Control Systems

Lecture 5 - Bode Plots (Phase vs Frequency)

Lecture 5 Bode Plots

(Phase vs Frequency)

Phase vs Frequency Bode Plot For A

First Order System
Consider a system modelled by the transfer function
G (s) =

Determine asymptotic approximations for

Phase vs Freq Bode plots of common
subsystems
Drawing Phase vs Freq Bode plots for
complex systems

Asymptotic Approximation For A First

Order System Phase Plot
A good approximation for the phase vs frequency bode plot
of a first order system is three straight lines (asymptotic
approximations).
For low frequencies, (up to = 0.1/T rad/sec), = 0
For frequencies 0.1/T < < 10/T rad/sec the phase angle is
approximated by a straight line at - 45 /dec with = - 45
when = 1/T.
For high frequencies, (above = 10/T rad/sec) = -90.

Correction Factors For First Order

Phase Plots
Correction factors apply at break frequencies
First order phase correction factor is when = 0.1/T
and = 10/T
= tan 1 01
. = 6
= tan 1 10 = 84
Hence the correction factor at each break frequency is
said to be 6 degrees.

1
1 + sT

The phase shift angle is therefore

1
=

1 + jT
0
T
= tan 1 tan 1 = tan 1 T
1
1

Phase vs Frequency Bode Plot For A

First Order System
0
-10
-20
-30
-40
d( eg) -50
-60
-70
-80
-90
0.01
T

(rad/s)
0.1
T

1
T

10
T

100
T

2nd Order System Phase Plots

Consider two first order subsystems in series with
identical Time Constants. This will give a critically
damped second order system with n = 1/T.
Since we can add the phase angles of the subsystems
together the phase plot can be approximated by three
straight lines:
For low frequencies, (up to = 0.1n rad/sec), = 0
For frequencies 0.1n < < 10n rad/sec the phase angle is
approximated by a straight line at - 90/dec.
For high frequencies, (above = 10n rad/sec) = -180

D.A.Germany - Aerospace, Automotive & Design Engineering

Control Systems
Lecture 5 - Bode Plots (Phase vs Frequency)

2nd Order System Phase Plots

0
-20
-40
-60
-80

(deg) -100
-120
-140
-160
-180

(rad/s)

0.01 n

0.1 n

10 n

100 n

Asymptotic Approximations of Phase vs

Frequency Bode Plots
G (s) = s

G (s) = K

G (s) = 1 + sT

90

90

G (s) =

-90

There is no specific phase correction factor for second

order systems, but if = 1 the second order system can
be treated as two identical first order system with a
corresponding correction factor of 12 at 0.1n and
10n.
If < 1 the correction factor will be less than 12.
If > 1 the system can be split into two first order
systems

Phase Bode Plot With A Pure Time Delay

Since a pure time delay only effects the phase shift, ( = - TD
in radians), we can only tell if the system contains a pure time
delay by looking at the phase Bode plot.

45
0

Correction Factor For A 2nd Order

System Phase Plots

1
s

G ( s) =
0

1
1 + sT

0.1/T 1/T

G (s) =
10/T

-45

-90

-90

-180

0.1/T 1/T 10/T

2n
s2 + 2 ns + 2n
n

0
-20
-40
-60
-80

(deg) -100
-120
-140
-160
-180

Summary of Lecture 5
Use straight line approximations to draw
phase vs freq Bode plots in the same way as
gain vs freq.
Correction factor for first order phase angle
at break freqs is 6 degrees
For a system with a pure time delay, draw
Bode plot without delay then add effect of
delay on phase plot afterwards.

D.A.Germany - Aerospace, Automotive & Design Engineering

(rad/s)

G ( s) =

s+ 4
= 8 (1 + 0.25 s)
+
+
s( s 0.5)( s 1)

1 1 1

s 1 + 2 s 1 + s

20dB/dec
1

20log10(8)

3dB
0
4

0.5
0

-20dB/dec

0
-3dB

-3dB

-20dB/dec

-20dB/dec