Polar plot

 The presence of magnitude and phase plot for showing the variation of gain and
phase angle of a system with respect to the change in frequency is the major
disadvantage of the bode plot.
 The plot that combines both the plots to a single plot without losing any
information is called polar plot.
 The polar plot can be plotted either on a polar graph or on an ordinary graph.
 Hence, polar plot for a particular system can be defined in two ways based on
the graph used for plotting.
 The two different definitions for polar plot are given below:
 The polar plot of a loop transfer function 𝐺(𝑗𝜔)𝐻(𝑗𝜔) is defined as a plot of
G(jw)H(jw) versus ∠G(jw)H(jw) on the polar coordinates as the frequency w
varies from zero to infinity when it is plotted on a polar graph.
 Polar plot
 Also, it is defined as a plot of real part of G(jw)H(jw) versus imaginary part of
G(jω)H(jω) as the frequency 𝜔 varies from zero to infinity when it is plotted on an
ordinary graph.
 The sinusoidal transfer function G(jω) is a complex function is given by
G(jω)=R[G(jω)]+img[G(jω)] or
G(jω)= G(jω) ∠G(jω)
 From above equation, it is seen that G(jω) may be represented as a phasor of
magnitude M and Phase angle ∅
 As the input frequency 𝜔 varies from zero to infinity, the magnitude M and phase
angle ∅ change and hence the tip of the phasor G(jω) traces a locus in the complex
plane. The locus thus obtained is known as polar plot.
Example1: Draw the polar plot for the open loop transfer function
1
𝐺 𝑠 =
(𝑠+1)
1
Solution: 𝐺 𝑗𝜔 =
(𝑗𝜔+1)
1 −1 𝜔
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑀 = 𝑎𝑛𝑑 𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 ∅ = − tan
1+𝜔2 1

𝝎 1 ∅ 900
𝑀=
1 + 𝜔2 −2700
0 1 00 1
1 1/ 2 −450 𝜔 =∝ 00
… … … −1800 −450 𝜔=0

∝ 0 −900
−900
Example2: Draw the polar plot for the open loop transfer function
1
𝐺 𝑠 =
(𝑠+1)(𝑠+2)
1
Solution: 𝐺 𝑗𝜔 =
(𝑗𝜔+1)(𝑗𝜔+2)
1 −1 𝜔 𝜔
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑀 = 𝑎𝑛𝑑 𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 ∅ = − tan − tan−1
1+𝜔2 4+𝜔 2 1 2

𝝎 1 ∅ 900
𝑀=
1 + 𝜔2 4 + 𝜔2 −2700
0 1/2 00 1/2
1 0.316 −71.60 𝜔 =∝ 00
… … … −1800 −720
𝜔=0

∝ 0 −1800
−900
Example3: Draw the polar plot for the open loop transfer function
1
𝐺 𝑠 =
(𝑠+1)(𝑠+2)(𝑠+3)
1
Solution: 𝐺 𝑗𝜔 =
(𝑗𝜔+1)(𝑗𝜔+2)(𝑗𝜔+3)
1
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑀 = 𝑎𝑛𝑑
1+𝜔2 4+𝜔2 9+𝜔2
−1 𝜔 −1 𝜔 −1 𝜔
𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 ∅ = − tan − tan − tan
1 2 3

900
𝝎 𝑀 ∅
−2700
0 1/6 00
1/6
1 1/10 −900 𝜔 =∝ 00
… … … −1800 𝜔=0
∝ 0 −2700

−900
Example4: Draw the polar plot for the open loop transfer function
1
𝐺 𝑠 =
(𝑠+1)(𝑠+2)(𝑠+3)(𝑠+4)
1
Solution: 𝐺 𝑗𝜔 =
(𝑗𝜔+1)(𝑗𝜔+2)(𝑗𝜔+3)(𝑗𝜔+4)
1
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑀 = 𝑎𝑛𝑑
1+𝜔2 4+𝜔2 9+𝜔2 16+𝜔2
−1 𝜔 −1 𝜔 −1 𝜔 −1 𝜔
𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 ∅ = − tan − tan − tan − tan
1 2 3 4

900
𝝎 𝑀 ∅
−2700
0 1/24 00
1/24
1 0.025 −1040 𝜔 =∝ 00
… … … −1800 𝜔=0
∝ 0 −3600

−900
Example5: Draw the polar plot for the open loop transfer function
(𝑠+5)
𝐺 𝑠 =
(𝑠+1)(𝑠+2)(𝑠+3)(𝑠+4)
(𝑗𝜔+5)
Solution: 𝐺 𝑗𝜔 =
(𝑗𝜔+1)(𝑗𝜔+2)(𝑗𝜔+3)(𝑗𝜔+4)
25+𝜔2
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑀 = 𝑎𝑛𝑑
1+𝜔2 4+𝜔2 9+𝜔2 16+𝜔2
−1 𝜔 −1 𝜔 −1 𝜔 −1 𝜔 −1 𝜔
𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 ∅ = − tan − tan − tan − tan + tan
1 2 3 4 5

900
𝝎 𝑀 ∅
−2700
0 5/25 00
2/25
1 0.124 −92.70 𝜔 =∝ 00
… … … −1800 𝜔=0
∝ 0 −2700

−900
Example6: Draw the polar plot for the open loop transfer function
(𝑠+5)(𝑠+6)
𝐺 𝑠 =
(𝑠+1)(𝑠+2)(𝑠+3)(𝑠+4)
(𝑗𝜔+5)(𝑗𝜔+6)
Solution: 𝐺 𝑗𝜔 =
(𝑗𝜔+1)(𝑗𝜔+2)(𝑗𝜔+3)(𝑗𝜔+4)
25+𝜔2 36+𝜔2
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑀 = 𝑎𝑛𝑑
1+𝜔2 4+𝜔2 9+𝜔2 16+𝜔2
−1 𝜔 −1 𝜔 −1 𝜔 −1 𝜔 −1 𝜔
𝑃ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 ∅ = − tan − tan − tan − tan + tan
1 2 3 4 5
−1 𝜔
+ tan 900
6
−2700
𝝎 𝑀 ∅ 5/4
0 5/4 00
𝜔 =∝ 00
𝜔=0
1 0.75 −38.280 −1800
… … …
∝ 0 −1800 −900
  When a transfer function consists of P poles and Z zero’s and it doesn’t
consists poles at origin then the polar plot starts from 00 with same magnitude
terminals at −900 (𝑃 − 𝑍) with zero magnitude
0 −2700
(𝑠 + 5) 90
900 𝐺 𝑠 = 2/25
0 (𝑠 + 1)(𝑠 + 2)(𝑠 + 3)(𝑠 + 4) 𝜔 =∝ 00
−270
1/24 0 0
−180 𝜔=0
𝜔 =∝ 0
−1800 𝜔=0
−900

900 −2700
(𝑠 + 5)(𝑠 + 6)
−900 𝐺 𝑠 =
(𝑠 + 1)(𝑠 + 2)(𝑠 + 3)(𝑠 + 4) 5/4
𝜔 =∝ 00
1 𝜔=0
𝐺 𝑠 = −1800 −720
(𝑠 + 1)(𝑠 + 2)(𝑠 + 3)(𝑠 + 4)

−900
Example7: Draw the polar plot for the open loop transfer function
1
𝐺 𝑠 =
𝑠
1
Solution: 𝐺 𝑗𝜔 =
𝑗𝜔
1 −1 𝜔
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑀 = 𝑎𝑛𝑑 𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 ∅ = − tan
𝜔2 0

𝝎 1 ∅
𝑀= 900
𝜔
−2700
0 ∝ −900
00
1 1 −900 𝜔 =∝

10 0.1 −900 −1800

… … …
∝ 0 −900 𝜔=0 −900
Example8: Draw the polar plot for the open loop transfer function
1
𝐺 𝑠 =
𝑠2
1
Solution: 𝐺 𝑗𝜔 =
𝑗𝜔 2
1 −1 𝜔
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑀 = 𝑎𝑛𝑑 𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 ∅ = −2 × tan
𝜔2 0

𝝎 1 ∅
𝑀= 900
𝜔
−2700
0 ∝ −1800
𝜔=0 00
1 1 −1800 𝜔 =∝

10 0.01 −1800 −1800

… … −1800
∝ 0 −1800 −900
Example9: Draw the polar plot for the open loop transfer function
1
𝐺 𝑠 =
𝑠3
1
Solution: 𝐺 𝑗𝜔 =
𝑗𝜔 3
1 −1 𝜔
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑀 = 𝑎𝑛𝑑 𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 ∅ = −3 × tan 𝜔=0
𝜔3 0

𝝎 𝑀 ∅
900
−2700
0 ∝ −2700
00
1 1 −2700 𝜔 =∝
10 0.001 −2700 −1800
… … −2700
∝ 0 −2700 −900
 When the transfer function consists of P poles and Z zero’s and it consists of
poles at origin, then the polar plot starts from −900 × 𝑛𝑜. 𝑜𝑓 𝑝𝑜𝑙𝑒𝑠 𝑎𝑡 𝑜𝑟𝑖𝑔𝑖𝑛
with ∝ magnitude and ends at −900 × (𝑃 − 𝑍) with zero magnitude.
1 𝜔=0 1 𝜔=0
𝐺 𝑠 = 3 𝐺 𝑠 = 4
1 𝑠 𝑠
𝐺 𝑠 = 90 0 90 0
𝑠 1 0 −270 0
90 0
𝐺 𝑠 = 2 −270
−270 0 𝑠
𝜔 =∝ 𝜔 =∝
−180 0 00 −1800 00
−1800
𝜔 =∝
00 900
−2700 −900 −900
−900 𝜔=0
𝜔 =∝
−180 0 00
𝜔=0
−900
 1
Example 10: Draw the polar plot for the open loop transfer function 𝐺 𝑠 =
𝑠(𝑠+1)
1 1 0 −1 𝜔
Solution: 𝐺 𝑗𝜔 = ,𝑀 = 𝑎𝑛𝑑 ∅ = −90 − tan
𝑗𝜔(𝑗𝜔+1) 𝜔( 1+𝜔2 ) 1

 When the transfer function consists of P poles and Z

zero’s and it consists of poles at origin, then the −2700
polar plot starts from −900 ×
𝑛𝑜. 𝑜𝑓 𝑝𝑜𝑙𝑒𝑠 𝑎𝑡 𝑜𝑟𝑖𝑔𝑖𝑛 with ∝ magnitude and ends
at −900 × (𝑃 − 𝑍) with zero magnitude. 𝜔 =∝

𝝎 𝑀 ∅ −1800 00
0 ∝ −900 𝑠𝑡𝑎𝑟𝑡𝑠 → −900 × 1 = −900
1 1/ 2 −1350 𝑤𝑖𝑡ℎ 𝑀 =∝ −900
… … … 𝑒𝑛𝑑𝑠 → −900 × 2 − 0 = −1800
∝ 0 −1800 𝑤𝑖𝑡ℎ 𝑀 = 0
𝜔=0
 1
Example 10: Draw the polar plot for the open loop transfer function 𝐺 𝑠 =
𝑆 2 (𝑠+1)
1 1 0 −1 𝜔
Solution: 𝐺 𝑗𝜔 = ,𝑀 = 𝑎𝑛𝑑 ∅ = −180 − tan
𝑗𝜔2 (𝑗𝜔+1) 𝜔2 ( 1+𝜔2 ) 1

 When the transfer function consists of P poles and Z

zero’s and it consists of poles at origin, then the −2700
polar plot starts from −900 ×
𝑛𝑜. 𝑜𝑓 𝑝𝑜𝑙𝑒𝑠 𝑎𝑡 𝑜𝑟𝑖𝑔𝑖𝑛 with ∝ magnitude and ends
at −900 × (𝑃 − 𝑍) with zero magnitude. 𝜔 =∝
𝜔=0
𝝎 𝑀 ∅ −1800 00
0 ∝ −1800 𝑠𝑡𝑎𝑟𝑡𝑠 → −900 × 2 = −1800
1 2/2 −2250 𝑤𝑖𝑡ℎ 𝑀 =∝
−900
… … … 𝑒𝑛𝑑𝑠 → −900 × 3 − 0 = −2700
∝ 0 −2700 𝑤𝑖𝑡ℎ 𝑀 = 0
 1
Example 11: Draw the polar plot for the open loop transfer function 𝐺 𝑠 =
𝑆 3 (𝑠+1)
𝜔=0
1 1 0 −1 𝜔
Solution: 𝐺 𝑗𝜔 = ,𝑀 = 𝑎𝑛𝑑 ∅ = −270 − tan
𝑗𝜔3 (𝑗𝜔+1) 𝜔3 ( 1+𝜔2 ) 1

 When the transfer function consists of P poles and Z

zero’s and it consists of poles at origin, then the −2700
polar plot starts from −900 ×
𝑛𝑜. 𝑜𝑓 𝑝𝑜𝑙𝑒𝑠 𝑎𝑡 𝑜𝑟𝑖𝑔𝑖𝑛 with ∝ magnitude and ends
at −900 × (𝑃 − 𝑍) with zero magnitude. 𝜔 =∝

𝝎 𝑀 ∅ −1800 00
0 ∝ −2700
𝑠𝑡𝑎𝑟𝑡𝑠 → −900 × 3 = −2700
1 2 −3150
𝑤𝑖𝑡ℎ 𝑀 =∝ −900
2 𝑒𝑛𝑑𝑠 → −900 × 4 − 0 = −3600
… … … 𝑤𝑖𝑡ℎ 𝑀 = 0
∝ 0 −3600
Example 12: Draw the polar plot for the open loop transfer function
1
𝐺 𝑠 =
𝑠(𝑠+1)(𝑆+2)
1 1
Solution: 𝐺 𝑗𝜔 = ,𝑀 = 𝑎𝑛𝑑
𝑠(𝑗𝜔+1)(𝑗𝜔+2) 𝜔 ( 1+𝜔2 )( 4+𝜔2 )

∅= −900 − tan −1 𝜔
− tan −1 𝜔 −2700
1 2
𝝎 𝑀 ∅
0 ∝ −900
𝜔 =∝
1 10/10 −1620 −1800 00
… … … 𝑠𝑡𝑎𝑟𝑡𝑠 → −900 × 1 = −900
∝ 0 −2700 𝑤𝑖𝑡ℎ 𝑀 =∝
𝑒𝑛𝑑𝑠 → −900 × 3 − 0 = −2700 −900
𝑤𝑖𝑡ℎ 𝑀 = 0 𝜔=0
Example 13: Draw the polar plot for the open loop transfer function
1
𝐺 𝑠 =
𝑠2 (𝑠+1)(𝑆+2)
1 1
Solution: 𝐺 𝑗𝜔 = ,𝑀 = 𝑎𝑛𝑑
𝑗𝜔2 (𝑗𝜔+1)(𝑗𝜔+2) 𝜔2 ( 1+𝜔2 )( 4+𝜔2 )

∅= −1800 − tan −1 𝜔
− tan −1 𝜔 −2700
1 2
𝝎 𝑀 ∅
0 𝜔=0
0 ∝ −180
𝜔 =∝
1 10/10 −2520 −1800 00
… … … 𝑠𝑡𝑎𝑟𝑡𝑠 → −900 × 2 = −1800
∝ 0 −3600 𝑤𝑖𝑡ℎ 𝑀 =∝
𝑒𝑛𝑑𝑠 → −900 × 4 − 0 = −3600 −900
𝑤𝑖𝑡ℎ 𝑀 = 0
Example 14: Draw the polar plot for the open loop transfer function
1
𝐺 𝑠 =
𝑠3 (𝑠+1)(𝑆+2)
𝜔=0
1 1
Solution: 𝐺 𝑗𝜔 = ,𝑀 = 𝑎𝑛𝑑
𝑗𝜔3 (𝑗𝜔+1)(𝑗𝜔+2) 𝜔3 ( 1+𝜔2 )( 4+𝜔2 )

∅= −2700 − tan −1 𝜔
− tan −1 𝜔 −2700
1 2
𝝎 𝑀 ∅
0 ∝ −2700
𝜔 =∝
1 10/10 −3410 −1800 00
… … … 𝑠𝑡𝑎𝑟𝑡𝑠 → −900 × 3 = −2700
∝ 0 −4500 𝑤𝑖𝑡ℎ 𝑀 =∝
𝑒𝑛𝑑𝑠 → −900 × 5 − 0 = −4500 −900
𝑤𝑖𝑡ℎ 𝑀 = 0
Example 14: Draw the polar plot for the open loop transfer function
1
𝐺 𝑠 =
𝑠2 (𝑠+1)(𝑆+2)(𝑠+20)
1 1
Solution: 𝐺 𝑗𝜔 = ,𝑀 = 𝑎𝑛𝑑
𝑗𝜔2 (𝑗𝜔+1)(𝑗𝜔+2)(𝑗𝜔+20) 𝜔2 ( 1+𝜔2 )( 4+𝜔2 )( 400+𝜔2 )

∅= −1800 − tan −1 𝜔
− tan −1 𝜔
− tan−1
𝜔 −2700
1 2 20
𝝎 𝑀 ∅
0 ∝ −1800 𝜔=0
𝜔 =∝
1 0.016 −2540 −1800 00
… … …
𝑠𝑡𝑎𝑟𝑡𝑠 → −900 × 2 = −1800
∝ 0 −4500 𝑤𝑖𝑡ℎ 𝑀 =∝
𝑒𝑛𝑑𝑠 → −900 × 5 − 0 = −4500 −900
𝑤𝑖𝑡ℎ 𝑀 = 0
Example 14: Draw the polar plot for the open loop transfer function
(𝑠+5)
𝐺 𝑠 =
𝑠2 (𝑠+1)(𝑆+2)(𝑠+20)
(𝑗𝜔+5) 25+𝜔2
Solution: 𝐺 𝑗𝜔 = ,𝑀 = 𝑎𝑛𝑑
𝑗𝜔2 (𝑗𝜔+1)(𝑗𝜔+2)(𝑗𝜔+20) 𝜔2 ( 1+𝜔2 )( 4+𝜔2 )( 400+𝜔2 )
𝜔 𝜔 𝜔 𝜔
∅= −1800 − tan −1 − tan −1 − tan−1 + tan −1
1 2 20 5
𝝎 𝑀 ∅ −2700
0 ∝ −1800
1 0.08 −2430
… … … 𝜔=0
𝜔 =∝
−1800 00
∝ 0 −3600 𝑠𝑡𝑎𝑟𝑡𝑠 → −900 × 2 = −1800
𝑤𝑖𝑡ℎ 𝑀 =∝
𝑒𝑛𝑑𝑠 → −900 × 5 − 1 = −3600 −900
𝑤𝑖𝑡ℎ 𝑀 = 0
Example7: Draw the polar plot for the open loop transfer function
𝐺 𝑠 =𝑠
Solution: 𝐺 𝑗𝜔 = 𝑗𝜔
−1 𝜔
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑀 = 𝜔2 = 𝜔 𝑎𝑛𝑑 𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 ∅ = tan
0

𝝎 𝑀 ∅
900
𝜔 =∝
−2700
0 0 +900
1 1 +900 00
10 10 +900 −1800 𝜔=0

… … …
∝ ∝ +900
−900
Example8: Draw the polar plot for the open loop transfer function
𝐺 𝑠 = 𝑠2
2
Solution: 𝐺 𝑗𝜔 = 𝑗𝜔
𝜔
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑀 = 𝜔2 𝑎𝑛𝑑 𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 ∅ = 2 × tan −1
0

𝝎 𝑀 = 𝜔2 ∅
900
−2700
0 0 1800
𝜔 =∝
00
1 1 1800
𝜔=0
10 100 1800 −1800
… … …
∝ ∝ 1800 −900
Example9: Draw the polar plot for the open loop transfer function
𝐺 𝑠 = 𝑠3
3
Solution: 𝐺 𝑗𝜔 = 𝑗𝜔
𝜔 900
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑀 = 𝜔3 𝑎𝑛𝑑 𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒 ∅ = 3 × tan −1
0

−2700
𝝎 𝑀 ∅
00
0 0 270 0 −1800 𝜔=0

1 1 2700
10 1000 2700 −900
… … 2700
∝ ∝ 2700 𝜔 =∝
 Stability analysis using polar plot
 The stability of a system can be examined from the polar plot once the
frequency domain specifications are obtained.
 The stability of the system can be analysed by using the crossover frequencies
(𝜔𝑔𝑐 & 𝜔𝑝𝑐 ) or the gain and phase margins
Based on crossover frequencies (𝜔𝑔𝑐 & 𝜔𝑝𝑐 ):
 A system can either be a stable system or marginally stable system or unstable
system.
 The stability of the system based on the relation between crossover
frequencies is given in Table
S.NO
Relation between 𝜔𝒈𝑐 &𝜔𝑝𝑐 Stability of the system
01
𝜔𝒈𝑐 < 𝜔𝑝𝑐 Stable system
02
𝜔𝒈𝑐 > 𝜔𝑝𝑐 Un-stable system
03
𝜔𝒈𝑐 = 𝜔𝑝𝑐 Marginally stable system
Based on Gain Margin and Phase Margin:
S.NO
GM PM Relation between Stability of the system
𝜔𝒈𝑐 &𝜔𝑝𝑐
01
+𝑉𝑒 +𝑉𝑒 𝜔𝒈𝑐 < 𝜔𝑝𝑐 Stable system
02
+𝑉𝑒 −𝑉𝑒 𝜔𝒈𝑐 < 𝜔𝑝𝑐 Un-stable system
03
−𝑉𝑒 +𝑉𝑒 𝜔𝒈𝑐 > 𝜔𝑝𝑐 Un-stable system
04
0dB 0dB 𝜔𝒈𝑐 = 𝜔𝑝𝑐 Marginally stable system
 Based on the Location of phase crossover frequency
 Let A and B be the points on the Phase crossover frequency
polar plot when the plot crosses the Im
real axis and unit circle as shown in
Unity Circle
fig.
 The points A and B are called phase
−1 + 𝑗0
crossover frequency and gain
crossover frequency points
A 𝜔 =∝
respectively. Re
 Let the frequency 𝜔 at the point A B
is the phase crossover frequency
𝜔𝑝𝑐 and magnitude of the loop
𝜔=0
transfer function at the point A be
𝐺 𝑗𝜔 𝐻(𝑗𝜔) Gain crossover frequency
 Now, based on the location of points A, the stability of the system can be
examined. The stability of the system based on the location of point A is listed
in Table.
Location of point A Stability of the system Gain margin of the system
in dB
Polar plot doesn’t cross the 𝑆𝑡𝑎𝑏𝑙𝑒 𝐺𝑀 =∝
negative real axis
Between the origin and the point 𝑆𝑡𝑎𝑏𝑙𝑒 𝐺𝑀 > 0
− 1 + 𝑗0
Beyond the point −1 + 𝑗0 𝑈𝑛𝑠𝑡𝑎𝑏𝑙𝑒 𝐺𝑀 <∝
At −1 + 𝑗0 Marginally stable −20log 𝐺 𝑗𝜔𝑝𝑐 𝐻(𝑗𝜔𝑝𝑐 )
 Phase crossover frequency
Im
Unity Circle

−1 + 𝑗0

A 𝜔 =∝
Un Stable Re
B
Marginally Stable

Stable
𝜔=0
Gain crossover frequency
Example : The open loop transfer function of a system is
𝐾(𝑠+1)
𝐺 𝑠 𝐻 𝑠 = . Sketch the polar plot for the system.
𝑠(1+0.2𝑠)(1+0.5𝑠)

Solution: Substitute 𝑠 = 𝑗𝜔 and K=1 in the loop transfer function, we obtain

(𝑗𝜔+1)
𝐺 𝑗𝜔 𝐻 𝑗𝜔 =
𝑗𝜔(1+0.2𝑗𝜔)(1+0.5𝑗𝜔)

The magnitude and phase angle of the system are

(1+𝜔2 )
𝐺 𝑗𝜔 𝐻 𝑗𝜔 = and
𝜔 (1+0.04𝜔2 ) 1+0.25𝜔2

∅ = −900 − tan−1 0.2𝜔 − tan−1 0.5𝜔 + tan−1 𝜔

𝜔 0.4 0.5 0.6 0.7 0.8 0.9 1.0 2 4 5 7 10

𝑀 2.6 2.2 1.8 1.6 1.5 1.3 1.24 0.7 0.35 0.3 0.2 0.1
∅ -84 -83.2 -82.6 -82.3 -82.2 -82.4 -82.8 -93 -116 -124 -136 -148
𝜔 0.4 0.5 0.6 0.7 0.8 0.9 1.0 2 4 5 7 10
𝑀 2.6 2.2 1.8 1.6 1.5 1.3 1.24 0.7 0.35 0.3 0.2 0.1
∅ -84 -83.2 -82.6 -82.3 -82.2 -82.4 -82.8 -93 -116 -124 -136 -148
Location of point A Stability of the system Gain margin of the system
in dB
Polar plot doesn’t cross the 𝑆𝑡𝑎𝑏𝑙𝑒 𝐺𝑀 =∝
negative real axis
31.8 2.6 2.4 2.2 2 1.8 1.6 1.4 1.2 1 0.8 0.6 0.4 0.2

Phase margin 𝐺𝑀 = 1800 + ∠𝐺 𝑗𝑤 𝐻 𝑗𝑤

= 1800 − 840
= 960
Example : The open loop transfer function of a system is
1
𝐺 𝑠 𝐻 𝑠 = . Sketch the polar plot for the system.
𝑠(1+𝑠)2

Solution: Substitute 𝑠 = 𝑗𝜔 in the loop transfer function, we obtain

1
𝐺 𝑗𝜔 𝐻 𝑗𝜔 =
𝑗𝜔(1+𝑗𝜔)2

The magnitude and phase angle of the system are

1
𝐺 𝑗𝜔 𝐻 𝑗𝜔 = and ∅ = −900 − 2tan−1 𝜔
𝜔(1+𝜔2 )

𝜔 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3
𝑀 2.2 1.6 1.2 1 0.8 0.6 0.5 0.4 0.3 0.26
∅ -134 -143 -151 -159 -167 -174 -180 -185 -190 -195
 𝜔 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3
𝑀 2.2 1.6 1.2 1 0.8 0.6 0.5 0.4 0.3 0.26
∅ -134 -143 -151 -159 -167 -174 -180 -185 -190 -195

𝐺(𝑗𝜔)

31.8 2.6 2.4 2.2 2 1.8 1.6 1.4 1.2 1 0.8 0.6 0.4 0.2

𝜑𝑝𝑐 = 1590

𝑃𝑀 = 180 − 1590 = 210

 Determination of GM & PM:
𝜔 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3
𝑀 2.2 1.6 1.2 1 0.8 0.6 0.5 0.4 0.3 0.26
∅ -134 -143 -151 -159 -167 -174 -180 -185 -190 -195
 The gain margin and phase margin of the system are calculated at phase
crossover frequency and gain crossover frequency respectively.
 The phase crossover frequency is the frequency at which the phase angle of the
system is 1800 or −1800 . Also the gain crossover frequency is the frequency at
which the magnitude of the system is 1.
 Using above definition and table, we obtain 𝜔𝑔𝑐 = 0.7𝑟𝑎𝑑/ sec & 𝜔𝑝𝑐 =
0.7𝑟𝑎𝑑/ sec
1 1
 Gain margin 𝐺𝑀 = = =2
𝐺 𝑗𝑤 𝐻(𝑗𝑤) 0.5
 Phase margin 𝐺𝑀 = 1800 + ∠𝐺 𝑗𝑤 𝐻 𝑗𝑤 = 1800 − 1590