By: Nafees Ahmed

Asstt. Prof., EE Deptt,

DIT, Dehradun

By: Nafees Ahmed, EED, DIT, DDun

 Introduction
The polar plot of sinusoidal transfer function G(j) is a plot
of the magnitude of G(j) verses the phase angle of G(j)
on polar coordinates as is varied from zero to infinity.
Therefore it is the locus of G( j) G( j) as is varied from
zero to infinity.
As G( j) G( j) Me j ( )
So it is the plot of vector Me j ( ) as is varied from zero
to infinity

By: Nafees Ahmed, EED, DIT, DDun

 Introduction conti
In the polar plot the magnitude of G(j) is plotted as the
distance from the origin while phase angle is measured
from positive real axis.
+ angle is taken for anticlockwise direction.
Polar plot is also known as Nyquist Plot.

By: Nafees Ahmed, EED, DIT, DDun

Steps to draw Polar Plot
Step 1: Determine the T.F G(s)
Step 2: Put s=j in the G(s)
Step 3: At =0 & = find G( j) by lim G( j) & lim G( j)
0

Step 4: At =0 & = find G ( j ) by lim G( j ) & lim G( j )

0

Step 5: Rationalize the function G(j) and separate the real

and imaginary parts
Step 6: Put Re [G(j) ]=0, determine the frequency at which
plot intersects the Im axis and calculate intersection value by
putting the above calculated frequency in G(j)

By: Nafees Ahmed, EED, DIT, DDun

Steps to draw Polar Plot conti
Step 7: Put Im [G(j) ]=0, determine the frequency at
which plot intersects the real axis and calculate
intersection value by putting the above calculated
frequency in G(j)
Step 8: Sketch the Polar Plot with the help of above
information

By: Nafees Ahmed, EED, DIT, DDun

Polar Plot for Type 0 System
K
Let G ( s)
(1 sT1 )(1 sT2 )

Step 1: Put s=j

K
G ( j )
(1 jT1 )(1 jT2 )
K
tan 1 T1 tan 1 T2
1 T1 1 T2
2 2

Step 2: Taking the limit for magnitude of G(j)

By: Nafees Ahmed, EED, DIT, DDun

Type 0 system conti
K
lim G ( j ) K
1 T1 1 j T2
2 2
0

K
lim G ( j ) 0
1 T1 1 j T2
2 2

Step 3: Taking the limit of the Phase Angle of G(j)

lim G ( j ) tan 1
T1 tan 1
T2 0
0

lim G ( j ) tan 1
T1 tan 1 T2 180

By: Nafees Ahmed, EED, DIT, DDun

Type 0 system conti
Step 4: Separate the real and Im part of G(j)
K (1 2T1T2 ) K (T1 T2 )
G( j ) j
1 T1 T2 T1T2
2 2 2 2 4
1 2T12 2T22 4T1T2
Step 5: Put Re [G(j)]=0
K (1 2T1T2 ) 1
0 &
1 T1 T2 T1T2
2 2 2 2 4
T1T2
So When
1 K T1T2
G ( j ) 90 0
T1T2 T1 T2
& G ( j ) 0 180 0
By: Nafees Ahmed, EED, DIT, DDun
Type 0 system conti
Step 6: Put Im [G(j)]=0
K (T1 T2 )
0 0 &
1 T1 T2 T1T2
2 2 2 2 4

So When
0 G ( j ) K00
G ( j ) 01800

By: Nafees Ahmed, EED, DIT, DDun

Type 0 system conti

By: Nafees Ahmed, EED, DIT, DDun

Polar Plot for Type 1 System
Let G(s) s(1 sT K)(1 sT )
1 2

Step 1: Put s=j

K
G ( j )
j (1 jT1 )(1 jT2 )
K
90 0 tan 1 T1 tan 1 T2
1 T1 1 j T2
2 2

By: Nafees Ahmed, EED, DIT, DDun

Type 1 system conti
Step 2: Taking the limit for magnitude of G(j)
K
lim G( j )
0 1 T1 2
1 j T2
2

K
lim G( j ) 0
1 T1 2
1 j T2
2

Step 3: Taking the limit of the Phase Angle of G(j)

lim G ( j ) 90 0
tan 1
T1 tan 1
T2 90 0

lim G ( j ) 90 0
tan 1 T1 tan 1 T2 270 0

By: Nafees Ahmed, EED, DIT, DDun

Type 1 system conti
Step 4: Separate the real and Im part of G(j)
K (T1 T2 ) j ( K 2 T1T2 K )
G ( j ) j
(T1 T2 T1 T2 )
3 2 2 2 2 2
3 (T12 T22 2 T12 T22 )

Step 5: Put Re [G(j)]=0

K (T1 T2 )
0
(T1 T2 T1 T2 )
3 2 2 2 2 2

So at
G ( j ) 0 270 0

By: Nafees Ahmed, EED, DIT, DDun

Type 1 system conti
Step 6: Put Im [G(j)]=0
j ( K 2T1T2 K ) 1
0 &
(T1 T2 T1 T2 )
3 2 2 2 2 2
T1T2
So When
1 K T1T2
G ( j ) 0 0
T1T2 T1 T2
G ( j ) 0 0

By: Nafees Ahmed, EED, DIT, DDun

Type 1 system conti

By: Nafees Ahmed, EED, DIT, DDun

Polar Plot for Type 2 System
Let G ( s)
K
s 2 (1 sT1 )(1 sT2 )

Similar to above

By: Nafees Ahmed, EED, DIT, DDun

Type 2 system conti

By: Nafees Ahmed, EED, DIT, DDun

 Note: Introduction of additional pole in denominator
contributes a constant -1800 to the angle of G(j) for all
frequencies. See the figure 1, 2 & 3
Figure 1+(-1800 Rotation)=figure 2
Figure 2+(-1800 Rotation)=figure 3

By: Nafees Ahmed, EED, DIT, DDun

 Ex: Sketch the polar plot for G(s)=20/s(s+1)(s+2)
Solution:
Step 1: Put s=j
20
G ( j )
j ( j 1)( j 2)
20
90 0 tan 1 tan 1 / 2
2 1 2 4

By: Nafees Ahmed, EED, DIT, DDun

 Step 2: Taking the limit for magnitude of G(j)
20
lim G( j )
0 1 4
2 2

20
lim G( j )
1 4
2 2
0

Step 3: Taking the limit of the Phase Angle of G(j)

lim G ( j ) 90 0
tan 1
tan 1
/ 2 90 0

lim G ( j ) 90 0
tan 1
tan 1
/ 2 270 0

By: Nafees Ahmed, EED, DIT, DDun

 Step 4: Separate the real and Im part of G(j)
60 2 j 20( 3 2 )
G( j ) 4 j 4
( )( 4 )
2 2
( 2 )( 4 2 )

60 2
0
( )( 4 )
4 2 2

So at
G ( j ) 0 270 0

By: Nafees Ahmed, EED, DIT, DDun

 Step 6: Put Im [G(j)]=0
j 20( 3 2 )
0 2 &
( )( 4 )
4 2 2

So for positive value of

10
2 G ( j ) 0 0
3
G ( j ) 00 0

By: Nafees Ahmed, EED, DIT, DDun

By: Nafees Ahmed, EED, DIT, DDun
Gain Margin, Phase Margin & Stability

By: Nafees Ahmed, EED, DIT, DDun

 Phase Crossover Frequency (p) : The frequency where a
polar plot intersects the ve real axis is called phase
crossover frequency
Gain Crossover Frequency (g) : The frequency
where a polar plot intersects the unit circle is called
gain crossover frequency
So at g G( j) Unity

By: Nafees Ahmed, EED, DIT, DDun

 Phase Margin (PM):
Phase margin is that amount of additional phase lag at
the gain crossover frequency required to bring the
system to the verge of instability (marginally stabile)
m=1800+
Where
=G(jg)
if m>0 => +PM (Stable System)
if m<0 => -PM (Unstable System)

By: Nafees Ahmed, EED, DIT, DDun

 Gain Margin (GM):
The gain margin is the reciprocal of magnitude G( j ) at
the frequency at which the phase angle is -1800.
1 1
GM
| G ( jwc) | x

In terms of dB

1
GM in dB 20 log 10 20 log 10 | G( jwc) | 20 log 10 ( x)
| G( jwc) |

By: Nafees Ahmed, EED, DIT, DDun

Stability
Stable: If critical point (-1+j0) is within the plot as
shown, Both GM & PM are +ve
GM=20log10(1 /x) dB

By: Nafees Ahmed, EED, DIT, DDun

 Unstable: If critical point (-1+j0) is outside the plot as
shown, Both GM & PM are -ve
GM=20log10(1 /x) dB

By: Nafees Ahmed, EED, DIT, DDun

 Marginally Stable System: If critical point (-1+j0) is
on the plot as shown, Both GM & PM are ZERO
GM=20log10(1 /1)=0 dB

By: Nafees Ahmed, EED, DIT, DDun

MATLAB Margin

By: Nafees Ahmed, EED, DIT, DDun

Inverse Polar Plot
The inverse polar plot of G(j) is a graph of 1/G(j) as
a function of .
Ex: if G(j) =1/j then 1/G(j)=j

lim G ( j ) 1
0
0

lim G ( j ) 1

By: Nafees Ahmed, EED, DIT, DDun

Books
Automatic Control system By S. Hasan Saeed
Katson publication

By: Nafees Ahmed, EED, DIT, DDun