Nyquist
Nyquist
Nyquist path
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Nyquist Plot
First order system
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Nyquist plot
Second order process
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Nyquist plot
Third order process:
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Nyquist Plot
Delayed system
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Nyquist plot
System with pole at zero
Pole at is on the Nyquist path - no finite dc gain
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Nyquist plot
Pole at zero
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Nyquist plot
System with integral action:
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Che 446: Process Dynamics and
Control
Frequency Domain
Controller Design
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PI Controller
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PD Controller
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PID Controller
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Bode Stability Criterion
Consider open-loop control system
+ +
- +
Q: What happens if ?
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Bode Stability Criterion
Strategy:
1. Solve for ω in
2. Calculate AR
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Bode Stability Criterion
To check for stability:
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Bode Criterion
Consider the transfer function and controller
5e !0.1s
G ( s) =
( s + 1)(0.5s + 1)
5e '0.1s 1 $
GOL ( s) = 0.4!# 1 + &
( s + 1)(0.5s + 1) " 01 . s%
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
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Bode Criterion
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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,
Ziegler-Nichols Tunings
P Ku/2
PI Ku/2.2 Pu/1.2
PID Ku/1.7 Pu/2 Pu/8
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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
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Nyquist Stability Criterion
Observation
Consider the 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
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Nyquist Stability Criterion
To assess closed-loop stability:
Need to identify unstable poles of the closed-loop system
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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
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Nyquist Stability Criterion
Path of interest is the Nyquist path
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Nyquist Stability Criterion
Compute the poles of
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Nyquist Stability Criterion
Consider the open-loop transfer function
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Nyquist Stability
In terms of the open-loop transfer function
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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
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Nyquist Criterion
Consider the transfer function
No unstable poles
One pole on the Nyquist path (must go around small circle around
the origin in the right half plane)
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Nyquist Stability
Nyquist plot
No unstable poles
One pole on the Nyquist path (must go around small circle around
the origin in the right half plane)
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Nyquist Stability
Nyquist plot
No unstable poles
One pole on the Nyquist path (must go around small circle around
the origin in the right half plane)
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Nyquist Stability
Nyquist plot
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Stability Considerations
Control is about stability
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Stability Margins
Stability margins for linear systems
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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
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Stability Margin
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