BODE PLOT, METHODOLOGY TO

GRAPH IT, ANALYSIS OF:

INTEGRATOR, DERIVATOR,
CONSTANT, FIRST ORDER, SECOND
ORDER.
CONTROL THEORY
Members : Acero Cristian, Calle Mauricio, Hidalgo Ismael, Jadán Cristhian, Riera Carlos, Vergara Juan
Objectives

General objective:
• To study the methods of Bode Plots

Specific Objectives
• To Interpret Bode Plots.
• To analyze methodology to quickly graph bode plots by hand.
• To analyze the behavior of the main signals: Integrator, Derivator, Constant,
First order, Second order.
• To examine the signals using Matlab.

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Introduction
The American Hendrik Wade Bode (1905-1982) used the Bode
Plot
El for the first
norteamericano time
Hendrik in Bode
Wade 1938, which isusóan
(1905-1982) porimportant
primera vez ensystem
1938 el diagrama de bode,
andesprocess
que analysis
una técnica technique
de análisis de sistemasiny various engineering.
procesos importante Weingenierías,
en varias can podemos
entender el comportamiento y funcionamiento de un proceso físico real en varias zonas de operación,
understand the behavior and function of a real physical process
saber la estabilidad del sistema, crear controladores dentro de las zonas de interés del proceso.
in various areas of operation, know the stability of the system,
and create controllers within the areas of interest of the
process.

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Bode Plot
A Bode Plot is a graphical representation that serves to characterize the frequency response of a system.
It consists of two separate graphs, one that corresponds to the magnitude of said function and the other
that corresponds to the phase. It draws the transfer function module in decibels as a function of
frequency or angular frequency on a logarithmic scale. It represents the phase of the transfer function as
a function of the frequency or angular frequency on a logarithmic scale. It can be given in degrees or in
radians. It allows an evaluation of the phase shift of a signal at the output of the system with respect to
the input for a given frequency.

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Interpretation of Bode Plots
Applying the Bode Plot in control theory, what we want is to determine the frequency response
(output) of our system in a stable state when we disturb or stimulate our process with a sinusoidal
input. Let’s suppose we have a process, G(s), of any (a tank, a motor, a reactor, a turbine, etc.) and
we apply a signal in the form of a sine or cosine to the input.

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The basic idea of ​the bode diagram is that if I apply any sinusoidal input x(t) to the system, which is
represented by x(t) = A sin (ωt), where A is the amplitude of the sine signal and ω is the frequency
range of interest, At the output of the system I will have a sinusoidal signal, which depending on the
transfer function, can come out with another amplitude and phase shift with respect to the signal that
is applied to the input. We can represent this output signal as x(t)= Bsin (ωt + α), where α is the offset
angle and B the amplitude of the output sine.

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Methodology for graphing Bode plots by hand

In the graphs of the Bode plots we find the variables amplitude vs frequency.
Being the frequency distributed in a logarithmic way. So. An interval between two
frequencies that are multiples of ten are known as a decade and an interval
between two frequencies that are multiples of two is known as an octave

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Standard Functions

• With H(jw) = K * Phase shift with K > 0 y K < 0

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Pure Derivator - Graphs

When W=Wo

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Pure Derivator - Phase

ᵠ  [ 𝐻 ( 𝑗𝑤) ] =90 °

The Pure Derivative as a phase is a pure

complex number and correspond to 90°
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 Pure Integrator - Graphs

ope

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Pure Integrator - Phase

ᵠ
  [ 𝐻 ( 𝑗𝑤) ] =− 90 °

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Simple pole - Graph

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Simple pole - Phase

45°

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Simple Zero - Graph

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Simple Zero -Phase

45°

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Representation of a given function

  𝑤
𝑗
𝑤0
𝐻 ( 𝑗𝑤 ) =
𝑤
1+ 𝑗
𝑤0

High pass filter transfer

function

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Signal from the Integrator Bode plot:
An integrator has its output as the integral of the input function. The phase bode diagram is constant at -90°,
this is logical since the integral of a SIN is equal to – COS. Which is 90° behind the SIN.

𝑻𝒓𝒂𝒏𝒔𝒇𝒆𝒓
  𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏   B

  𝐿𝑜𝑔 𝐺 ( 𝑗 ω ) =20 𝐿𝑜𝑔 1 𝑑𝐵=20 𝐿𝑜𝑔 ( 1 ) −20 𝐿𝑜𝑔 (ω)

  ( 𝑠 )= 1
𝐺
𝑠
20 | | ω ( )
  B 𝑺𝒚𝒔𝒕𝒆𝒎
  𝒑𝒉𝒂𝒔𝒆
  ( 𝑗 ω )= 1
𝐺 φ  𝐺 ( 𝑗 ω )=− 90 °
𝑗ω

 𝑭𝒊𝒏𝒅 𝒕𝒉𝒆 𝑴𝒐𝒅𝒖𝒍𝒆

The gain bode plot is a straight line with a slope of -20
2
| 𝐺 ( 𝑗 ω )|= √ 1 2 = ω
1 dB / decade. The line goes through 0 dB at the frequency
√ω of 1rad / s

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Graph representation of an integrator

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Signal from the Bode plot Derivator:
A derivator has as its output the derivative of the input function. The phase bode plot is constant at 90°,
this is logical since integral of a SIN is equal to COS, which is 90° ahead of the SIN.

𝑻𝒓𝒂𝒏𝒔𝒇𝒆𝒓
  𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏   B

𝐺 20
  𝐿𝑜𝑔|𝐺 ( 𝑗 ω )|=20 𝐿𝑜𝑔 ( ω ) 𝑑𝐵
  ( 𝑠 )= 𝑠

  B
𝐺
  ( 𝑗 ω )= 𝑗 ω
𝑺𝒚𝒔𝒕𝒆𝒎
  𝒑𝒉𝒂𝒔𝒆
φ  𝐺 ( 𝑗 ω )=90°

 𝑭𝒊𝒏𝒅 𝒕𝒉𝒆 𝑴𝒐𝒅𝒖𝒍𝒆

The gain bode plot is a straight line with a slope of 20 dB /
2
| 𝐺 ( 𝑗 ω )|=√ ω =ω decade. The line goes through 0 dB at the frequency of 1rad / s

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Graph representation of an derivator

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Signal from the Constant Bode Plot:
A constant produces constant stretches in the Bode plot, so to speak, lines with a zero slope. In the phase
plot they produce intervals with a zero angle

  B
𝑻𝒓𝒂𝒏𝒔𝒇𝒆𝒓
  𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏
𝐺
  ( 𝑠 )=𝑘 20
  𝐿𝑜𝑔|𝐺 ( 𝑗 ω )|=20 𝐿𝑜𝑔 ( 𝑘 ) 𝑑𝐵

  B
𝐺
𝑺𝒚𝒔𝒕𝒆𝒎
  𝒑𝒉𝒂𝒔𝒆
  ( 𝑗 ω )=𝑘 φ  𝐺 ( 𝑗 ω )=0 °

 𝑭𝒊𝒏𝒅 𝒕𝒉𝒆 𝑴𝒐𝒅𝒖𝒍𝒆

The Bode plot of a constant is a gain that amplifies or
attenuates the same factor whatever the frequency of
| 𝐺 ( 𝑗 ω )|=𝑘
the input signal, that is to say . it takes a constant form
with ω.

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Graph representation of a constant

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Signal from Bode plot’s first order system:
A pure first order system without zeros depends only on two parameters gain k and time constant T, to
facilitate the sketch of the bode plot, the transfer function can be expressed as the product of two factors,
drawing the bode plot individually and adding the result of these.

𝑻𝒓𝒂𝒏𝒔𝒇𝒆𝒓
  𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏
  ( 𝑠 )= 𝑘
𝐺
𝑇𝑠 +1
𝑻  𝒓𝒂𝒏𝒔𝒇𝒆𝒓 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 𝒑𝒓𝒐𝒅𝒖𝒄𝒕 𝒐𝒇 𝒕𝒘𝒐 𝒇𝒂𝒄𝒕𝒐𝒓𝒔
  ( 𝑠 )= 𝑘 ∗ 1
𝐺
𝑇𝑠+1
𝑩𝒐𝒅𝒆
  𝒑𝒍𝒐𝒕 𝒐𝒇 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕 𝒎𝒂𝒈𝒏𝒊𝒕𝒖𝒅𝒆 𝑲
𝒌  =𝟏→ 𝟐𝟎 𝑳𝒐𝒈 ( 𝟏 )=𝟎 𝒅𝑩
𝒌  =𝟐 →𝟐𝟎 𝑳𝒐𝒈 ( 𝟐 ) =𝟔 , 𝟎𝟐 𝒅𝑩
𝒌  =𝟎 , 𝟓→ 𝟐𝟎 𝑳𝒐𝒈 ( 𝟎 , 𝟓 )=−𝟔 , 𝟎𝟐 𝒅𝑩

𝑺𝒚𝒔𝒕𝒆𝒎
  𝒑𝒉𝒂𝒔𝒆 (𝒌 )
𝝋  𝑮 ( 𝒋 𝝎 )=𝟎 °

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 𝑩𝒐𝒅𝒆
  𝒑𝒍𝒐𝒕 𝒐𝒇 𝒕𝒉𝒆 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 .
  ( 𝑠 )= 1
𝐺
𝑇𝑠 +1 It concludes that for low frequencies the magnitude curve
has a horizontal asymptote drawn at a height of 0dB
  M
 

𝑭𝒐𝒓
  𝑻 𝝎≪𝟏
 ≫1
ω
𝑇
 𝑰 𝒕 𝒊𝒔 𝒕𝒓𝒖𝒆 𝒕𝒉𝒂𝒕 :
 
1 1 1 1
1+𝑗ω𝑇 1 1+𝑗ω𝑇 | | | |
≃ =1→ ≃ 1→20𝐿𝑜𝑔 ≃ 20𝐿𝑜𝑔 (1)=0𝑑𝐵
1+𝑗ω𝑇

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 𝑭𝒐𝒓
  𝑻 𝝎≫𝟏
This expression is a linear function, therefore it is
 ≫1
ω
𝑇 represented graphically as a straight line for ω=1/𝑇 passes
through the value of 0dB and whose slope is 20dB /decade.
 𝑰 𝒕 𝒊𝒔 𝒕𝒓𝒖𝒆 𝒕𝒉𝒂𝒕 :

1111 11 1 1
 

| | | | | ()
≃ =− 𝑗→ ≃ − 𝑗= →20𝐿𝑜𝑔 ≃20𝐿𝑜𝑔 =−20𝐿𝑜𝑔(ω𝑇)=−20𝐿𝑜𝑔(ω)−20𝐿𝑜𝑔(𝑇)
1 + 𝑗 ω 𝑇 𝑗 ω 𝑇 ω 𝑇 𝑗 ω 𝑇 ω 𝑇 ω 𝑇 1+ 𝑗 ω 𝑇 ω 𝑇

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It is supposed that the magnitude curve of the Bode plot is obtained from the mathematical expression
2 2
−20
  ∗ 𝐿𝑜𝑔 √ 1+ ω ∗𝑇
And the asymptotes that have been determined, given the existing proximity between the asymptotes and
the real curve is often approximated as a composition of the others in what the maximum error is
committed in ω=1/T being this:
  1 1 1
| 20 𝐿𝑜𝑔
|
√ 1+ ω2 𝑇 2 ω= 𝑇1
=20 𝐿𝑜𝑔 (√ )
1+1
=20 𝐿𝑜𝑔 (√ )
2
≃−3 𝑑𝐵

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To obtain the graph of the Bode plot of the system, there must be a sum done of all the drawings of
Bode plots of the factors determined from the transfer function.
  ( 𝑠 )= 𝑘 2
𝐺 =
𝑇𝑠 +1 0.1 𝑠+1   𝟏
𝑮𝒓𝒂𝒑𝒉𝒊𝒄
  𝑲 =𝟐 𝟎. 𝟏 𝒔 +𝟏

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Universidad Politécnica Salesiana Ingeniería Automotriz Teoría de Control
Signal from the Bode plot’s second order system:
A pure second order system without zeros depends on three parameters (k, ωn, ξ ) and its transfer
function is:

  ( 𝑠 )= 𝑘 ω2𝑛
𝐺
𝑠2 +2 ξ ω 𝑛 𝑠 +ω2𝑛

To facilitate the drawing of the bode plot, the transfer function can be expressed as the product of two
factors. By plotting each of the factors and adding up the result, we obtain the bode plot of the transfer
function under consideration .

  ( 𝑠 )= 𝑘 ∗ ω 2𝑛
𝐺
𝑠 2+ 2ξ ω 𝑛 𝑠+ω 2𝑛

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In the same way as in the first order system the transfer function of the constant K is represented by:

𝑻  𝒓𝒂𝒏𝒔𝒇𝒆𝒓 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 𝒑𝒓𝒐𝒅𝒖𝒄𝒕 𝒐𝒇 𝒕𝒘𝒐 𝒇𝒂𝒄𝒕𝒐𝒓𝒔

  ( 𝑠 )= 𝑘 ∗ ω 2𝑛
𝐺 2 2
𝑠 + 2ξ ω 𝑛 𝑠+ω 𝑛

𝑩𝒐𝒅𝒆
  𝒑𝒍𝒐𝒕 𝒐𝒇 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕 𝒎𝒂𝒈𝒏𝒊𝒕𝒖𝒅𝒆 𝑲
𝒌  =𝟏→ 𝟐𝟎 𝑳𝒐𝒈 ( 𝟏 )=𝟎 𝒅𝑩
𝒌  =𝟐 →𝟐𝟎 𝑳𝒐𝒈 ( 𝟐 ) =𝟔 , 𝟎𝟐 𝒅𝑩
𝒌  =𝟎 , 𝟓→ 𝟐𝟎 𝑳𝒐𝒈 ( 𝟎 , 𝟓 )=−𝟔 , 𝟎𝟐 𝒅𝑩

𝑺𝒚𝒔𝒕𝒆𝒎
  𝒑𝒉𝒂𝒔𝒆 (𝒌 )
𝝋  𝑮 ( 𝒋 𝝎 )=𝟎 °

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 𝑩𝒐𝒅𝒆
  𝒑𝒍𝒐𝒕 𝒐𝒇 𝒕𝒉𝒆 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 .
  ( 𝑠 )= ω2𝑛
𝐺
𝑠2 +2 ξ ω 𝑛 𝑠 +ω2𝑛

  M
2
  ( 𝑗 ω )= ω 𝑛 ω2𝑛 1
𝐺 = =
( 𝑗 ω )2 +2 ξ ω𝑛 ( 𝑗 ω)+ ω2𝑛 (− ω)2 +2 𝑗 ξ ω 𝑛 (ω)+ω 2𝑛 ω 2 ω
(1 − ) +2 𝑗 ξ
ω𝑛 ω𝑛
1
¿  𝐺 ( 𝑗 ω ) ∨¿
2
ω ω 2
√ [(1 − ) ¿ ¿ 2] +(2 𝑗 ξ
ω𝑛 ω𝑛
1
)¿

¿  𝐺 ( 𝑗 ω ) ∨¿𝑑𝐵 =20 𝐿𝑜𝑔 2 2 2 2

¿
ω ω ω ω
√ [(1 −
ω𝑛 ω𝑛 ω𝑛 √
) ¿ ¿ 2] +(2 𝑗 ξ ) =− 20 𝐿𝑜𝑔 [(1− )¿ ¿2] +(2 𝑗 ξ ) ¿ ¿
ω𝑛

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  𝑭𝒐𝒓 𝝎 ≪𝝎 𝒏

 𝑰 𝒕 𝒊𝒔 𝒕𝒓𝒖𝒆 𝒕𝒉𝒂𝒕 :
  ( 𝑗 ω )≃ 1
𝐺 =1
1+ 0 𝑗

 |𝐺 ( 𝑗 ω )|=¿ 1∨¿ 1

¿  𝐺 ( 𝑗 ω ) ∨¿𝑑𝐵 =20 𝐿𝑜𝑔 ( 1 )=0 𝑑𝐵 ¿

It follows that for low frequencies the magnitude

curve has a horizontal asymptote drawn at a height of
0dB

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  𝑭𝒐𝒓 𝝎 ≫𝝎 𝒏
 𝑰 𝒕 𝒊𝒔 𝒕𝒓𝒖𝒆 𝒕𝒉𝒂𝒕 :
This
  expression is a linear function, therefore it is represented
1 1
graphically as a straight line for ω = passes through the value
  ( 𝑗 ω)≃
𝐺 ≃ − of 0dB and whose slope is -40dB /decade.
ω 2 ω ω 2
−
( )
ω𝑛
+2 𝑗 ξ
ω𝑛
( )
ω𝑛
2
1 1 ω𝑛
|  𝐺 ( 𝑗 ω )|≃ ( )
|( −
ω
ω𝑛
2

) +2 𝑗 ξ
ω
ω𝑛
=
ω
|(
ω𝑛
2

)
=
ω

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  The resonance frequency at which this peak occurs would be:

 𝑭𝒐𝒓 𝝎=𝝎 𝒏 And the peak resonance , which is the maximum value of this would be :

Therefore at this point said value must be taken into account to represent
 𝑰 𝒕 𝒊𝒔 𝒕𝒓𝒖𝒆 𝒕𝒉𝒂𝒕 :
the actual system curve.
 

Near
  the crossover frequency A resonance
peak occurs because of the dependence on
the value of ξ .

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 In the following graph the magnitude curve of the bode diagram will be superimposed.

And the asymptotes that have been determined Given the proximity between the asymptotes and the actual
curve it is common to approximate this as a composition of the other parts for high and low frequencies since
the representation of this is independent of the value of "ξ" you must have the value of this peak to modify the
graph.

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To obtain the graph of the Bode plot of the system, there must be a sum done of all the drawings of
Bode plots of the factors determined from the transfer function.
𝑘 ω2𝑛 2
  ( 𝑠 )=
𝐺 2 2
= 2
  𝟏
𝑮𝒓𝒂𝒑𝒉
  𝑲 =𝟐 𝑠 +2 ξ ω 𝑛 𝑠 +ω 𝑛 𝑠 +0.3 𝑠+1
𝒔 𝟐+𝟎 . 𝟑 𝒔 +𝟏

 
=0.15

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Universidad Politécnica Salesiana Ingeniería Automotriz Teoría de Control
Matlab – Bode Codes
Bode Diagram
50

Magnitude (dB)
0 System: G
Frequency (Hz): 0.216
Magnitude (dB): 17.3
-50

-100
-90

System: G
-135 Frequency (Hz): 0.212

Phase (deg)
Phase (deg): -180
-180

-225

-270
10-2 10-1 100 101
Frequency (Hz)

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Obtain the phase margin and gain of the following expression by Bode
diagram
 

>> Func=tf([10 30],[1 3 4 4 0])

Func =

10 s + 30
-------------------------
s^4 + 3 s^3 + 4 s^2 + 4 s

Continuous-time transfer function.

>> bode(Func, {0.1, 100})

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Conclusions

• The Bode plots are of wide application in Control Engineering, as they allow to represent the
magnitude and phase of the transfer function of a system, be it electrical, mechanical, etc.
• Their use allows us in a simplified way, to obtain the shape of the diagram, to syntonize different
controllers by using advance or delay networks, and the concepts of phase margin and gain margin,

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Bibliography

[1] https://controlautomaticoeducacion.com/control-realimentado/1-diagrama-de-bode/
[2] https://www.youtube.com/watch?v=ci8FkmvcPTM
[3] https://www.youtube.com/watch?v=oaHdlw7Pyi4
[4] FUNDAMENTOS DE CONTROL AUTOMÁTICO DE SISTEMAS CONTINUOS Y MUESTREADOS – Dr.
Jorge Juan Gil Nobajas y Dr. Ángel Rubio Díaz Cordovés

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Thank you for your attention