MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT.
OF EEE
Bandwidth ωb in the frequency response is inversely proportional to the rise time tr in the
time domain transient response.
Bode plots
The Bode plot or the Bode diagram consists of two plots −
Magnitude plot
Phase plot
In both the plots, x-axis represents angular frequency (logarithmic scale). Whereas, yaxis
represents the magnitude (linear scale) of open loop transfer function in the magnitude plot
and the phase angle (linear scale) of the open loop transfer function in the phase plot.
The magnitude of the open loop transfer function in dB is -
The phase angle of the open loop transfer function in degrees is -
Basic of Bode Plots
The following table shows the slope, magnitude and the phase angle values of the terms
present in the open loop transfer function. This data is useful while drawing the Bode plots.
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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE
CONTROL SYSTEMS
MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE
CONTROL SYSTEMS
MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE
The magnitude plot is a horizontal line, which is independent of frequency. The 0 dB line
itself is the magnitude plot when the value of K is one. For the positive values of K, the
horizontal line will shift 20logK dB above the 0 dB line. For the negative values of K, the
horizontal line will shift 20logK dB below the 0 dB line. The Zero degrees line itself is the
phase plot for all the positive values of K.
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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE
Consider the open loop transfer function G(s)H(s)=s
Magnitude M=20logω dB
Phase angle ϕ=900
At ω=0.1rad/sec, the magnitude is -20 dB.
At ω=1rad/sec, the magnitude is 0 dB.
At ω=10 rad/sec, the magnitude is 20 dB.
The following figure shows the corresponding Bode plot.
The magnitude plot is a line, which is having a slope of 20 dB/dec. This line started
at ω=0.1rad/sec having a magnitude of -20 dB and it continues on the same slope. It is
touching 0 dB line at ω=1 rad/sec. In this case, the phase plot is 900 line.
Consider the open loop transfer function G(s)H(s)=1+sτ.
Magnitude
Phase angle
For , the magnitude is 0 dB and phase angle is 0 degrees.
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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE
For , the magnitude is 20logωτ dB and phase angle is 900.
The following figure shows the corresponding Bode plot
The magnitude plot is having magnitude of 0 dB upto ω=1τω=1τ rad/sec. From ω=1τ rad/sec,
it is having a slope of 20 dB/dec. In this case, the phase plot is having phase angle of 0 degrees
up to ω=1τ rad/sec and from here, it is having phase angle of 900. This Bode plot is called
the asymptotic Bode plot.
As the magnitude and the phase plots are represented with straight lines, the Exact Bode
plots resemble the asymptotic Bode plots. The only difference is that the Exact Bode plots
will have simple curves instead of straight lines.
Similarly, you can draw the Bode plots for other terms of the open loop transfer function
which are given in the table.
Rules for Construction of Bode Plots
Follow these rules while constructing a Bode plot.
Represent the open loop transfer function in the standard time constant form.
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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE
Substitute, s=jωs=jω in the above equation.
Find the corner frequencies and arrange them in ascending order.
Consider the starting frequency of the Bode plot as 1/10th of the minimum corner
frequency or 0.1 rad/sec whichever is smaller value and draw the Bode plot upto 10
times maximum corner frequency.
Draw the magnitude plots for each term and combine these plots properly.
Draw the phase plots for each term and combine these plots properly.
Note − The corner frequency is the frequency at which there is a change in the slope of the
magnitude plot.
Example
Consider the open loop transfer function of a closed loop control syste
Stability Analysis using Bode Plots
From the Bode plots, we can say whether the control system is stable, marginally stable or
unstable based on the values of these parameters.
Gain cross over frequency and phase cross over frequency
Gain margin and phase margin
Phase Cross over Frequency
The frequency at which the phase plot is having the phase of -1800 is known as phase cross
over frequency. It is denoted by ωpc. The unit of phase cross over frequency is rad/sec.
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