CONTROL

SYSTEMS
Chapter 6 : Polar & Nyquist Plot
 

 GATE Objective & Numerical Type Solutions

Question 2 [Practice Book] [GATE EC 1989 IIT-Kanpur : 10 Marks]
Nyquist plot consider a feedback system where the OLTF is
K
G(s) 
s(1  sT1 )(1  sT2 )(1  sT3 )
Draw Nyquist plot. Find also the range of K in terms of the crossover frequency  pc for stability.
K
Sol. Given : G(s) 
s(1  sT1 )(1  sT2 )(1  sT3 )
1
G( j) 
j(1  jT1 )(1  jT2 )(1  jT3 )
Magnitude can be written as,
1
G ( j) 
 1  2T12 1  2T22 1  2T32
Phase angle can be written as,
G ( j)   900  tan 1 T1  tan 1 T2  tan 1 T3
Nyquist path for the given transfer function is shown below.
jw jw
Section 1 j¥ + CW Section 2 Polar plot j¥ +
+
w = 0 to ¥ +
CW Re jq , R ® ¥
w = ¥ + to ¥ -
900 < q < - 900
Section 4 + j 0+
j0
w = 0- to 0+ s s
j 0-
re jq , r ® 0 j 0-
Section 3
w = ¥ - to 0- j¥ - - 900 < q < 900 Mirror image
j¥ - of polar plot

Section 1 : Polar plot

At   0  G( j)    G ( j )   90
0

At     G( j)  0  G ( j )   360
0

- 2700 Img

-1800 w = ¥+ - 3600
Re
0

w = 0+
- 900

  1 
 Section 3 : Mirror image of polar plot
At     G( j)  0  G ( j )  3 6 0 0

At   0  G( j)    G ( j )  9 0 0

- 2700 Img
w = 0-

-1800 w = ¥- - 3600
Re
0

- 900

Section 2 : Semi-circle with radius tending to infinite.

At     G( j)  0  G ( j )   360
0

At     G( j)  0  G ( j )  3600

- 2700 Img

-1800 w = ¥- - 3600
+
Re
w=¥

- 900

Section 4 : Semi-circle with radius tending to zero.

At   0  G( j)    G ( j )   90
0

At   0  G( j)    G ( j )  9 0 0

900 Img

00
Re

- 900

  2 
 The Nyquist plot is shown below.
Img
-
w=0

w = ¥+
Re
0 w = ¥-

w = 0+

The frequency at which phase angle of G( jω) H ( jω) is 1800 is called phase crossover frequency.
1800  900  tan1 (pcT1 )  tan1 (pcT2 )  tan1 (pcT3 )
 900   tan 1 (pcT1 )  tan 1 (pcT2 )  tan1 (pcT3 )
  pcT1   pcT2 
   pcT3 
1   pcTT
2

tan 900   
1 2
  pcT1   pcT2 
1    pc 3 
T
 1  2pcTT
1 2 
  pcT1   pcT2 
   pcT3 
1 1   pcTT
2

 or   
1 2

0   pcT1   pcT2 
1    T3 
1  2pcTT
pc
 1 2 
12pc TT
1 2  T2T3  T3T1   0

1
  pc 
T1T2  T2T3  T3T1
K
G ( j  pc ) 
 pc (  T  1) (  2pcT22  1) (  2pcT32  1)
2
pc 1
2

Gain margin can be defined as reciprocal of the magnitude of the G ( j ) measured at phase crossover
frequency. For the system to be stable, gain margin measured in dB should be positive or G ( j ) measured
at phase crossover frequency should be less than 1.
K
1
 pc (  2pcT12  1) (  2pcT22  1) (  2pcT32  1)
1
K   pc (  2pc T12  1) (  2pcT22  1) (  2pcT32  1) where  pc 
T1T2  T2T3  T3T1
Question 4 [Practice Book] [GATE EC 1992 IIT-Delhi : 8 Marks]
A unity feedback system has open-loop transfer function
1
G(s) 
s(2s  1)(s  1)
Sketch Nyquist plot for the system and from there obtain the gain margin and the phase margin.

  3 
 1
Sol. Given : G(s) 
s(2s  1)(s  1)
1
Put s  j, G ( j) 
j(2 j  1) ( j  1)
Magnitude can be written as,
1
G ( j) 
 (4  1) (2  1)
2

Phase angle can be written as,

G( j)   900  tan 1 2  tan 1 
The Nyquist path for the transfer function is shown below.
jw jw
Section 1 j¥ + CW Section 2 Polar plot j¥ +
w = 0+ to ¥ + CW Re jq , R ® ¥
w = ¥ + to ¥ -
900 < q < - 900
Section 4 + j 0+
j0
w = 0- to 0+ s s
j 0- -
re jq , r ® 0 j0
Section 3
w = ¥ - to 0- j¥ - - 90 < q < 90
0 0 Mirror image
j¥ - of polar plot

Section 1 : Polar plot

At   0  G( j)    G ( j )   90
0

At     G( j)  0  G ( j )   270
0

- 2700 Img

-1800 w = ¥+ - 3600
Re
0

w = 0+
- 900

Section 3 : Mirror image of Polar plot

At     G( j)  0  G ( j )  2 7 0 0

At   0  G( j)    G ( j )  9 0 0

  4 
 2700 Img

w = 0-

1800 w = ¥- 00
Re
0

900
Section 2 : Semi-circle with radius tending to infinite.
At     G( j)  0  G ( j )   270
0

At     G( j)  0  G ( j )  2 7 0 0

- 2700 Img

-1800 w = ¥- - 3600
Re
w = ¥+

- 900
Section 4 : Semi-circle with radius tending to zero.
At   0  G( j)    G ( j )  9 0 0

At   0  G( j)    G ( j )   90
0

900 Img

00
Re

- 900
The Nyquist plot is shown below.
Img

w = 0-

w = ¥+
0 w = ¥- Re

w = 0+

  5 
 The frequency at which phase angle of G( jω) H ( jω) is 1800 is called phase crossover frequency.
1800   900  tan1 2pc  tan1 pc
 900   tan 1 (2pc )  tan 1 (pc )
 2pc  pc 
900  tan 1  
 1  2pc 
2

1  3pc 
 
0 1  22pc 
1 22pc  0
1
 pc  rad/sec
2
1 1
G ( j pc )  
1   1   1  1
(3) (1.5)
 4   2   1  2  1  2
2     
G ( j pc )  0.667
Gain margin can be defined as reciprocal of the magnitude of the G ( j  ) H ( j  ) measured at phase
crossover frequency.
1 1
G.M.    1.49
G ( j pc ) 0.667
1
In dB, G.M. = 20log  20 log1.49  3.46 dB
G ( j pc )
The gain crossover is a point on the G ( j ) H ( j ) plot at which the magnitude of G ( j ) H ( j ) is equal
to unity (1) and the corresponding frequency is known as gain crossover frequency gc .
G ( j  gc ) H ( j  gc )  1
1   gc (4  2gc  1) (  2gc  1)

1  2gc (42gc 1)(2gc 1)

(44gc 2gc )(2gc 1)  1
46gc  4gc  44gc  2gc  1
46gc  54gc  2gc  1
x  2gc say
4 x3  5 x 2  x  1
4 x3  5x2  x  1  0
x1  0.326, x2   0.788  j 0.379, x3   0.788  j 0.379
gc  0.326
gc  0.57 rad/sec

  6 
 Phase margin is defined as,
P.M.  1800  G( jgc )
P.M.  1800  900  tan1 (2gc )  tan1 (gc )
P.M.  900  tan 1 (2  0.57)  tan 1 (0.57)
P.M.  11.57 0
Question 6 [Practice Book] [GATE EC 1998 IIT-Delhi : 5 Marks]
The loop transfer function of a single loop control system is given by,
100
G (s) H (s)  e  sT
s (1  0.01s )
Find the condition for the closed loop system to be stable.
100
Sol. Given : G (s) H (s)  e  sT
s (1  0.01s )
100
Put s  j, G ( j) H ( j)  e  j T
j(1  0.01 j)
Magnitude can be written as,
100
G ( j ) H ( j ) 
 1  (0.01) 2
Phase angle can be written as,

 G ( j) H ( j) in rad   (T ) rad   tan 1 (0.01) rad
2
At    0   G( j) H ( j)     G ( j) H ( j)   900  
At    G( j)H ( j)  0   G( j) H ( j)  1800  

The frequency at which magnitude of G ( j ) H ( j ) is unity i.e. 1 is called gain crossover frequency.
G ( j  gc ) H ( j  gc )  1
 j T
100 e gc
1
jgc (1  j 0.01gc )
100
1
 gc 1  (0.01 gc ) 2

gc  78.6 rad/sec.

Phase margin is defined as,
P.M.    G ( jgc ) H ( jgc )
  
P.M.     gcT   tan1 (0.01gc ) 
 2 
For system to be stable, P.M. > 0

P.M.    78.6T   tan 1 (0.01 78.6) rad  0
2
P.M.   78.6T  0.9  0

  7 
 T < 0.01 sec system is stable.
Polar plot is shown in below figure.
Img

Re

w=0

Alternatively : Routh-Hurwitz Concept

The characteristic equation is given by,
1  G( s) H ( s)  0
100(1  sT )
1 0
s (1  0.01s )
s(1  0.01s)  100(1  sT )  0
s  s 2 0.01  100  100sT  0
0.01s 2  s(1  100T )  100  0
Routh Tabulation :
s2 0.01 100
s1 1 - 100T 0
s0 100

For system to be stable, first column of Routh array must be positive.

1 100T  0
T  0.01

Question 7 [Practice Book] [GATE IN 1999 IIT-Bombay : 5 Marks]

The closed loop transfer function of a system consisting of a process G(s) and a proportional controller
KG ( s ) 1
K is H ( s )  . The closed contour obtained by plotting the imaginary part of versus the
1  KG ( s ) H (s)
1
real of evaluated along the curve indicated in figure encircles the origin N times.
H (s)
jw
R®¥

w
s-plane

  8 
 (a) Derive an expression for N, terms of the number of poles of H(s) in the right half of the s-plane.
(b) From a plot of the imaginary part of 1 versus the real part of 1 evaluated along the curve in
G (s) G (s)
figure determine the condition on K that will make the closed loop system stable.
KG ( s )
Sol. (a) H (s) 
1  KG ( s )
1 1  KG ( s ) 1
  1
H (s) KG ( s ) KG ( s )
Poles of (1  KG(s))  Poles of  KG(s)
According to mapping theorem,
N = Number of CW encirclements of (1/H) locus around the origin = Number of CW encirclements
of 1/ KG ( s) locus around (  1, j 0) point.

= Number of zeros 1/ H(s) in the RH-plane – Number of poles 1/ H(s) in the RH-plane
= Number of poles H(s) in the RH-plane – Number of zeros H(s) in the RH-plane
=P–Z
For minimum phase functions, the second term is zero, N = P
(b) For closed-loop stability, P  0, N   Z
For the special case of minimum phase systems, N = 0
i.e. (1 / K G ) locus should not enclose (–1, j0) point.
1 1
 1, K 
KG( jpc ) G( jpc )
Where  pc is the phase crossover frequency of 1 .
G ( j )
Question 8 [Practice Book] [GATE EE 2000 IIT-Kharagpur : 5 Marks]
Open-loop transfer function of a unity-feedback system is
e  sD
G ( s )  G1 ( s )  e  sD 
s( s  1)( s  2)
Given : G1 ( j)  1 when   0.466
(a) Determine the phase margin when  D  0.
(b) Comment in one sentence on the effect of dead-time on the stability of the system.
(c) Determine the maximum value of dead time D for the closed-loop system to be stable.
e  sD
Sol. Given : G ( s )  G1 ( s)  e  sD 
s( s  1)( s  2)
 jD e jD
Put s  j, G( j)  G1 ( j)  e 
j( j  1)( j  2)

(a) G1 ( s )  0.466 i.e. gain crossover frequency gc  0.466

gc
1
G1 ( j) 
j( j  1)( j  2)

  9 
 Phase angle can be written as,

G1 ( j)   900  tan 1   tan 1
2
Phase margin is given by,
P.M.  1800  G1 ( jgc )
  gc  gc 
P.M.  180 0   90 0  tan 1  tan 1 
 1 2 
P.M.  1800  (900  250  130 )  520
P.M.  52 0 Ans.
(b) If dead time increases the stability of the system decreases. Ans.
(c) For marginal stability P .M .  0 0
G.M.  0 dB

Transportation delay does not affect the value of gc .

P.M.  00  1800  G( jgc )

 gc  1 
gc 
1800  (gc  D  57.30 )  900  tan 1    tan  0
 1   2 
With gc  0.466,
0.466   D  57.30 = 51.898
 D  1.94
For  D  1.94 system is marginal stable.
 D  1.94 stable
 D  1.94 unstable
 D  1.94 is maximum value of D for closed loop system to be stable. Ans.
Note : Using Routh-Hurwitz stability,  D  1.67
Question 4 [Work Book - Polar] [GATE EC 2001 IIT-Kanpur : 1 Mark]
K
For a unity feedback system represented by G ( s)  . For K = 1 gain margin is 28 dB.
s(0.2s  1)(0.05s  1)
For gain margin 20 dB, the value of K is
(A) 5 (B) 4 (C) 2.5 (D) 2
Ans. (C)
Sol. Given : K
G (s) 
s (0.2 s  1)(0.05 s  1)

Put s  j, K
G ( j) 
j  (0.2 j   1)(0.05 j   1)
Magnitude can be written as,
K
G ( j ) H ( j ) 
 (0.2)  1
2 2
(0.05) 2  12

  10 
 K  1 for gain margin  28 dB
1
G.M.  20 log
G ( j pc ) H ( j pc )
1
28  20 log
G ( j pc ) H ( j pc )
G( j)H ( j)  0.0398 …(i)
K
G ( j  pc ) H ( j  pc ) 
 pc (0.2  pc )  12 (0.05 pc ) 2  12
2

1
0.0398 
 pc 0.04  2
pc  1 0.0025 2pc  1

 pc  10.02 rad/s

For G .M .  20 dB
K
G ( j ) H ( j ) 
 pc 0.04  2
pc  1 0.0025 2pc  1
K
0.1 
10 0.04 10  1 0.0025 102  1
2

K  2.5
Hence, the correct option is (C).
Alternatively :
K
G.M.  mar
K desired
For a system K mar is fixed.
Given : K desired  1
In dB, G.M.  20log G.M.
28  20log G.M.
G.M.  25.11
K mar  G.M.  K desired  25.11
In dB, G.M.  20log G.M.
20  20log G.M.
G.M.  10
K 25.11
K desired  mar   2.511
G.M. 10

Question 7 [Work Book - Polar] [GATE EC 2002 IISc-Bangalore : 2 Marks]

1
The system with the open loop transfer function G ( s) H ( s)  has a gain margin of
s( s  s  1)
2

(A) – 6 dB (B) 0 dB (C) 3.5 dB (D) 6 dB

Ans. (B)
1
Sol. Given : G(s)H (s) 
s(s  s  1)
2

  11 
 1
Put s  j, G( j) H ( j)  ….. (i)
j (1  2  j)
Magnitude can be written as,
1
G ( j ) H ( j) 
 (1  2 ) 2  2
Phase angle can be written as,
   
 G ( j  ) H ( j )    tan 1  2 
2 1  
The frequency at which phase angle of G ( jω) H ( jω) is 1800 is called phase crossover frequency.
  pc 
G( jpc ) H ( jpc )    tan 1 
2  1  2 
 pc 

  pc 
1800   900  tan 1 
 1  2pc 
 
1   pc  0   pc  1 rad/sec
2

Gain margin can be defined as reciprocal of the magnitude of the G( j) H ( j)   measured at phase
crossover frequency.
1
G.M.   
G ( jω pc ) H ( jω pc )
1
G ( j  pc ) H ( j pc )  1
1 (1  12 ) 2  12
1
G.M.   1
1
In dB, G.M.  20 log(1)  0 dB
Hence, the correct option is (B).
Alternatively 1 : Alternatively 2 :
K To calculate  pc , equating imaginary part of G( j) to
G.M.  mar
K desired zero.
Given K desired  1 Img  j  j3  2   0
Characteristic equation is given by,  pc  3pc  0
1  G( s) H ( s)  0
 pc  1 rad/sec
1
1 0 Img
s ( s  s  1)
2

1
s3  s 2  s  K  0
For third order system to be marginal stable, IP = OP -1800 w=¥
Re
K mar  1
G.M.  1
w pc = 1
In dB, G.M.  20log1  0 dB w=0
Note : This method is only valid when polar plot
crosses  1800 axis.

  12 
Question 8 [Work Book - Polar] [GATE IN 2002 IISc-Bangalore : 2 Marks]
10e Ls
The loop transfer function of a system is given by G ( s) H ( s)  . The phase cross-over frequency is
s
5 rad/s. The value of the dead time L is
  
(A) (B) (C) (D) 0
20 10 20
Ans. (B)
10eLs
Sol. Given : G(s) H (s)  and ωpc  5 rad/sec
s
10e Lj
Put s  j, G( j) H ( j) 
j
Phase angle can be written as,
π
       G ( jω) H ( jω)   Lω 
2 
The frequency at which phase angle of G( jω) H ( jω) is 1800 is called phase crossover frequency.

 Lω pc 
π
 π  L π  π
2 2ω pc 10
Hence, the correct option is (B). 
Question 10 [Practice Book] [GATE EC 2004 IIT-Delhi : 2 Marks]
A system has poles at 0.01 Hz, 1 Hz and 80 Hz; zeros at 5 Hz, 100 Hz and 200 Hz. The approximate phase
of the system response at 20 Hz is
(A)  900 (B) 00 (C) 900 (D) 1800
Ans. (A)
Sol. The expression for phase will be
 f   f  1  f  1  f  1  f  1  f 
  tan 1    tan 1    tan    tan    tan    tan  
5  100   200   0.01  1  80 
At f = 20 Hz,
 20   20  1  20  1  20  1  20  1  20 
  tan 1    tan 1    tan    tan    tan    tan  
 5   100   200   0.01   1   80 
   98.20
So,    900
Hence, the correct option is (A).
Question 14 [Practice Book] [GATE IN 2004 IIT-Delhi : 2 Marks]
Figure shows the polar plot of a system. The transfer function of the system is
Img

w = 10

450 w=0
Re
5
(A) 5(1 + 0.1s) (B) (1 + 0.5s) (C) 5(1 + 10s) (D) 5(1 + s)

  13 
Ans. (A)
Sol. Figure shows the polar plot of a system.
Img

w = 10

450 w=0
Re
5  
  From figure we can conclude that
| GH ( jω) |  5 at ω  0
GH ( jω)  450 at ω  10 [ tan 450  1]
Only option (A) is satisfying both conditions.
| GH ( jω) |  5 1  (0.1ω) 2
GH ( jω)  tan 1 (0.1ω)
At ω  0 | GH ( jω) |  5
At   10, GH ( j)  450
Hence, the correct option is (A).
Question 11 [Work Book - Polar] [GATE EC 2005 IIT-Bombay : 2 Marks]
The polar diagram of a conditionally stable system for open loop grain K = 1 is shown in the figure. The
open loop transfer function of the system is known to be stable. The closed loop system is stable for
Img

Re
–8 –2 – 0.2

GH-plane

1 1 1 1
(A) K  5 and K (B) K  and  K  5
2 8 8 2
1 1
(C) K  and 5  K (D) K  and 5  K
8 8
Ans. (B)
Sol. Given : Open loop transfer function is stable, number of right sided poles, P = 0.
Nyquist stability criterion is given by,
N Z P
Where N = number of encirclements of the (–1, j0) point made by the G ( s ) H ( s ) plot in CW
direction.
Z = number of zeros of 1  G ( s ) H ( s ) that are inside the Nyquist path (i.e. the right-half
s-plane); notice that the zeros of 1  G ( s ) H ( s ) are the same as poles of closed-loop
transfer function.

  14 
 P = number of poles of 1  G ( s ) H ( s ) that are inside the Nyquist path (i.e. the right-half
s-plane); notice that the poles of 1  G ( s ) H ( s ) are the same as those of G ( s ) H ( s ) .
There are four cases :
Case 1 : If critical point – 1 + j0 lies between 0 and – 0.2K
0.2K  1  K 5
Img

CW
– 8K – 2K – 0.2K

IV III II I 0
Re

CW

N=2
(2 CW)
Number of encirclement of – 1+ j0, N = 2
N  Z P 2  Z 2 [Unstable system with two right poles]
Case 2 : If critical point – 1 + j0 lies between – 2K and – 0.2K then encirclements of – 1 + j0 are in
opposite direction and net encirclement is zero.
Img

CW
– 8K – 2K – 0.2K

IV III II I 0
Re

CCW

CW
N=0
(1 CW + 1 CCW)
Case 3 : If point lies between – 2K and – 8K
8K  1  2 K
1 1
So K  and K 
8 2
Img

CW
– 8K – 2K – 0.2K

IV III II I 0
Re

CW

N=2
(2 CW)

  15 
 Number of encirclement of – 1+ j0, N = 2
N Z P2  Z  2 [Unstable system with two right hand poles]
Case 4 : If point – 8K > – 1 or 8K < 1 then there is no encirclements of – 1 + j0.
So two conditions are
2K > 1, 0.2K < 1
1
K , K 5
2
1 1
 K  5 and 8 K  1 or K 
2 8
Hence, the correct option is (B).
Question 4 [Work Book – Nyquist] [GATE EE 2006 IIT-Kharagpur : 2 Marks]
Consider the following Nyquist plots of loop transfer functions over   0 to    . Which of these plots
represents a stable closed loop system?
1. Img 2. Img

w=¥ w=¥
Re Re
-1 -1

3. Img 4. Img

-1 w=¥ w=¥
Re Re
-1

w w

(A) 1 only (B) all, except 1 (C) all, except 3 (D) 1 and 2 only
Ans. (D)
Sol. If open loop system is stable then no poles should lie in the right half of s-plane i.e. P = 0.
For option (A), For option (B),
Img
Img

–1
–1 Re
Re
CW CCW
CW CCW
N=0
(1 CW + 1 CCW)

N = 0 [No encirclement] Type 3 system as starts from  2700 and ends at  2700
Stable closed loop system N=Z–P=0  Z 0
Stable closed loop system

  16 
 For option (C), For option (D),
Img

Img

–1
Re
-1 w=¥
Re CW
CW
CW CW
N=2
(2 CW) w = 0 N=2
(2 CW)
N=Z–P=2  Z 2 Type 1 system as starts from  900 and ends at  900
Unstable closed loops system N=Z–P=2  Z 2
Unstable closed loop system
Hence, the correct option is (D).
.Statement For Linked Answer Questions 21 & 22.
(1  6s)
Consider a unity feedback system with open loop transfer function G(s) 
s (1  s)(1  2s)
2

Question 21 [Practice Book] [GATE IN 2008 IISc-Bangalore : 2 Marks]

The phase crossover frequency of the system in radians per second is
(A) 0.125 (B) 0.25 (C) 0.5 (D) 1
Ans. (C)
(1  6 s )
Sol. Given : G( s)  2
s (1  s) (1  2 s )
(1  6 jω)
Put s  j, G ( jω) 
( jω) (1  jω) (1  2 jω)
2

Phase angle can be written as,

G( jω)  1800  tan 1 (6ω)  tan 1 (ω)  tan 1 (2ω)
The frequency at which phase angle of G( jω) H ( jω) is 1800 is called phase crossover frequency.
1800   1800  tan 1 6 ω pc  tan 1 ω pc  tan 1 2ω pc ….. (i)
ω pc  0 rad/sec
Polar Plot :
At   0 G ( j)   G( j)  1800
At    G ( j)  0 G( j)   2700

Img
CW
-180 0
w pc w pc
Re
CCW

  17 
 This system consist two ω pc .
For second ω pc :
From equation (i),
tan 1 6 pc  tan 1  pc  tan 1 2 pc
  pc  2 pc   A B 
tan 1 6 pc  tan 1   Apply tan 1 A  tan 1 B  tan 1  
 1  22  1  AB 
 pc 
ω pc  2ω pc
6 ω pc 
1  2ω2pc
1
2
1  2ω2pc
ω pc  0.5 rad/sec
Hence, the correct option is (C).
Important concept of polar plot :
1. (a) Direction of polar plot is given by,
  1  2
Where 1  GH ( j 0) 2  GH ( j)
(b) If    ve the direction  clockwise
(c) If    ve the direction  Anti clockwise or counter clockwise
2. If transfer function consist finite left hand poles and zeros then starting direction of polar plot is given
by either finite pole or finite zero which is nearer to origin and ending direction is given by
  1  2
3. If finite pole exist nearer to origin than the starting direction will be clockwise.
4. If finite zero exist nearer to origin then the starting direction will be counter-clockwise.

. Common Data Questions 5 & 6 .

The Nyquist plot of a stable transfer function G(s) is shown in the figure. We are interested in the stability
the closed loop system in the feedback configuration shown.
Img

– 0.5
Re G (s)
– 1.0
-j

Question 5 [Work Book – Nyquist] [GATE EC 2009 IIT-Roorkee : 2 Marks]

Which of the following statements is true ?
(A) G(s) is an all-pass filter. (B) G(s) has a zero in the right-half plane.
(C) G(s) is the impedance of a passive network. (D) G(s) is marginally stable.
Ans. (B)
Sol. In option (A) it is given that G(s) is all pass filter, and we know that all pass filter has constant (fixed)
magnitude for all frequency so its Nyquist plot should be a circle of constant radius with center at origin.
So option (A) is not correct.

  18 
 In option (D) it is given that G(s) is marginally stable but in the question G(s) is stable. Therefore, option
(D) cannot be correct.
Img
ja

G ( s ) H ( s ) Plane

-a a Re

- ja

In option (B) it is given that G(s) has a zero in the right half of s-plane so assuming a G ( s )
s  z1
G(s)  K where z1  0 & p1  0
s  p1
j z1
Put s  j  , G( j)  K
j p1
Magnitude can be written as,
2  z12
G ( j)  K
2  p12
Phase angle is given by,
 
()  G ( j)  1800  tan 1    tan 1  
 z1   p1 
z1
At   0 G ( j)  K  G ( j )  1800
p1
At  G( j)  K  G ( j )  0 0

This will satisfy the Nyquist plot given in the question.

Img
j
w = 0+
w = +¥

Re
-1 -0.5
w = -¥
w = 0-
-j

Comparing the table and Nyquist plot we have

z1
K  0.5 ….. (v)
p1
In option (C) it is given that G(s) is impedance of a passive network. Assuming a passive network series
combination of R & C, its impedance will be
1 RCs  1
G(s)  R   , R  0, C  0
Cs Cs
  19 
  1   1 
RC  s  R s 
G( s) 

 RC    RC 
Cs s
 1 
R  j 
RC 
Put s  j  , G ( j)  
j
Phase angle is given by,
 
  
1  
()  G ( j)  tan    tan 1  
 1  0
 RC 
()   900  tan 1 (RC )
Magnitude can be calculated as,
2
 1 
  2

 RC 
G( j)  R
  

At   0 G( j)    G ( j )   90
0

At  G( j)  R  G ( j )  0 0

Here at   0 magnitude is  but for given Nyquist plot all the frequencies have finite magnitude so
option (C) is not satisfying.
Note : Impedance of passive network represents minimum phase system i.e. left hand poles and zeros of
s-plane. In minimum phase system, there is no possibility of negative sign of G ( j ) at   0 or .
Hence, the correct option is (B).
Question 24 [Practice Book] [GATE IN 2009 IIT-Roorkee : 2 Marks]
K
A unity feedback control loop with an open loop transfer function of the form has a gain
s(s  a)
crossover frequency of 1 rad/sec and a phase margin of 600 . If an element having a transfer function
( s  3)
is inserted into the loop, the phase margin will become :
( 3  s)
(A) 0  (B) 30 (C) 45 (D) 60
Ans. (*)
K
Sol. Given : P.M. = 600 , G ( s )  , gc  1rad / sec.
s(s  a)
s 3
Transfer function T ( s)  inserted in loop.
s 3
Phase angle can be written as,

G ( j)   900  tan 1 ……. (i)
a

  20 
 Phase margin is given by,
P.M.  1800  G ( j gc )
600  1800  G ( jgc )
G ( j gc )  1200
gc
From equation (i), 900  tan 1  1200
a
 gc
tan 1  300
a
gc 1

a 3
1 1

a 3
a 3
Gain crossover frequency is the frequency at which G ( jgc ) H ( jgc )  1
G ( jgc ) H ( jgc )  1
K
1
gc 2gc  3
K 2 [ gc  1]
Modified transfer function can be written as,
2 ( s  3)
G '( s) H '( s) 
s( s  3) ( s  3)
The new transfer function T ( s) inserted has magnitude 1. So (gc ) new well remain same.
  
G '( j) H '( j)   900  tan 1  tan 1  1800  tan 1
3 3 3
G '( j gc ) H '( jgc )  900  300  300  1800  300  00
Modified phase margin is given by,
P.M.'  1800  G '( j gc ) H '( j gc )
P.M.'  1800
Correct option is 1800 which is not given in the option.
Question 20 [Work Book – Polar] [GATE EE 2010 IIT-Guwahati : 2 Marks]
1
The frequency response of G( s)  plotted in the complex G ( j) plane (for 0     ) is
s( s  1)( s  2)
Img
Img
(A) –3 / 4 (B) w=0
Re

w=0 Re
–3 / 4

  21 
 Img Img
w=0
(C) (D)
Re

Re
w=0
–1 / 6 –1 / 6
Ans. (A)
1
Sol. Given : G(s) 
s(s 1)(s  2)
1 (1  j) (2  j)
Put s  j, G( j)  
j (1  j) (2  j) j (1  2 ) (4  2 )
(2  2 )  j 3 3 2  2
G ( j)   j  x  jy
j (1  2 ) (4  2 ) (1  2 ) (4  2 )  (2  1) (2  4)
Let x  Re [G ( j  )], y  Im [G ( j  )]
3 2  2
x , y
(1   ) (4  2 )
2
(2  1)(2  4)
Phase angle can be written as,

 G ( j )   90 0  tan 1   tan 1
2
3
At   0 x y   G ( j )   90
0
4
At  x0 y0  G ( j )   270
0

For positive frequency i.e. 0     Nyquist plot is termed as polar plot.

y

–3 / 4 x

w=0
Hence, the correct option is (A).
. Common Data Question 26 & 27 .
100
The input output transfer function of a plant H (s)  . The plant is placed in a unity negative
s(s 10)2
feedback configuration as shown in the figure below.
+ u 100
r S H (s) = y
- s ( s + 10) 2
plant

  22 
Question 26 [Practice Book] [GATE EC 2011 IIT-Madras : 2 Marks]
The gain margin of the system under closed loop unity negative feedback is
(A) 0 dB (B) 20 dB (C) 26 dB (D) 46 dB
Ans. (C)
Sol. The plant with unity feedback configuration is shown below.
+ u 100
r S H (s) = y
- s ( s + 10) 2
plant

100
H (s) 
s(s 10)2
100
H ( j) 
j( j 10)2
Magnitude can be written as,
100
H ( j) 
 (2  100) 2

Phase angle can be calculated as,

ω
       H ( jω)   900  2 tan 1  
 10 
The frequency at which phase angle of G ( jω) H ( jω) is 1800 is called phase crossover frequency.

ω 
 180 0   90 0  2 tan 1  pc  
 10 

ω 
      450  tan 1  pc   ω pc  10 rad/sec  
 10 
  Gain margin can be defined as reciprocal of the magnitude of the G ( j ) H ( j ) measured at phase
crossover frequency.
1
G.M.=  
G ( jω) H ( jω) ω
pc

1
In dB, G.M.= 20log  
G( jω) H ( jω)

100 1
      H ( jω)     
pc
10(100  100) 20
      G.M . = 20 log 20  26 dB  

Hence, the correct option is (C).

  23 
Alternatively 1 : Alternatively 2 :
Characteristic equation is given by, For calculating  pc equating imaginary part of
1  H ( s)  0 G( j) H ( j) to zero, we get
100
1 0 Img   j3  j100  202   0
s ( s  10) 2
K desired  100  3pc  100 pc  0

For K mar replace gain with K in H ( s )  pc  10 rad/sec

  Img
K
1 0 1
s ( s  10) 2 20
s 3  20s 2  100s  K  0
-1800 w=¥
For third order system to be marginal stable, IP = OP Re
20 100  K mar
K mar  2000 w pc = 10
w=0  
K 2000
G.M.  mar   20 Note : This method is only valid when polar plot
K desired 100
crosses  1800 axis.
In dB, G.M.= 20log 20  26 dB  

Question 23 [Work Book – Polar] [GATE IN 2011 IIT-Madras : 2 Marks]

The value of K for the damping ratio  to be 0.5, corresponding to the dominant closed-loop complex
conjugate pole pair is
(A) 250 (B) 125 (C) 75 (D) 50
Ans. (B)
Sol. Closed loop transfer function is given by,
G (s)
T (s) 
1  G (s)H (s)
K
(s  5)3 K
T (s)  
1
K
 1 ( s  5)3  K
(s  5)3
Characteristic equation is given by,
( s  5)3  K  0
 s 3  15 s 2  75 s  K  125  0 ….. (i)
Characteristic for the dominant conjugate pole pair,
(s2  2n s n2 )(s )  0
  0.5 (is given)
 (s2 ns 2n )(s )  0
 s3  (n )s2  (n 2n )s 2n  0 ….. (ii)
Comparing equation (i) and (ii), we get
  n  15    15  n

  24 
 n 2n  75
 (15 n )n n2  75
 15n  n2  n2  75
 15n  75
 n  5rad/sec
and   15  5  10
   10
K  125  2n  10  (5)2  250
 K  125
Hence, the correct option is (B).
Alternatively : Root Locus Concept
K
Given : G (s) H (s) 
( s  5)3
Number of poles P = 3
Number of zero Z = 0
Number of branches terminating at infinite = P – Z = 3
Asymptotes is given by,
(2  1)1800
A    0,1, ..... P  Z  1
PZ
(2  1)1800
A    0, 1, 2
3
A  600 , 1800 , 3000
Centroid is given by,
5  5  5  0
  5
3
Intersection with imaginary axis can be calculated using Routh array.
Characteristics equation is given by,
K
1 0
( s  5)3
s3  125  15s 2  75s  K  0
s3  15s 2  75s  K  125  0
Routh Tabulation :

1000  K
Row of zeros can be formed by equating 0
15

  25 
 i.e. K mar  1000
Auxiliary equation can be formed as,
15s 2  125  K  0
15s 2  1125  0
s 2  75
s   j5 3
n  5 3 rad / sec
Root locus can be drawn as shown below.
jw
K =¥
K = 1000
j5 3
A

K =0 f q s
K =¥ -5 B 0

- j5 3
K = 1000
K =¥

We know that, cos   

  cos 1 0.5  600
5 3
In  COB, tan    3
5
  600
So BAO  1800  (600  600 )  600
Since all the angles are equal, sides of triangle will also be same. So, it is a equilateral triangle.
Graphical calculation of K :
product of length from pole to point B
K
product of length from zero to point B
AB  AB  AB
K  5 5 5
1
K  125

Question 7 [Work Book – Nyquist] [GATE EC 2014 (Set-01) IIT-Kharagpur : 1 Mark]

Consider the feedback system shown in the figure. The Nyquist plot of G(s) is also shown. Which one of
the following conclusions is correct?

  26 
 Im G ( jw)

K G(s) Re G ( jw)
–1 +1

(A) G(s) is an all-pass filter.

(B) G(s) is a strictly proper transfer function.
(C) G(s) is a stable and minimum–phase transfer function.
(D) The closed-loop system is unstable for sufficiently large and positive K.
Ans. (D)
Sol. In option (A) it is given that G(s) is all pass filter, and we know that all pass filter has constant (fixed)
magnitude for all frequency so its Nyquist plot should be a circle of constant radius with center at origin.
So option (A) is not correct.
In figure (b), G '( s )  G ( s )
1  0.5s
Let G ( s) 
0.25  s
1  (0.5)2
G( j) 
(0.25)2  2
 1  0.5s 
G '(s)  K 
 0.25  s 
Phase angle is given by,

G ( j)   tan 1 0.5  tan 1
0.25
At   0 G( j)  4.0 G( j)  00
At  G( j)   0.5  G ( j )  180
0

jw Img

0.5
4
s Re
– 0.25 2 – 0.5 0

Here the transfer function which we have designed is stable and non-minimum phase system.
The figure drawn above is for value of K = 1 but suppose value K is change that is 0.5K > 1 then K > 2
system stable.
So, system here is conditional stable system.
For above case 0.5K critical point then lie inside the figure, system become unstable. So when sufficiently
large value is provided then system becomes unstable.
Hence, the correct option is (D).

  27 
Question 9 [Work Book – Nyquist] [GATE EC 2016 (Set-02) IISc-Bangalore : 1 Mark]
The number and direction of encirelements around the point 1  j 0 in the complex plane by the Nyquist
1 s
plot of G ( s )  is
4  2s
(A) zero (B) one, anti-clockwise (C) one, clockwise, (D) two, clockwise
Ans. (A)
Sol. Method 1 :
1 s
Given : G (s) 
4  2s

And G ( s )   tan 1   tan 1
2
1
At s  0, G (s)   0.25 and  G ( s )  0  0 0
4
At s, G(s)   0.5 and G(s)   1800
Hence Nyquist plot is
Im

Re
–1 –5 0.25

Hence number of encirclement of (1  j 0) is 0.

Method 2 :
We know N  PZ
Where P = Number of open loop poles lie in right half of s-plane
1 s
 G (s) 
4  2s
Hence P0
Z = Number of closed loop poles lie in right half of s-plane
To find Z-apply R-H criteria
Characteristic equation is
1  G (s)H (s)  0
(1 s)
1 0
(4  2s)
4  2s  1  s  0
s5  0
s  5
Hence pole lie on left half of s-plane and Z = 0.
 N  PZ  00
N 0
And number of encirclement to (–1 + j0) is zero.

  28 
 IES Objective Solutions
Question 3 [Practice Book] [IES EC 1993]
The gain-phase plots of open-loop transfer function of four different systems are shown below. The correct
sequence of the increasing order of stability of these four systems will be
50 dB
A

30 dB B
C
D
10 dB
w increasing
–2700 –2250 –1350 –900 – 450

– 20 dB

– 40 dB

(A) D, C, B, A (B) A, B, C, D (C) B, C, A, D (D) A, D, B, C

Ans. (B)
1
Sol. Gain margin (G.M.) is defined as, G.M.  20log
G ( j pc )
where  pc is frequency at which G ( j pc )  1800
Phase margin (P.M.) is defined as, P.M.  1800  G ( jgc )
where gc is frequency at which G ( jgc )  1  0 dB
Now, we define the stability of a system with respect to gain margin and phase margin as
1. For G.M. in dB and P.M. in degree both positive, system will stable.
2. For G.M. in dB and P.M. in degree both negative, system will unstable.
3. For G.M. = 0 dB and P.M.  00 system will marginally stable.
Thus, the system will be more stable for greater G.M. and P.M. Using the analysis, we compare the
stability of given system plots as
Plot A : G.M.    40 dB   40 dB 50 dB
A
40 dB
P.M.  180  ( 270 )   90
0 0 0

30 dB B
System is unstable. C
Plot B : G.M.  0 dB 20 dB
D
P.M.  180  (180 )  0
0 0 0
10 dB w increasing
System is marginally stable. 0 dB
–2700 –2250 –1350 –900 – 450
Plot C : G.M.     30 dB  30 dB – 10 dB
P.M.  1800  (112.50 )  67.50 – 20 dB –67.5
0

System is stable. –112.50

– 30 dB
Plot D : G.M.     50 dB  50 dB – 40 dB
P.M.  180  ( 67.5 )  112.5
0 0
– 50 dB
0
–180
  29 
 Plot D is more stable than plot C. Hence, stability sequence will be
A<B<C<D
Hence, the correct option is (B).
Question 16 [Practice Book] [IES EE 2001]
The Nyquist plot of a servo system is shown in the below figure. The root loci for the system would be
Img

Re

Increasing
w

jw jw

(A) (B)
s s

jw

(C) (D) None of these

s
Double pole
at origin

Ans. (B)
Sol. From the Nyquist plot open loop transfer function is given by,
1
G ( s) H (s) 
s ( sT  1)
Root locus for the above open-loop transfer function can be drawn as shown in figure.
(2  1)1800
A    0,1, ..... P  Z  1
PZ
(2  1)1800
A    0,1
2
A  900 and 2700
jw

s
-1 0
T

Hence, the correct option is (B).

  30 
Question 45 [Practice Book] [IES EC 2007]
Which one of the following statement is correct for gain margin and phase margin of two closed–loop
system having loop function G(s) H(s) and exp (–s) G(s) H(s) ?
(A) Both gain and phase margins of the two systems will be identical.
(B) Both gain and phase margins of G(s) H(s) will be more.
(C) Gain margins of the two systems are the same but phase margin of G(s) H(s) will be more.
(D) Phase margins of the two systems are the same but gain margin of G(s) H(s) will be less.
Ans. (*)
Sol. Relative stability parameters without delay can be written as,
Assume proper transfer function.
1. Phase crossover frequency, G ( j pc )  1800
2. Gain crossover frequency, G ( jgc )  1
1
3. Gain margin, G.M. 
G ( j pc )
1
In dB, G.M.  20 log
G ( j pc )
4. Phase margin, P.M.  1800  G ( jgc )
Relative stability parameters with delay can be written as,
1. Phase crossover frequency,  pc'   pc
2. Gain crossover frequency,  gc'   gc
1
3. Gain margin, G.M.' 
G ( j pc' )
1
In dB, G.M.'  20 log
G ( j pc' )
Gain margin expressed in dB,
G.M.'  G.M.
4. Phase angle with delay becomes more negative than phase angle without delay.
Phase margin, P.M.'  1800  G '( jgc' )
P.M.'  P.M.
M (dB)

Gain plot

0 dB w (rad/sec)
G.M.'
G.M.

Phase (deg)

P.M.
P.M.'
1800 w pc' w pc w (rad/sec)
wgc = wgc'
Phase plot without delay

Phase plot with delay

Fig. Effect of delay upon frequency response
Hence, all options are wrong.

  31 
Question 46 [Practice Book] [IES EC 2007]
Consider the following statement with reference of relative stability of a system.
1. Phase margin is related to effective damping of the system.
2. Gain margin gives better estimate of damping ratio than phase margin.
3. When expressed in dB, gain margin is negative for a stable system.
Which of the statements given above are correct ?
(A) 1 and 2 only (B) 1 and 3 only (C) 2 and 3 only (D) 1, 2 and 3
Ans. (*)
Sol. The P.M. is defined in terms of damping ratio as,
 
2ξ
P.M.  tan  
1
 
 2ξ  4ξ  1 
2 4

Thus, the phase margin is related to effective damping of the system.

Gain margin must be positive when expressed in dB for a stable system. A negative G.M. means that the
system is unstable. Phase margin gives a better estimate of damping ratio and therefore of the transient
overshoot of the system than does the gain margin.
None of the option is matched.



  32