Chapter 1

Study of Minimum and

Non-Minimum Phase Systems

1.1 Introduction

Mathematical models of most physical systems are characterized by differential equa-

tions [10]. The differential equation describing a linear time-invariant system (i.e., coef-
ficients of the describing differential equations are constants and not functions of time)
can be re-modeled into the transfer function representation for the transient response
or frequency response analysis of SISO linear systems. The transfer function of a linear
time-invariant system is defined to be the ratio of the Laplace transform of the output
variable to the Laplace transform of the input variable under the assumption that all
initial conditions are zero.Thus if C(s) is the Laplace transform of the output and R(s)
is the Laplace transform of the input, then the transfer function of the SISO system is
given by

C(s) b0 sm + b1 sm−1 + ... + bm

= G(s) = ;m < n (1.1)
R(s) a0 sn + a1 sn−1 + ... + an

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1.2 General Characteristics of Transfer Functions

1.2.1 Characteristics of Poles

The nature of g(t) is dependent on the poles of the transfer function G(s) which are the
roots of the characteristic equation.[11] These roots may be real and complex and may
have multiplicity of various orders. Certain observations can be made for the nature of
terms contributed by the types of roots with non zero real parts as follows: -

(a) All the roots which have nonzero real parts contribute response terms with a
multiplication factor of eσt . Also if σ < 0, i.e., the roots have negative real parts,
the response terms vanish as t and if σ > 0, i.e., the roots have positive real parts
the response terms increase without bound.

(i) For single root at s = σ, the nature of response is Aeσt .

(ii) For roots of multiplicity k at s = σ, the nature of response is (A1 + A2 t +
... + Ak tk−1 )eσt
(iii) For complex conjugate root pair at s = σ + / − jω, the nature of response is
Aeσt sin(ωt + b)
(iv) For complex conjugate root pairs of multiplicity k at s = σ+/−jω, the nature
of response is [A1 sin(ωt + b1 ) + A2 tsin(ωt + b2 )... + Ak tk−1 sin(ωt + bk )]eσt

(b) The above observation leads to the general conclusion regarding stability: -

(i) If all the roots of the characteristic equation have negative real parts, then
the impulse response is bounded and eventually decreases to zero.
(ii) If any root of the characteristic equations has a positive real part, g(t) is
unbounded and the system is therefore unstable.

1.2.2 Phase Response Characteristics

The phase response of the system with transfer function G(s) will depend on both the
poles and zeros of the transfer function.[12]

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 (a) Minimum phase systems are those whose transfer functions have all poles and
zeros in the left half of the s-plane i.e., the poles and zeros have negative real
parts. In this case, the phase response of the system is restricted within 0 degrees
to −90 degrees and the amplitude response is a constant or unique for a particular
frequency as ω is increased from 0 to inf. In other words the transfer function has
the least (minimum) phase angle range for a given magnitude curve and there is a
unique relationship between the phase and magnitude curves.

(b) All pass systems are those whose transfer functions are having a pole-zero pattern
which is anti-symmetric about the imaginary axis i.e., for every pole in the left
half of the s plane there is a zero in the mirror image position. In this case, the
phase response varies from 0 degrees to −180 degrees as ω is increased from 0 to
inf while the amplitude response is unity.

(c) Non minimum phase systems are those whose transfer functions have one or more
poles or zeros in the right half of the s plane.The range of phase angle of any non
minimum phase transfer function is greater than 90 degrees. Unlike a minimum
phase system where the transfer function can be uniquely determined from the
magnitude curve alone, the non minimum phase system transfer function cannot
be determined. Also, non minimum phase systems are slow in response because of
their faulty behavior at the start of the response.

1.3 Simulation Data and Results

In this work, the simulation parameters are assumed as follows:

(a) Minimum Phase Plant(MP): The transfer function of a second order system
with one zero in left hand plane is chosen as below:
s+4
p(s) =
s2 + 2s + 4
The step response plots and the bode plot of the above plant is as shown in Fig.2.1.

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 Bode Diagram
10 1.4
Input
0 1.2 Output
Magnitude (dB)

−10 1

Plant output
−20
0.8
−30
90 0.6
45
0.4
Phase (deg)

−45
0.2

−90
−2 −1 0 1 2
0
10 10 10 10 10 0 2 4 6 8 10
Frequency (rad/sec) time(s)

(a) Bode Plot for Min Phase Plant (b) Step Response of MP Plant

Figure 1.1: Characteristics of Minimum Phase Plant

(b) Non Minimum Phase Plant(NMP): The transfer function of a second order
system with one zero in right hand plane is chosen as below:
−s + 4
p(s) =
s2 + 2s + 4
The step response plots and the bode plot of the above plant is as shown in Fig.2.2.

Bode Diagram
10 1.2
Input
0 1 Output
Magnitude (dB)

−10 0.8
Plant output

−20
0.6
−30
180 0.4
135
90 0.2
Phase (deg)

45
0 0
−45
−90
−2 −1 0 1 2
−0.2
10 10 10 10 10 0 2 4 6 8 10
Frequency (rad/sec) time(s)

(a) Bode Plot for NMP Plant (b) Step Response of NMP plant

Figure 1.2: Characteristics of Non Minimum Phase Plant

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1.4 Conclusion

In this chapter minimum phase and non minimum phase systems were studied and
simulations carried out to show their characteristics.