Topic: Polar plot

The Polar plot is a plot of a sinusoidal transfer function G(jω), which can be drawn
between the magnitude and the phase angle of G(jω) by varying ω from zero to ∞.
i.e., |G(jω)| Vs angle G(jω) as ω → 0 to ∞.
• The polar graph consists of concentric circles and radial lines.
Concentric circles represents the magnitude. Radial lines represents the phase angles.
•Polar plot is a plot of magnitude versus phase angle in complex plane .
(i.e., locus of magnitude traced by the phasor by varying frequency from 0 to ∞)
•In polar sheet:
•+ve phase angle is measured in ACW from 00
•-ve phase angle is measured in CW from 00.

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 Polar plot
Advantages of Polar plots
•It depicts the frequency response characteristics over the entire frequency range in
a single plot.
•Much easier to determine both ωpc and ωgc.
•Here we will have to work with open loop transfer function G(s)H(s)
Disadvantage of Polar plots:
•The plot does not clearly indicate the contribution of each individual factor of the
open loop transfer function.

To sketch the polar plot of G(jω) for the entire range of frequency ω, i.e., from 0 to
infinity, there are four key points that usually need to be known:
(1) the start of plot where ω = 0,
(2) the end of plot where ω = ∞,
(3) where the plot crosses the real axis, i.e., Im(G(jω)) = 0, and
(4) where the plot crosses the imaginary axis, i.e., Re(G(jω)) = 0.

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 Polar plot
PROCEDURE:
• Express the given expression of OLTF in (1+sT) form.
• Substitute s = jω in the expression for G(s)H(s) and get G(jω)H(jω).
• Get the expressions for |G(jω)H(jω)| & G(jω)H(jω).
• Tabulate various values of magnitude and phase angles for different values of ω
ranging from 0 to ∞.
• Usually the choice of frequencies will be the corner frequency and around corner
frequencies.
• Choose proper scale for the magnitude circles.
• Fix all the points in the polar graph sheet and join the points by a smooth curve.
• Write the frequency corresponding to each of the point of the plot.

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 Polar plot

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 Polar plot

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 Polar plot

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 Polar plot

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 Stability on Polar plot

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 Stability on Polar plot
 Phase Crossover Frequency (ωp) : The frequency where a polar plot intersects the –ve real
axis is called phase crossover frequency
 Gain Crossover Frequency (ωg) : The frequency where a polar plot intersects the unit
circle is called gain crossover frequency
So at ωg ,

 Gain Margin (GM): The gain margin is the reciprocal of magnitude at the
frequency at which the phase angle is -1800.
In terms of dB

 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)
Φm=1800+Φ
Where
Φ=∠G(jωg)
if Φm>0 => +PM (Stable System)
if Φm<0 => -PM (Unstable System)

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 Stability on Polar plot

 Stable: If critical point (-1+j0) is within the plot as shown,

Both GM & PM are +ve , GM=20log10(1 /x) dB

 Unstable: If critical point (-1+j0) is outside the plot as

shown, Both GM & PM are –ve, GM=20log10(1 /x) dB

 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

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 Topic: Nyquist plot and stability criterion

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 Nyquist stability criterion

It is conclude that;

1) The poles of 1 + G(s)H(s) are the same as the poles of G(s)H(s), the open-loop system.

2) The zeros of 1 + G(s)H(s) are the same as the poles of T(s), the closed-loop system.
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 Nyquist stability criterion

The C.E of the system is given by the condition, 1+G(s)H(s)=0.

Let, F(s) = 1+G(s)H(s).
•Let, N=Number of anticlockwise encirclement of F(s) about the origin.
•Now, N=P-Z,
•Where, P= Number of poles of F(s) (or poles of loop transfer function G(s)H(s) lying on right
half s-plane.
•Z= Number of zeros of F(s) (or poles of closed loop transfer function) lying on right half s-
plane.
Note: The stability is related to poles lying on right half s-plane and so, while applying
principle of argument only poles and zeros lying on right half s-plane alone are considered.
Nyquist stability criterion can be stated as follows
“If the G(s)H(s) contour in the G(s)H(s)-plane corresponding to Nyquist contour in the s-plane
encircles the point -1+j0 in the anticlockwise direction as many times as the number of right
half of s-plane poles of G(s)H(s), then the closed loop system is stable”.

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 Nyquist stability criterion

Because stable systems have T(s) with poles only in the left half-plane, we apply the concept of
contour to use the entire right half-plane as contour A (Nyquist contour), as shown in the Figures
below.

Nyquist Contour enclosing right half plane to determine stability

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 Nyquist stability criterion

We try to construct contour B via F(s) = G(s)H(s) which is the same as that of 1+G(s)H(s), except that
it is shifted to the right by (1, j0). The mapping is called the Nyquist diagram of G(s)H(s).
Assuming that A starts from origin, A is a path traveling up the jω axis, from j0 to j∞, then a
semicircular arc, with radius → ∞, followed by a path traveling up the jω axis, from −j∞ to origin. So
substituting s = jω, with ω changing from 0 to ∞, we obtain part of contour B, which is exactly the
polar plot of G(s)H(s).

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 Nyquist stability criterion

If P = 0 (open loop stable system), for a closed systems to be stable (i.e. Z = 0), we should
have N = 0. That is, the contour should not enclose (−1, j0). This is as shown in Figure(a).

On the other hand, another system with P = 0 (open loop stable) has generated two clockwise
encirclement of (−1, j0), (N = −2), as shown in Figure (b) below. Thus Z = P −N =2.
The system is unstable with two closed-loop poles in the right hand plane.

Mapping examples: (a) contour does not enclose closed loop poles; (b) contour does enclose closed loop poles

The Nyquist Stability Criterion establishes the number of zeros of 1 + GH(s) in the right-
half plane directly from the Nyquist Stability Plot of GH(s).

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 Nyquist stability criterion

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