1.

OBJECTIVE

The objective this experiment is given below:

To analyze the stability of linear systems using

Bode, Root locus, Nyquist plots.

2. APPARATUS

The apparatus that has been used to complete

this experiment are given below.

I. Laptop.
II. Lecture Notes.
III. MATLAB Software.
Figure 7.1: Nyquist plot of the given system G.

3. DESPRIPTION OF TASK Analysis:

In this experiment we’re going to do the stability The code provided generates a Nyquist plot of
analysis by observing various plot and graph. the transfer function G(s) = 1/(s^2+0.8s+1)
The stability refers to the system stat stays in using MATLAB's built-in function 'nyquist'.
desirable state and gives desired output despite a. What does output graph represent?
all the disturbance.
A Nyquist plot is a graphical representation of
LAB TASK: 1 the frequency response of a system. It is used to
In lab task 1 we will analyze the Nyquist plot of analyze the stability and performance of a
the given system, system in the frequency domain. The plot shows
the relationship between the magnitude and
1 phase of the frequency response of the system.
G(s) = 2
𝑠 +0.8𝑠+1 The Nyquist plot is a polar plot, where the
MATLAB Code: magnitude of the frequency response is plotted
on the radial axis, and the phase shift is plotted
By using the MATLAB code shown below we on the angular axis. The plot consists of a series
will observe the Nyquist plot of the gives of points that represent the response of the
system G(s) of the lab task 1. system at different frequencies. The Nyquist plot
%--Given System can be used to determine the stability of a system
G(s)=1/(s^2+0.8s+1)--% by analyzing the number of encirclements of the
%--------Nyquist plot----------- -1 point. The -1 point is the frequency at which
% the system gain becomes 0 dB, and the phase
num=[0 0 1]; shift becomes -180 degrees. In summary, the
den=[1 0.8 1]; Nyquist plot is a tool used in control systems
nyquist(num,den); engineering to analyze the frequency response
axis(v) and stability of a system.
grid b. What are the stability criteria? Or when
title('Nyquist plot of will the system represented by the graph be
G(s)=1/(s^2+0.8s+1)') stable or unstable?
xlabel('Real axis')
ylabel('Imag axis') The Nyquist plot can be used to determine the
hold on stability of a system using the following criteria:
Result:
The system is stable if the Nyquist plot does not
From the MATLAB code of lab task 1 we have
encircle the point (-1,0) in the clockwise
got a Nyquist plot of given system G(s) which is
shown below in Figure 7.1. direction. The number of encirclements of the
point (-1,0) in the counterclockwise direction is
equal to the number of poles of the transfer root locus plot of the given transfer function G(s)
function that lie in the right half of the s-plane. which is shown below in Figure 7.2.
If there are no poles in the right half of the s-
plane, then the system is stable if the Nyquist
plot does not encircle the point (-1,0) in the
clockwise direction. If the Nyquist plot passes
through the point (-1,0), the system is marginally
stable. If the Nyquist plot encircles the point (-
1,0) in the clockwise direction, the system is
unstable. These criteria are based on the
relationship between the Nyquist plot and the
complex plane of the transfer function.

LAB TASK: 2
In lab task 2 we will observe the root locus plot
of the gives system G(s). Figure 7.2: Root locus plot of given system G
The given transfer function is, Analysis:
𝑘(𝑠 2 +2𝑠+4) The code generates a root locus plot of the given
G(s) = transfer function, which is defined by the
𝑠(𝑠+4)(𝑠+6)(𝑠 2 +1.4𝑠+1) numerator and denominator arrays. The 'rlocus'
function is used to generate the root locus plot,
and it takes the numerator and denominator of
MATLAB Code: the transfer function as input. The plot shows the
%---conditionally stable system- locus of the poles of the transfer function as the
-% parameter k varies from 0 to infinity.
%---Given System
a. What output graph represent?
G(s)=k(s^2+2s+4)/[s(s+4)(s+6)(s^
2+1.4s+1)-----% A Root Locus plot is a graphical representation
clc; of the closed-loop poles of a feedback control
close all; system as a parameter, typically the gain, is
clear all;
varied. It is a useful tool for analyzing the
%--------Root Locus----------%
numz=[0 0 0 1 2 4]; stability and performance of a control system.
denp=[1 11.4 39 43.6 24 0]; The plot shows the locations of the closed-loop
r=rlocus(numz,denp); poles as the gain is varied from zero to infinity.
plot(r,'o'); The Root Locus plot is a plot of the locations of
axis(v) the poles of the closed-loop transfer function in
grid
the s-plane. The poles represent the closed-loop
title('Root locus plot of
G(s)=k(s^2+2s+4)/[s(s+4)(s+6)(s^ response of the system to an input signal. The
2+1.4s+1)]') Root Locus plot shows how the locations of the
xlabel('real axis') poles change as the gain of the system is varied.
ylabel('imag axis') The poles move along curves in the s-plane,
hold which are called the Root Loci. The Root Locus
plot shows the trajectories of the poles and the
The output of the above MATLAB code is given
below in the result. locations where the poles cross the imaginary
Result: axis.
From the figure we can see the output of the b. What are the stability criteria? Or when
MATLAB code of the task 2 which shows the will the system represented by the graph be
stable or unstable?
The stability criteria for the Root Locus plot are
as follows:
The system is stable if all the closed-loop poles
are located in the left-half of the s-plane. The
number of poles that lie on the real axis of the s-
plane is equal to the number of open-loop poles
that lie to the right of the imaginary axis. The
gain required to achieve a stable system can be
determined by finding the value of the gain at the
point where the Root Locus intersects the
imaginary axis. If the Root Locus intersects the
imaginary axis at a point that is to the right of an
odd number of poles and zeros, the system is
Figure 7.3: Bode plot of the given system G.
unstable. If the Root Locus intersects the
Analysis:
imaginary axis at a point that is between two A Bode plot is a graphical representation of the
poles or zeros, the system is marginally stable. frequency response of a transfer function. It
LAB TASK: 3 shows the magnitude and phase of the transfer
Here we will observe the Bode plot of the given function as a function of frequency. The Bode
system. plot consists of two plots: the magnitude plot and
The given transfer function is, the phase plot.
a. What does each output graph represent?
(𝑠 3 +2𝑠+3) The magnitude plot shows the magnitude of the
G(s) = 5 4 3 2 transfer function in decibels (dB) as a function
𝑠 +𝑠 +𝑠 +𝑠 +𝑠+1)
of frequency in logarithmic scale. The
MATLAB Code:
By using the MATLAB code below, we will magnitude plot indicates how the amplitude of
generate the output of the given transfer the input signal is affected by the system at
function. different frequencies. The plot displays the gain
%---Given of the system as a function of frequency, and it
System=s^3+2s+3/(s^5+s^4+s^3+s^2 is used to analyze the frequency response of the
+s+1)---%
system. The slope of the magnitude plot changes
%--------Bode Plot ----------%
numg=[1 0 2 3]; at the corner frequencies, which are the
deng=[1 1 1 1 1 1 ]; frequencies at which the poles and zeros of the
'G(s)' transfer function are located.
u=tf(numg,deng); b. What are the stability criteria? Or when
bode(u) will the system represented by the graph be
grid stable or unstable?
hold The stability criteria for a Bode plot are based on
title('Bode plot of the phase margin and gain margin of the system.
G(s)=s^3+2s+3/(s^5+s^4+s^3+s^2+s
The phase margin is the amount of additional
+1)')
[Gm,Pm,Wcg,Wcp] = margin(u) phase shift required to make the system unstable,
Gm_dB = 20*log10(Gm) and the gain margin is the amount of additional
Result: gain required to make the system unstable. The
By executing the above MATLAB code I have stability criteria for a Bode plot are as follows:
generated the output of the code which is Bode LAB TASK: 4
plot of the given transfer function and which is In lab task 4 we will observe the polar plot.
shown below in Figure 7.3. MATLAB Code:
To observe the polar plot I have used this
MATLAB code which will show the polar plot.
clc processing and control design, named after
format compact American engineer Nathaniel B. Nichols.
set(gcf,'Toolbar','none','Name',
MATLAB Code:
'Polar Plot', ...
By using the MATLAB code mentioned below
'NumberTitle','off','Position',[
we will observe the Nicholas Plot from its
10,350,350,300]);
output.
theta = 2*pi*linspace(0,1,30);
r = 2*(1 + cos(theta)); %Plot the Nichols response of
polar(theta,r,'r-') the system
set(gca,'Position',[0.1 0.1 0.75 num = [-4 48 -18 250 600];
0.75]); den = [1 30 282 525 60];
title('\bf\itA Polar H = tf(num,den)
Plot','Color','k','VerticalAlign nichols(H);
ment','bottom') ngrid
textstr(1)={'r = Result:
2(1+cos\theta)'}; This is the output of the above-mentioned
textstr(2)={'\theta = 0 -> MATLAB code which represents Nicholas plot
2\pi'}; shown in Figure 7.5.
text(5*cos(pi/4),5*sin(pi/4),
...
strcat(textstr))
title('Polar plot ')
hold
Result:
This is the result I have got from the above code
which shows the polar plot in Figure 7.4.

Figure 7.5: Above figure shows the Nicholas plot.

Analysis:
A Nichols plot is used in signal processing and control
system design to determine the stability and closed-loop
frequency response of a feedback system.
a. What does each output graph represent?
The Nicholas plot is a polar plot that shows the
Figure 7.4: The figure shows the polar plot.
Analysis: gain margin and phase margin of a closed-loop
The Polar plot is a plot, which can be drawn system as a function of frequency. The gain
between the magnitude and the phase angle of margin is the amount by which the system's
G(jω)H(jω) by varying ω from zero to ∞. The open-loop gain can be increased before the
polar graph sheet is shown in the following system becomes unstable, and the phase margin
figure. This graph sheet consists of concentric is the amount by which the phase lag can be
circles and radial lines.
increased before the system becomes unstable.
LAB TASK: 5
In lab task 5 we will observe the Nicholas plot. In a Nicholas plot, the gain margin is represented
The Nichols plot is a plot used in signal by the radial distance from the origin to the point
where the Nyquist plot (which represents the
frequency response of the system) crosses the -1 systems, especially those with multiple poles
line on the real axis. The phase margin is and zeros. The Bode plot technique is another
represented by the angle between the radial line frequency domain analysis method. It involves
plotting the system's magnitude and phase
and the tangent to the Nyquist plot at the same
response on a logarithmic scale. The Bode plot
point. By analyzing the Nicholas plot, control is useful in analyzing the system's frequency
system engineers can determine if the closed- response characteristics and determining its
loop system is stable or unstable, and if it is stability. A stable system will have a magnitude
stable, how close it is to the point of instability. response that approaches zero as frequency
This information can be used to design and tune approaches infinity. In addition, the phase shift
the control system to meet desired performance of the system should not exceed 180 degrees at
any frequency. In conclusion, frequency domain
specifications.
analysis techniques such as frequency response
b. What are the stability criteria? Or when will the and Bode plot are important tools for analyzing
system represented by the graph be stable or the stability of linear systems.
unstable?
The stability criteria of the Nicholas plot in
control systems are based on the gain margin and
phase margin of the closed-loop system. The
closed-loop system is considered stable if the
gain margin is positive and the phase margin is
greater than zero degrees. In other words, the
system must have enough gain margin and phase
margin to remain stable even in the presence of
uncertainties or disturbances. If the gain margin
is negative or the phase margin is less than zero
degrees, the closed-loop system is unstable and
will exhibit oscillations or even diverge over
time. If the gain margin is positive but the phase
margin is small, the system is marginally stable
and may exhibit slow oscillations or a sluggish
response to changes in the input signal.
Therefore, the Nicholas plot provides a way to
visualize the stability of a closed-loop system
and to determine if the system meets the stability
criteria for safe and reliable operation.
4.DISCUSSION
Stability analysis is a critical aspect of studying
linear systems. In frequency domain analysis,
there are various techniques to analyze the
stability of a linear system. In this discussion, we
will focus on the frequency response and Bode
plot techniques. The frequency response
analysis is a method that involves evaluating the
system's transfer function's frequency response
characteristics. Additionally, the phase shift of
the transfer function should not exceed 180
degrees. The frequency response technique is a
useful tool for analyzing the stability of linear