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DEPT OF INSTRUMENTATION TECHNOLOGY

EI53Control Systems

UNIT V
THE CONSTANT M and N CIRCLES

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Introduction
• One of the important problems in analysing a
control system is to find all closed-loop poles or
at least those closes to the jω axis (or the
dominant pair of closed-loop poles).

• If the open-loop frequency-response

characteristics of a system are known, it may be
possible to estimate the closed-loop poles closest
to the jω axis.
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• For a stable, unity-feedback closed-loop system, the closed-
loop frequency response can be obtained easily from that of
the open loop frequency response.

• Consider the unity-feedback system shown in following figure.

The closed-loop transfer function is

C( s ) G( s )

R( s ) 1  G( s )
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Following figure shows the polar plot of G(s).

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• The vector OA represents G(jω1), where ω1 is the frequency at

point A.The length of the vector OA is G( j1, ) .and the angle
is G( j1 ) = Φ
• The vector PA, the vector from -1+j0 point to Nyquist locus
represents 1+G(jω1).
OA = G(jω1 )
OP = 1
PA = OP+OA
PA = 1+G(jω1 )
• Therefore, the ratio of OA, to PA represents the closed loop
frequency response.
𝑶𝑨 𝑮(𝒋ω𝟏 ) 𝑪(𝒋 ω𝟏 )
• = =
12/24/2018 𝑷𝑨 𝟏+𝑮(𝒋ω𝟏 ) 𝑹(𝒋ω𝟏 ) 5
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DEPT OF INSTRUMENTATION TECHNOLOGY
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• The magnitude of the closed loop transfer
function at ω=ω1 is the ratio of magnitudes of
vector OA to vector PA.

• The phase of the closed loop transfer function at

ω=ω1 is the angle formed by OA to PA (i.e Φ-θ).

• By measuring the magnitude and phase angle at

different frequency points, the closed-loop
frequency-response curve can be obtained.

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CONSTANT M &N CIRCLES
• Constant M circle is defined as the family of circles of
magnitude of closed loop transfer function of the system.
• Constant N circle is defined as the family of circles of phase
angle of closed loop transfer function of the system.
• Constant M,N circles are used to find closed loop frequency
response graphically from the open loop response without
calculating the magnitude and phase angle of the closed loop
transfer function.
Advantage:
• It is used to measure frequency domain specification like
resonant peak,reasonant frequency and Bandwidth.

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Closed Loop frequency response(M circles)
• Let us define the magnitude of the closed-loop
frequency response as M and the phase angle as α, or
C ( j )
 Me j
R( j )
• From above equation we can find the constant-
magnitude loci and constant-phase-angle loci.

• Such loci are convenient in determining the closed-loop

frequency response from the polar plot or Nyquist plot.

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• To obtain the constant-magnitude loci, let us first note that
G(jω) is a complex quantity and can be written as follows:
G( j )  X  jY
Then the closed loop magnitude M is given as
C( s ) G( s )

R( s ) 1  G( s )

X  jY 𝑋 2 +𝑌 2
• M  =
1  X  jY (1+𝑋)2 +𝑌 2

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X 2 Y2
M2 
(1  X ) 2  Y 2

 
M 2 1  2X  X 2  Y 2  X 2  Y 2

M 2  2M 2 X  M 2 X 2  M 2Y 2  X 2  Y 2  0
(1  M 2 ) X 2  2M 2 X  (1  M 2 )Y 2  M 2  0
2 X  1  0 X   1
If M=1 then
2
This is the equation of straight line parallel to y-axis and
passing through (-0.5,0) point.
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If M ≠ 1 (1  M 2 ) X 2  2M 2 X  (1  M 2 )Y 2  M 2  0
𝑴𝟐 = 𝟏 − 𝑴𝟐 𝑿𝟐 − 𝟐𝑿𝑴𝟐 + 𝒀𝟐 (𝟏 − 𝑴𝟐 )
𝑴𝟐 𝑴𝟐
Divide by (1-M2) = 𝑿𝟐 - 𝟐𝑿 +𝒀𝟐
(𝟏−𝑴𝟐 ) (𝟏−𝑴𝟐 )
𝑀2 2
Now adding 2 on both sides of the equation
(1−𝑀 )
𝑀2 𝑴𝟐 𝑴𝟐 𝑀2
2
2 + = 𝑿𝟐 - 𝟐𝑿 +𝒀𝟐 + 2
(1−𝑀 ) (𝟏−𝑴𝟐 ) (𝟏−𝑴𝟐 ) 2
(1−𝑀 )

𝑴𝟒 +𝑴𝟐 (𝟏−𝑴𝟐 ) 𝑴𝟐
= 𝑿− 𝟐 + 𝒀𝟐
(𝟏−𝑴𝟐 )𝟐 𝟏−𝑴𝟐

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𝑴 𝑴 𝟐
𝟐 = (𝑿 − 𝟐 𝟐
) + 𝒀
𝟏−𝑴𝟐 𝟏−𝑴𝟐
The above equation represents a family of circles for different
values of M with
𝑴𝟐 𝑴
Centre @ and Radius
𝟏−𝑴𝟐 𝟏−𝑴𝟐

Obviously R the radius being positive for given M .

M 0 0.4 0.5 0.7 0.8 1 1.5 2
Centre (0,0) 0.19 0.33, 0.96 1.78 ∞ -1.8 -1.3
Radius 0 0.476 0.7 1.4 2.22 ∞ -1.2 -0.67
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• The constant M loci on the G(s) plane are thus a family of
circles.
• The centre and radius of the circle for a given value of M can
be easily calculated.
1
• If M=1 X=− .Hence this line represents a circle of infinite
2
radius with Centre at infinite distance on X axis for M=1.
• If M<1 the M circles will lie to the right of M=1 straight line
with the M circles becomes smaller as M decreases from 1.All
M circles concentrated around orgin.
• If M>1 the M circles will lie to the left of M=1 straight line
with the M circles becomes smaller as M increases from 1.

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CONSTANT N CIRCLES
Constant N circle is defined as the family of circles of phase
angle of closed loop transfer function of the system.
C( j ) X  jY

R( j ) 1  X  jY
The phase angle of closed loop transfer function is
j X  jY
e 
1  X  jY
• The phase angle α is    
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1Y 1 Y
  tan ( )  tan ( )
X 1 X
tan   N

 1 Y 1 Y 
N  tan tan ( )  tan ( )
 X 1 X 

Y Y

N  X 1 X
Y Y
1
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DEPT OF INSTRUMENTATION TECHNOLOGY
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Y
N
X 2  X Y2

N( X 2  X  Y 2 )  Y

1
X 2  X Y2  Y 0
N
1 1
• Add 
4 4N 2
Bothe side of the above
Equation.
2 1 2 1 1 1 1
X  X  Y  Y  2
 
4 N 4N 4 4N 2
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2 2
 1  1  1 1
 X    Y    
 2  2N  4 4N 2
• This is the equation of circle with

 1 1 
centre    , 
 2 2N 
1 1
radius  
4 4N 2

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N 0 0.5 0.6 1.0 -0.6 -0.5 -1

ɑ= 0 26 30 45 30 -26 -45
𝐭𝐚𝐧−𝟏 𝑵
Centre (-0.5,∞) (-0.5,1) (-0.5,0.9) (-0.5,0.5) (-0.5,- (-0.5,-1) (-0.5,-0.5)
0.9)
Radius ∞ 1.1 1 0.7 1 1.1 0.7

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