Lecture 14

ME 461
Control Engineering
Semester: February 2015
Dr. Sumon Saha
Assistant Professor
Department of Mechanical Engineering
Bangladesh University of Engineering and Technology
Wednesday, June 17, 2015
Control
Engineering
Todays topic
System Analysis: Bode Plot
Control
Engineering
Bode Plot
Consider following Transfer Function

K 1( s + z1 )( s + z2 )...( s + zm )
G (s) =
2
s s
N
s ( s + p1 )( s + p2 ) ... ( s + pn ) 1 + 2
+
n n
Put s = j
G ( j ) =
K 1( j + z1 )( j + z2 )...( j + zm )
2
j
j
N
( j ) ( j + p1 )( j + p2 ) ... ( j + pn ) 1 + 2
+

n
n
Arrange in following form

G ( j ) =
K 1(1 + jT1 )(1 + jT2 )...(1 + jTm )

2
j j
N
( j ) (1 + jTa )(1 + jTb ) ... (1 + jTn ) 1 + 2
+

n n
G( j) =| G( j) | G( j)
Magnitude Phase Angle
Control
Engineering
Bode Plot
It is the graphical representation of transfer function to find out

the stability of control system.
Bode Plot consists of two plots
Magnitude ( 20 log10 | G ( jw) | dB) versus frequency plot ()
Phase angle ( G( jw) ) versus frequency plot ()
K ( s + z1 )( s + z2 )
G(s) =
s ( s + p1 )( s + p2 )( s 2 + as + b)
Control
Engineering
Logarithmic coordinate
2
Decade :dec = log10
1
Octave : oct = log 2 2

1
dB
3 4
10
20
100
Control
Engineering
Bode Plot
How to draw different slopes
Control
Engineering
Case I : K > 0
Bode Plot
GH (dB )
Magnitude:
K
dB
= 20 log K (dB )
0.1
10
GH
Phase:
K = 0
1800
o
900
0
Control
Engineering
1
Case II :
sp
Bode Plot
40
GH (dB )
20
p=2
p =1
Magnitude:
1
( j )
0.1
10
= 20 p log (dB)
GH
dB
900
Phase:
1
( j )
00
p =1
0
90
= (90o ) p
180
p=2
Control
Engineering
Case III : s
Bode Plot
p=2
40
GH (dB )
20
p =1
Magnitude:
0.1
( j ) p
dB
10
= 20 p log (dB)
GH
Phase:
( j ) p = (90 o ) p
180
90
00
900
1800
p=2
p =1
Control
Engineering
Bode Plot
Case IV :
GH (dB)
a
1
or ( s + 1) 1
( s + a)
a
Magnitude:
(1 + j
0.1
10
) 1
dB
= 20 log 1 + ( ) 2
a
= 10 log[1 + ( ) 2 ]
a
a 0 dB = 10 log1 = 0
a

a 1 + j dB 20 log
a a
dB = [20 log 20 log a]
= a 1 + j1 dB = 10 log 2 = 3.01
a =1
20 dB/decade
Control
Engineering
Case IV :
Bode Plot
GH (dB)
a =1
a
1
or ( s + 1) 1
( s + a)
a
0.1
10
20 dB/decade
Phase:
(1 + j
GH
0
) = 0 tan
1800
900
a 0 GH tan 1 0 = 0o
a
a GH tan 1 = 90o
a
= a 450
900
1800
45o /decade
Control
Engineering
Bode Plot
Case V :
GH (dB)
a =1
( s + a)
1
or ( s + 1)
a
a
Magnitude:
(1 + j
0.1
)
dB
= 20 log 1 + ( ) 2
a
= 10 log[1 + ( ) 2 ]
a
a 0 dB = 10 log1 = 0
a

a 1 + j dB 20 log
a a
dB = 20 log 20 log a
= a 1 + j1 dB = 10 log 2 = 3.01
+20 dB/decade
10
Control
Engineering
Bode Plot
Case V :
GH (dB)
a =1
( s + a)
1
or ( s + 1)
a
a
0.1
Phase:
(1 + j
a
a
a
GH
) = tan
1800
900
0 GH tan 1 0 = 0o
GH tan = 90
1
900
1800
+20 dB/decade
10
= a 450
+45o /decade
Control
Engineering
Bode Plot
Control
Engineering
Bode Plot
What are the advantages of using Bode plot for frequency

response analysis?
Bode diagram consists of two plots:
1.A plot of the logarithm of the magnitude of a sinusoidal transfer
function against the frequency on a log scale.
2.A plot of the phase angle against the frequency on a logarithmic
scale.
Advantages:
1.Multiplication of magnitudes can be converted into addition.
2.A simple method for sketching an approximate log-magnitude
curve based on asymptotic approximations is available.
3.Expanding the low-frequency range by use of a logarithmic
scale for the frequency is highly advantageous, since
characteristics at low frequencies are most important in practical
systems.
Control
Engineering
Bode Plot
Plot the asymptotic attenuation and phase angle diagram for an

open-loop transfer function
G(s) =
25( s + 2)
s 2 + 10.5s + 5
25( s + 2)
25( s + 2)
G(s) =
=
s 2 + 10.5s + 5 ( s + 10)( s + 0.5)
s + 2 0.5 10
= 10
2 s + 0.5 s + 10
25( j + 2)
G ( j ) =
( j + 10)( j + 0.5)
10(0.5 j + 1)
G ( j ) =
(0.1 j + 1)(2 j + 1)
Control
Engineering
Bode Plot
10(0.5 j + 1)
G ( j ) =
(0.1 j + 1)(2 j + 1)
Control
Engineering
Bode Plot
Control
Engineering
Bode Diagram (Phase Plot)
90
s+2
_______
Phase (d
deg)
45
2
10
10
_______
s + 10
-45
0.5
_________
-90
s + 0.5
Composite asymptotic
phase angle
-135
-180 -2
10
10-1
100
101
Frequency, (rad/sec)
102
103
Control
Engineering
Actual Bode Plot
Control
Engineering
Bode Plot: Gain and Phase Margin
Gain Margin: It is the amount of gain in db that can be

added to the system before the system become unstable.
GM in dB = 20log10(1/|G(j|) = -20log10|G(j|
Gain cross-over frequency: Frequency where magnitude
plot intersect the 0dB line (x-axis) denoted by g
Phase Margin: It is the amount of phase lag in degree that
can be added to the system before the system become
unstable.
PM in degree = -1800+angle[G(j)]
Phase cross-over frequency: Frequency where phase
plot intersect the -1800 dB line (x-axis) denoted by p
Less PM => More oscillating system
Control
Engineering
Bode Plot: Gain and Phase Margin
Gain crossover frequency: g

phase crossover frequency: p
Control
Engineering
Open loop transfer function
Bode Plot: Stability

G ( s) H ( s)
Closed-loop transfer function : 1 + G ( s) H ( s)

Open loop Stability poles of G ( s ) H ( s) in LHP
Im
Closed-loop Stability
poles of G ( s ) H ( s) in left side of (-1,0)
RHP
Re
(1,0)
(0,0)
Control
Engineering
Stability by Bode Plot
1. Stable
If wg<wp
GM & PM are +ve
2. Unstable
If wg>wp
GM & PM are ve
3. Marginally stable
If wg=wp
GM & PM are zero
Control
Engineering
GH (dB)
G.M.<0
0 dB
Unstable system
GH
1800
Stable system
900
180
p
P.M.<0
Unstable system
Control
Engineering
Example: Bode Plot
Example 1:Construct a Bode plot for a system with open

loop transfer function
1000
G(s) =
(1 + 0.1s )(1 + 0.001s )
Determine
(i) the gain margin (GM)
(ii) the phase margin (PM)
(iii) the nature of stability
1000
10 1000
G( s ) =
= 1000
( 1 + 0.1s )( 1 + 0.001s )
s + 10 s + 1000
Control
Engineering
Example: Bode Plot
Solution:
1. Convert the TF in following standard form & put s=j
1000
G ( j ) =
(1 + 0.1 j )(1 + 0.001 j )
2. Find out corner frequencies
1
1
= 1000
= 10
0 . 001
0 .1
So corner frequencies are 10, 1000 rad/sec
Control
Engineering
Bode Diagram (Magnitude Plot)
60
20log1000 = 60
Magnitude
e (dB)
40
20
attenuation
g = 3100 rad/s
0
+GM = 2
-20
______________
0.001s + 1
-40
1
___________
-60
-80 0
10
0.1s + 1
101
102
103
104
Control
Engineering

1000
______________
0.001s + 1
Phase (d
deg)
-45
___________
0.1s + 1
-90
-135
phase angle
+PM = 23o
-180
p = 10000 rad/s
-225
10-1
100
101
102
103
104
105
Control
Engineering
Actual Bode Plot
Control
Engineering
Practice: Bode Plot
Construct a Bode plot for a system with open loop transfer

function
200
G ( s) =
( s + 2 ) ( s + 4)(s + 5)
Determine
(i) the gain margin (GM)
(ii) the phase margin (PM)
(iii) the nature of closed loop stability
200
2 4 5
G ( s) =
= 5
( s + 2 ) ( s + 4)( s + 5) s + 2 s + 4 s + 5
Control
Engineering
Bode Diagram (Magnitude Plot)
40
20log5 = 14
20
5
Magnitude
e (dB)
0
-20
+GM = 5.5
_______
s+5
_______
g = 5.8 rad/s
s+4
-40
-60
2
_______
-80
attenuation
-100
-120 -1
10
100
101
102
s+2
103
Control
Engineering

5
_______
s+5
Phase (d
deg)
-45
_______
s+4
-90
_______
phase angle
-135
+PM = 13.5
-180
-225
10-2
10-1
s+2
p = 7.2 rad/s
100
101
102
Control
Engineering
Actual Bode Plot
Control
Engineering
Extra Reading: Bode Plot
1. What are break points or corner frequency? What

are their significance in frequency response analysis?
2. Sketch the Bode plot for a simple log function. Show
that at Break point, the actual curve for magnitude
ratio is attenuated by -3db.

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ME 461

System Analysis: Bode Plot

Consider following Transfer Function

Arrange in following form

K 1(1 + jT1 )(1 + jT2 )...(1 + jTm )

Magnitude Phase Angle

It is the graphical representation of transfer function to find out

Octave : oct = log 2 2

How to draw different slopes

What are the advantages of using Bode plot for frequency

Plot the asymptotic attenuation and phase angle diagram for an

Bode Diagram (Phase Plot)

Actual Bode Plot

Bode Plot: Gain and Phase Margin

Gain Margin: It is the amount of gain in db that can be

Bode Plot: Gain and Phase Margin

Gain crossover frequency: g

Bode Plot: Stability

Closed-loop transfer function : 1 + G ( s) H ( s)

Bode Plot: Stability

Bode Plot: Stability

Example: Bode Plot

Example 1:Construct a Bode plot for a system with open

Example: Bode Plot

Bode Diagram (Magnitude Plot)

Bode Diagram (Phase Plot)

Actual Bode Plot

Practice: Bode Plot

Construct a Bode plot for a system with open loop transfer

Bode Diagram (Magnitude Plot)

Bode Diagram (Phase Plot)

Actual Bode Plot

Extra Reading: Bode Plot

1. What are break points or corner frequency? What

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