Complex Variable Algebra

i f C l Review of Complex
Variable, and Complex

Function
D & C_Lecture2 Complex VariableReview MP3001_2.1
Complex number
acomplex number z a complex number z
can be considered as
a pt in the complex
plane or a vector to
th t
the pt
usingnotation acomplex number z 1 j using notation , a complex number z
is formed from a pair of real numbers (x, y) as
z =x +j y
where x =9(z) y =(z)
1 = j
where x 9(z), y (z)
are called the real and imaginary parts of z
themagnitude modulus or absolutevalue of
Magnitude and angle (argument)
the magnitude, modulus, or absolute value, of
z is defined as the length of the vector
the angle of z is defined as the angle between
2 2
y x z + =
the vector and the +ve real axis
x
y
z
1
tan
= = Z u
Polar representation
another formfor representingcomplex another form for representing complex
number is
z =|z| Zu (polar form)
=x +j y (rectangular form)
where x =|z| cosu, y =|z| sinu
Complex conjugate
complexconjugate complex conjugate
of z is defined as
jy x z =
Complex algebra, multiplication
inpolar form giventwocomplexnumbers in polar form, given two complex numbers
z =| z |Zu, w =| w |Z|
then
zw =| z || w |Z(u +|)
Division
if acomplexnumber z =| z |Zu isdividedby if a complex number z =| z |Zu, is divided by
another complex number w =| w |Z|,
then
) ( | u
u
Z =
Z
=
z z z
) ( |
| Z w w w
Division in rectangular form
+
+ +
=
+
+
=
+
+
=
2 2
) ( ) (
v u
xv yu j yv xu
jv u
jv u
jv u
jy x
jv u
jy x
w
z
|
.
|
\
|
+
+
|
.
|
\
|
+
+
=
2 2 2 2
v u
xv yu
j
v u
yv xu
Complex variable
if thereal part and/or imaginarypart of a if the real part and/or imaginary part of a
complex number are variables, it is called
complex variable,
s =o +je
where o is the real part and e the imaginary
part (same as LT)
Complex s - plane
complex complex
variable
can be
represented
i th
in the
s - plane
Complex function
inlinear control systemanalysis thefunction in linear control system analysis, the function
G(s) is a rational function of the complex
variable s, and is uniquely determined for a
given value of s
G(s) = Re[ G(s) ] +j Im[ G(s) ]
where the components are real quantities
Magnitude and angle
magnitudeof G(s) is magnitude of G(s) is
and the angle is
2 2
)) ( Im( )) ( Re( ) ( s G s G s G + =
ccw) ve (
)] ( Re[
)] ( Im[
tan ) (
1
+ = Z

s G
s G
s G
complexconjugateof G(s) is
Conjugate of complex function
complex conjugate of G(s) is
typical complex functions have the form
| | | | ) ( Im ) ( Re ) ( s G j s G s G =
) ( ) )( (
) ( ) )( (
) (
2 1
2 1
n
m
p s p s p s
z s z s z s K
s G
+ + +
+ + +
=
Poles and zeros

givenacomplex functioninfactor form given a complex function in factor form
) ( ) )( )( (
) ( ) )( (
) (
3 2 1
2 1
n
m
p s p s p s p s
z s z s z s K
s G
+ + + +
+ + +
=

where -p
1
, -p
2
, ., -p
n
are singular pts
Poles and zeros
ptsat whichG(s) equalsinfinity(not analytic) pts at which G(s) equals infinity (not analytic)
are called poles,
i.e. s =-p
1
, s =-p
2
, . s =-p
n
pts at which G(s) 0 are called the zeros of
p ( )
the complex function G(s),
i.e. s =-z
1
, s =-z
2
, . s =-z
m
Remark
if thedenominator of G(s) involvesk if the denominator of G(s) involves k -
multiple factors, (s +p)
k
, then s =-p is called
a multiple pole of order k
if k =1 it iscalledasimplepole
if k 1, it is called a simple pole
Example
G(s) has zeros at s =-2, s =-10
2
) 15 )( 5 )( 1 (
) 10 )( 2 (
) (
+ + +
+ +
=
s s s s
s s K
s G
simple poles at s =0, s =-1, and s =-5
and double pole at s =-15
for largevaluesof s for large values of s
Notethat G(s) becomes0at s = 10
12
3
) (
s
K
s G ~
Note that G(s) becomes 0 at s = 10
12
G(s) has a triple zero at s =10
12
=
G(s) as a vector
z s +
given
s
x
je ( )
p s
z s
s G
+
+
=
o
u
z u
p
-p
-z
magnitudeandphaseanglecanbecalculated magnitude and phase angle can be calculated
as
and
( )
( )
2 2
2 2
) (
o e
o e
+
+
=
+
+
=
p
z
p s
z s
s G
and
p z
s G u u Z Z = Z ) (
s =-o +je
( ) ( )
| |
|
.
|
\
|
|
.
|
\
|
=
+ Z + Z = Z
o
e
z
p s z s G
1
tan 180
x
|
.
|
\
|

o
e
p
1
tan
Evaluation of a complex function via
vectors
given given
) 2 (
) 1 (
) (
+
+
=
s s
s
s G
find G(s) at the pt s =-3 +j4 via (a) direct
substituting the pt into G(s) and (b) vectors
(a) direct substitution (a) direct substitution

104 1269 1166
20
16 13
4 2
) 4 1 )( 4 3 (
4 2
) 4 3 (
Z

+
=
+ +
+
= +
j
j
j j
j
j G

3 . 114 217 . 0
104 - 126.9 - 116.6
17 5
Z =
Z =
(b) eachvector (s +o) (b) each vector (s +o),
of the function terminates
at the selected pt
s =-3 +j4
th t i i ti
the vector originating
from the zero at 1 is
6 . 116 20Z
Example continues
thevector originatingfromthepoleat 0is the vector originating from the pole at 0 is
the vector originating from the pole at 2 is
9 . 126 5Z
104 17Z
using eq.
3 . 114 217 . 0 ) ( ) ( ) ( Z = Z = s G s G s G
Frequency amplitude ratio and phase
givenanycomplex functionG(s) let s =je given any complex function G(s), let s =je
| |
+
+
=
+
=
4 4
2
2
1
) (
2 2
e
e
e e
e j
j
j G
|
.
|
\
|

+
=

2
tan
4
1
1
2
e
e
G(s) as s varies on the +ve Im axis
1
z s + je
|
) )( (
) (
2 1
1
p s p s
z s
s G
+ +
+
=
x x
o
je
+ve
o
e =0
p
p
2
z
a
b
c
u
1
u
2
u
3
e
|
o p
1
p
2
z
1
-ve
Example of a polar plot on the G-plane
ImG
Re G
Im G
|G(je)|
e =0
ZG(je)
e =
m
[
G
(
j
e
)
]
e
Re[G(je)]
I
m
Polar plot G(-je) as s varies along
ve Im axis
for G(s) withreal coefficients for G(s) with real coefficients,
thepolar plot of G(-je) isthemirror imageof
G(je) about thehorizontal real axis
) ( ) ( e e j G j G =
G(je) about thehorizontal real axis
Example of polar plot of G(-je)
Im G
|G(-je)|
-e
Re[G(-je)]
[
G
(
-
j
e
)
]
Re G
e =0
ZG(-je)
e =-
I
m
[
Real and imag axes crossovers
thereal axiscrossover occurswhen the real axis crossover occurs when
Im[ G(je) ] =0,
solve for e, back substitute into G(je) to
obtain the real value
and imag axis crossover occurs when
Re[ G(je) ] =0
Example
findanalytical expressionfor themagnitude find analytical expression for the magnitude
and phase responses of the given complex
function
) 4 )( 2 (
1
) (
+ +
=
s s
s G
make a polar plot of the frequency response
6 ) 8 (
1
) ( ) (
2
+
= =
=
e e
e
e
j
s G j G
j s
( )
8 for
8
6
tan ) (
) 6 ( ) 8 ( ) (
2
1
1
2 2 2
<
|
.
|
\
|
= Z
+ =
e
e
e
e
e e e
j G
j G
8 for
8
6
tan
2
1
>
|
.
|
\
|
+ =

e
e
e
t
0 04
0.06
0.08
0.1
0 06
-0.04
-0.02
0
0.02
0.04
I
m
a
g

A
x
i
s
-0.02 0 0.02 0.04 0.06 0.08 0.1 0.12 0.14
-0.1
-0.08
-0.06
Real Axis
Steps to sketch a polar plot
findanalytical expressionfor themagnitude find analytical expression for the magnitude
and phase responses
find analytical expression for the real and
imaginary parts
determineboththemagnitudeandphase
determine both the magnitude and phase
angle when e 0+, and when e +
determine the crossover pts, if there is any

Complex Variable Algebra

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Complex Variable Algebra

Uploaded by

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Available Formats

i f C l Review of Complex

Variable, and Complex

Poles and zeros

D & C_Lecture2 Complex VariableReview MP3001_2.15

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