Bode Diagram
Bode Diagram
Bode Diagram
The term frequency response means the steady state output due to sinusoidal input. The
following figure shows that the frequency response of any linear system G(s) is sinusoidal
having the same frequency as the input but with a different amplitude (due to the system gain)
and also having a phase shift (due to the system lag).
A.sin(ωt) kA.sin(ωt+φ)
G(s)
Bode Diagram
0
-10
Magnitude (dB)
-20
-30
-40
0
Phase (deg)
-45
-90
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
jω jω
+ 1 + 1
L( jω ) = 0.24 2 6
jω jω
jω ( jω + 1) + 1 + 1
5 10
The system can be composed of
0.24
• Singularity:
jω
1 jω 1 jω 1
• 1st order: , + 1, , + 1,
( jω + 1) 2 jω + 1 6 jω + 1
5 10
The break frequencies are
ωbreak = 1, 2, 5, 6, 10 rad / sec . So choose the plot starting frequency to be equal to or less than
tens of the lowest break frequency ( ωstart = 0.1rad / sec )
Then we start to plot the magnitude curve by plotting the low frequencies portion which is
related to the singularity term K 0 ( jω ) n .
Here, K 0 ( jω ) n = 0.24( jω ) −1 then, when ω = 1 the magnitude 20 log L( jω ) = 20 log 0.24 = −12.4
and the slope of the amplitude ratio curve is –20dB/decade.
The curve slope changes at each break point according to the following general rule “Any break
frequency in the denominator will decrease the slope by 20dB/decade and vice versa”.
• At ωbreak = 1 the slope changes by -20 dB/decade since this break point corresponds to a
first order term in the denominator
• At ωbreak = 2 the slope changes by+ 20dB/decade since this frequency corresponds to a
first order term in the numerator
• At ωbreak = 5 the slope will change by -20dB/decade
• At ωbreak = 6 the slope will change by +20dB/decade
• And at ωbreak = 10 the slope will change by -20dB/decade.
This plot is an asymptotic (not exact) plot.
Both The magnitude curve and the phase curve are plotted on semi-log sheets. The frequency
range is very wide and it’s preferred to study the variations clearly in both the low and high
frequency ranges; such a matter is not available except with the log scale.
Phase Bode Plot:
To get the exact phase plot construct the following table using :
φ = ∠L( jω ) = ∠0.24 + ∠(0.5 jω + 1) + ∠(0.167 jω + 1) − ∠( jω ) − ∠( jω + 1) − ∠(0.2 jω + 1) − ∠(0.1 jω + 1)
0 .5 w 0.167 w w 0 .2 w 0.1w
φ = ∠L( jω ) = 0 + tan −1 + tan −1 − 90 − tan −1 − tan −1 − tan −1
1 1 1 1 1
ω (rad / sec .) φ
0.1 -93.6
0.2 -97.1
0.5 -106.3
0.6 -108.8
1 -116.0
2 -123.1
5 -132.3
6 -135.1
10 -145.0
20 -158.9
50 -171.0
60 -172.4
100 -175.4
We usually substitute for ω by the break frequencies values, their tens, and ten times.
Example 2: Plot the bode diagram for the following open loop transfer function:
s 2 + 2s + 8
L( s) =
s ( s 2 + 2s + 10)
Magnitude Bode Plot:
1st put the T.F. in the Bode form
s 2 2s s2 s ( jω ) 2 jω
8 + + 1 0.8 + + 1 0.8
+ + 1
2 8 8 8 4 8 4
= 2 = =
s + 2s + 8
L( s) = 2
s ( s + 2 s + 10) s 2s s 2
s jω 2
jω
10 s + + 1 s + + 1 ( jω ) + + 1
10 10 10 5 10 5
The break frequencies are
ωbreak = 8 = 2.83, 10 = 3.16 rad / sec ωstart = 0.1 rad / sec
2nd start to plot the magnitude curve by plotting the low frequencies portion which is related to
the K 0 ( jω ) n term.
Here, K 0 ( jω ) n = 0.8( jω ) −1 then, when ω = 1 the magnitude 20 log L( jω ) = 20 log 0.8 = −1.9 and
the slope of the amplitude ratio curve at this point is -20dB/decade.
The curve slope changes at each break point as follows:
At ωbreak = 2.83 the slope changes by +40 dB/decade ;since this break point corresponds to a
second order term in the numerator, and at ωbreak = 3.16 the slope changes by - 40 dB/decade
since this frequency corresponds to a second order term in the denominator.
- We can obtain the Bode diagram using MATLAB by writing the following code:
num = [1 2 8];
den = [1 2 10 0]
bode(n,d)
grid on