0
-10
-20
-30

Phase (deg)

-40
0
-45
-90 0
10

10

10
Frequency (rad/sec)

10

10

54

Cont
For

G3 j 100 j 10
2

G3 ( j ) 0

6 1

for lower freq

G3 ( j ) 40log10 .001

n 2 106
n 1000
2n 100
0.05
for higher freq

997
r
n
n
1
Tan
2

87.13
G jr 90 sin 1 2

1
0deg for 0
Mr
10
2
2 1
90deg for 1000
Do apply to get magnitude of in
180deg for
dB

55

.
This has been verified in
Matlab

Cont
Do apply to get magnitude of in
dB

56

Cont
Plot

all on same graph

Phase (deg)

Magnitude (dB)

Bode Diagram
100
0
-100
0
-45
-90
-135
-180 0
10

10

10
Frequency (rad/sec)

10

10

57

Cont
Magnitude (dB)

Bode Diagram
100
0
-100

Phase (deg)

-200
0
-45
-90
-135
-180
-225
-270 0
10

10

10
Frequency (rad/sec)

10

10

58

Cont
Bode Diagram

Phase (deg)

Magnitude (dB)

40
20
0
-20
-40

-60
45
0
-45
-90
-135
-180
-225
-270 0
10

10

10
Frequency (rad/sec)

10

10

59