0% found this document useful (0 votes)
145 views

Nyquist

The document discusses the Nyquist plot and stability criterion. Key points: 1) A Nyquist plot shows the open-loop transfer function G(jω) in the complex plane as the frequency ω is varied. It relates to the Bode plot and can be used to assess closed-loop stability. 2) The Nyquist stability criterion states that a closed-loop system is unstable if the number of clockwise encirclements of the origin in the Nyquist plot is equal to the number of unstable poles in the open-loop transfer function. 3) To apply the criterion, the number of encirclements of (-1,0) in the Nyquist plot is counted and compared to
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
0% found this document useful (0 votes)
145 views

Nyquist

The document discusses the Nyquist plot and stability criterion. Key points: 1) A Nyquist plot shows the open-loop transfer function G(jω) in the complex plane as the frequency ω is varied. It relates to the Bode plot and can be used to assess closed-loop stability. 2) The Nyquist stability criterion states that a closed-loop system is unstable if the number of clockwise encirclements of the origin in the Nyquist plot is equal to the number of unstable poles in the open-loop transfer function. 3) To apply the criterion, the number of encirclements of (-1,0) in the Nyquist plot is counted and compared to
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/ 41

Nyquist Plot

Plot of in the complex plane as is varied on

Nyquist path

Relation to Bode plot

 AR is distance of from the origin


 Phase angle, , is the angle from the Real positive axis

1
Nyquist Plot
 First order system

2
Nyquist plot
 Second order process

3
Nyquist plot
 Third order process:

4
Nyquist Plot
 Delayed system

5
Nyquist plot
 System with pole at zero
 Pole at is on the Nyquist path - no finite dc gain

 Strategy is to go around the singularity about in the right


half plane ( a small number)

6
Nyquist plot
 Pole at zero

7
Nyquist plot
 System with integral action:

8
Che 446: Process Dynamics and
Control

Frequency Domain
Controller Design

9
PI Controller

10
PD Controller

11
PID Controller

12
Bode Stability Criterion
Consider open-loop control system

+ +
- +

1. Introduce sinusoidal input in setpoint ( ) and observe sinusoidal


output
2. Fix gain such and input frequency such that
3. At same time, connect close the loop and set

Q: What happens if ?
13
Bode Stability Criterion

“A closed-loop system is unstable if the frequency of the


response of the open-loop GOL has an amplitude ratio
greater than one at the critical frequency. Otherwise it is
stable. “

Strategy:

1. Solve for ω in

2. Calculate AR

14
Bode Stability Criterion
To check for stability:

1. Compute open-loop transfer function


2. Solve for ω in φ=-π
3. Evaluate AR at ω
4. If AR>1 then process is unstable

Find ultimate gain:

1. Compute open-loop transfer function without controller gain


2. Solve for ω in φ=-π
3. Evaluate AR at ω
1
4. Let Kcu =
AR

15
Bode Criterion
Consider the transfer function and controller
5e !0.1s
G ( s) =
( s + 1)(0.5s + 1)

- Open-loop transfer function

5e '0.1s 1 $
GOL ( s) = 0.4!# 1 + &
( s + 1)(0.5s + 1) " 01 . s%

- Amplitude ratio and phase shift

5 1 1
AR = 0.4 1 +
1 + ( 2 1 + 0.25( 2 0.01( 2
1 %
. ( ! tan !1 (( ) ! tan !1 (0.5( ) ! tan !1"$
) = !01 '
# 01
. (&
- At ω=1.4128, φ=-π, AR=6.746

16
Bode Criterion

17
Ziegler-Nichols Tuning
Closed-loop tuning relation

 With P-only, vary controller gain until system (initially stable) starts to
oscillate.
 Frequency of oscillation is ωc,

 Ultimate gain, Ku, is 1/M where M is the amplitude of the open-loop


system
 Ultimate Period
2!
Pu =
"c

Ziegler-Nichols Tunings

P Ku/2
PI Ku/2.2 Pu/1.2
PID Ku/1.7 Pu/2 Pu/8
18
Bode Stability Criterion
 Using Bode plots, easy criterion to verify for closed-loop
stability
 More general than polynomial criterion such as Routh Array,
Direct Substitution, Root locus

 Applies to delay systems without approximation

 Does not require explicit computation of closed-loop poles

 Requires that a unique frequency yield phase shift of -180 degrees

 Requires monotonically decreasing phase shift

19
Nyquist Stability Criterion
 Observation
 Consider the transfer function

 Travel on closed path containing in the domain in the


clockwise direction
 in domain, travel on closed path encircling the origin in the
clockwise direction
 Every encirclement of in s domain leads to one encirclement of
the origin in domain
20
Nyquist Stability Criterion
 Observation
 Consider the transfer function

 Travel on closed path containing in the domain in the


clockwise direction
 in domain, travel on closed path encircling the origin in the
counter clockwise direction
 Every encirclement of in s domain leads to one encirclement or
the origin in domain
21
Nyquist Stability Criterion
 For a general transfer function

 For every zero inside the closed path in the domain, every
clockwise encirclement around the path gives one clockwise
encirclement of the origin in the domain

 For every pole inside the closed path in the domain, every
clockwise encirclement around the path gives one counter
clockwise encirclement of the origin in the domain

 The number of clockwise encirclements of the origin in


domain is equal to number of zeros less the number of
poles inside the closed path in the domain.

22
Nyquist Stability Criterion
 To assess closed-loop stability:
 Need to identify unstable poles of the closed-loop system

 That is, the number of poles in the RHP

 Consider the transfer function

 Poles of the closed-loop system are the zeros of

23
Nyquist Stability Criterion
 Path of interest in the domain must encircle the entire
RHP
• Travel around a half semi-circle or radius
that encircles the entire RHP
• For a proper transfer function

• Every point on the arc of radius are such that

collapse to a single point in


domain

24
Nyquist Stability Criterion
 Path of interest is the Nyquist path

 Consider the Nyquist plot of

25
Nyquist Stability Criterion
 Compute the poles of

 Assume that it has unstable poles

 Count the number of clockwise encirclements of the origin of the


Nyquist plot of
 Assume that it makes clockwise encirclements

 The number of unstable zeros of (the number of unstable


poles of the closed-loop system)

 Therefore the closed-loop system is unstable if

26
Nyquist Stability Criterion
 Consider the open-loop transfer function

 has the same poles as

 The origin in domain corresponds to the point (-1,0) in the


domain

27
Nyquist Stability
 In terms of the open-loop transfer function

 The number of poles of gives

 The number of clockwise encirclements of (-1,0) of


gives the number of clockwise encirclements of the origin of

 The number of unstable poles of the closed-loop system is given


by

28
Nyquist Stability Criterion

“If N is the number of times that the Nyquist plot encircles the point (-
1,0) in the complex plane in the clockwise direction, and P is the
number of open-loop poles of GOL that lie in the right-half plane, then
Z=N+P is the number of unstable poles of the closed-loop
characteristic equation.”

Strategy

1. Compute the unstables poles of


2. Substitute s=jω in GOL(s)
3. Plot GOL(jω) in the complex plane
4. Count encirclements of (-1,0) in the clockwise direction

29
Nyquist Criterion
Consider the transfer function

and the PI controller

The open-loop transfer function is

 No unstable poles
 One pole on the Nyquist path (must go around small circle around
the origin in the right half plane)

30
Nyquist Stability
 Nyquist plot

 There are 2 clockwise encirclements of (-1,0)


31
Nyquist Stability
 Counting encirclements must account for removal of origin

 the closed-loop system is unstable


32
Nyquist Criterion
Consider the transfer function

and the PI controller

The open-loop transfer function is

 No unstable poles
 One pole on the Nyquist path (must go around small circle around
the origin in the right half plane)

33
Nyquist Stability
 Nyquist plot

 There are 2 clockwise encirclements of (-1,0)


34
Nyquist Criterion
Consider the transfer function

and the PI controller

The open-loop transfer function is

 No unstable poles
 One pole on the Nyquist path (must go around small circle around
the origin in the right half plane)

35
Nyquist Stability
 Nyquist plot

 There are 2 clockwise encirclements of (-1,0)


36
Bode Stability
 Stability margins for linear systems

37
Stability Considerations
 Control is about stability

 Considered exponential stability of controlled processes using:


 Routh criterion
Polynomial
 Direct Substitution
(no dead-time)
 Root Locus
 Bode Criterion (Restriction on phase angle)
 Nyquist Criterion

 Nyquist is most general but sometimes difficult to interpret

 Roots, Bode and Nyquist all in MATLAB

38
Stability Margins
 Stability margins for linear systems

39
Stability Margins
 Gain margin:
 Let be the amplitude ratio of at the critical
frequency

 Phase margin:
 Let be the phase shift of at the frequency where

40
Stability Margin

41

You might also like