CONTROL

SYSTEMS
Chapter 7 : Bode Plot
 

 GATE Objective & Numerical Type Solutions

Question 6 [Practice Book] [GATE EE 1999 IIT-Bombay : 5 Marks]
The asymptotic Bode plot of the minimum phase open-loop transfer function G ( s ) H ( s) is as shown in
the figure. Obtain the transfer function G ( s) H ( s).
G ( s) H ( s) - 40 dB/dec
in dB
20
- 20 dB/decade

w2
0 w (rad/sec)
w1 (log scale)
1.0

- 20

- 40 dB/decade

Sol. For the given Bode magnitude plot, there are two corner frequencies : ω1 and ω2 .
The initial slope is  40 dB/dec and this corresponds to a factor s 2 in the denominator of the transfer
function.
At ω1 , the slope changes by  20 dB/dec so resultant slope will be – 20 dB/dec and this is due to the factor
 s 
 1   in the numerator of the transfer function.
 ω1 
At ω 2 , the slope changes by  20 dB/dec so resultant slope will be – 40 dB/dec and this is due to the factor
 s 
1   in the denominator of the transfer function.
 ω2 
Calculation of 1 :
0  20
 20 
log1  log 1
 20
 log 1  1  1  10 1  0.1 rad/sec
 20
Calculation of 2 :
 20  0
 20   2  10 rad/sec
log 2  log1
Calculation of K :
20  20log K  40log 0.1
 20  20log K
K  0.1

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 The overall transfer function can be written as,
 s 
K 1  
0.1 
G ( s) H ( s)  
 s 
s 2 1  
 10 
 s 
0.11  
G ( s) H ( s)   0.1   10( s  0.1) Ans.
 s  s 2 ( s  10)
s 2 1  
 10 
Question 3 [Work Book] [GATE EE 2003 IIT-Madras : 2 Marks]
K
The asymptotic Bode plot of the transfer function is given in below figure. The error in phase angle
s
1
a
and dB gain at a frequency of   0.5a are respectively :
G , dB
20 log K
f, deg
- 20 dB/decade
0.1a 10a
w (rad/sec) w (rad/sec)
a
- 45 /decade
0

(A) 4.9 0 , 0.97 dB (B) 5.70 , 3dB (C) 4.90 , 3dB (D) 5.7 0 , 0.97 dB
Ans. (A)
Sol. The asymptotic Bode plot is shown below.
G , dB
20 log K
f, deg
- 20 dB/decade
0.1a 10a
w (rad/sec) w (rad/sec)
a
- 450 /decade

K
From the transfer function the magnitude and phase are given in equation (i) and (ii).
s
1
a
2
ω
G ( jω)  20 log K  20 log    1  
a
2
 0.5a 
At   0.5a, G ( jω)  20 log K  20 log   1  
 a 
      G( jω)  20log K  0.97 dB       ….. (i)
ω  0.5a 
G ( jω)   tan 1     tan 1     26.57  
0
….. (ii)
 
a  a 
From the given Bode plot magnitude and phase are shown in equation (iii) and (iv).
At   0.5a, G( jω)  20log K       ….. (iii)

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 Error in magnitude can be calculated as,
Error = 20log K  0.97  20log K  0.97 dB
G ( jω)  y         ….. (iv)
y0
  450  
log 0.5a  log 0.1a
      y  31.450
Error in phase can be calculated as,
Error =  26.570  (31.450 )  4.890
Hence, the correct option is (A).
Question 18 [Practice Book] [GATE EC 2015 (Set-02) IIT-Kanpur : 2 Marks]
1
The transfer function of a mass-spring-damper system is given by G ( s)  . The frequency
Ms  Bs  K
2

response data for the system are given in the following table.
 in rad/s G( j) in dB arg G( j) in deg
0.01 – 18.5 – 0.2
0.1 – 18.5 – 1.3
0.2 – 18.4 – 2.6
1 – 16 – 16.9
2 – 11.4 – 89.4
3 – 21.5 – 151
5 32.8 – 167
10 – 45.3 – 174.5

The unit step response of the system approaches a steady state value of _______.
Ans. 0.12
1
Sol. Given : G( s) 
Ms  Bs  K
2

U (s) G (s) Y (s)

Y ( s)  G( s)U (s)
1 1
Y (s)  
( Ms  Bs  K ) s
2

Steady state value is given by,

1
y ()  lim sY ( s )  lim
s 0 s 0 ( Ms  Bs  K )
2

1
y ( ) 
K
Now, at   0.01 rad/sec, G( j) dB  18.5
20log G( j)  18.5
1
20 log  18.5
K

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 Alternatively :
From Bode plot concept :
Initial value of G( j) is constant.
20log dc gain  18.5
1
20 log  18.5
K
 1  18.5
log   
K 20
18.5
1
y ()   10 20  0.1188
K
y()  0.12
Hence, the correct answer is 0.12.
Question 3 [Work Book] [GATE EC 2015 (Set-03) IIT-Kanpur : 2 Marks]
Consider the Bode plot shown in the figure. Assume that all the poles and zeros are real-valued. The value
of f H  f L (in Hz) is _______.
G ( jw) , dB

40 dB – 40 dB/dec

40 dB/dec
0 dB Freq. (Hz)
fL 300 900 fH
Ans. 8970
Sol. The given Bode plot is shown below.
G ( jw) , dB

40 dB – 40 dB/dec

40 dB/dec
0 dB Freq. (Hz)
fL 300 900 fH
40  0
Calculation of f L : 40 
log10 (300)  log10 ( f L )
 300 
log10   1
 fL 
300  10 f L
f L  30 Hz ….. (i)
0  40
Calculation of f H :  40 
log10 f H  log (900)
 f 
log10  H   1
 900 
f H  900  10  9000 …… (ii)
f H  f L  9000  30  8970 Hz
Hence, the correct answer is 8970 Hz.
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Question 19 [Practice Book] [GATE EE 2015 (Set-01) IIT-Kanpur : 1 Mark]
A Bode magnitude plot for the transfer function G(s) of a plant is shown in the figure. Which one of the
following transfer functions best describes the plant?
20 log G ( j 2pf )

20

- 20

f (Hz)
0.1 1 10 100 1k 10 k 100 k

1000( s  10) 10( s  10) ( s  1000) s  1000

(A) (B) (C) (D)
s  1000 s( s  1000) 10s( s  10) 10( s  10)
Ans. (D)
Sol. For the given Bode magnitude plot, there are two corner frequencies : ω1  10 and ω2  1000  
  At ω1  10 rad/sec , the slope changes by  20 dB/dec and resultant slope will be – 20 dB, this is due to
 s 
the factor  1   in the denominator of the transfer function.
 10 
At ω2  1000 rad/sec , the slope changes by  20 dB/dec and resultant slope will be 0 dB/dec , this is due
 s 
to the factor  1   in the numerator of the transfer function.
 1000 
20 log G ( j 2pf )
0 dB -20 - 20
20 Slope = = - 20 dB/dec
æ 1000 ö
log ç ÷
è 10 ø
0 dB
– 20

f (Hz)
10 1k
(1p) (1z)
Calculation of K :
20log K  20
K  10
The overall transfer function can be written as,
 1 
K  1  s
 G(s)   1000 
1
1 s
10
10( s  1000) 10 ( s  1000)
G ( s)  
1000( s  10) 10( s  10)
Hence, the correct option is (D).

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 IES Objective Solutions
Question 10 [Practice Book] [IES EC 1995]
What is the slope change at   10 of the magnitude versus frequency characteristics of a unity feedback
system with the following open-loop transfer function?
5(1  j 0.1)
G ( j) 
    
2

j(1  j 0.5) 1  j 0.6   j  

 50  50  
(A)  40 dB/dec to  20 dB/dec (B) 40 dB/dec to 20 dB/dec
(C)  20 dB/dec to  40 dB/dec (D) 40 dB/dec to  20 dB/dec
Ans. (A)
5(1  j 0.1)
Sol. Given : G ( j) 
 j (0.6)  j  
2

j(1  j 0.5) 1    

 50  50  

1  0 (One pole)  20 dB/dec
2  2 rad/sec (one finite pole)   20 dB/dec
3  10 rad/sec (one complex zero )  20 dB/dec
4  50 rad/sec (one complex pole )   40 dB/dec
Bode plot of given transfer function is shown in figure.
G ( jw) , dB

- 20 dB/dec

w (rad/sec)
2 10 50

- 20 dB/dec
- 40 dB/dec
- 60 dB/dec

Slope changes at   2 rad/sec

 20 dB/dec to  40 dB/dec
Slope changes at   10 rad/sec
  40 dB/dec to  20 dB/dec
Slope changes at   50 rad/sec
 20 dB/dec to  60 dB/dec
Hence, the correct option is (A).
Question 23 [Practice Book] [IES EC 2006]
Consider the following statements regarding the asymptotic Bode plots used for frequency response
analysis
1. The deviation of the actual magnitude response for a zero on real axis is 3 dB at the corner frequency.
2. The phase angle for a pair of complex conjugate poles at un-damped frequency depends upon the value
of damping ratio.
Which of the statements given above is/are correct ?

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 (A) Only 1 (B) Only 2 (C) Both 1 and 2 (D) Neither 1 and 2
Ans. (A)
1
Sol. (i) For G ( s ) H ( s ) 
1  sT
Magnitude can be written as,
1
G ( j) H ( j) 
1  2T 2
In dB, 20 log G ( j) H ( j)  20 log1  20 log 1  2T 2
1
Error in log-magnitude for 0    is given by,
T
10 log (1  2T 2 )  10 log1.
1
Therefore, error at corner frequency   is 10log(1  1)  20log1   3 dB.
T
So, the deviation of the actual magnitude response for a zero on real axis is 3 dB at the corner
frequency.
G ( jw) , dB

Corner 1
20 frequency
T
0 w (rad/sec)
- 20 dB/decade
- 20
Exact plot

(ii) General second order system

2n
G(s)  2
s  2n s  2n
2n 2n
Put s  j, G( s)  
( j)2  2n ( j)  n2  2  j 2n j  n2
2n 1
G ( s)  2 
n  2  j 2n   
2

1     j 2
 n  n
In dB, magnitude can be written as,

1
M  20 log10 G ( j)  20 log10 2
  
1     j 2
 n  n

   2  2
2  
M   20 log10 1      4  
  n    n 

Suppose u
n

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  20 log10 G ( j)  M   20 log10 (1  u 2 ) 2  42u 2
Consider the two cases :

1. u  1 i.e.  1
n
M   20log10 1  0 dB

2. u  1 i.e.  1
n

M   20 log10 (u 2 ) 2   20 log10 u 2   40 log10 u

So, it is a straight line having slope of  40 dB/decade and passing through the point u.
Therefore, the asymptotic plot consist of
(i) M  0 u  1
(ii) M   40 log10 u u  1
Phase angle can be written as,
2u
  G ( j)   tan 1
1 u2
The phase angle is a function of both  and  . At   0, the phase angle equals 00 . At the corner
frequency   n , the phase angle is  900 regardless of  .
(i) For small value of u , u 2 is small
    tan 1 2u
(ii) For large value of u , u 2  1
2
    tan 1
u
(iii) When u  1
   tan 1    900
Hence, the correct option is (A).
Question 28 [Practice Book] [IES EC 2008]
The gain-phase plot of a linear control system is shown in the below figure.
20 dB w=0

Gain (dB)

Phase
00 - 2700 -1800 - 900 Degrees

– 20 dB
w=¥
What are the gain-margin (G.M.) and the phase-margin (P.M.) of the system ?
(A) G.M. > 0 dB and P.M. > 0 degree (B) G.M. > 0 dB and P.M. < 0 degree
(C) G.M. < 0 dB and P.M. > 0 degree (D) G.M. < 0 dB and P.M. < 0 degree
Ans. (D)
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Sol. Since,  gc   pc system is unstable.
Gain (dB)
P.M.
20 dB w=0

w pc G.M.
Phase (Degrees)
00 - 2700 wgc -1800 - 900

– 20 dB
w=¥
At  gc , G.M.  0
At gc , P.M.  1800  G ( jgc ) H ( jgc )
G ( jgc ) H ( jgc )  1800
P.M.  0
Hence, the correct option is (D).
Question 37 [Practice Book] [IES EE 2011]
The transfer function of a linear control system is given by,
100(s 15)
G(s)   
s(s  4)(s 10)
In its bode diagram, the value of gain for   0.1 rad/sec is,
(A) 20 dB (B) 40 dB (C) 60 dB (D) 80 dB
Ans. (B)
100(s 15)
Sol. Given : G(s)   
s(s  4)(s 10)
Substituting s  j  ,
100( j 5)
G( j) 
j( j 4)( j10)
100(5  j 0.1)
G( j 0.1) 
j 0.1( j0.1  4)( j 0.1  10)
100 0.12  52
G( j 0.1)   124.97
0.1 (0.12  42 )(0.12  102 )
20 log(124.97)  42 dB
Hence the most approximate option is (B).



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