Scribd
Upload
205 views

Nyquist Diagram and Stability Criterion

The document discusses the Nyquist diagram and its use in determining the stability of feedback control systems. It provides an example to illustrate how to plot a Nyquist diagram both by hand and using MATLAB. The Nyquist stability criterion is explained, where a system is stable if the Nyquist plot does not encircle the point -1. An example problem determines the stability of a system and the range of a parameter k that results in a stable system. Finally, it briefly introduces gain margin and phase margin which can also assess stability based on the bode plot of the loop transfer function.

Uploaded by

Mais
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
205 views

Nyquist Diagram and Stability Criterion

The document discusses the Nyquist diagram and its use in determining the stability of feedback control systems. It provides an example to illustrate how to plot a Nyquist diagram both by hand and using MATLAB. The Nyquist stability criterion is explained, where a system is stable if the Nyquist plot does not encircle the point -1. An example problem determines the stability of a system and the range of a parameter k that results in a stable system. Finally, it briefly introduces gain margin and phase margin which can also assess stability based on the bode plot of the loop transfer function.

Uploaded by

Mais
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 28

Nyquist Diagram and Stability

Criterion
Nyquist Diagram

• It is a polar plot of the loop transfer function of a system where the x-axis
and y-axis represent the real and imaginary parts, respectively.

• It is mainly used to determine the stability of a feedback control system but


it also can be extended to determine the transient behavior of the system.

• The next example explains how the Nyquist diagram is established.

• But before we show how the Nyquist diagram is plotted, the concept of
“Complex Functional Mapping” is introduced.

2
Complex Functional Mapping

Complex Functional Mapping


Complex Functional Mapping

Complex Functional
Mapping
Nyquist Diagram (Example)

Given the system shown, where L(s) is the loop transfer function:
R(s) + G(s) C(s)

L (s )  G (s )H (s ) 
2k -
(2s  1)(s  1)(0.5s  1)
H(s)

Draw the Nyquist diagram (assume k=1):


1) By hand, and
2) Using Matlab

5
Nyquist Plot (Example)
1) By hand: The poles of L(s) are mapped from the s-plane to L(s)-plane:

6
7
8
9
10
11
12
Nyquist Plot (Example)

2) Using MATLAB:
>> num=[2];
>> den=[1 3.5 3.5 1];
>> sys=tf(num,den);
>> nyquist(sys)

13
Nyquist Plot (Example)

14
Nyquist Stability Criterion

▪ Consider the system below


Nyquist Stability Criterion
Nyquist Stability Criterion

• Example: For the system in the previous example, determine if the


system is stable at k=1, and the range for k for a stable system

R(s) + C(s)
G(s)
-
H(s)

2k
L (s )  G (s )H (s ) 
(2s  1)(s  1)(0.5s  1)
Nyquist Stability Criterion

Solution:
• From the Nyquist diagram for k=1, since there are no encirclements
around -1, the system is stable at k=1.
• As k increases, the diagram will be magnified. The encirclement will
keep expanding as k increases.
• The range of k for a stable system is simply:
1
0<𝑘<
0.18

or 0 < 𝑘 < 5.55


Nyquist Stability Criterion

Diagram for K = 1 19
Nyquist Stability Criterion

▪ Using Matlab, we find the crossing


point with the negative real axis to be
-0.188.
▪ Hence, the system is stable for:
0 < 𝑘 < 5.32
▪ Check answer using Routh table!

Diagram for K = 1
Nyquist Stability Criterion

▪ Check answer using Routh table!

Diagram for K = 1
Nyquist Stability Criterion

• More examples and insights can be found at:


http://lpsa.swarthmore.edu/Nyquist/NyquistExamples.html
Gain Margin and Phase Margin
Gain Margin (GM) and Phase Margin (PM)

marginal

marginal
Gain Margin (GM) and Phase Margin (PM)

▪ GM and PM can be also found from the bode plot of the loop transfer
function.
▪ See Example 10.9.

You might also like