Position Legend for Bode Plots

Question

I am having a problem placing my legend inside a bode plot (magnitude or phase - any would do). I cannot find any command that lets me do so.

My command for bode plot is

BodePlot[TF[2 \[Pi] s], {0.001, 100}, 
PhaseRange -> {-\[Pi], \[Pi]}, 
PlotStyle -> {Thickness[0.01], Thickness[0.008], Thickness[0.005]}, 
GridLines -> Automatic, 
PlotLegends -> {"\!\(\*SubscriptBox[\(\[ScriptCapitalP]\), \(1\)]\)",
"\!\(\*SubscriptBox[\(\[ScriptCapitalP]\), \(2\)]\)", 
"\!\(\*SubscriptBox[\(\[ScriptCapitalP]\), \(3\)]\)"}, 
PlotLabel -> {"Impulse Response Function \!\(\*SubscriptBox[\(\
\[ScriptCapitalP]\), \(i\)]\)(s)", ""}, 
FrameLabel -> {{"Frequency [Hz]", 
"Magnitude [dB]"}, {"Frequency [Hz]", "Phase [deg]"}}, 
BaseStyle -> {FontSize -> 20, FontSize -> 20}, ImageSize -> Large]

Here, TF is a TransferFunctionModel.

I want to put the legends inside the bode plot environment rather than it occurring on the side.

Answer 1

The PlotLegends option in BodePlot is not used to label the magnitude and phase. Instead, you use PlotLegends whenever you plot more than one function in the same call of BodePlot. If you want to label the magnitude and phase plots, you can use PlotLabel:

BodePlot[
  {
   TransferFunctionModel[{{{20}}, 20 + s}, s], 
   TransferFunctionModel[{{{10}}, 15 + 2 s}, s]
  },
  PlotLegends -> {
    "\!\(\*SubscriptBox[\(\[ScriptCapitalP]\), \(1\)]\)",
    "\!\(\*SubscriptBox[\(\[ScriptCapitalP]\), \(2\)]\)"
  },
  PlotLabel -> {"Magnitude Plot", "Phase Plot"}
]

Edit If you want a legend inside of the plot, you can use Epilog and LineLegend:

BodePlot[
  TransferFunctionModel[{{{20}}, 20 + s}, s], 
  Epilog -> {
    Inset[LineLegend[{Blue}, {"Amplitude"}], {1, -15}], 
    Inset[LineLegend[{Blue}, {"Phase"}], {1, -60}]
  }
]