Sistem Pengendalian Otomatik

(Plot Polar)

Alen Jaya W. (24161050

Okky Insan (2416105
Cindy Claudia F (2416105030
Adilla Daffadany R (2416105
 Definisi

The polar plot of a sinusoidal transfer function

G(jω) is a plot of the magnitude of G(j ω) versus
the phase angle of G(jω)on polar coordinates as
ω is varied from zero to infinity.
 Tahap Membuat Plot Polar
• Merubah transfer fungsi G(s) menjadi G(jω)
1

• Mencari nilai magnitude |G(jω)|dan sudut fasa

2 ∠G(jω)

• Masukkan nilai ω mendekati 0 dan w mendekati ∞

3 pada magnitude dan sudut fasa

• Gambar Plot polar

4
 Contoh 1

Transfer fungsi:
1
G(s)=
𝑠𝑇+1
1. Merubah transfer fungsi G(s) menjadi G(jω)

1 1
G(s)= G(jω)=
𝑠𝑇+1 𝑗𝜔𝑇+1
 2. Mencari nilai magnitude |G(jω)|dan sudut
fasa ∠G(jω)
a. Magnitude |G(jω)|
1 Transfer Fungsi:
|G(jω)|=
𝑅𝑖𝑖𝑙 2 +𝐼𝑚𝑎𝑗𝑖𝑛𝑒𝑟 2 1
1 1 G(jω)=
= = 𝑗𝜔+1
12 +𝜔2 1+𝜔2

b. Sudut Fasa ∠G(jω)

−1 𝐼𝑚𝑎𝑗𝑖𝑛𝑒𝑟
∠G(jω)= − 𝑡𝑎𝑛
𝑟𝑖𝑖𝑙
−1 𝜔
= − 𝑡𝑎𝑛 = − 𝑡𝑎𝑛−1 𝜔
1
 3. Masukkan nilai ω mendekati 0 dan ω
mendekati ∞ pada magnitude dan sudut fasa
1 1
|G(jω)|= lim 𝐺(𝑗𝜔)=
1+02
=1
1+𝜔2 𝜔→0
1 1
lim 𝐺(𝑗𝜔)= 2
= =0
𝜔→∞ 1+∞ ∞

∠G(jω)=− 𝑡𝑎𝑛−1 𝜔 lim ∠G(jω)= − 𝑡𝑎𝑛−1 0 = 0°

𝜔→0

lim ∠G(jω)= − 𝑡𝑎𝑛−1 ∞ = −90°

𝜔→∞

TITIL AWAL TITIK AKHIR

Magnitude |G(jω)| 1 0

Sudut fasa ∠G(jω) 0° −90°

 4. Gambar Plot Polar
−270° Im TITIL TITIK
AWAL AKHIR
Magnitu 1 0
de
|G(jω)|
Sudut 0° −90°
fasa
X X 0° ∠G(jω)
−180° Re

−90°
 Contoh 2

Transfer fungsi:
1
G(s)=
(𝑠𝑇1 +1)(𝑠𝑇2 +1)
1. Merubah transfer fungsi G(s) menjadi G(jω)

1
G(s)=
(𝑠𝑇1 +1)(𝑠𝑇2 +1)

1
G(jω)=
(𝑗𝜔𝑇1 +1)(𝑗𝜔𝑇2 +1)
 2. Mencari nilai magnitude |G(jω)|dan sudut
fasa ∠G(jω)
a. Magnitude |G(jω)| Transfer Fungsi :
1
1 G(jω)=
|G(jω)|= (𝑗𝜔𝑇1 +1)(𝑗𝜔𝑇2 +1)
𝑅𝑖𝑖𝑙 2 +𝐼𝑚𝑎𝑗𝑖𝑛𝑒𝑟 2
1
=
2
1+𝜔2 𝑇1 2 1+𝜔2 𝑇2

b. Sudut Fasa ∠G(jω)

𝐼𝑚𝑎𝑗𝑖𝑛𝑒𝑟 𝐼𝑚𝑎𝑗𝑖𝑛𝑒𝑟
∠G(jω)= − 𝑡𝑎𝑛−1 𝑟𝑖𝑖𝑙
− 𝑡𝑎𝑛−1
𝑟𝑖𝑖𝑙
𝜔𝑇1 𝜔𝑇2
=− 𝑡𝑎𝑛−1
1
− 𝑡𝑎𝑛−1
1
= − 𝑡𝑎𝑛−1 𝜔𝑇1 − 𝑡𝑎𝑛−1 𝜔𝑇2
 4. Gambar Plot Polar
−270° Im TITIL TITIK
AWAL AKHIR
Magnitu 1 0
de
|G(jω)|
Sudut 0° −180°
fasa
X X 0° ∠G(jω)
−180° Re

−90°