University of Basrah for Gas and Oil
College of Oil and Gas Engineering
Department of
Chemical and Petroleum Refining Engineering
Process Dynamic and Control II
Second Semester (Fourth Year)
Dr. Seaar Al-Dabooni
Bode Plot Examples
1
Example 1
A simple pole
Draw the Bode Diagram for the transfer function:
Step 1: Rewrite the transfer function in proper form.
Step 2: Separate the transfer function into its constituent parts.
The transfer function has 2 components:
•A constant of 3.3
•A pole at s=-30
Step 3: Draw the Bode diagram for each part.
•The constant is the cyan line (A quantity of 3.3 is equal to 10.4 dB). The phase is constant at 0 degrees.
•The pole at 30 rad/sec is the blue line. It is 0 dB up to the break frequency, then drops off with a slope of -
20 dB/dec. The phase is 0 degrees up to 1/10 the break frequency (3 rad/sec) then drops linearly down to
-90 degrees at 10 times the break frequency (300 rad/sec)
Step 4: Draw the overall Bode diagram by adding up the results from step 3.
2
Example 1
(A simple pole)
3
Bode Plot: Example 2
(real poles and zeros)
Draw the Bode Diagram for the transfer function:
Step 1: Rewrite the transfer function in proper form.
Make both the lowest order term in the numerator and denominator unity. The numerator is an order 1
polynomial, the denominator is order 2.
Step 2: Separate the transfer function into its constituent parts.
The transfer function has 4 components:
•A constant of 0.1
•A pole at s=-10
•A pole at s=-100
•A zero at s=-1
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Bode Plot: Example 2
(real poles and zeros)
Step 3: Draw the Bode diagram for each part.
This is done in the diagram.
•The constant is the cyan line (A quantity of 0.1 is equal to -20 dB). The phase is constant at 0 degrees.
•The pole at 10 rad/sec is the green line. It is 0 dB up to the break frequency, then drops off with a slope of -
20 dB/dec. The phase is 0 degrees up to 1/10 the break frequency (1 rad/sec) then drops linearly down to -
90 degrees at 10 times the break frequency (100 rad/sec).
•The pole at 100 rad/sec is the blue line. It is 0 dB up to the break frequency, then drops off with a slope of -
20 dB/dec. The phase is 0 degrees up to 1/10 the break frequency (10 rad/sec) then drops linearly down to -
90 degrees at 10 times the break frequency (1000 rad/sec).
•The zero at 1 rad/sec is the red line. It is 0 dB up to the break frequency, then rises at 20 dB/dec. The
phase is 0 degrees up to 1/10 the break frequency (0.1 rad/sec) then rises linearly to 90 degrees at 10 times
the break frequency (10 rad/sec).
Step 4: Draw the overall Bode diagram by adding up the results from step 3.
5
Bode Plot: Example 2
(real poles and zeros)
6
Example 3
A pole at the origin and poles and zeros
Draw the Bode Diagram for the transfer function:
7
Example 4
Repeated poles, a zero at the origin, and a negative constant
Draw the Bode Diagram for the transfer function:
8
Example 5
Complex conjugate poles
Draw the Bode Diagram for the transfer function:
9
Example 6
A complicated function
Draw the Bode Diagram for the transfer function:
Step 1: Rewrite the transfer function in proper form.
Make both the lowest order term in the numerator and denominator unity. The numerator is an order 2
polynomial, the denominator is order 3.
Step 2: Separate the transfer function into its constituent parts.
The transfer function has 4 components:
•A constant of 1
•A pole at s=-100
•A repeated pole at the origin (s=0)
•Complex conjugate zeros at the roots of s2+s+25,
with 10
Example 6
A complicated function
Step 3: Draw the Bode diagram for each part.
This is done in the diagram.
•The constant is the cyan line (A quantity of 1 is equal to 0 dB). The phase is constant at 0 degrees.
•The pole at 100 rad/sec is the green line. It is 0 dB up to the break frequency, then falls with a slope of -20
dB/dec. The phase is 0 degrees up to 1/10 the break frequency then falls linearly to -90 degrees at 10 times the
break frequency.
•The repeated poles at the origin are shown with the blue line. The slope is -40 dB/decade (because pole is
repeated), and goes through 0 dB at 1 rad/sec. The slope is -180 degrees (again because of double pole).
•The complex zero is shown by the red line. The zeros give a dip in the magnitude plot of
at a frequency of 5 rad/sec (because ζ is small, ωr≈ω0). This is shown by the red circle. The phase goes from
the low frequency asymptote (0 degrees) at
to the high frequency asymptote at
Again, because ζ is so small, this line is close to vertical.
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Example 6
A complicated function
Step 3: Draw the Bode diagram for each part.
This is done in the diagram.
•The constant is the cyan line (A quantity of 1 is equal to 0 dB). The phase is constant at 0 degrees.
•The pole at 100 rad/sec is the green line. It is 0 dB up to the break frequency, then falls with a slope of -20
dB/dec. The phase is 0 degrees up to 1/10 the break frequency then falls linearly to -90 degrees at 10 times the
break frequency.
•The repeated poles at the origin are shown with the blue line. The slope is -40 dB/decade (because pole is
repeated), and goes through 0 dB at 1 rad/sec. The slope is -180 degrees (again because of double pole).
•The complex zero is shown by the red line. The zeros give a dip in the magnitude plot of
at a frequency of 5 rad/sec (because ζ is small, ωr≈ω0). This is shown by the red circle. The phase goes from
the low frequency asymptote (0 degrees) at
to the high frequency asymptote at
Again, because ζ is so small, this line is close to vertical.
12
Example 6
A complicated function
Step 4: Draw the overall Bode diagram by adding up the results from step 3.
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