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    %& -shell-escape

    % Create a Bode plot using Papanicola Robert's package bodegraph:

    % http://www.sciences-indus-cpge.apinc.org/Bode-Black-et-Nyquist-avec-
    Tikz

    % Author: Dazhi Jiang

    documentclass[10pt]{article}

    %%%<

    usepackage{verbatim}

    usepackage[active,tightpage]{preview}

    %PreviewEnvironment{tikzpicture}

    setlengthPreviewBorder{5pt}%

    %%%>



    begin{comment}

    :Title: Bode plot

    :Author: Dazhi Jiang

    :Tags: Bodegraph, PGF CVS, Signal Processing, Node positionning,
    Plotting


    This tikz example display two bode plots.

    It requires the bodegraph_ package and GNUPLOT.


    .. _bodegraph: http://www.sciences-indus-cpge.apinc.org/Bode-Black-et-        Nyquist-avec-Tikz

    end{comment}

    usepackage{amsmath,amssymb}

    usepackage{tikz}
    usepackage{bodegraph}

    usetikzlibrary{intersections}
    usetikzlibrary{calc}
    usetikzlibrary{positioning}


    begin{document}

    % Define the layers to draw the diagram
    pgfdeclarelayer{background}
    pgfdeclarelayer{foreground}
    pgfsetlayers{background,main,foreground}

    begin{preview}
    begin{tikzpicture}[>=latex',
        ref lines/.style={thin, blue!60},
        ref points/.style={circle, black, opacity=0.7, fill, minimum size=         3pt, inner sep=0},
        every node/.style={font=small},
        bode lines/.style={very thick, blue},
        Gclabel/.style={text=blue},
        xscale=12/3]

    begin{scope}[yscale=4/110]
    UnitedB
    semilog{-1}{2}{-50}{60}

    % Bode plot (magnitude) for the original system, 4/(s/(1+2s)).
    % Asymptotic line
    BodeAmp[ref lines, red!60]{-1:1.35}{POAmpAsymp{4}{2.0}+IntAmp{1}}
    % Bode plot
    BodeAmp[bode lines, red, name path=Gomagnitude]{-1:1.35}{POAmp{4}        {2.0}+IntAmp{1}}

    % Bode plot (magnitude) for the compensated system, 4(1+s)/(s^2/(1+0.1s)).
    % Asymptotic line
    BodeAmp[ref lines]{-1:2}{APAmpAsymp{4}{0.1}{10}+2*IntAmp{1}}
    % Bode plot
    BodeAmp[bode lines, name path=magnitude]
        {-1:2}{APAmp{4}{0.1}{10}+2*IntAmp{1}}

    % Reference line, (0dB)
    draw [name path=unitygain, ref lines] (-1,0) -- (2,0);

    % Crossover frequency of the original system
    path [name intersections={of=magnitude and unitygain, by={a,b}}]
    (a) circle (2pt)
    (b) circle (2pt);
    node (coref) [ref points, label={[blue]below left:$omega_c$}]
        at (a,b) {};

    % Crossover frequency of the compensated system
    path [name intersections={of=Gomagnitude and unitygain, by=Gocrossover}];
    node (Gocoref) [ref points, label={[red]below:$omega_{co}$}]
        at (Gocrossover) {};

    % Labels for the original system (open-loop)
    node [Gclabel, text=red] at (-0.7, 15) {$-20$dB/dec};
    node [Gclabel, text=red] at (0.5, -30) {$-40$dB/dec};
    node (KG) [Gclabel, red!60, text=red, draw]
        at (-0.5, -30) {$KG(s)=dfrac{4}{s(1+2s)}$};
    draw (KG.east) edge [->, shorten >=1pt, thick, red, bend right=1.5]
        (0.4, -10);

    % Labels for the compensated system (open-loop)
    node [ref points, label={[blue]below left:$omega_2$}] at (0, 0) {};
    node [ref points, label={[blue]below right:$omega_3$}] at (1, 0) {};
    node [Gclabel] at (-0.4, 40) {$-40$dB/dec};
    node [Gclabel] at (0.5, 10) {$-20$dB/dec};
    node [Gclabel] at (1.6, -20) {$-40$dB/dec};
    node (KDG) [Gclabel, blue!60, text=blue, draw]
        at (1.4, 40) {$KD(s)G(s)=dfrac{4(1+s)}{s^2(1+0.1s)}$};
    draw (KDG.west) edge [->, shorten >=1pt, thick, blue, bend right=1.5]
        (0.17, 10);

    % Axes label
    node [below=6pt] at (0.5,-50) {Frequency, $omega$};
    node [rotate=90] at (-1.25,5) {Magnitude, $20log(|G(text{j}        omega)|)$};


    end{scope}

    begin{scope}[yshift=-3.5cm,yscale=4/180]
    UniteDegre
    OrdBode{30}
    semilog{-1}{2}{-180}{0}

% Bode plot (magnitude) for the compensated system, 4(1+s)/(s^2        /(1+0.1s)).
    % Asymptotic line
    BodeArg[ref lines]{-1:2}{APArgAsymp{4}{0.1}{10}+2*IntArg{1}}
    % Bode plot
    BodeArg[bode lines, name path=phase]{-1:2}{APArg{4}{0.1}{10}+2*        IntArg{1}}

    % Phase margin of the original system
    path [name path=Gowcref] (Gocrossover) -- ++(0,-330);
    path [name intersections={of=Gophase and Gowcref, by=Gophasemargin}];
    node (Gopmref) [ref points] at (Gophasemargin) {};
    draw [ref lines, red!60, densely dotted] (Gocoref.south) --                 (Gopmref.north);
    draw [ref lines, <->, red] let p1=(Gophasemargin)
        in
            (Gopmref.south) -- node[left, Gclabel, text=red]                 {$text{PM}_o$} (x1,-180);

    % Phase margin of the compensated system
    path[name path=wcref] (crossover) -- ++(0,-300);
    path [name intersections={of=phase and wcref, by=phasemargin}];
    node (pmref) [ref points] at (phasemargin) {};
    draw [ref lines, densely dotted] (coref.south) -- (pmref.north);
    draw [ref lines, <->, blue] let p1=(phasemargin)
        in
            (pmref.south) -- node[left, Gclabel] {PM} (x1,-180);

    % System Labels
    node (KGphase) [Gclabel, red!60, text=red, draw]
        at (-0.5, -40) {$KG(s)=dfrac{4}{s(1+2s)}$};
    draw[->, shorten >=1pt, thick, red]
        (KGphase.south) .. controls +(down:30) and +(0.1,10) .. (-0.65,         -114);

    node (KDGphase) [Gclabel, blue!60, text=blue, draw]
        at (1.4, -40) {$KD(s)G(s)=dfrac{4(1+s)}{s^2(1+0.1s)}$};
    draw[->, shorten >=1pt, thick, blue]
        (KDGphase.south) .. controls +(down:40) and +(0.1,30) .. (1.1,         -146);

    % Axes label
    node [below=6pt] at (0.5, -180) {Frequency, $omega$};
    node [rotate=90] at (-1.25, -90) {Phase, $angle G(text{j}omega)$};
    end{scope}

    % Background
    begin{pgfonlayer}{background}
        path (-1.4cm,2.8cm) node (tl) {};
        path (2.3cm, -8.4cm) node (br) {};

        path[fill=brown!20] (tl) rectangle (br);
    end{pgfonlayer}

    end{tikzpicture}
    end{preview}
    end{document}