M-CHARTS, N-CHARTS and

NICHOL’S CHARTS
Prof. John T. Agee
 INTRODUCTION
• An M-chart consists of circles that represents the
different magnitudes of the open-loop frequency
response of a given transfer function

• The N-charts circles represent the phase angles of the

frequency response of an open loop transfer function
• The combination of M and N charts enables us to
obtain the closed-loop frequency response from the
open-loop frequency response.
 ..
• The Nichols chart is a standard chart
combining M and N charts.

• On the Nichol’s chart, M is plotted in dB

 ..
• Consider the open loop transfer function
G (s) H (s)

• and the equivalent closed-loop transfer

function
G ( s) G ( s) H (s) 1
T ( s)   x
1  G (s) H ( s) 1  G (s) H ( s) H ( s)
 ..
• The M & N circle plots use the open-loop
transfer function G(s) H(s)

• Note that, in unity feedback, H(s) =1, and the

M & N plots are those of G(s)
 ..
• Consider

G ( s ) H ( s )  X ( j )  jY ( j )

• For the closed loop where

G(s) H (s) X  jY
T ( s ) xH ( s )  
1  G ( s) H ( s) 1  X  jY
 .
• The magnitude response M, and the phase
response N are respectively given as:

X  jY
M ......(a )
1  X  jY

N  X  jY  1  x  jY .....(b)
 .
• Now,
2 2
X Y
M
2 2
(1  X )  Y
or
2 2
2 X Y
M  2 2
(1  X )  Y
 …
• Leading to:

2 2 2 2 2
M (1  2 X  X )  Y  X  Y

2 2 2 2 2 2
X ( M  1)  2 XM  Y ( M  1)   M
 …
• …
2 2
2 2M 2 M
X  2 X Y   2
M 1 M 1
• Or
2 2
M 2 2 M
(X  2 ) Y  2 2
.......(c)
M 1 ( M  1)
 .
• For constant values of M, the above is the equation
of a circle
  M2
• Centre: ( X , Y )  ( 2
,0)
M 1
M
 2
0
• Radius M 1

Y 0
• Note that, is the x-axis line; and implies
• that all the centres of the M-circles lie on the x-axis.
 ..
• In equation (c) above, if we set Y=0, then we
can evaluate the points where the M-circle
cuts the x-axis.
 ..
M2 2 M 2
(X  2 ) Y 2  2 2
.......(a); Y  0
M 1 ( M  1)

M2 2 M2
(X  2 ) 
M 1 ( M 2  1) 2

M2 M M M
X  2  2  ,
M 1 M 1 M  1 M 1
 SAMPLE M-CIRCLES
Y M Centre Radius X1 x2
0 0.1
0 0.5
0 1
0 1.5
0 2
0 5

0

M2 M M M
centre  (  ,0) r  0 x1 , x2  ,
2
M 1 M 2 1 M  1 M 1
 SAMPLE M-CIRCLES
Y M Centre Radius X1 x2
0 0.1
0 0.5 -1/3 1
0 1 -1/2 
0 1.5
0 2 -2/3 -2
0 5

0
 -1 -1
 ..
• There are two sets of M circles, separated at
M=1
• The radii of the M circles increase with
increases in the value of M, when 0< M<1
• The radii of the M-circles decrease for
increased M, when M >1
SAMPLE M-CIRCLES



 THE N-CIRCLES
• Consider Equation (b)

N  X  jY  1  x  jY .....(b)
• And define:
1 Y 1 Y
N  tan ( )  tan ( )
X 1 X
 1   2 ;
 ..Note

1 Y 1 Y
N  tan ( )  tan ( )
X 1 X
 1   2 ;
1 Y Y
tan ( )  1  tan(1 )  .......(e)
X X
1 Y Y
tan ( )   2  tan( 2 ) 
1 X 1 X
 ..
• Now,
1 Y 1 Y
N  tan ( )  tan ( )
X 1 X
A  tan( N )  tan(1   2 )

• so A  tan( N )  tan(1   2 )
tan(1 )  tan( 2 )

1  tan(1 ) tan( 2 )
 ..
• Hence
tan(1 )  tan( 2 )
A
1  tan(1 ) tan( 2 )

Y / X  (Y / 1  X ) Y
A 2
 2 2
1  Y / X (1  X ) X  X  Y
 ..
• Leading to:
2 Y
2
X  X Y   0
A

• Or
2
1 2 1 2 A 1
( X  )  (Y  )  2
...( f )
2 2A 4A
 ..
• For constant values of N, hence A, equation (f)
forms a circle:
• Radius: 1 2
A 1
2A

1 1
• Centre: ( , )
2 2A
 ..
• In fact, the radius results in:
2
tan ( N )  1
 1
2 sin( N )
2 tan( N )
 ..
• Also from equation (f), when Y=0;

1 2 1
( X  )   X  0,1
2 4
• So all N-circles pass through the points x=0
and x=-1.
SAMPLE N Circles
 ..
• ON THE N-CIRCLE PLOTS,
• Two phase angle values may be found for the
same value of N:

• The chart repeats after each 360o.

 THE NICHOL’S CHART
• A chart is available where the M and N plots
could be superimposed together, using the
same page. This Chart is called the Nichol’s
chart.

• On the Nichol’s chart, M is plotted in decibels:

 XTICS OF THE NICHOLS CHART
• Tow phase angle values may be found
• The chart repeats after every 360o
• The point (-1,0) is mapped to (0dB, -180o) on
the Nichols chart

• The chart is symmetric about the -180o axis

 ..
• The Nichols chart provides a means of
determining the closed loop frequency
response from the open-loop frequency
response.
bb
 Example
• Using the Nichol’s chart, obtain the closed-
loop frequency response of the open-loop
system: K
G(s)  ,K 1
s ( s  1)(0.5s  1)

• Determine the Mp value from

..