Lecture on Bode Plots
• Frequency Response
• Bode plots
• Examples
1
Frequency Response
• The transfer function can be separated into magnitude
and phase angle information
H(j) = |H(j)| Φ(j)
e.g., H(j)=Z(j)
2
Bode Plots
• A Bode plot is a (semilog) plot of the transfer function magnitude
and phase angle as a function of frequency
• The gain magnitude is many times expressed in terms of decibels
(dB)
dB = 20 log10 A
where A is the amplitude or gain
– a decade is defined as any 10-to-1 frequency range
– an octave is any 2-to-1 frequency range
20 dB/decade = 6 dB/octave
3
Bode Plots
• Straight-line approximations of the Bode plot may be
drawn quickly from knowing the poles and zeros
– response approaches a minimum near the zeros
– response approaches a maximum near the poles
• The overall effect of constant, zero and pole terms
Term Magnitude Asymptotic Asymptotic
Break Magnitude Slope Phase Shift
Constant (K) N/A 0 0
Zero upward +20 dB/decade + 90
Pole downward –20 dB/decade – 90
4
Bode Plots
• Express the transfer function in standard form
H ( j )
K j (1 j 1 ) 1 2 2 ( j 2 ) ( j 2 ) 2
N
(1 j a ) 1 2 b ( j b ) ( j b ) 2
• There are four different factors:
– Constant gain term, K
– Poles or zeros at the origin, (j)±N
– Poles or zeros of the form (1+ j)
– Quadratic poles or zeros of the form 1+2(j)+(j)2
5
Bode Plots
• We can combine the constant gain term (K) and the N
pole(s) or zero(s) at the origin such that the magnitude
crosses 0 dB at
K
Pole : 0 dB K 1/ N
( j ) N
Zero : K ( j ) N 0 dB (1 / K )1 / N
• Define the break frequency to be at ω=1/ with
magnitude at ±3 dB and phase at ±45°
6
Bode Plot Summary
Magnitude Behavior Phase Behavior
Factor Low Break Asymptotic Low Break Asymptotic
Freq Freq
Constant 20 log10(K) for all frequencies 0 for all frequencies
Poles or ±20N dB/decade for all ±90(N) for all frequencies
zeros at origin frequencies with a crossover of
0 dB at ω=1
First order 0 dB ±3N dB ±20N 0 ±45(N) with ±90(N)
(simple) poles at ω=1/ dB/decade slope ±45(N)
or zeros per decade
Quadratic 0 dB see ζ at ±40N 0 ±90(N) ±180(N)
poles or zeros ω=1/ dB/decade
where N is the number of roots of value τ
7
Single Pole & Zero Bode Plots
Gain ωp Gain ωz
0 dB +20 dB
–20 dB 0 dB
ω ω
Phase One Phase One
Decade Decade
0° +90°
–45° +45°
–90° 0°
ω ω
Pole at Assume K=1 Zero at
ωp=1/ 20 log10(K) = 0 dB ωz=1/
8
Bode Plot Refinements
• Further refinement of the magnitude characteristic for
first order poles and zeros is possible since
Magnitude at half break frequency: |H(½b)| = ±1 dB
Magnitude at break frequency: |H(b)| = ±3 dB
Magnitude at twice break frequency: |H(2b)| = ±7 dB
• Second order poles (and zeros) require that the damping
ratio ( value) be taken into account; see Fig. 9-30 in
textbook
9
Bode Plots to Transfer Function
• We can also take the Bode plot and extract the transfer
function from it (although in reality there will be error
associated with our extracting information from the
graph)
• First, determine the constant gain factor, K
• Next, move from lowest to highest frequency noting the
appearance and order of the poles and zeros
10
Class Examples
• Drill Problems P9-3, P9-4, P9-5, P9-6 (hand-drawn Bode
plots)
• Determine the system transfer function, given the Bode
magnitude plot below
|H(ω)| +20 dB/decade –20 dB/decade
6 dB –40 dB/decade
ω (rad/sec)
0.1 0.7 2 11 90
11
Class Examples
• Drill Problems P9-3, P9-4, P9-5
12
