3/21/2016

Straightlineapproximationof
BodePlot
PingHsu
2014
3/13/2016

There are two parts to this document:

1. A step-by-step procedure for sketching a
straight-line approximation of a Bode plot.
2. Justification of the procedure.

3/21/2016

PART I
A step-by-step procedure for sketching a
straight-line approximation of a Bode plot.

Bode plot of a transfer function H(s) consists of two graphs:

1.
2.

Magnitude of H(j ) in dB vs.

(Magnitude Response)
Angle of H(j ) vs. (phase response)

|H(j )| in dB = 20log(|H(j )|)

Angle of H(j )| in
degree or radian

Frequency in rad/sec in
base-10 logarithmic scale.
4

3/21/2016

Sketching the magnitude response

In this note, we only consider the case where both poles and zeros of the
given H(s) are on the left side of the s-plane and/or on the j axis of the
s-plane.
We use the absolute value of the poles and zeros in the procedure of
sketching Bode plots. For example, if a system has a pole at -10, we
simply referred it as a pole as 10 just for the purpose of plotting the Bode
plots.
Three are two cases for plotting the magnitude response plot:
Case-one: H(0) is NOT zero or infinite.
Case-two: H(0) is zero or infinite.
5

Case One -- H(0) is not zero or infinity.

Step 1: Find H(0). Make sure that it is not zero or infinity.
Step 2: Find all the poles and zeros of H( ). For complex-conjugate pole or zero
pair, consider o as a double-pole or a double-zero at o.
Step 3: Mark all the absolute values of poles and zeros on the frequency axis. The
low-frequency limit of the frequency (horizontal) axis should be at least
one decade below the lowest pole or zero and the high-frequency limit
should be one decade above the highest pole or zero.
Step 4: Start a horizontal line from the far left at 20log(H(0))dB. Extend this line
horizontally toward the right and
Step 5: when the line reaches:
a simple zero, increase the slope by 20 dB/decade.
a simple pole, decrease the slope by 20 dB/decade.
a double pole, increase the slope by 40dB/decade. This rule applies to a
pair of complex poles. In this case the corner frequency is o.
a double zero, increase the slope by 40dB/decade. This rule applies to a
pair of complex zeros In this case the corner frequency is o.

3/21/2016

Example:
(Case 1)

H ( s ) 100

s 1
s 10

H (0) 10, 20log(H(0))=20.

pole: at
10, zero at
1.
slope= 20-20dB= 0dB per decade
slope= 20dB per
decade

20log(10)=20dB
40

20
M_db (

)
0

20
0.01

0.1

10

100

zero at

Example:
(Case 1)

H (s)

2 2s

pole at

10,

s 40
4 s 100

First, identify all the poles and zeros:

H (s)

s 40
4 s 2 s 100

Poles: 2, 100
H (0) 1/ 20

Zeros: 40
20log(1/20) = -26dB

slope= -20dB per

decade

-20

-26dB
-40
M_db (

)
-60

60
0.1

10

100

1000

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Example:
(Case 1)

H ( s)

s2 s 4
s 2 10 s 100

Zeros:

=2

Poles:

=10

DC gain :

20log(4/100) = -28dB

40dB per decade slope

0

-20
M_db (

)
-40

60
0.1

10

100

1000

Note: A complex pole pair (or zero pair) is treated as a double-real-pole

(or double-real-zero). In this case, the plot might not be accurate.
We will see how the accuracy can be improved later.

Case-Two (H(0) is zero or infinity).

If H(0)=, there must be at least one pole at zero frequency ( =0).
If H(0)=0, there must be at least one zero at zero frequency ( =0).
Step 1: Remove all poles and zeros at =0 (i.e., strip all simple s in the numerator or
the denominator). Lets call this stripped H(s), H1(s).
Step 2: Follow Step-2 and Step-3 of Case One for H1( ).
Step 3: If N poles at =0 were stripped in Step 1, start a line from the far left at
20log[H(0) /(
]dB (where
is the lowest frequency value on the
frequency axis of the graph) and extend the line at -(N)20dB/decade slope
(downward)
If N zeros at =0 were stripped in Step 1, start a line from the far left at
20log[H(0) (
]dB and extend the line at (N)20dB/decade slope (upward).
** Note that, for this step to work right, it is important that
least one decade below the lowest pole or zero of H1(s)

is selected at

Step 4: Follow rules in Step-5 in Case One when extending the line.
10

3/21/2016

Example:
(Case 2)

H ( s)

( s 0.2)
s( s 10)

This is a case-two case because H(0)=.

( s 0.2)
( s 10)
poles of H1(s) at 10 and zero at 0.2.

H1 ( s )
H1(0)=0.02.

20 log H1 (0) /(0.01)1

20 log(2)

6dB

20

6dB
0
M_db ( )
20

40
0.01

0.1

10

100

-(N)20dB/decade slope
11

Example:
(Case 2)

H ( s)

s2

4s
0.2 s 4

This is a case-two case because H(0)=0.

H1 ( s )

4
, a pair of complex pole,
0.2 s 4

s2

2,

0.05, Q 10, H1 (0) 1

slope= (1)20dB per decade

1

20log H1 (0)(0.01)

20log(0.01)

40dB

slope= 20-40dB = -20dB per decade

20

0
M_db ( )
20

40
0.01

0.1

10

100

Consider a pair of complex conjugate

poles as a double-pole at o.

12

3/21/2016

Example:
R=1 C=0.5F
L=0.5H

vi(t)
sL
1
sL
sC
where

H ( s)

s 2 LC
s LC sCR 1
2

R
c

vo(t)

s2
R L s

1 LC

s2
2s 4

0.5

Now, since H(0)=0, we remove two s (i.e., (s2) from the expression.
1
1
H1 ( s )
H1 (0)
and 20log( H1 (0))
12dB
s 2 2s 4
4
Since c is 2, we should set the lowest frequency on the frequency axis ( 1) at
least one decade below 2. Lets select 1 =0.01. Since we removed 2 two zeros,
the line should start at:

20log( H1 (0)(0.01)2 )

92dB

13

-0

40dB/decade

-40
M_db (

)
-80

-92dB
120
0.1
0.01

10

100

double pole

14

3/21/2016

Sketching the phase response

Each zero and pole (including complex pair) contribute to the overall
phase response.
Plotting of the phase response amounts to plotting the phase response of
each individual pole or zero (or complex pair) and then combine them by
adding.

15

For a pole at =0, the phase plot is simply a straight horizontal line at -90o.
N poles at =0, the line is at (N)90o.
For example:

H (s)

4
s 2 ( s 1)

This transfer function has 2 poles

at =0 (due to the s2 term).

For a zero at =0, the phase plot is simply a straight horizontal line at 90o.
N zero at =0, the line is at (N)90o.
For example:

H (s)

s 2 3s
( s 2)( s 1)

This transfer function has 1 zero

at =0.

120

Due to a single zero at =0

90
60
( )

30
0
30

Due to a single pole at =0

60
90
120
0.01

0.1

10

100

16

3/21/2016

For a simple pole at =a, the phase plot starts from the left at 0 degree.
The line bend down at = a/10 with a slope of -90o per two-decade. Two
decade after, i.e, at = (10)(a), the line levels off.
For a multiple pole (including complex pole-pair that count for a doublepole), The line bend down at = a/10 with a slope of (N)90o per twodecade. Two decade after, i.e, at = (10)(a), the line levels off.
The following plot is for a single pole at a=1.
0

final phase lag = -90

30
( )

60
90
120
0.01

0.1

10

100

One decade after

One decade before

-450 at = c.

17

For a simple zero at =a, the phase plot starts from the left at 0 degree.
The line bend upward at = a/10 with a slope of 90o per two-decade.
Two decade after, i.e, at = (10)(a), the line level-off.
For a multiple zero (including complex zero-pir that count for a doublezero). The line bend up at = a/10 with a slope of (N)90o per twodecade. Two decade after, i.e, at = (10)(a), the line level-off.
The following plot is for a single zero at a=1.
final phase lead = 90
120

Actual

90
( ) 60
30
0
0.01

0.1

10

100

One decade after

One decade before

450 at = c.

18

3/21/2016

Example:

H ( s ) 100

s 1
s 10

Due to zero at 1

120
90
60

( )

30
0

Due to pole at 10

30
60
90
120
0.01

0.1

10

100

120

Combined
plot

90
60
30

( )

0
30
60
90
120
0.01

0.1

10

100

19

Example:

H( )

s
( s 0.3)( s 3)

Due to zero at =0
Due to pole at =0.3

90
60

( )

30

Due to pole at =3

0
30
60
90

0.01

0.1

10

100

0.1

10

100

90

combined

60
30
0

( ) 30
60
90

0.01

Poles or zeros at 0 can be ignored in the beginning. After completing the

phase curve (without the poles or zeros at 0), shift the curve down by 90*N
degrees (for N poles at 0) or shift the curve up by 90*N degree (for N zeros)
20

10

3/21/2016

Example:

H ( s)

4s
0.2 s 4

a pair of complex pole at

0.05

Due to a pair of complex poles at =2

Due to zero at =0
180

( )

90
0
90
180
0.1

Combined
( )
plot

10

100

1000

10

100

1000

180
90
0
90
180
0.1

21

Improving the accuracy of the straight-line approximation

The straight-line approximations accuracy can be improved by smoothing out the
covers. This works well in the case of transfer function with no complex pole or zero.
For transfer function with complex poles or zeros, the magnitude response peaks or dips
near the pole frequency. The amount of peaking at the pole frequency is -20log(2 ) or
20 log(Q). The amount of dipping at the zero frequency is the -20log(Q).
Damping
Ratio( )

Quality
Factor(Q)

Peakingat c indB

0.5

0db(straightline
approximationisverycloseto
theactual.

0.25

6dB

0.1

14dB

0.05

10

20dB

0.01

50

34dB
22

11

3/21/2016

The following plot is the magnitude response of the 2nd-order

transfer function:
2
H ( s)

s2

where

2
n

The red plot is the straight-line approximation. Three black plots are
the actual responses with =0.5 (Q=1), =0.25 (Q=2), and =0.05
(Q=10).
20

=0.05

0
M_db (

1)

M_db (

2)

M_db (

10 )

20

40

60

80
0.01

0.1

10

100

23

The following plot is the phase response of the 2nd-order transfer

function:
2
H ( s)

s2

2
n

where

The red plot is the straight-line approximation. Three black plots are
the actual responses with =0.5 (Q=1), =0.25 (Q=2), and =0.05
(Q=10).
0

=0.05

30

( )

60
90
120
150
180
0.01

0.1

10

100

24

12

3/21/2016

The following plot is the magnitude and phase response of the 2ndorder transfer function:
H ( s)

s2

n
2
n

2
n

where

As shown, the magnitude response dips at the pole frequency and the
amount of the dipping is the same as the amount of peaking in the
case of complex pole. Also, the phase response changes faster with
lower damping,
80
60

M_db (

1)

M_db (

2)

M_db (

10 ) 20

40

0
20
0.01

=0.05
0.1

10

100

10

100

180

=0.05

150
120

( )

90
60
30
0
0.01

0.1

25

Example: (The same transfer function in an earlier example)

H (s)
a pair of complex pole with

s2
c

4s
0.2 s 4
0.05 (Q 10), H1 (0) 1

2,

Since =0.05, the actual curve peaks -20log(2*0.05)=20dB.

So additional 20dB should be added to the approximation at

c=2.

20

0
M_db ( )
20

40
0.01

0.1

10

100

Note that at the peak response frequency (resonate frequency), the

magnitude response is about 26dB. This result agrees with the standard
2nd-order band-pass filter analysis discussed in lecture 8.
26

13

3/21/2016

H ( s)

4s
s 2 0.2 s 4

(20)

0.2 s
s 2 0.2 s 4

As discussed in Lecture 7, this transfer function is 20 times the

standard 2nd order band-pass filter that has unity gain at the peak.
Therefore, the magnitude at the peak response should be:
20log(20)=26dB.
20

0
M_db ( )
20

40
0.01

0.1

10

100

Compare this response plot to the computer generated Bode plot of

the same transfer function on page 5 of this note.
27

Example:

H ( s)

s2

a pair of complex pole with

4s
0.2 s 4
c

0.05, Q 10

Since Q=10 >> 0.5, the actual phase response changes abruptly at
c=2.
180
90
0

( ) 90
180

0.01

0.1

10

100

Compare this response plot to the computer generated Bode plot of the same
transfer function on page 5 of this note.
28

14

3/21/2016

H ( s)

Example: (Notch filter)

A pair of complex pole with

s2
s

4
s 4

2 and a pair of complex zero with

The transfer function is a notch filter but according to the straight-line

approximation rule, this transfer functions magnitude response is a
straight line at 0db.
Duetothedoublezeros
20

Mdb( )

20
40

60
0.01

0.1

10

100

Duetothedoublepoles
29

Example:

H ( s)

s2
s

4
s 4

where

poles:

zeros:

z =2, Q=

=2, Q=2

The peaking at o=2 due to the poles is 20log(Q)=20log(2)=6db.

The dipping at z=2 due to the zeros is -20log(Q)=-20log()=- db.
The magnitude response is dominated by the zeros (i.e, - db at z=2)
The bandwidth of the filter is BW=

o/Q=2/2=1.

Bode Diagram
20

Bandwidth=1

Magnitude (dB)

10

-10

-20

-30
10

-1

10

10
Frequency (rad/s)

10

30

15

3/21/2016

PART II
Justification of procedure described in PART I.

31

If a transfer function H(s) can be expressed as a product of simpler

functions. For example,

H ( s)

A1 ( s ) A2 ( s ) A3 ( s ) A4 ( s )

Since the magnitude of a product of complex numbers is the product

of magnitudes of the numbers,
H ( j ) = A1 ( j ) A2 ( j ) A3 ( j ) A4 ( j )

and since the log of a product of numbers is the sum of the log of
the numbers.
20log H ( j ) =20log A1 ( j )
20log A3 ( j )

20log A2 ( j )
20log A4 ( j )

32

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3/21/2016

Since the angle (phase angle, in this case) of a product of complex

number is the sum of angle of the numbers, so

H( j )

A( j )1

A2 ( j )

A3 ( j )

A4 ( j )

If we can express H(s) as a product of several simple basic terms,

we can combine the response plots (both magnitude and phase) of
these basic terms and obtain the Bode plot of H(s) by adding up
the individual plots.

33

Consider the following transfer function:

H ( s)

k1

s s z1 s z2
s s p1 s p2

The s in this transfer function can cancel each other out but, here, for
the purpose of showing such a term can be either in the enumerator and
denominator, we choose to keep them in the expression.
We now decompose this transfer function into a product of simple
terms. For simplicity, each term is scaled to have a unity DC gain
(except the simple s term).
H ( s)

k1

z1 z2 1
p1 p2 s

p1
s p1

k1

z1 z2 1
p1 p2 s

1
1 s p1

p2
s p2

s z1
z1

s z2
z2

or
H ( s)

1
1 s p2

1 s z1
1

1 s z2
1

34

17

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Example:

H( j )

3 6 3s 8 2 s
s 5 s 2 4s

H ( s)

3 6 j3
j 5 j

8
2

j2
j4

3(6) 1
j (5) 1

j / 2 (8) 1
j / 5 (2) 1

j /4
j / 0.5

1 j /2 1 j /4
3(6)(8)
(5)(2) j 1 j / 5 1 j / 0.5
72
5

1
j

1
j /5

1
1
j / 0.5

j /2 1

j /4

In this expression, there are three poles at 0 rad/sec, 5 rad/sec and

0.5 rad/sec and there are two zeros: at 2 rad/sec and 4 rad/sec.

35

Since the magnitude of a product of complex number is the product

of magnitudes of the numbers, so
H( j )

k
k j

1
j

1
j 1

1
j / p1

1
j / p1 1

1
j / p2

1
1
j / p2

j / z1 1

j / z1 1

j / z1

j / z1

Since the log of a product of numbers is the sum of the log of the
numbers.
M [dB ] 20log H ( )
20log k
20log

20log j

1
j / p2

20log
20log 1

1
j
j / z1

20log

1
j / p1

20log 1

j / z2

Therefore, we can plot the approximation plot for each individual

term and then add them up to get the final result.

36

18

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First consider H(s) =k , i.e. a constant. This represents a simple

system, its output is simply the input times k. For this system the
phase shift is zero for all frequency. .

H( j )

M [dB )] 20log( k )

H( j )

( )

0o.

40

20log( k 20
)
M_db (

0
20
40
0.01

0.1

10

100

120
90
60
(

30
0
30
60
90
120
0.01

0.1

10

100

37

For zero at 0 rad/sec i.e., H(s)=s

H( j )

M [dB )] 20log( )

( )

90o.

When =1, 20log(1)=0db. So, the magnitude curve passes through

0dB at =1.
Also, 20log(10 )=20log(10)+20log( )=20+20log( ). So, whenever the
frequency increased by 10 times, the response increased by 20dB. In
other words, the magnitude response curve has a slope of 20dB/decade.
For pole at 0 rad/sec i.e., H(s)=1/s:
H( j )

1
j

M [dB )]

20log( )

( )

90o.

Similar to the case of j term, the magnitude curve of 1/(j ) also passes
through 0dB at =1 and has a slope of -20dB/decade.
(See the Bode plot for both cases next page)

19

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Magnitude Response:
For zero at =0, slope= 20dB per decade
40
20
M_db ( )

0
20
40
0.01

0.1

10

100

For pole at =0,

slope= -20dB per decade

Pass through 0dB at

Phase Response:
120

For zero at =0,

Phase=90o

90
60
( )

30
0
30

For pole at =0,

phase = -90o

60
90
120
0.01

0.1

10

100

Note that H(s) = s, is a differentiator.

x(t)=cos( t)

dx
dt

X(s)

y(t)= cos( t+90)

Y(s)=sX(s)

H(s)= 1/s is the Frequency Response of a integrator.

x(t)=cos( t)

X(s)

x (t )dx.

1
s

y (t )

cos( t 90)

Y ( s)

1
X (s)
s

20

3/21/2016

For the term H ( s ) =

1 s

(i.e., a zero at

H( j ) = 1

M [dB ] 20 log

0dB
20log

0 , if
90o , if
o

( )

tan 2

1
c

,1

, if
, if

1
1

c
c

Note that:
(1) 20log 10

20log

20log(10)

20log

20

So, when is increased by 10 times, the dB value increased by

20db, i.e, 20dB/decade slope .
(2) If

, M[dB] 20log 2

3dB and
45o.

( ) tan2 1 1,1

41

For the term H ( s ) =

1 s

(i.e., a zero at

Asymptotes

40
20

Actual

M_db( )

slope= 20dB per decade

0
20
0.01

0.1

10

100

final phase lead = 90

c
120

Actual

90
( ) 60
30
0
0.01

0.1

10

100

One decade after

One decade before

450 at = c.

42

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H( j ) =

M [dB ]

s
1
j

0dB

tan 2

(i.e., a pole at

20log

( )

1
1 s

For the term H ( s ) =

20log
0o , if
90o , if

c ,1

, if

, if

Note that:
(1) -20log 10

20log

20log(10)

20log

20

So, when is decreased by 10 times, the dB value decreased

by 20db, i.e, -20dB/decade slope .
(2) If

, M[dB]

20log 2

3dB and
45o.

tan2 1 1,1

( )

43

For the term H ( s ) =

1
1 s

(i.e., a pole at

20

slope= -20dB per decade

M_db ( )
20

40
0.01

0.1

10

100

final phase lag = -90

30
( )

60
90
120
0.01

0.1

10

One decade before

100

One decade after

-450 at = c.
44

22

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We have studied the first-order term. Consider a 2nd order transfer

function that has a pair of complex pole or zero.
H(s)=

a
bs

H(s)=

(complex pole) or
2
n

2
n

2
n

s2

H(s)=

bs
a

1
2

2
n

(complext zero)

s 1

or
H(s)=

2
n

= s2

2
n

s 1

Note that both of these terms have DC gain of 1, i.e, H(0)=1.

45

Consider the complex

zero case:

M [dB ]

( )

20 log

tan 2

H ( j ) 1 2 j( /
=1 (

1 (

2 (

)2

2 (

),1

Note that: (1) 40log 10

)2

j( /

2 j(

40 log

0dB

0o , if
180o , if

40log

40log(10)

, if
, if

40log

c
c

1
1

40

So, is is increased by 10 times, the dB value increased by

40db, i.e, 40dB/decade slope .
(2) If

, M[dB] 20log 2
( ) tan

and
o

90 .
46

23

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Three traces are shown: Asymptote (in red), actual with Q=1, Q=2,
and Q=10.
80
M_db (

slope= 40dB/decade

60

1)

40

M_db (

2)

M_db (

10 ) 20
0

-20dB for =0.05

Q=10

20
0.01

0.1

10

100

180
150
120
90

( )

final phase lead= 180

60

Q=10

30
0
0.01

0.1

10

100

One decade after

One decade before

900 at = c.

47

Consider the
H( j )
complex
pole case:

M [dB ]

( )

20 log

tan

)2

j( /

, if

1
1 (

0dB
40 log

180o , if

40 log

2 (

0o

)
2

(1) -40 log 10

1 2 j( /

1 (

2 (

40 log(10)

40 log

2 j(

, if

, if

40

So, if is increased by 10 times, the dB value changed by -40db, i.e,

-40dB/decade slope .

(2) At

and ( )

, M [dB ]
tan

20 log 2

(the amount of 'peaking' at

in dB)

90 .
48

24

3/21/2016

Three traces are shown: Asymptote (in red), actual with =0.5,
=0.25, and =0.05.
20

=0.05

slope= -40dB per decade

M_db (

1)

M_db (

2)

M_db (

10) 40

20

60
80
0.01

0.1

10

100

0
30

( )

=0.05

60

final phase lead= -180

90
120
150
180
0.01

0.1

One decade before

10

100

One decade after

-900 at = c.
49

25