• Chang Sook Yan (Leader) A113465

• Nor Dalilah Hilmi A115338

• Mimi Diyana Mohd Haniff A113708
• Aminatul Hidayah Asmir A115792
• Norashikin Alias A113776
• Badriah August Fouzy A114986
• Khairul Adlan Omar A115787
• Mohamad Fakruruddin Bin Romeli A113923
• Chua Kheng Wee A110656
• Loh Yin Teng A114592
• Tan Thian Chang A114559
• Ooi Yeik Fern A114165
Bode plot is a sinusoidal
frequency response plot where
the magnitude and phase is plot
separately.
magnitude versus frequency
phase versus frequency
ASYMPTOTIC APPROXIMATIONS
BODE PLOTS
 1
G ( s)  ( s  a) G( s) 
( s  a)
1. Replace s→ jω

G ( j )  ( j  a) 1
G ( j ) 
( j  a)

2. Rewrite the transfer function, G(jω) in standard

form
1
j G ( j ) 
G ( j )  a (  1) j
a a(  1)
a
 1
G ( s)  ( s  a) G( s) 
( s  a)
3. Plot the magnitude and phase.
When ω << a When ω << a
 G ( j )  a a0  G ( j )  1 / a a0
Magnitude response: Magnitude response:
20 log G(jω) = 20 log a 20 log G(jω) = 20 log 1/a

When ω =a When ω =a
ja 1
 G ( j )  a (
a
 1) G( j )  45   G ( j ) 
a(
ja
 1)
G( j )  45
a
When ω >> a When ω >> a
j 1
G( j )  90
 G ( j )  a( )
a
G( j )  90   G ( j ) 
a(
j
)
a

magnitude response in dB : magnitude response in dB :

 G ( j )  20 log 1  G1 ( j )
 G1 ( j )  20 log a  20 log
a  20 log 
 20 log 
20 log a
0
 G(s)  s G (s) 
1
s
1. Replace s→ jω

G ( j )  j G( j ) 
1
j
Magnitude Plot
Phase Plot
 G( s)  s 2 1
G ( s)  2
s
1. Replace s→ jω
1
G( j )  ( j ) 2
G ( j ) 
( j ) 2
Magnitude Plot
G( s)  s 2 1
G ( s)  2
s
Phase Plot
 Second-order polynomial

G(s)  s  2n s  n
2 2

1. Replace s
to
j G( j)  ( j)  2n ( j)  n
2 2

2. Change to   j 
2
 j  
G( j )  n    2    1
standard form 2

 n   n  
At low frequency
G(s)  n  n 0
2 2

The magnitude is

20 log G( j )  20 log n  40 log n

2

At high frequency
G( s)   2   2180
The magnitude is

20 log G( j)  20 log  2  40 log 

Phase plot
From gain margin and phase margin
we can know that the stability of the system
How to find???
Gain crossover frequency

Phase crossover frequency

Gain Margin, GM

Phase Margin, PM
 Magnitude plot

ωgc

Phase plot

ωpc
-
 Stable
Magnitude Plot

0db
ωgc GM (+ve)

Phase Plot ωgc < ωpc

 The system is stable

PM (+ve) ωpc
 180 
 Unstable
Magnitude Plot

ωgc
GM (-ve)
0db

Phase Plot ωpc < ωgc

 The system is unstable

 180 
ωpc PM (-ve)
 Marginally stable
Magnitude Plot
ωgc
0db

Phase Plot ωpc =ωgc

 The system is
marginally stable
 180 
ωpc
For calculation:

GM  0  gain
  pc

PM  phase  (180)
  gc

If PM and GM are positive ----- The system is stable

If PM and GM are negative ---- The system is unstable
 60s
G( s) 
( s  4)( s  10)
60 j
G ( j ) 
( j  4)( j  10)
60 j

 j  j 
40  1  1
 4  10 
K  1.5
1.5 j
 20 log K  20 log 1.5
 j  j 
  1  1  3.52dB
 4  10 
ωgc = 0.61rad/s ; 61rad/s
ωpc = ∞
GM = ∞
PM = +94.5° ; +267°
Since PM is positive, the system is stable for all frequency!
MATLAB CODE: num=[60 0];
den=[1 14 40];
sys=tf(num,den);
bode (sys);
grid on;
 s  200
G( s) 
( s  4)( s 2  10s  25)
j  200

( j  4)[( j ) 2  10( j )  25]

 j 
200  1
  200 
 j   j  10 
2

4(25)  1    ( j )  1
 4   5  25 
 j 
2  1
  200 
 j   j  
2
10
  1    ( j )  1
 4   5  25  K 2
20 log K  20 log 2
 6.02dB
GM=+12.8dB
PM= +67.5 °
ωpc=8.5 rad/s
ωgc=3.53 rad/s
Since PM and GM are positive, the system are stable!
GM  0  gain
  pc

j  200


 j  4 ( j ) 2  10 j  25   8.5

(8.5 j  200)
 0  20 log

 j8.5  4 ( j (8.5)) 2  10(8.5) j  25 
 0  20 log 0.219
 13.19dB
PM  phase  (180)
  gc

1  1  1 10
  tan  tan  tan  180
4 200 25   2

 69.14
>> T=tf([1 200],[1 14 65 100]);
>> bode(T)
>> grid on
 10000
G( s) 
( s  5)( s  30)( s  18)
10000
G ( j ) 
( j  5)( j  30)( j  18)
10000

 j   j   j 
5  1(30)  1(18)  1
 5   30   18 
 100  100
  K
  27  27
 j  j  j  20 log K  20 log
100
  1  1  1 27
 5  30  18 
 11.37 dB
ωgc = 12rad/s
ωpc = 29rad/s
GM = +11dB
PM = +54°
Since PM and GM are positive, the system is stable!
Calculation:

GM  0  gain
  pc

10000
 0
 j  5 j  30 j  18  29
10000
 0  20 log
 j 29  5 j 29  30 j 29  18
 0  20 log 0.239
 0   12.43
 12.43dB

PM  phase  (180)
  gc

1  1  1 
  tan  tan  tan  180
5 30 18
 57.13
>>numg=10000;
>>deng=poly([-5 -18 -30]);
>>G=tf(numg,deng)
>>bode(G)
>>grid on
 250( s  10)
G (s) 
s ( s  5)( s  50)
250( j  10)
G ( j ) 
j ( j  5)( j  50)
 10  j 
25050    1
  5  10 
 j  j  j 
   1  1
 1  5  50 
 j 
10  1
 10  K  10

 j  j  j  20 log K  20 log 10
   1  1
 1  5  50   20dB
ωgc = 7.4 rad/s
ωpc =∞
GM = ∞
PM = 180° +  G(jω)|ω=ωgc
= 180 ° + (-110.25°)
= +69.75 °
Since PM is positive, the system is stable for all frequency!
MATLAB CODE: num=[250 2500];
den=[1 55 250 0];
sys=tf(num,den);
bode (sys);
grid on;
 ( s  2)
G( s)  2
s ( s  3)
( j  2)
G ( j ) 
 j ( j  3)
 j 
2  1
  2 
2  j 
3 j    1
 3 
2
 2  j  K 
   1 3
   
3 2 2
20 log K  20 log
2  j 
 j    1 3
 3   3.52dB
ωgc = 0.8 rad/s
ωpc = ∞
GM = ∞
PM = + 6.8°
Since PM is positive, the system is stable for all frequency!
 Matlab Code:

>> G=tf([0 0 1 2],[1 3 0 0]);

>> bode(G);
>> grid on
 1
G ( s)  2
s ( s  1)( s  4)
1
G ( j ) 
 j 2 ( j  1)( j  4)
1

2  j  j 
4( j )   1  1
 1  4 
0.25
 K  0.25
2  j  j  20 log K  20 log 0.25
( j )   1  1
 1  4   12.04dB
ωgc = 0.48 rad/s
ωpc = 0.1 rad/s
GM = -28 dB
PM = -33.75°
System is unstable because the PM & GM are negative!
Matlab Code:

>> G=tf([0 1],[1 5 4 0 0]);

>> bode(G);
>> grid on
 G ( s) 
s  2s  3
s 2 ( s  1)( s  4)

G ( j ) 
 j  2 j  3
 j 2 ( j  1)( j  4)
 j  j 
6  1  1
  2  3 
2  j  j 
4( j )   1  1
 1  4 
 j  j  K  0.75
0.75  1  1
  2  3  20 log K  20 log 0.75
2  j  j   2.50dB
( j )   1  1
 1  4 
ωgc = 1.15 rad/s
ωpc = 0.1 rad/s
GM = -44 dB
PM = -11.25°
System is unstable because the PM & GM are negative!
Matlab Code:

>> G=tf([1 5 6],[1 5 4 0 0]);

>> bode(G);
>> grid on
 Norman S. Nise, Control Systems Engineering,
Fifth Edition

 Katsuhiko Ogata, Modern Control

Engineering, Fourth Edition