Compiled by Dr.

Mukhtar Fatihu Hamza

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

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 Introduction conti…
 In the polar plot the magnitude of G(jω) 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.

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

 Step 4: At ω=0 & ω=∞ find G ( j ) by lim G( j ) & lim G( j )
 0  

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

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

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

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

 Step 1: Put s=jω

K
G ( j ) 
(1  jT1 )(1  jT2 )
K
   tan 1 T1  tan 1 T2
1  T1  1  T2 
2 2

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

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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(jω)

lim G ( j )    tan 1
T1  tan 1
T2  0
 0

lim G ( j )    tan 1
T1  tan 1
T2  180
 

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Type 0 system conti…
 Step 4: Separate the real and Im part of G(jω)
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(jω)]=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
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Type 0 system conti…
 Step 6: Put Im [G(jω)]=0
K (T1  T2 )
0 0 & 
1   T1   T2   T1T2
2 2 2 2 4

So When
  0  G ( j )  K00
    G ( j )  01800

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Type 0 system conti…

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Polar Plot for Type 1 System
K
 Let G(s)  s(1  sT1 )(1  sT2 )

 Step 1: Put s=jω

K
G ( j ) 
j (1  jT1 )(1  jT2 )
K
   90 0  tan 1 T1  tan 1 T2
 1  T1  1  j T2 
2 2

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Type 1 system conti…

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

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(jω)

lim G ( j  )    90 0
 tan 1
T1  tan 1
T2  90 0

 0

lim G ( j )    90 0
 tan 1 T1  tan 1 T2  270 0



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Type 1 system conti…
 Step 4: Separate the real and Im part of G(jω)
 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(jω)]=0

 K (T1  T2 )
0 
   (T1  T2   T1 T2 )
3 2 2 2 2 2

So at
  G ( j )  0  270 0

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Type 1 system conti…

 Step 6: Put Im [G(jω)]=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

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Type 1 system conti…

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

 Similar to above

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Type 2 system conti…

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

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  Ex: Sketch the polar plot for G(s)=20/s(s+1)(s+2)
 Solution:
 Step 1: Put s=jω
20
G ( j ) 
j ( j  1)( j  2)
20
   90 0  tan 1   tan 1  / 2
 2 1 2  4

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

lim G ( j  )    90 0
 tan 1
  tan 1
 / 2  90 0

 0

lim G ( j  )    90 0
 tan 1
  tan 1
 / 2  270 0

 

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  Step 4: Separate the real and Im part of G(jω)
 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

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  Step 6: Put Im [G(jω)]=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 )  00 0

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Gain Margin, Phase Margin & Stability

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  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 G( j)  Unity

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  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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  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) |

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

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

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  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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MATLAB Margin

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

lim G ( j ) 1
0
 0

lim G ( j ) 1




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Books
 Automatic Control system By S. Hasan Saeed
 Katson publication

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