Lecture : 21

Control Systems Engineering

Dr. G. Balamurugan
Assistant Professor
Department of Electronics Engineering
MIT Campus, Anna University.

Dr. G. Balamurugan
1
Department of Electronics Engineering, MIT Campus
UNIT III FREQUENCY RESPONSE AND SYSTEM
ANALYSIS 9
Closed loop frequency response-Performance specification in
frequency domain-Frequency response of standard second
order system- Bode Plot - Polar Plot- Nyquist plots-Design of
compensators using Bode plots-Cascade lead compensation-
Cascade lag compensation-Cascade lag-lead compensation

Dr. G. Balamurugan
2
Department of Electronics Engineering, MIT Campus
 Polar Plots
• Polar plot of a sinusoidal transfer function M(j) is a plot of its magnitude of
M(j) versus the phase angle of M(j).
• Thus the polar plots is the locus of the vectors |M(j)| and M(j) as  is
varied from 0 to .
• Polar plot is also known as Nyquist plot.
• Advantage: It depicts the frequency response characteristics of a system over
the entire frequency range in a single plot.
• Disadvantage: Plot does not clearly indicate the contributions of each
individual factor of the open loop transfer function.

Dr. G. Balamurugan
3
Department of Electronics Engineering, MIT Campus
 Polar Plot
• Circles represents magnitude
• Radial lines represents phase
angle.

• A positive (Negative) phase angle

is measured counterclockwise
(clockwise) from the positive axis
or reference 0.

• Polar plot is very useful in

determining the stability of a
closed loop system from its open
loop frequency response.
Dr. G. Balamurugan
4
Department of Electronics Engineering, MIT Campus
 Determination of Gain Margin (GM) and
Phase Margin (PM)

0 0
-180 -180

Dr. G. Balamurugan
5
Department of Electronics Engineering, MIT Campus
 Problem 1
The open loop TF of a unity feedback system is given by . Sketch polar plot and
determine gain margin and phase margin for K=1 and determine K for GM=20dB and PM=30.

Solution:

 0.35
0.35 0.4
0.4 0.45
0.45 0.5
0.5 0.6
0.6 0.7
0.7 0.8
0.8 11

|G(j)| 2.2 1.8 1.5 1.2 0.9 0.7 0.5 0.3

G(j) -144 -150 -156 -162 -171 -180 -186 -198

Dr. G. Balamurugan
6
Department of Electronics Engineering, MIT Campus
  0.35 0.4 0.45 0.5 0.6 0.7 0.8 1

|G(j)| 2.2 1.8

Problem 1
1.5 1.2 0.9 0.7 0.5 0.3

G(j) -144 -150 -156 -162 -171 -180 -186 -198

Scale:
1 Circle : 0.05 magnitude
A positive (Negative) phase angle is
measured counterclockwise (clockwise)
from the positive axis or reference 0.
GM Phase cross over
=0.8
=0.7

1
=

2.5 2.0 1.5 1.0 0.5

=0.6
Gain Margin
=0.5

=0.45

=0.4
Phase Margin
=0.35

Dr. G. Balamurugan
7
Department of Electronics Engineering, MIT Campus
 Problem 1- Determine K for GM=20dB

GM
=0.8
=0.7

1
=

2.5 2.0 1.5 1.0 0.5

=0.6
=0.5

=0.45

=0.4

=0.35

Dr. G. Balamurugan
8
Department of Electronics Engineering, MIT Campus
 Problem 1- Determine K for PM=30degree

GM
=0.8
=0.7

1
=

2.5 2.0 1.5 1.0 0.5

=0.6
=0.5

=0.45

=0.4

=0.35

Dr. G. Balamurugan
9
Department of Electronics Engineering, MIT Campus
 Problem 2

The open loop TF of a unity feedback system is given

by . Sketch polar plot using ordinary graph sheet and
determine gain margin and phase margin for K=1 and determine K for
GM=20dB and PM=30.

Dr. G. Balamurugan
10
Department of Electronics Engineering, MIT Campus
Polar plot (Ordinary Graph Sheet)

Dr. G. Balamurugan
11
Department of Electronics Engineering, MIT Campus
Polar plot (Ordinary Graph Sheet)

 0.35 0.4 0.45 0.5 0.6 0.7 0.8 1

GR(j) -1.79 -1.57 -1.37 -1.2 -0.90 -0.68 -0.51 -0.3

GI(j) -1.28 -0.89 -0.60 -0.4 -0.14 -0.006 0.05 0.1

Dr. G. Balamurugan
12
Department of Electronics Engineering, MIT Campus
 Dr. G. Balamurugan
13
Department of Electronics Engineering, MIT Campus
 Yo u
a nk
T h
Dr. G. Balamurugan
14
Department of Electronics Engineering, MIT Campus