Rules for Making Bode Plots
Term Magnitude Phase
K>0: 0°
Constant: K 20·log10(|K|)
K<0: ±180°
• Low freq. asymptote at 0°.
Real Pole: 1 • Low freq. asymptote at 0 dB • High freq. asymptote at
s
+1
• High freq. asymptote at -20 dB/dec -90°.
ω0 • Connect asymptotic lines at ω0, • Connect with straight line
from 0.1·ω0 to 10·ω0.
• Low freq. asymptote at 0°.
• Low freq. asymptote at 0 dB • High freq. asymptote at
Real Zero*: s + 1 • High freq. asymptote at +20 dB/dec. +90°.
ω0 Connect with line from
• Connect asymptotic lines at ω0. •
0.1·ω0 to 10·ω0.
Pole at Origin: 1 • -20 dB/dec; through 0 dB at ω=1. • -90° for all ω.
s
Zero at Origin*: s • +20 dB/dec; through 0 dB at ω=1. • +90° for all ω.
Underdamped Poles: • Low freq. asymptote at 0 dB. • Low freq. asymptote at 0°.
• High freq. asymptote at -40 dB/dec. • High freq. asymptote at
1 -180°.
2
• Connect asymptotic lines at ω0.
s s • Draw peak† at freq. ω0, with amplitude • Connect with straight line
+ 2ζ + 1 from ω=ω0·10-ζ to ω0·10ζ
ω0 ω0 H(jω0)=-20·log10(2ζ)
Underdamped Zeros*: • Low freq. asymptote at 0 dB. • Low freq. asymptote at 0°.
• High freq. asymptote at +40 dB/dec. • High freq. asymptote at
s
2
s • Connect asymptotic lines at ω0. +180°.
+ 2ζ + 1 • Draw dip† at freq. ω0, with amplitude • Connect with straight line
ω0 ω0 H(jω0)=+20·log10(2ζ) from ω=ω0·10-ζ to ω0·10ζ
• Phase drops linearly.
Phase = -ωT radians or
Time Delay: e−sT • No change in magnitude -ωT·180/π°.
On logarithmic plot phase
appears to drop exponentially.
Notes:
ω0 is assumed to be positive. If ω0 is negative, magnitude is unchanged, but phase is changed.
* Rules for drawing zeros create the mirror image (around 0 dB, or 0°) of those for a pole with the same ω0.
† We assume any peaks for ζ>0.5 are too small to draw, and ignore them. However, for underdamped poles and zeros
peaks exists for 0<ζ<0.707=1/√2 and peak freq. is not exactly at, ω0 (peak is at ωpeak =ω0 1 − 2ζ 2 ).
For nth order pole or zero make asymptotes, peaks and slopes n times higher than shown. For example, a double (i.e.,
repeated) pole has high frequency asymptote at -40 dB/dec, and phase goes from 0 to –180o). Don’t change
frequencies, only the plot values and slopes.
© Copyright 2005-2019 Erik Cheever, Swarthmore College. This page may be freely used for educational purposes.
More detail at [Link]
Quick Reference for Making Bode Plots
If starting with a transfer function of the form (some of the coefficients bi, ai may be zero).
s n + + b1s + b0
H(s) = C m
s + + a1s + a 0
Factor polynomial into real factors and complex conjugate pairs (p can be positive, negative, or zero; p is zero if a0 and b0 are both non-zero).
(s + ωz1 )(s + ωz2 ) (s 2 + 2ζ z1ω0z1s + ω0z1
p
2
)(s 2 + 2ζ z2ω0z2s + ω0z2
2
)
H(s)= C ⋅ s 2 2 2 2
(s + ωp1 )(s + ωp2 ) (s + 2ζ p1ω0p1s + ω0p1 )(s + 2ζ p2ω0p2s + ω0p2 )
Put polynomial into standard form for Bode Plots.
s s s s
2 2
s s
+ 1
+ 1 + 2ζ z1
+ 1 + 2ζ z2 + 1
2
ωz1ωz2 ω0z1 2
ω0z2 p ω
z1 z2ω ω
0z1 ω ω
0z1 0z2 ω
0z2
H(s) C 2 2
⋅s
ωp1ωp2 ω0p1ω0p2 s s s
2
s s
2
s
+ 1 + 1 + 2ζ p1 + 1 + 2ζ p2 + 1
ω ω ω ω ω ω
p1 p2 0p1 0p1 0p2 0p2
s s s s s
2 2
s
+ 1 + + 2ζ z1 + 1 + 2ζ z2 + 1
ωz1 ωz2 ω0z1 ω0z1 ω0z2 ω0z2
= K ⋅ sp
s s s s
2 2
s s
+ 1 + 1 + 2 ζ p1 + 1 + 2 ζ + 1
ω ω ω ω ω p2
ω
p1 p2 0p1 0p1 0p2 0p2
Take the terms (constant, real poles and zeros, origin poles and zeros, complex poles and zeros) one by one and plot magnitude and phase
according to rules on previous page. Add up resulting plots.
© Copyright 2005-2019 Erik Cheever, Swarthmore College. This page may be freely used for educational purposes.
More detail at [Link]
Matlab Tools for Bode Plots
>> n=[1 11 10]; %A numerator polynomial (arbitrary)
>> d=[1 10 10000 0]; %Denominator polynomial (arbitrary)
>> sys=tf(n,d)
Transfer function:
s^2 + 11 s + 10
----------------------
s^3 + 10 s^2 + 10000 s
>> damp(d) %Find roots of den. If complex, show zeta, wn.
Eigenvalue Damping Freq. (rad/s)
0.00e+000 -1.00e+000 0.00e+000
-5.00e+000 + 9.99e+001i 5.00e-002 1.00e+002
-5.00e+000 - 9.99e+001i 5.00e-002 1.00e+002
>> damp(n) %Repeat for numerator
Eigenvalue Damping Freq. (rad/s)
-1.00e+000 1.00e+000 1.00e+000
-1.00e+001 1.00e+000 1.00e+001
>> %Use Matlab to find frequency response (hard way).
>> w=logspace(-2,4); %omega goes from 0.01 to 10000;
>> fr=freqresp(sys,w);
>> subplot(211); semilogx(w,20*log10(abs(fr(:)))); title('Mag response, dB')
>> subplot(212); semilogx(w,angle(fr(:))*180/pi); title('Phase resp, degrees')
>> %Let Matlab do all of the work
>> bode(sys)
>> %Find Freq Resp at one freq. %Hard way
>> fr=polyval(n,j*10)./polyval(d,j*10)
fr = 0.0011 + 0.0010i
>> %Find Freq Resp at one freq. %Easy way
>> fr=freqresp(sys,10)
fr = 0.0011 + 0.0009i
>> abs(fr)
ans = 0.0014
>> angle(fr)*180/pi %Convert to degrees
ans = 38.7107
>> %You can even find impulse and step response from transfer function.
>> step(sys)
>> impulse(sys)
© Copyright 2005-2019 Erik Cheever, Swarthmore College. This page may be freely used for educational purposes.
More detail at [Link]
>> [n,d]=tfdata(sys,'v') %Get numerator and denominator.
n =
0 1 11 10
d =
1 10 10000 0
>> [z,p,k]=zpkdata(sys,'v') %Get poles and zeros
z =
-10
-1
p =
0
-5.0000 +99.8749i
-5.0000 -99.8749i
k =
1
>> %BodePlotGui - Matlab program shows individual terms of Bode Plot. Code at:
>> % [Link]
>>
>> BodePlotGui(sys)
© Copyright 2005-2019 Erik Cheever, Swarthmore College. This page may be freely used for educational purposes.
More detail at [Link]
