Response 3.

7
Chapter
3 - Frequency

FRREQUENCY RESPONSE PLOTS

3.5
Erequency response analysis of control systems can be carried either analytically or graphically. The
vanious
| techniques available for frequency response analysis are,
graphical

1. Bode plot 4. M and N circles

2 Polar plot (or Nyquist plot) 5. Nichols chart

3. Nichols plot
loop systems. From the open
The Bode plot, Polar plot and Nichols plot are usually drawn for openestimated.
loop system are The Mand Ncircles
loon response plot, the performance and stability of closed response of unity feedback closed loop
ond Nichols chart are used to graphically determine the frequency
system from the knowledge of
open loop response.
The frequency response plots are used to determine the frequency domain specifications, to study
the system to satisfy the desired specifications.
the stability of the systems and to adjust the gain of
3.6 BODE PLOT
frequency response plot of the sinusoidal transfer function of a system. A Bode
The Bode plot is a versus log o.
graphs. One is a plot of the magnitude of a sinusoidal transfer function
plot consists of two log o.
asinusoidal transfer function versus
The other is a plot of the phase angle of Usually the bode plot
can be drawn for both open loop and closed loop system.
The Bode plot
representation of the logarithmic magnitude of open loop
The standard unit used in this
is drawn for open loop system. |G(jo) where the base of the logarithm is 10. The
is 20 log
transfer function of G(jo)
decibel, usually abbreviated as db. The curves are drawn on semilog
representation of the magnitude is the linear scale (ordinate) for either
magnitude (in
(abcissa) for frequency and the
paper, using the log scale
decibels) or phase angle (in degrees). converted into
plot is that multiplication of magnitudes can be
the bode
The main advantage of approximate log-magnitude curve is
available.
for sketching an
addition. Also a simple method
K(1+sT)
transfer function, G(s) = s(1 +sT)(1 +sT,)
Consider the open loop
K(1+joT)
GGo) = jo(1 +joT,)(1 +joT)
KZ0°/1+o'T' tan 'oT,
+oT; tan oT,
o490°/1+o'T;< tan 'oT,/1
K/1+o°T
The magnitude of G(jo) =|GG0)| = o/l+o'T;/1+oT

ZGjo)= tan oT-90° - tan oT,

-tan oT.
The phase angle of the G(jo) =
shown below.
The magnitude of Gjo) can be expressed in decibels as
|Gjo)|
|G(jo) in db = 20 log
K/1 +o°T
- 20 log
o1+o°T;/1+o»T:
 3.8 Control Systemy

- 20 log K 20 logl+oT +20 log V1+oT; + 20 log

- 20log 20 log/1+oT - 20 log /1 +o'T; - 20 log /1+o'T; 327

From the cquation (3.27) it is clear that, when the magnitude is expressed in db, the multiplici
isconverted to addition. Hence in magnitude plot, the db magnitudes of individual factors of Ci
be added.
Therefore to sketch the magnitude plot, anowledge of the magnitude variations of individual faese
is essential. The magnitude plot and phase plot of various factors of G(j0) are explained in the followi
section.

3.6.1 BASIC FACTORS OF G(jo)

The basic factors that very frequently occur in atypical transfer function G(jo)are,
1. Constant gain, K
K
2. Integral factor, K or
(jo)"
3. Derivative factor, Kxjo or Kx(oy
4. First order factor in denominator, 1 1
or
1+joT (1+joT
5. First order factor in numerator, (1+joT) or (1 +joTy"
6. Quadratic factor in denominator,
|1-24(ja'o, )+(joo,}
7 Quadratic factor in numerator,|1+2<+
CONSTANT GAIN, K
Let, G(s)=-K K>1
4 +db
Gýo)=K= KZ0°
K=1
A=|G(jo)|in db =20 1log K A 0
in
= 2Gjo) =0° db 0<K<1
db
The magnitude plot for a constant gain K is a
horizontal straight line at the magnitude of 20 log Kdb.
The phase plot is straight line at 0,
0
When K > 1, 20 log Kis positive.
When 0<K<l, 20 log K is negative. O(log scalk
When K = 1, 20 log K is zero.
Fig 3.2 : Bode plot of constant gain, A.
 3.9
Chapter
3.-- Frequency Response

INTEGRAL FACTOR

A 120.
Let, G(s)= K Slope =-20 db/dec
A 0

.: Gjo) = K_K-90°
jo
in
d
A=|Gjo) in db =20 log (K/o) 20

=G(j0) = - 90°
0
When o =0.1 K, A-20 log (1/0.1) = 20 db
When o =K, A= 20 log I = 0db -90
When o = 10 K, A= 20 log (1/10) =-20 db 0.1K K 10K o(log scale)
K
From the above analysis it is evident that the Fig 3.3 : Bode plot of integral factor
jo
magnitude plot toffthe integral factor is astraight line with
slone of-20 db/dec and passing through zero db, when
=K. Since the ZG(jo) iS a constant and independent of
othe phase plot is a straight line at -90.
When an integral factor has multiplicity of n, then, +20n

G(s) = K/s" 0
A
G(jo) = K(jo) = K/o -90n° in
db
A=|G(jo) in db =20log K - 20n

KR (K
- 20 log - 20 nlog
=ZG(jo) =-90n° 90n

Now the magnitude plot of the integral factor is 0.1K^ Kå 10K o(log scale)
astraight line with a slope of-20n db/dec and passing
through zero db when o = Klh, The phase plot is a Fig 3.4 : Bode plot of integral factor, K/jo)".
straight line at -90n°.
DERIVATIVE FACTOR
db/dec
Let, G(s) = Ks 4 +20
. Gjo)=K jo = Ko 290° 20

A=|G(jo) in db =20 log (Ko) A 0 =

Slope
in
=G(jo) =+90° db-20.....

When = 0.1/K, A= 20 log (0.1) = -20 db

When o = 1/K, A= 20 log I = 0db
4 490
When o = 10/K, A= 20 log 10 = + 20 db
From the above analysis it is evident that the 0
magnitude plot of the derivative factor is a straight line
1
With a slope of +20 db/dec and passing through zero 0.1 10 o(log scale)
K K
do when 0 = VK. Since the G(jo) is a constant and K
hdependent of o, the phase plot is astraight line at +90°. Fig 3.5 : Bode plot of derivativefactor, Kxjo.
3. 10 Control Systems
When derivative factor has multiplicity of n then,
+20n dec

G(s) = K s"
:. G(jo) = K(jo) = Ko" 290n A
in
A=|G(jo)|in db =20 log (Ko) db- 20n
=20 log (Klh o = 20n log (K'" o)
=2G(jo) =90n
+90n
Now the magnitude plot of the derivative factor is
a straight line with a slope of +20n db/dec and passing
through zero db when o = 1/Kln, The phase plot is a
straight line at +90n°, 0.1 1 10
o(log scale)
FIRST ORDER FACTOR IN DENOMINATOR
1
G(s) = 1+sT
Fig 3.6 : Bode plot of derivative factor,K(jo):.
1
:. Gjo)=1tjoT VI+o°T
-L-tanoT

Let, A=|G(jo)| in db.

=Gio) lin db = 20 log VI+oT =-20 logv1+o°T
.:. A
Atvery low frequencies, oT <<1; :.A =-20 logv1 +o'T' -20 log 1=0
At very high frequencies, oT >> 1;.:. A =-20 logv1+oT²- 20 log v1+o°T' =- 20 log oT
Ato =T' A=- 20 log l=0
At o = 10 A=-20 log 10 = - 20db
The above analysis shows that the magnitude plot of the factor 1/(1+joT) can be approximated
by two straight lines, one is a straight line at 0db for the frequency range, 0 <o <1/T, and the otheris
astraight line with slope -20 db/dec for the frequency range, 1/T <o<o. The two straight lines are
asymptotes of the exact curve.
The frequency at which the two asymptotes meet is called corner frequency or break frequency.
For the factor 1/(1+joT) the frequency, o =1/T is the corner frequency, o. It divides the frequency responsit
curve into two regions, a curve for low frequency region and a curve for high frequency region.
The actual magnitude at the corner frequency, 0,- IS,
A=-20logV1+1 =-3 db
Hence by this approximation the loss in db at the corner frequency is -3 db.
The phase plot is obtained by calculating the phase angle of G(jo) for various values of o
Phase angle, =Gjo) =- tan oT
Atthe corner frequency, O=0,= =-tan 'oT=-tan'1 =-45°
As o’0, -’0
As o ’0, ’-90°
 -Frequency
Chapter 3.} Response 3. 11

The phase angle ofthe factor, 1/(1+ joT),varies from 0° to -90° as o is varied from zero to infinity.
plotiis a curve passing through -45° at o
The phase
When the firstorder factor in the denominator has amultiplicity of m, then,
1 1
G(s) =
(1+sT)m i :G(jo) =
(1+joT)" (V1+oTy Lm tan'oT
1
A=|Gj0)| in db =20 log UeoT) =- 20m log v1 +oT
= LGjo) =-m tan'oT

0
0
3 -Approximate plot 3m *****dsse*s. -Approximate plot
*******
A -20m Exact plot
Slope-20m db/dec
Exact plot
A -20
in
db

4-45
0 Slope=-[Link]/dec in
db

45m

-90m'
¢-90°

1
1 10 (log scale)
(log scale)
T
Fig 3.7: Bode plot of the factor 1+ joT Fig 3.8 : Bode plot of the factor l/(1 tjoT)".
joT" can be approximated by two straight lines,
Now the magnitude plot of the factor 1/(1+ 0 <o <IT, and the other is a straight line with
frequency range,
one is a straight line at zero db for the o<o. The corner frequency, o, = 1/T and the loss in db
frequency range, 1/T<
slope -20m db/dec for the
at the corner frequency is -3m db. zero to
the factor 1/(1+ joTY" varies from 0° to-90m° as o is varied from
The phase angle of
through -45m° at o.
intinity. The phase plot is a curve passing
FIRST ORDER FACTOR IN THE NUMERATOR
G(s) =1 +sT
tan'oT
Gjo) =1+ joT =1+o'T'
=G(jo)| in db = 20 log /1
+o'T
A
=2G(jo) = tan'oT plot of
of previous section it can be shown that the magnitude
By an analysis similar to that line at zero db for the
approximated by two straight lines, one is a straight range
actor (ltjoT) can be
other is a straight line with slope +20 db/dec for the frequency
equency range 0 <o< /T andthe exact curve.
IT <0< oo. The two straight lines are asymptotes of the break frequency.
the two asymptotes meet is called the corner frequency or the loss
The frequency at which corner frequency, o. By this approximation +90° as
For the factor r(1tjoT), the frequency, (o =1/T) is the zero to
in db at the corner frequency is +3 db. The phase angle of the factor
(1+ joT) varies from
curve passing through +45° at o.
OS varied from 0 to o, The phase plot is a
3. 12
Control System,
When the first order factor in the numerator has a multiplicity of m, then,
G(s)=(1 +sTy
G(jo) =(1 +joT)"= (/1+joT ) &mtan'oT
A= Gjo) in db =20 log(V1+oT =20m log+1 +oT
=2GGao) =m tanoT

+20 Approximate plot db/dec +20m Approximate plot +20hdb/dec

Slopa=

Exact plot Exact plot

+3 + 2 0

+3m
A Slope
= A
in in
db db
-90 +90m

A 45 +45m

1 1 10
10
(log scale) T (log scale)
Fig 3.9 : Bode plot of the factor (1 +tjoT). Fig 3.10 : Bode plot of the factor (1 +joT/.
Now the magnitude plot of the factor (1 +joTy can be approximated by two straight
a straight line at zero db for the frequency range 0 <o<IT and the other is a straight line lines, one is
with aslope
of +20mdb/dec for the frequency range I/T<o<. The corner frequency, o, = 1/T
and the loss in do
at this corner frequency is +3m db.
The phase angle of the factor (1 +joTy varies from zero to +9Om as o is varied from zero to
infinity.
The phase plot is a curve passing through +45 m° at o,.
QUADRATIC FACTOR IN THE DENOMINATOR

G(s) =
s+2C0,s +o, 1+25
2

:. GGo) = 2-tan
1j20,(j0 1-+j25 1-

Let, A=|G(jo)| in db.

A= 20log
=-20log 0+4 2

=-20 l0g -2 0
--20 l0g, /1-2-4)
 3. 13

Chapter
3., Frequency Response

Atvery low frequencies when o <0,,the magnitude is,

A=-20 log,/1 - 0(2-4G)+0 -20log 1=0

Atvery high frequencies when o >>0,, the magnitude is,

A=-20 log,1 -20log =-20 log =- 20 log
.. A=-40log

At o = 0,, A=-40 logl = 0db

40 db
At o = 10o,, A =-40 log10 = -
magnitude plot of the quadratic factor in
the
analysis it is evident that the frequency
From the above at 0 db for the
approximated by two straight lines, one is a straight line o,<0<0.
denominator can be -40 db/dec for the frequency range
is a straight line with slope
range 0< o<0, and the other exact curve. The frequency at which
the two asymptotes
of the
frequency o is the corner frequency, 0,.
asymptotes
The two straight lines are quadratic factor, the
For the n

meet is called the corner frequency. C, In the exact

curve are independent of the damping ratio,
exact of resonant peak
The two asymptotes of the corner frequency and the magnitude
occurs near the approximation the
magnitude plot, resonant peak will be the resonant peak. Hence by this
depends on (. Lower the value
of , larger
The phase plot is obtained by calculating the
depends on damping ratioG,
error at the cormer frequency
various values of o.
phase angle of G(jo) for
- = 0.1

+db
-=0.3

-(= 0.5
Approximate plot
0 Slope =-40 db/dec
A (=1.0
db

-(= 0.1
0 -=0.3

=0.5

-C= 1.0
- 90

-180"
O(log scale)
)= 0,

of quadratic factor in denominator

Fig 3.11 : Bodeplot

=ZG(jo)=- tan
1
 3. 14 Control Systema

As o=0,, =- tan-tan'o90°
0

As o’0, ’0
As o’o, ’-180
The phase angle ofthequadratic factor varies from 0 to-180° as o is varied from 0to o, The nhae.
plot is acurve passing through -90" at o,. At the corner frequency phase angle is -90° and independent of
Gbut at all other frequency it depends on G.
QUADRATIC FACTOR IN THE NUMERATOR

G(s) = s'+ 20,3 +o, -| +24+o)

20
G(jo) =1+j2o. o/tan

+db

Approximate plot
(= 1.0 Slope = +40 db/dec
0
(= 0.5
A (= 0.3
db
(=0.1

180°

90°
G= 1.0 -G=0.5
-= 0.3
(=0.1

o(log scale)
Fig 3.12 : Bode plot of quadratic factor in numerato:
Based on an analysis similar to that of denominator quadratic factor, the magnitude plot o
quadratic factor in the numerator can be approximated by two straight lines, one is astraight line at
for thefrequency range 0<o<o, and the other is astraight line with slope +40 db/dec for the fiequen
range o, <o<o, The cormer frequency is o,. Due to this approximation the error at the corner frequeniy
depends on ,.
The phase angle varies from 0 to +180:, as o is varied from 0 to , At the comer frequency th
phase angle is +90° and independent of G, but at all other frequency it depends on G.
 Frequency. Response 3. 15
3-
Chapter

P R O C E D U R E

FOR MAGNITUDE PLOT OF BODE PLOT

K62

Fromthe
analysis
sof previous sections the following conclusions can be obtained.
The constant gain K, integral and derivative factors contribute gain (magnitude) at all frequencies.
Inapproximate plot the first, quadratic and higher order factors contribute gain (magnitude)
ly when the frequency is greater than the corner frequency.
.fance the low frequency response upto the lowest corner frequency is decided by Kor K/ (joy or
Thennat every corner frequencythe slope ofthe magnitude plot is altered by the
first, quadratic
KÙo
term.
order terms. Therefore the magnitude plot can be started with
Kor K/(jo) or K(jo term and
and
hËgher
magnitude of every first and higher order terms are added one by one in the increasing order
thenthe db
frequency.

ofthecorner
This is illustrated in the following example.
K(1+sT)
Let, G(s) =
s'(1 +sT)(l +sT)
K(1+joT)
.:. Gjo) = (jo)°(1 +joT)(1 +joT)

Let, T, <T, <T,

The corner frequencies are, o0,, 0,=
Let, o,, <0,<O shown
G(jo), and their combined magnitude plot are
individual terms of
The magnitude plot of the
in fig 3.13.
MAGNITUDE PLOT
PROCEDURE FOR
PLOTTING THE
STEP BY STEP
constant form. An example
of Bode
form or time
Convert the transfer function into Bode
Stepl : function is
form of the transfer K(1 +joT)
K(1 +sT) G(jo) =
G(s) =
s(l +st)1 +2, 0 jo(l +joT)|1 -
below.
and prepare a table as shown
corner frequencies in the increasing order
Step 2: List the Change in slope
Corner frequency Slope
Term db/dec
db/dec
rad/sec

terms in the
as the first term andthe other
K/(jo)y or K(jo)" slope contributed
the above table enter K or enter the corner frequency,
In Then
corner frequencies.
increasing order of frequency.
and change in slope at every corner Calculate
by each term the lowest cornerfrequency.
which is lesser than frequency.
Choose an arbitrary frequency o, at o, and at the lowest corner
pJ: K(jo)"
of Kor K/(joy or
the db magnitude
3. 16
Control System,

-40db/dec

K
+db Magnitude plot bf the term
0 db

-db
+40db/dec
+db
Magnitude plot of the tetm (1 +joT,)'
0db

o2pnjqp
ube 0db
uj
-20dbrdec
db

1
Magnitude plot of the term
(1+ joT,)

0 db

db -20db/dec

+db -40db/dec 0db/dec Magnitude plot of the term 1

(1+joT,)
0db
-20db/dec
db

40db/dec
o(log scale)
Fig 3.13 : Magnitude plot of bode K(1+ joT,}
plot of. Gjo) =
(jo}(l+ joT,)(1+ jol;)
 Response 3. 17
-Frequency
Chapter
3

Then calculate the gain (db magnitude) at every corner frequency one by one by using
Step 4: the formula,

Gain at o, =change in gain from o, to o, +Gain at o

A,-|Slope fromo,toa, xlog Gain at o,

Negative slope

Positive slope

A,
X
A

frequency.
which is greater than the highest corner
Step 5: Choose an arbitrary frequency o, formula in step 4.
Calculate the gain at o, by using the
scale) and
semilog graph sheet mark the required range of frequency on x-axis (log
Step 6: In a
(ordinary scale) after choosing proper units.
the range of db magnitude on y-axis
points by straight
Mark all the points obtained in steps 3, 4, and 5on the graph andjoin the
Step 7: graph.
lines. Mark the slope at every part of the
an approximate plot. If anexact plot
is
magnitude plot obtained above is
Note : The
appropriate corrections should be
made at every corner frequencies.
needed then
BODE PLOT
3.6.3 PR0CEDURE FOR PHASE PLOT OF
drawing the phase plot.
and no approximations are made while choice
plot values of o and tabulated. The
The phase plot is an exact computed for various
G(jo) are plot and
Hence the exact phase angles of frequencies chosen for magnitude plot. Usually the magnitude
of frequencies are preferably thesemilog - sheet on a common frequency scale.
phase plot are drawn in a single in this y-axis mark the
where the magnitude plot is drawn and angles,
tabulated values ofo and phase
graph
Take another y-axis in the units. From the
after choosing proper
desired range of phase angles Join the points by a smooth curve.
Ihark all the points on the graph. BODE PLOT
MARGIN AND PHASE MARGIN FROM
OF GAIN
.6.4 DETERMINATION phase cross-over
negative of db magnitude of G(jo)at the at
Ihe gain margin in db is
given by the
which phase of G(jo)is -180°.
Ifthedb magnitude of G(jo)
frequency at
equency, 0. The o is the vice versa.
is positive and
0 is negative then gain margin frequency at
cross over frequency O The o is the
of Gjo) at gain . Ifo is less
Let o be the phase angle zero. Now the phase margin, yis given by, y =180° +
which the db magnitude of G(jo) is
positive and Vice versa.
negative than -180° then phase margin is
3. 18 Control Systemg
The positive and negative gain margins and phase margins are illustrated in fig 3.14.
4db 4db

Negative
GM
A 0 A
Positive in
in GM
db -db db
-db
90
-90
Positive
PM
-180 180
Negative
--PM

-270 - 270

o(log scale) o(log scale)

Fig 3.14 : Bode plot showing phase margin (PM) and gain margin (GM).
3.6.5 GAIN ADJUSTMENT IN BODE PLOT
In the open loop transfer function G(jo) the constant K contributes only magnitude. Hence by
changing the value ofK the system gain can be adjusted to meet the desired specifications. The desired
specifications are gain margin, phase margin, o, ando. In a system transfer function if the value of
K required to be estimated to satisfy a desired specification then draw the bode plot of the system with
K=1. The constant Kcan add 20 log Kto every point of the magnitude plot and due to this addition the
magnitude plot will shift vertically up or down. Hence shift the magnitude plot vertically up or down
to meet the desired specification. Equate the vertical distance by which the magnitude plot is shifted o
20 log Kand solve for K.
Let, x =change in db (x is positive if the plot is shifted up and vice versa).
Now, 20 log K=x ; log K=x/20; .. K=1020
Note : Apoint in complex plane can be represented by rectangular coordinates or by polar
coordinates. Consider apoint, z =atjb in complex plane.
Now, |z=va'+b' and z= tan bla.
If the point lies in first or fourth quadrant then the argument as calculated by tanb/a wil
be the correct values. But ifit lies either in second or third
quadrant then a correction shouia
made in the calculated values of argument, because the calculator willalways give the values
tan bla either from 0 to + 90° or from 0 to -90º. The corrections to be made while
rectangular to polar coordinates is shown below:. converting ro

Apoint in quadrant, a+jb=va' +b' tan 'b/a

Apoint in II quadrant, -a+jb =Va+b' (r- tan 'b/a)
Apoint in III" quadrant, -a-jb=Va+b' (r +tan 'bla)
Apoint in IVth quadrant, a-jb =Va'+b' L- tan'b/a
3. 28

..20 logK=30 ; K = 1030/20 K=31.62

Control Syste
The magnitude plot with K= 15.84 and 31.62 are shown in fig 1.
EXAMPLE 3.4
Plotthe Bode diagramfor the following transfer function and obtain the gain and phase
cross over
G(s) = 10 frequen
s(1 +0.4s)(1 +0.1s)
SOLUTION
The sinusoidaltransfer function of G(jo) is obtained by replacing s by jo in the given transferfus

. 10
Gjo)= jo(1+j0.4o)(1 +j0.1o)
MAGNITUDE PLOT
The corner frequencies are,
1 2.5 rad/ sec and 1
0.4 201 10rad/ sec
The various terms of G(jo) are listed in table-1 in the increasing order of their corner
frequencies. Also the
shows the slope contributed by each term and the change in slope at the corner
frequency.
TABLE-1

Term Corner frequency Slope Change in slope

rad/sec db/dec db/dec
10
jo 20

1 1
1+j0.40 Oe1 2.5 20 -20-20=- 40

1
1+j0.1o 2 -10 20 -40-20 =-60

Choose a low frequency o, such that o, < o, and

choose a high frequency o, such that o, 0a
Let, o, =0.1 rad/sec, and o, =50 rad/sec.
Let, A= |G(jo)|in db.
Let us calculateA at o,, 0e and o,.
At o = 0,, A= 20 log 10 - 20 log0 -40
jo db 0.1
At o = 0,, A=20 log 10 - 20
log-102.5-12db
At o=0a A=Slope from o, to 0gx log log12 =- 12 0D
40x
54db
At o= 0, A=Slope trom og to , xlog h+A=-60xlog 050
+12)=-
 45 6 7891 2 45 6789 1
3 45 6 7891 2 3 4 567891 2 3
2 3 45 6 7891 2

Scale
Chapter 3
40 Y-axis : 1unit 10 db
20 db/dec
Fist tunit2
30

Magnitude plot
20
-Frequncy
12
10
40 db/dec 6ll
Respon
0
A
in
10
db -i2 92
100
20
118
-30
Phase plot 140
40 150
det L60
-50
170
-54 ++HHIIM 180 in
-60 deg
200

210
220

4 10 20 50 100 ) ’ i n rad/sec
01 2.5

10 29
3.
Fig. I : Bode plot of transferr fiunction, Gjo) = jo(l +0.4o) (1 +j0. lo)
 3. 30
Control Systems
Let the points a, b, cand dbe the points corresponding to frequencies o,, s0and o, respectively on the
plot. In a semilog graph sheet choose a scale of 1unit = 10 db on y-axis. The frequencies are marked magnit de
in decades from01
100 rad/sec on logarithmic scales in x-axis. Fix the points a, b, cand d on the graph. Join the points
and mark the slope in the respective region.
by a straight ire
PHASE PLOT

The phase angle of G(jo) as a function of o is given by,

=-90tan- 0.40 - tan- 0.1o
The phase angle of G(jo) are calculated for various values of o and listed in table-2.
TABLE-2
tan- 0.4 o tan 0.1 =G(jo) Points in
rad/sec deg deg deg phase plot
0.1 2.29 0.57 -92.86 -92
1 21.80 5.71 -117.5 118
2.5 45.0 14.0 -149 -150 g
4 57.99 21.8 -169.79 -170 h
10 75.96 45.0 -210.96 -210
20 82.87 63.43 -236.3 236
On the same semilog graph sheet choose a
sheet. Mark the calculated phase angle on scale of 1unit = 20° on the y-axis on the right side
of semilog graph
the graph sheet. Join the points by a
smooth curve.
The magnitude and phase plots are
shown in fig 1.
From the graph, the gain and phase cross
over frequencies are found to be 5
rad/sec.
RESULT
Gain cross-over frequency=5
rad/sec.
Phase cross-over frequency =5
rad/sec.
EXAMPLE 3.5
For the following transfer function
draw bode plot and obtain gain
G(Z) = 20 cross-over frequency.
s(1+3s)(1+4s)
SOLUTION
The sinusoidal transfer
function of G(jo) is obtained by
replacing s by jo in the given transfer function.
Gjo) jo(1 20
+j3o)(1 +j4o)
MAGNITUDE PLOT

The corner frequencies are,

ct0.25 rad/ sec. O= 0.333rad/sec.,
The various terms of G(jo) are listed in table-1 in the increasing order of their frequencies. Alsothe table shos
the slope contributed by each term and change in slope at the corner
frequency.