http://en.wikipedia.org/wiki/Bode_plot
they have examples, and there is also a controls wiki website with examples, I believe:
http://en.wikibooks.org/wiki/Control_Systems/Bode_Plots.
Given a bode plot, you look for changes in slope. At any frequency that the slope changes, first look to see how much the slope is changing at that frequency. It will be in multiples of 20dB/decade. If you have just a 20db/decade change, you have 1 pole or zero depending if it was negative or positive slope change. Remember poles and zeroes cancel each other, and so you will never have both at the same frequency.
Say you find a slope change at a frequency. Examples:
-20dB/decade -> 1 pole @ frequency
-40dB/decade -> 2 poles @ frequency
+20dB/decade -> 1 zero @ frequency
+40dB/decade -> 2 zeroes @ frequencySo just make a list of your poles and zeroes: z1,z2,z3,...,zn and p1,p2,p3,...,pn as you look at the bode plot. Now you write your transfer function in the form [K*(s-z1)*(s-z2)*...*(s-zn)]/[(s-p1)*(s-p2)*...*(s-pn)].
Then with all of the poles and zeroes in place in the equation, you look back at the plot and find the DC gain (the magnitude at f = 0). Remember the bode plot is a log plot while your transfer function is not, and so you must take the inverse log to get the correct DC gain. If you now take your transfer function and set all the s variables equal to 0 and set the equation equal to the DC gain, you can solve for the K multiplying factor.