To characterize and predict the dynamics of the nonlinear polarization rotation (NPR) in semiconductor optical amplifiers (SOA) an experimental method based on the frequency response technique and a model based on the density matrix and effective index formalisms are presented. Particularly, the frequency response of the NPR is obtained by determining, for each studied frequency, the angular displacement, at the Poincare Sphere, that separates the initial and final points of the polarization evolution of the output beam.