Lesson 11

Bode Diagram

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Viewpoints of analyzing control system

behavior

Routh-Hurwitz (s j )
Root locus (s j )
Bode diagram (plots) (s j )
Nyquist plots (s j )
Nicols plots (s j )
Time domain
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r (t ) A sin t

L.T.I system

Magnitude:
r (t )

Phase:

G(s)

Y ( s)
G ( s)

R( s) 1 G ( s) H ( s)

Magnitude:

B
A

y (t ) B sin(t )

G ( j )

y (t )

Steady state response

H(s)

s j s j
Phase:

1 G ( j ) H ( j )
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G ( j )
[1 G ( j ) H ( j )]

Logarithmic coordinate
Decade : dec log10

2
1

Octave : oct log 2

2
1

dB

3 4

10

20

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100

Y (s)
k ( s z1 )( s z 2 )

R( s ) ( s p1 )( s p2 )( s 2 as b)
GH (dB )

Case I : k
Magnitude:

0.1

10

k dB 20 log k (dB)
GH

1800

Phase:

0
k
o
180

, k 0
, k 0

900

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Case II :

1
sp

Magnitude:
1
( j ) p

0.1

dB

1
o

90
) p
p
( j )

p2

p 1

20 p log (dB )

Phase:

GH (dB )

10

GH

900
90 0
1800

p 1

p2

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Case III : s p
GH (dB )

Magnitude:
( j ) p

dB

p 1

20 p log (dB )
0.1

GH

Phase:
( j ) (90 ) p
p

p2

180

90

10

p2
p 1

90 0
1800

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a
1
1
or
(
s

1
)
Case IV : ( s a)
a

Magnitude:

a 1

GH (dB )

)
20 log 1 ( ) 2
a dB
a

10 log[1 ( ) 2 ]
a
(1 j

0 dB 10 log 1 0
a

a 1 j dB 20 log
a a
a
dB [20 log 20 log a ]

0.1

10

a 1 j1 dB 10 log 2 3.01

Phase:

0
1
(1 j ) 0 tan
a
a

GH

a 450

180 0
900

900
180 0

a 0 GH tan 1 0 0 o
a

1
a GH tan automatique
90o
a

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Case V : ( s a ) or ( 1 s 1)
a

a 1

Magnitude:

GH (dB )

) 20 log 1 ( ) 2
a dB
a

10 log[1 ( ) 2 ]
a
(1 j

0 dB 10 log 1 0
a

a 1 j dB 20 log
a a
a
dB 20 log 20 log a

0.1

10

a 1 j1 dB 10 log 2 3.01

Phase:

1
(1 j ) tan
a
a

GH

180 0
900

900
180 0

0 GH tan 1 0 0 o
a

a GH tan 1automatique
90o
a
a

a 450

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10

Case VI :

n2
T ( s) 2
s 2 n s n2

n2
T ( j )
2
( n 2 ) 2 j n
T ( j )

T ( j )

(1 ( ) ) j 2
n
n

T ( j ) tan 1

2 n
2
( n 2 )

n
1
T ( j ) tan
2
1 ( )
n
2

,
1
0 ,
1
n
00 n

0
1
20 log(2 ) ,
1 T ( j ) 90 ,
n
180o n

40 log( ) ,
1
,

1
n
n
n
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Example :

50( s 2)
T (s)
s ( s 10)
1 s 2 10
T ( s) 10( )(
)(
)
s
2
s 10

Example : page 6-24

Example : page 6-28

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MATLAB Method
kGH ( s )

k
s (1 0.5s )(1 0.1s )

g1=zpk([],[0 2 -10],[1])
bode(g1)

kGH ( s )

g1

k (3s 9)
s 4 s 3 s 2 15s

g2

g2

n=[-3 -9]
m=[1 1 1 15 0]
g2=tf(n,m)
bode(g1,g2)

g1

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Identification

F ( s ) 16

15 150
s 15 s 150

Example 6-39

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Minimum phase system

k ( s z1 )
T ( s) n
, zi 0, pi 0
s ( s p1 )

Type 0 : (i.e. n=0)

T (s)

k p p1
( s p1 )

20 log K p A

0dB/dec

GH (dB )

A
0.1 p1

p1

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10 p1

17

Type I : (i.e. n=1)

k v p1
T (s)
s ( s p1 )

GH (dB )

-20dB/dec

A
10 p1

20 log K v A

0.1 p1 1

p1

Kv
20 log
0dB
j 0

-40dB/dec

0 kv
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Type 2 : (i.e. n=2)

k a p1
T (s) 2
s ( s p1 )

-40dB/dec
GH (dB )

A
0

20 log K a A

0.1 p1 1

Ka
20 log
0dB
2
( j 0 )

p1

10 p1

-60dB/dec

0 k a
2

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Relative stability
A transfer function is called minimum phase when all
the poles and zeros are LHP and non-minimum-phase
when there are RHP poles or zeros.
Minimum phase system

Stable

The gain margin (GM) is the distance on the bode magnitude

plot from the amplitude at the phase crossover frequency up
to the 0 dB point. GM=-(dB of GH measured at the phase
crossover frequency)
The phase margin (PM) is the distance from -180 up to the
phase at the gain crossover frequency. PM=180+phase of
GH measured at the gain crossover frequency
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Open loop transfer function : 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)

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(0,0)

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 0dB
(1,0)
0

180

GH (dB )

Gain crossover frequency: g

phase crossover frequency: p

G.M.>0
GH

1800
90

Stable system

900
180

P.M.>0

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GH (dB )

G.M.<0

Unstable system

GH

1800
90

Stable system

900
180

p
P.M.<0
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Unstable system
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