CONTROL SYSTEM:

UNDERSTANDING
BODE PLOTS

1
Topic/Title: Understanding Bode Plots......................................................................................3
Overview:................................................................................................................................3
Learning Objectives:............................................................................................................. 3
Learning Contents/Discussion:................................................................................................ 3
Introduction to Bode Plots: Historical background: Dr. Henrik Wayne Bode’s Contribution.....3
Basic of Bode Plots............................................................................................................4
Frequency Response Representation: Magnitude and Phase.......................................... 5
Magnitude Plot................................................................................................................... 5
Phase Response................................................................................................................6
Magnitude Plot................................................................................................................... 7
➔ Plot Characteristics................................................................................................. 7
➔ Interpretation........................................................................................................... 7
➔ Gain Expressed in Decibels (dB)............................................................................ 7
➔ How to read and gain information from the plot...................................................... 8
Phase Plot..........................................................................................................................8
➔ Phase Shift Expressed in Degrees..........................................................................8
➔ Interpreting Phase Information................................................................................ 8
Gain and Phase Margins................................................................................................. 10
Gain Margin............................................................................................................... 10
Phase Margin............................................................................................................. 11
How to Draw Bode Plot.............................................................................................. 11
For drawing the Bode Magnitude Plot:.................................................................12
For drawing the Bode Phase Plot........................................................................ 12
Bode Stability Criterion.............................................................................................. 12
Advantages of a Bode Plot........................................................................................ 12
Stable and Unstable Systems..........................................................................................13
Learning Points/Summary................................................................................................13
Learning Activities............................................................................................................13
References:......................................................................................................................14

2
Topic/Title: Understanding Bode Plots

Overview:
Bode plots are essential tools in control system engineering. They help us analyze the
frequency response of linear time-invariant systems. In this module, we’ll explore how
Bode plots work, interpret their components, and understand their significance.

Learning Objectives:
By the end of this module, learners will be able to:
● Define Bode plots and their purpose.
● Describe the two components of Bode plots: magnitude and phase.
● Understand the concept of gain and phase margins.
● Apply Bode plots to analyze system stability.

Learning Contents/Discussion:

Introduction to Bode Plots: Historical background: Dr. Henrik Wayne Bode’s

Contribution.

Dr. Hendrik Wade Bode was an American engineer,

researcher, inventor, author, and scientist of Dutch
ancestry. He made significant contributions to the fields
of control theory, electronic engineering, and
telecommunications.

Bode was a pioneer of modern control theory and

revolutionized both the content and methodology of his
chosen fields of research. His work with Claude
Shannon, the father of information theory, laid the
foundations for the technological convergence of the
information age.

During World War II, Bode made important contributions to the design, guidance, and
control of anti-aircraft systems. He helped develop the automatic artillery weapons that
defended London from the V-1 flying bombs.

After the war, Bode served as a member of the National Advisory Committee for
Aeronautics (NACA), the predecessor of NASA, alongside Wernher von Braun, the
developer of the V-2 rocket.

In the Cold War era, Bode contributed to the design and control of missiles and
anti-ballistic missiles. He also made significant contributions to control systems theory
and mathematical tools for the analysis of stability of linear systems, inventing Bode
plots, gain margin, and phase margin.

Bode was one of the great engineering philosophers of his era, and his research
contributions were multidimensional and far-reaching, extending as far as the U.S.
space program. He is widely known to modern engineering students for developing the
asymptotic magnitude and phase plot that bears his name, the Bode plot.

3
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.

4
The following figure shows the corresponding Bode plot.

Frequency Response Representation: Magnitude and Phase

In control systems and signal processing, frequency response is a crucial concept that
describes the behavior of a system in response to different frequencies of input signals.
The frequency response of a system can be represented in two ways: magnitude and
phase.

Magnitude Plot
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 20 log K dB above the 0 dB line. For the negative values of K,
the horizontal line will shift 20 log K dB below the 0 dB line. The Zero degrees line itself
is the phase plot for all the positive values of K.

Consider the open loop transfer function 𝐺(𝑠)𝐻(𝑠)=𝑠.

The following figure shows the corresponding Bode plot.

5
The magnitude plot is having magnitude of 0 dB up to 𝜔=1/𝜏 rad/sec. From
𝜔=1/𝜏 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=1/𝜏 rad/sec and from here, it is
having a phase angle of 90 degree. 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.

Phase Response
The phase response of a system is a plot of the phase shift or angle of the system
versus frequency. It shows how much the system delays or advances the input signal at
different frequencies. The phase response is usually denoted by ∠H(jω) or φ(f), where
H(jω) is the transfer function of the system.

The phase response can be represented in degrees or radians using the following
equation:

∠H(jω) = tan^(-1) (Im[H(jω)] / Re[H(jω)])

A positive value of ∠H(jω) indicates a phase lead, while a negative value indicates a
phase lag.

6
Magnitude Plot

The top semi-log scale plot in a Bode plot is the magnitude response plot, which shows
the gain or amplitude of the system versus frequency. Here's a breakdown of the plot:

X-Axis: Frequency (log scale)

The x-axis represents the frequency of the input signal, typically in units of Hz (Hertz).
The frequency axis is plotted on a logarithmic scale, which means that the frequency
values are spaced equally on a logarithmic scale. This allows us to visualize a wide
range of frequencies on a single plot.

Y-Axis: Gain or Amplitude (dB)

The y-axis represents the gain or amplitude of the system, typically in units of decibels
(dB). The gain is a measure of how much the system amplifies or attenuates the input
signal. A positive gain value indicates amplification, while a negative gain value
indicates attenuation.

➔ Plot Characteristics
The magnitude response plot typically exhibits the following characteristics:

● Low-frequency gain: At low frequencies, the gain is usually high, indicating that
the system amplifies low-frequency signals.
● Roll-off: As the frequency increases, the gain starts to decrease, indicating that
the system attenuates high-frequency signals. This is known as the roll-off
region.
● Cutoff frequency: The frequency at which the gain drops by 3 dB (or half power
point) is called the cutoff frequency. This frequency marks the boundary between
the passband and stopband of the system.
● High-frequency gain: At high frequencies, the gain is usually low, indicating that
the system attenuates high-frequency signals.

➔ Interpretation
By analyzing the magnitude response plot, we can infer the following information about
the system:

● Frequency response: The plot shows how the system responds to different
frequencies of input signals.
● Gain: The plot indicates the amount of amplification or attenuation of the input
signal at each frequency.
● Bandwidth: The plot helps us determine the bandwidth of the system, which is
the range of frequencies over which the system responds significantly.
● Filter characteristics: The plot can be used to identify the type of filter (e.g.,
low-pass, high-pass, band-pass, band-stop) and its characteristics (e.g., cutoff
frequency, roll-off rate).

➔ Gain Expressed in Decibels (dB)

In the magnitude plot, the gain is expressed in decibels (dB), which is a logarithmic
scale that represents the ratio of the output signal amplitude to the input signal
amplitude. The gain in dB is calculated using the following formula:

Gain (dB) = 20 * log10(Amplitude Ratio) where Amplitude Ratio is the ratio of the
output signal amplitude to the input signal amplitude.

7
 ➔ How to read and gain information from the plot.

Step 1: Identify the Frequency Axis

The x-axis represents the frequency of the input signal, typically in units of Hz (Hertz).
The frequency axis is plotted on a logarithmic scale, which means that the frequency
values are spaced equally on a logarithmic scale.

Step 2: Identify the Gain Axis

The y-axis represents the gain of the system, typically in units of decibels (dB).
A positive gain value indicates amplification, while a negative gain value indicates
attenuation.

Step 3: Identify Key Features

● Low-frequency gain: The gain at low frequencies, typically below 1 Hz. This
indicates the system's response to low-frequency signals.
● Roll-off: The region where the gain starts to decrease as frequency increases.
This indicates the system's response to high-frequency signals.
● Cutoff frequency: The frequency at which the gain drops by 3 dB (or half power
point). This marks the boundary between the passband and stopband of the
system.
● High-frequency gain: The gain at high frequencies, typically above 10 kHz. This
indicates the system's response to high-frequency signals.

Step 4: Analyze the Plot

● Gain at specific frequencies: Identify the gain at specific frequencies of interest,
such as the cutoff frequency or resonant frequency.
● Gain bandwidth: Determine the range of frequencies over which the gain is within
a certain range, typically ±3 dB.
● Roll-off rate: Measure the rate at which the gain decreases as frequency
increases, typically in dB/octave or dB/decade.
● Peaks and dips: Identify any peaks or dips in the gain response, which may
indicate resonances or anti-resonances in the system.

Phase Plot

In a Bode plot, the bottom semi-log scale plot represents the phase response of a
system. The x-axis is logarithmic, representing the frequency of the input signal, while
the y-axis is linear, representing the phase shift in degrees.

➔ Phase Shift Expressed in Degrees

The phase shift is expressed in degrees, which represents the amount of shift between
the input and output signals. A positive phase shift indicates that the output signal leads
the input signal, while a negative phase shift indicates that the output signal lags the
input signal.

➔ Interpreting Phase Information

To interpret the phase information from the plot, follow these steps:
Step 1: Identify the Phase Axis
● The y-axis represents the phase shift in degrees.
● A positive phase shift indicates a lead, while a negative phase shift indicates a
lag.

8
Step 2: Identify Key Features
● Phase shift at specific frequencies: Identify the phase shift at specific
frequencies of interest, such as the cutoff frequency or resonant frequency.
● Phase shift over a range of frequencies: Determine the phase shift over a
range of frequencies, which can indicate the system's response to different
frequency components.
● Phase shift at high frequencies: Identify the phase shift at high frequencies,
which can indicate the system's response to high-frequency noise or signals.

Step 3: Analyze the Plot

● Phase shift vs. frequency: Analyze the relationship between phase shift and
frequency, which can indicate the system's response to different frequency
components.
● Phase shift at poles and zeros: Identify the phase shift at poles and zeros,
which can indicate the system's response to specific frequency components.

9
Gain and Phase Margins

Gain Margin
Gain Margin Impact: A larger gain margin (GM) enhances system stability. Gain margin
is the maximum gain increase or decrease (measured in dB) that doesn’t compromise
stability.

We can usually read the gain margin directly from the Bode plot (as shown in the
diagram above). This is done by calculating the vertical distance between the
magnitude curve (on the Bode magnitude plot) and the x-axis at the frequency where
the Bode phase plot = 180°. This point is known as the phase crossover frequency.

Gain vs. Gain Margin: It’s crucial to understand that gain and gain margin are different.
Specifically, the gain margin is the negative value of gain measured in decibels (dB).

Gain Margin Formula

The formula for Gain Margin (GM) can be expressed as:

GM = 0 - G dB

10
 Where G is the gain. This is the magnitude (in dB) as read from the vertical axis of the
magnitude plot at the phase crossover frequency.

In our example shown in the graph above, the Gain (G) is 20. Hence using our formula
for gain margin, the gain margin is equal to 0 – 20 dB = -20 dB (unstable).

Phase Margin
The greater the Phase Margin (PM), the greater will be the stability of the system. The
phase margin refers to the amount of phase, which can be increased or decreased
without making the system unstable. It is usually expressed as a phase in degrees.

Reading Phase Margin: You can determine the phase margin from the Bode plot by
measuring the vertical distance from the phase curve to the x-axis at the gain crossover
frequency, where the magnitude plot intersects 0 dB.

It is important to realize that the phase lag and the Phase Margin are not the same
things. This will make sense when we look at the phase margin formula.

Phase Margin Formula

The formula for Phase Margin (PM) can be expressed as:

Where is the phase lag (a number less than 0). This is the phase as read from the
vertical axis of the phase plot at the gain crossover frequency.

In our example shown in the graph above, the phase lag is -189°. Hence using our
formula for phase margin, the phase margin is equal to -189° – (-180°) = -9° (unstable).

As another example, if an amplifier’s open-loop gain crosses 0 dB at a frequency where

the phase lag is -120°, then the phase lag -120°. Hence the phase margin of this
feedback system is -120° – (-180°) = 60° (stable).

How to Draw Bode Plot

Keeping all the above points in mind, we are able to draw a Bode plot for any kind of control
system. Now let us discuss the procedure of drawing a Bode plot:

1. Substitute the s = jω in the open loop transfer function G(s) × H(s).

2. Find the corresponding corner frequencies and tabulate them.
3. Now we are required for one semi-log graph to choose a frequency range such that the
plot should start with the frequency which is lower than the lowest corner frequency.
Mark angular frequencies on the x-axis, mark slopes on the left-hand side of the y-axis
by marking a zero slope in the middle, and on the right-hand side mark phase angle by
taking -180o in the middle.
4. Calculate the gain factor and the type of order of the system.
5. Now calculate the slope corresponding to each factor.

11
For drawing the Bode Magnitude Plot:

For drawing the Bode Phase Plot

1. Calculate the phase function adding all the phases of factors.
2. Substitute various values to the above function in order to find out the phase at different
points and plot a curve. You will get a phase curve.
3. Calculate the phase margin.

Bode Stability Criterion

The Bode Stability Criterion is defined as a method used in control system engineering to
determine the stability of a system. This criterion revolves around the analysis of the frequency
response of a system, specifically focusing on the phase margin and gain margin of the
system’s open-loop response.

The Bode Stability Criterion are listed below:

1. For a Stable System: Both the margins should be positive, or the phase margin should
be greater than the gain margin.
2. For Marginal Stable System: The margins should be zero or the phase margin should be
equal to the gain margin.
3. For Unstable System: If any of them is negative or the phase margin should be less than
the gain margin.

Advantages of a Bode Plot

1. It is based on the asymptotic approximation, which provides a simple method to plot the
logarithmic magnitude curve.
2. The multiplication of various magnitude that appears in the transfer function can be
treated as an addition. In contrast, division can be treated as a subtraction using a
logarithmic scale.
3. With the help of this plot only we can directly comment on the stability of the system
without doing any calculations.
4. Bode plots provide relative stability in terms of gain margin and phase margin.
5. They cover a wide frequency range (low to high-frequency).

12
Stable and Unstable Systems

● Examples of Bode plots for stable and unstable closed-loop systems.

● Understanding phase and gain margins in practical scenarios.

The measured phase at 0 dB is -135°, so the phase margin is 45°. The gain at -180°
degrees is -9 dB, so the gain margin is 9 dB. Since phase margin is positive, this
system is stable.

The measured gain is +13 dB when phase is -180°, so the gain margin is minus 13 dB.
At a gain of 0 dB, the measured phase is minus 215°, so the phase margin is minus 35°
at the gain crossover point. This system is unstable.

Learning Points/Summary
● Bode plots provide a concise way to visualize system behavior across
frequencies.
● Phase and gain margins help assess system stability.
● Higher margins indicate better stability.

13
Learning Activities
1. Margin Calculation Practice

● Given a Bode plot, calculate phase and gain margins.

● Discuss the implications of different margin values.

References:

Gain and Phase Margin -

https://www.electrical4u.com/bode-plot-gain-margin-phase-margin/
Understanding Bode Plot -
https://www.rohde-schwarz.com/hk/products/test-and-measurement/essentials-te
st-equipment/digital-oscilloscopes/understanding-bode-plots_254514.html#galler
y-8
https://www.tutorialspoint.com/control_systems/control_systems_bode_plots.ht
m
https://www.tutorialspoint.com/control_systems/control_systems_construction_b
ode_plots.htm

Answer Key for Activity no.1 -

https://www.chegg.com/homework-help/questions-and-answers/problem-3-10-poi
nts-find-gain-margin-phase-margin-bode-plot-given-q126485973

14