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

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.

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)

Step 5: Rationalize the function G(j) and separate the real
0

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)

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

Polar Plot for Type 0 System

Let

G (s)

K
(1 sT1 )(1 sT2 )

Step 1: Put s=j

G ( j )

K
(1 jT1 )(1 jT2 )
K
1 T1

1 T2

tan 1 T1 tan 1 T2

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

Type 0 system conti

lim G( j )
0

lim G( j )

K
1 T1

1 j T2

K
1 T1

1 j T2

K
0

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

1
1

G
(
j

tan

tan
T2 0
1
lim

G( j ) tan
lim

T1 tan 1 T2 180

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 2T12 2T22 4T1T2
1 2T12 2T22 4T1T2

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

K (1 2T1T2 )
1

&
2 2
2 2
4
1 T1 T2 T1T2
T1T2
So When

&

1
T1T2

G ( j )

K T1T2
T1 T2

90 0

G ( j ) 0 180 0

Type 0 system conti

Step 6: Put Im [G(j)]=0

K (T1 T2 )
0 0 &
2 2
2 2
4
1 T1 T2 T1T2
So When

0 G ( j ) K00
G ( j ) 01800

Type 0 system conti

Polar Plot for Type 1 System

Let G(s) s(1 sT K)(1 sT )
1

Step 1: Put s=j

G ( j )

K
j (1 jT1 )(1 jT2 )
K

1 T1

1 j T2

90 0 tan 1 T1 tan 1 T2

Type 1 system conti

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

lim G( j )
0

lim G( j )

1 T1

1 j T2

1 T1

1 j T2

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

0
1
1
0

G
(
j

90

tan

tan

90
1
2
lim

G( j ) 90
lim

tan 1 T1 tan 1 T2 270 0

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
3
2
2
2
2
2
(T1 T2 T1 T2 )
3 (T12 T22 2 T12 T22 )

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

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

G ( j ) 0 270 0

Type 1 system conti

Step 6: Put Im [G(j)]=0
j ( K 2T1T2 K )
1

&
3
2
2
2 2 2
(T1 T2 T1 T2 )
T1T2
So When

1
T1T2

G ( j )

K T1T2
T1 T2

G ( j ) 0 0

0 0

Type 1 system conti

Polar Plot for Type 2 System

Let

G(s)

K
s 2 (1 sT1 )(1 sT2 )

Similar to above

Type 2 system conti

 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

 Ex: Sketch the polar plot for G(s)=20/s(s+1)(s+2)

Solution:
Step 1: Put s=j
20
j ( j 1)( j 2)
20

90 0 tan 1 tan 1 / 2
2 1 2 4

G ( j )

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

lim G( j )
0

lim G( j )

20

1 4
2

20

1 4
2

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

0
1
1
0

G
(
j

90

tan

tan

/
2

90
lim

0
1
1
0

G
(
j

90

tan

tan

/
2

270
lim

 Step 4: Separate the real and Im part of G(j)

60 2
j 20( 3 2 )
G ( j ) 4
j 4
2
2
( )(4 )
( 2 )(4 2 )

60 2
0
4
2
2
( )(4 )
So at

G ( j ) 0 270 0

 Step 6: Put Im [G(j)]=0

j 20( 3 2 )
0 2 &
4
2
2
( )(4 )
So for positivevalue of
10
2 G ( j ) 0 0
3

G ( j ) 00 0

Gain Margin, Phase Margin & Stability

 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

 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)

 Gain Margin (GM):

The gain margin is the reciprocal of magnitude G ( j ) at
the frequency at which the phase angle is -1800.
GM

1
1

| 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) |

Stability
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

MATLAB Margin

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
1
G
(
j

)
0
lim

1
G
(
j

lim

Books
Automatic Control system By S. Hasan Saeed
Katson publication