K. J.

Somaiya College of Engineering, Mumbai-77

Batch: CSA-2 Roll No.: 1813061

Experiment / assignment / tutorial No.___5___
Grade: AA / AB / BB / BC / CC / CD /DD

Signature of the Staff In-charge with date

TITLE: To study and analyze the stability of a system using polar plot Matlab/Scilab

AIM: : Stability Analysis of a system from its Polar Plot using SCILAB / MATLAB simulation

OUTCOME: Student will be able to plot the Polar plot for a given system

Procedure:

1. Measure gain margin and phase margin as obtained on the semi-log paper

Gain Margin = 1 / | G(jw)H(jw) |w=wp

Phase Margin = 1800 + Φ| w=wp parameter

2. Verification of gain margin and phase margin for the following systems using
SCILAB / MATLAB for the Closed loop system having open loop transfer function G(s) H(s)

Department of Electronics and Telecommunication Engineering

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 K. J. Somaiya College of Engineering, Mumbai-77

Observations:

S Transfer At At Gain Phase Gain Phase

r function w=0 w= margin margin crossove crossov
. ∞ (decibel (Degrees r er
n s) ) frequenc frequen
o y cy
. (rad/sec) (rad/se
c)
1 Type 0 Theoretical Magnitude 0 0 - - - -
system :

G(S)H(S) Phase: 0 -90

=8/S+4 Practical ∞ 120 6.92 NaN

2 Type 0, Theoretical Magnitude 2 0 - - - -

order 2 :
system
G(S)H(S Phase: 0 -180
) Practical ∞ 95.48 2.84 ∞
=20/
(S+2)
(S+5)

3 Type 2 Theoretical Magnitude 3 0 - - - -

system :

G(S)H(S) Phase: 0 -270

= Practical 10.45 50.10 1.71 3.31

18/(S+1)
(S+2)
(S+3)
4 Type 1 Theoretical Magnitude ∞ 0 - - - -
,order 2 :
system
G(S)H(S Phase: -90 -180
)
=1/S(S+ Practical ∞ 83.69 0.33 ∞
3)

5 Type 1 Theoretical Magnitude ∞ 0 - - - -

,order 3 :
system
Phase: -90 -180
G(S)H(S
) Practical ∞ -88.0412 0.413 NaN
=10/S(S 3
+ 6)(S-
4)

Department of Electronics and Telecommunication Engineering

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 K. J. Somaiya College of Engineering, Mumbai-77

Theoretical Calculations:

Department of Electronics and Telecommunication Engineering

Page No CSA /SEM V/July - Nov 20

K. J. Somaiya College of Engineering, Mumbai-77

Department of Electronics and Telecommunication Engineering

Page No CSA /SEM V/July - Nov 20

K. J. Somaiya College of Engineering, Mumbai-77

Department of Electronics and Telecommunication Engineering

Page No CSA /SEM V/July - Nov 20

K. J. Somaiya College of Engineering, Mumbai-77

Department of Electronics and Telecommunication Engineering

Page No CSA /SEM V/July - Nov 20

K. J. Somaiya College of Engineering, Mumbai-77

Department of Electronics and Telecommunication Engineering

Page No CSA /SEM V/July - Nov 20

 K. J. Somaiya College of Engineering, Mumbai-77

Practical Calculations:

1. Code

2. clc;
3. clear all;
4. close all;
5. num = [8];
6. den = [0 1 4];
7. sys = tf(num,den)
8. nyquist(sys);
9. [GM,PM,wpc,wgc]=margin(sys);
10. disp('Gain margin in linear scale=');
11. disp(GM);
12. disp('Gain margin in dB=');
13. disp(20*log10(GM));
14. disp('Phase margin=');
15. disp(PM);
16. disp('Gain crossover frequency=');
17. disp(wgc);
18. disp('Phase crossover frequency=');
19. disp(wpc);

Output:

2. Code
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 K. J. Somaiya College of Engineering, Mumbai-77

clc;
clear all;
close all;
num = [20];
den = [1 7 10];
sys = tf(num,den)
nyquist(sys);
[GM,PM,wpc,wgc]=margin(sys);
disp('Gain margin in linear scale=');
disp(GM);
disp('Gain margin in dB=');
disp(20*log10(GM));
disp('Phase margin=');
disp(PM);
disp('Gain crossover frequency=');
disp(wgc);
disp('Phase crossover frequency=');
disp(wpc);

Output:

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 K. J. Somaiya College of Engineering, Mumbai-77

3. Code

clc;
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 K. J. Somaiya College of Engineering, Mumbai-77

clear all;
close all;
num = [18];
den = [1 6 11 6];
sys = tf(num,den)
nyquist(sys);
[GM,PM,wpc,wgc]=margin(sys);
disp('Gain margin in linear scale=');
disp(GM);
disp('Gain margin in dB=');
disp(20*log10(GM));
disp('Phase margin=');
disp(PM);
disp('Gain crossover frequency=');
disp(wgc);
disp('Phase crossover frequency=');
disp(wpc);

Output:

4. Code

clc;
clear all;
close all;
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 K. J. Somaiya College of Engineering, Mumbai-77

num = [1];
den = [1 3 0];
sys = tf(num,den)
nyquist(sys);
[GM,PM,wpc,wgc]=margin(sys);
disp('Gain margin in linear scale=');
disp(GM);
disp('Gain margin in dB=');
disp(20*log10(GM));
disp('Phase margin=');
disp(PM);
disp('Gain crossover frequency=');
disp(wgc);
disp('Phase crossover frequency=');
disp(wpc);

Output:

5. Code:

clc;
clear all;
close all;
Department of Electronics and Telecommunication Engineering

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 K. J. Somaiya College of Engineering, Mumbai-77

num = [10];
den = conv([1 6 0],[0 1 -4]);
sys = tf(num,den)
nyquist(sys);
[GM,PM,wpc,wgc]=margin(sys);
disp('Gain margin in linear scale=');
disp(GM);
disp('Gain margin in dB=');
disp(20*log10(GM));
disp('Phase margin=');
disp(PM);
disp('Gain crossover frequency=');
disp(wgc);
disp('Phase crossover frequency=');
disp(wpc);

Output:

Conclusion:

In this experiment we have understand about the polar plot for various type and order of
system. Different types and orders of polar plots were performed theoretically and practically
Department of Electronics and Telecommunication Engineering

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 K. J. Somaiya College of Engineering, Mumbai-77

on Matlab and observed GM, PM, wgc, wpc and checked their Stability.Polar plots are
simple process to check the stability of the system. However they are not the preferred choice
when the system has poles on the right half of s plane. Therefore we can use Nyquist plots
which are the extension of polar plots.

Questions

Explain the polar plot for stability analysis in control systems.

The system is stable if the (-1,0) point is not enclosed by polar plot.

2) The stability of the control system in polar plot based on the relation between the gain
margin and the phase margin is as follows:

If the gain margin GM is greater than one and the phase margin PM is positive, then the control
system is stable.

If the gain margin GM is equal to one and the phase margin PM is zero degrees, then the
control system is marginally stable.

If the gain margin GM is less than one and / or the phase margin PM is negative, then the
control system is unstable.

3) The stability of the control system in polar plot based on the relation between phase cross
over frequency and gain cross over frequency is as follows:

If the phase cross over frequency ωpc is greater than the gain cross over frequency ωgc, then
the control system is stable.

If the phase cross over frequency ωpc is equal to the gain cross over frequency ωgc, then the
control system is marginally stable.

If phase cross over frequency ωpc is less than gain cross over frequency ωgc, then the control
system is unstable

Department of Electronics and Telecommunication Engineering

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K. J. Somaiya College of Engineering, Mumbai-77

Signature of Faculty with date

Department of Electronics and Telecommunication Engineering

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