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Control System PPK

Polar plots graphically depict the frequency response of a system by plotting magnitude and phase against each other. They are created by substituting varying values of frequency (ω) into the transfer function and plotting the resulting magnitude and phase points. Key steps in drawing polar plots include finding the starting and ending magnitude and phase points, checking for intersections with the real and imaginary axes, and considering additional ω values for clarity. Polar plots allow graphical analysis of stability but do not show individual transfer function factors. Nyquist plots extend polar plots over the full frequency range from -∞ to ∞ to analyze stability using the Nyquist stability criterion.

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P Praveen Kumar
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52 views

Control System PPK

Polar plots graphically depict the frequency response of a system by plotting magnitude and phase against each other. They are created by substituting varying values of frequency (ω) into the transfer function and plotting the resulting magnitude and phase points. Key steps in drawing polar plots include finding the starting and ending magnitude and phase points, checking for intersections with the real and imaginary axes, and considering additional ω values for clarity. Polar plots allow graphical analysis of stability but do not show individual transfer function factors. Nyquist plots extend polar plots over the full frequency range from -∞ to ∞ to analyze stability using the Nyquist stability criterion.

Uploaded by

P Praveen Kumar
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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POLAR PLOTS

Polar plot is a plot to be drawn between magnitude and phase. But the magnitudes
are presented with normal values only.

The polar form of G(jω)H(jω) is

G(jω)H(jω)=|G(jω)H(jω)|∠G(jω)H(jω)

The Polar plot is a plot, which can be drawn between the magnitude and the phase
angle of G(jω)H(jω) by changing ω from zero to ∞. The polar graph sheet is
described in below mentioned image.

This graph sheet includes various concentric circles and radial lines. The concentric circles
and the radial lines are considered as the magnitudes and phase angles. These angles are
highlighted with positive values in anti-clock wise direction. So that, we can mark angles with
negative values in clockwise direction. Let’s see this example where the angle2700in anti-
clock wise direction is equal to the angle−900in clockwise direction.
Rules for Drawing Polar Plots
Below mentioned rules are used for plotting the polar plots.
❖ Substitute, s=jω in the open loop transfer function.
❖ Write the expressions for magnitude and the phase of G(jω)H(jω).
❖ Find the starting magnitude and the phase of G(jω)H(jω) by substituting ω=0. So,
the polar plot starts with this magnitude and the phase angle.
❖ Find the ending magnitude and the phase of G(jω)H(jω)by substituting ω=∞. So, the
polar plot ends with this magnitude and the phase angle.
❖ Check whether the polar plot intersects the real axis, by making the imaginary term
of G(jω)H(jω) equal to zero and find the value(s) of ω.
❖ Check whether the polar plot intersects the imaginary axis, by making real term of
G(jω)H(jω) equal to zero and find the value(s) of ω.
❖ For drawing polar plot more clearly, find the magnitude and phase of G(jω)H(jω)by
considering the other value(s) of ω.

Advantages of Polar Plot


❖ It depicts the frequency response characteristics of the system over the entire
frequency range in a single plot
❖ Graphical study of stability of the system can be easily made.
❖ Easier determination of gain crossover frequency and phase crossover frequency.

Disadvantages of Polar Plot


❖ It does not clearly indicate contribution of each individual factor of the open loop
transfer function.
❖ For complex transfer function, it is difficult to judge its stability from the Polar plot.
Example-1
Nyquist Plots
Nyquist plots are the sign of polar plots to find the stability of the closed loop control systems
by changing ω from −∞ to ∞. This means that Nyquist plots are used to draw the complete
frequency response of the open loop transfer function.

Nyquist Stability Criterion


The Nyquist stability criterion shows that the principle of argument. It means that if any P
poles and Z zeros are showed by the ‘s’ plane closed path, then the related G(s)H(s) plane
must encircle the origin P−Z times. So that we can mention the number of encirclements N
as,
N=P−Z
• If the enclosed ‘s’ plane closed path contains only poles, then the direction of the
encirclement in the G(s)H(s)plane will be opposite to the direction of the enclosed closed
path in the ‘s’ plane.
• If the enclosed ‘s’ plane closed path contains only zeros, then the direction of the
encirclement in the G(s)H(s)plane will be in the same direction as that of the enclosed
closed path in the ‘s’ plane.
Let’s apply the principle of argument to the entire right half of the ‘s’ plane once you select
the closed path. This selected path is called the Nyquist contour.
Here the closed loop control system is known to be stable when the poles of the closed loop
transfer function are included in the left half of the ‘s’ plane. The poles of the closed loop
transfer function are included in the roots of the characteristic equation. When the order of
the characteristic equation increases, then it will not be easy to find the roots. So, find these
roots of the characteristic equation as follows.
• The Poles of the characteristic equation are same as that of the poles of the open loop
transfer function.
• The zeros of the characteristic equation are same as that of the poles of the closed loop
transfer function.
When the open loop control system is stable then there is no open loop pole in the the right
half of the ‘s’ plane.
i.e.,P=0⇒N=−Z
If the closed loop control system is stable then there is no closed loop pole available in the
right half of the ‘s’ plane.
i.e.,Z=0⇒N=P
Nyquist stability criterion indicates the total number of encirclements about the critical point
(1+j0) which must be equal to the poles of characteristic equation, which is equal to the
poles of the open loop transfer function included in the right half of the ‘s’ plane. The major
shift in origin to (1+j0) provides the characteristic equation plane.

Rules for Drawing Nyquist Plots


Here are some rules for plotting the Nyquist plots.
• Locate the poles and zeros of open loop transfer function G(s)H(s) in ‘s’ plane.
• Draw the polar plot by varying ωω from zero to infinity. If pole or zero present at s = 0,
then varying ωω from 0+ to infinity for drawing polar plot.
• Draw the mirror image of above polar plot for values of ωωranging from −∞ to zero (0− if
any pole or zero present at s=0).
• The number of infinite radius half circles will be equal to the number of poles or zeros at
origin. The infinite radius half circle will start at the point where the mirror image of the
polar plot ends. And this infinite radius half circle will end at the point where the polar plot
starts.
Once you draw the Nyquist plot, then you can find then we can find the stability of the closed
loop control system using the Nyquist stability criterion. If the critical point (-1+j0) lies outside
the encirclement, then the closed loop control system is absolutely stable.

Stability Analysis using Nyquist Plots


We can identify the Nyquist plots, to know whether the control system is stable, marginally
stable or unstable based on the values of these parameters.
• Gain cross over frequency and phase cross over frequency
• Gain margin and phase margin

Phase Cross over Frequency


The frequency at which the Nyquist plot shows the negative real axis (phase angle is 1800)
which is known as the phase cross over frequency. It is represented by ωpc.

Gain Cross over Frequency


The frequency at which the Nyquist plot is including the magnitude of one is known as the
gain cross over frequency. It is represented by ωgc.
The stability of the control system will be depend upon the relation between phase cross
over frequency and gain cross over frequency is mentioned as below.
• If the phase cross over frequency wpc is greater than the gain cross over frequency wgc,
then the control system is stable.
• If the phase cross over frequency wpc is equal to the gain cross over frequency wgc, then
the control system is marginally stable.
• If phase cross over frequency wpc is less than gain cross over frequency wgc, then the
control system is unstable.

Gain Margin
When the gain margin GMGM is equal to the reciprocal of the magnitude of the Nyquist plot
then at the phase cross over frequency.

Where, Mpc is denoted as the magnitude in normal scale at the phase cross over frequency.

Phase Margin
The phase margin PMPM is similar to the sum of 1800 and the phase angle at the gain cross
over frequency.

Where, is known as the phase angle at the gain cross over frequency.
The stability of the control system based on the relation between the gain margin and the
phase margin is listed below.
• 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.

Principle of Argument
The s-plane to 1+GH plane mappingphase angle of the 1+G(s)H(s) vector, corresponding to a
point on the s-plane is the difference between the sum of the phase of all vectors drawn from zeros of
1+GH(close loop poles) and open loops on the s plane. If this point s is moved along a closed contour
enclosing any or all of the above zeros and poles, only the phase of the vector of each of the enclosed
zeros or open-loop poles will change by 3600. The direction will be in the same sense of the contour
enclosing zeros and in the opposite sense for the contour enclosing open-loop poles.

When a closed contour in the s-plane encloses a certain number of poles and zeros of 1+G(s)H(s) in
the clockwise direction, the number ofencirclements of the origin by the corresponding contour in the
G(s)H(s)plane will encircle the point (-1,0) a number of times given by thedifference between the
number of its zeros and poles of 1+G(s)H(s) it enclosed on the s-plane.
Procedure
(1) Locate open-loop poles on the s-plane
(2) Draw the closed contour and avoid open-loop poles on the imaginary axis
(3) Count the number of open-loop poles enclosed in the above contour of step 2, say P
(4) Plot G(jω)H(jω) and its reflection on the GH plane and map part of the small semi-circle
detour on the s-plane around poles (if any) on the imaginary axis.
(5) Once the entire s-plane contour is mapped on to the GH plane, count the number of
encirclements of the point (-1,0) and its direction. Clockwise encirclement is considered
positive, say N.
(6) The number of closed-loop poles in the right-half s-plane is given by Z=N+P. if Z >0, the
system is unstable.
(7) Determine gain margin, phase margin, and critical value of open-loop gain.
Example-2
Example-3

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