Lecture : 21
Control Systems Engineering
Dr. G. Balamurugan
Assistant Professor
Department of Electronics Engineering
MIT Campus, Anna University.
Dr. G. Balamurugan
1
Department of Electronics Engineering, MIT Campus
UNIT III FREQUENCY RESPONSE AND SYSTEM
ANALYSIS 9
Closed loop frequency response-Performance specification in
frequency domain-Frequency response of standard second
order system- Bode Plot - Polar Plot- Nyquist plots-Design of
compensators using Bode plots-Cascade lead compensation-
Cascade lag compensation-Cascade lag-lead compensation
Dr. G. Balamurugan
2
Department of Electronics Engineering, MIT Campus
Polar Plots
• Polar plot of a sinusoidal transfer function M(j) is a plot of its magnitude of
M(j) versus the phase angle of M(j).
• Thus the polar plots is the locus of the vectors |M(j)| and M(j) as is
varied from 0 to .
• Polar plot is also known as Nyquist plot.
• Advantage: It depicts the frequency response characteristics of a system over
the entire frequency range in a single plot.
• Disadvantage: Plot does not clearly indicate the contributions of each
individual factor of the open loop transfer function.
Dr. G. Balamurugan
3
Department of Electronics Engineering, MIT Campus
Polar Plot
• Circles represents magnitude
• Radial lines represents phase
angle.
• A positive (Negative) phase angle
is measured counterclockwise
(clockwise) from the positive axis
or reference 0.
• Polar plot is very useful in
determining the stability of a
closed loop system from its open
loop frequency response.
Dr. G. Balamurugan
4
Department of Electronics Engineering, MIT Campus
Determination of Gain Margin (GM) and
Phase Margin (PM)
0 0
-180 -180
Dr. G. Balamurugan
5
Department of Electronics Engineering, MIT Campus
Problem 1
The open loop TF of a unity feedback system is given by . Sketch polar plot and
determine gain margin and phase margin for K=1 and determine K for GM=20dB and PM=30.
Solution:
0.35
0.35 0.4
0.4 0.45
0.45 0.5
0.5 0.6
0.6 0.7
0.7 0.8
0.8 11
|G(j)| 2.2 1.8 1.5 1.2 0.9 0.7 0.5 0.3
G(j) -144 -150 -156 -162 -171 -180 -186 -198
Dr. G. Balamurugan
6
Department of Electronics Engineering, MIT Campus
0.35 0.4 0.45 0.5 0.6 0.7 0.8 1
|G(j)| 2.2 1.8
Problem 1
1.5 1.2 0.9 0.7 0.5 0.3
G(j) -144 -150 -156 -162 -171 -180 -186 -198
Scale:
1 Circle : 0.05 magnitude
A positive (Negative) phase angle is
measured counterclockwise (clockwise)
from the positive axis or reference 0.
GM Phase cross over
=0.8
=0.7
1
=
2.5 2.0 1.5 1.0 0.5
=0.6
Gain Margin
=0.5
=0.45
=0.4
Phase Margin
=0.35
Dr. G. Balamurugan
7
Department of Electronics Engineering, MIT Campus
Problem 1- Determine K for GM=20dB
GM
=0.8
=0.7
1
=
2.5 2.0 1.5 1.0 0.5
=0.6
=0.5
=0.45
=0.4
=0.35
Dr. G. Balamurugan
8
Department of Electronics Engineering, MIT Campus
Problem 1- Determine K for PM=30degree
GM
=0.8
=0.7
1
=
2.5 2.0 1.5 1.0 0.5
=0.6
=0.5
=0.45
=0.4
=0.35
Dr. G. Balamurugan
9
Department of Electronics Engineering, MIT Campus
Problem 2
The open loop TF of a unity feedback system is given
by . Sketch polar plot using ordinary graph sheet and
determine gain margin and phase margin for K=1 and determine K for
GM=20dB and PM=30.
Dr. G. Balamurugan
10
Department of Electronics Engineering, MIT Campus
Polar plot (Ordinary Graph Sheet)
Dr. G. Balamurugan
11
Department of Electronics Engineering, MIT Campus
Polar plot (Ordinary Graph Sheet)
0.35 0.4 0.45 0.5 0.6 0.7 0.8 1
GR(j) -1.79 -1.57 -1.37 -1.2 -0.90 -0.68 -0.51 -0.3
GI(j) -1.28 -0.89 -0.60 -0.4 -0.14 -0.006 0.05 0.1
Dr. G. Balamurugan
12
Department of Electronics Engineering, MIT Campus
Dr. G. Balamurugan
13
Department of Electronics Engineering, MIT Campus
Yo u
a nk
T h
Dr. G. Balamurugan
14
Department of Electronics Engineering, MIT Campus
