LINEAR CONTROL

SYSTEMS
Ali Karimpour
Associate Professor
Ferdowsi University of Mashhad
 Lecture 19

Lecture 19

Nyquist stability criteria (Continue).

Topics to be covered include:

 Nyquist stability criteria (continue).

 Minimum phase systems.
 Simplified Nyquist stability criterion.

2
Dr. Ali Karimpour Dec 2013
 Lecture 19

Nyquist fundamental

kf (s ) 1  kf (s )

Nyquist plot Nyquist plot

Nyquist path Nyquist path

Z 0  P0  N 0 Z 1  P1  N 0 k 0
Z1  P1  N1 k 0

Z1  P1  N1 k 0

3
Dr. Ali Karimpour Dec 2013
 Lecture 19
Example 1: Check the stability of following system
R(s)+ C (s )
by Nyquist method. 375
k
- s( s  5)( s  10)
.‫ پایداری سیستم را توسط روش نایکوئیست بررسی کنید‬:1 ‫مثال‬

375k
1 0
s( s  5)( s  10)
375
f ( s) 
s( s  5)( s  10)
Very important

375 375
f ( s)    0
50s 500
375 375
f ( s)      45
50s 5045

Very important
375 375
f ( s)      90 -1
50s 5090
375 375
f ( s)      270
s 3
(90) 3

375 375
f ( s)  3     135
s (45)3
375 375 4
f (s)  3   0
s (0)3 Dr. Ali Karimpour Dec 2013
Example 1: Check the stability of following Lecture 19
R(s)+ C (s )
375
system by Nyquist method. k
- s( s  5)( s  10)

.‫پایداری سیستم را توسط روش نایکوئیست بررسی کنید‬

375k
1 0
s( s  5)( s  10)
375
f ( s) 
s( s  5)( s  10)
-1

375
f ( j ) 
j ( j  5)( j  10)

Very important

 0 5 7.07 10 20

f ( j )   90 0.95 162 0.5 180 0.24 198 0.04  230 5

Dr. Ali Karimpour Dec 2013
Example 1: Check the stability of following Lecture 19
R(s)+ C (s )
375
system by Nyquist method. k
- s( s  5)( s  10)

.‫پایداری سیستم را توسط روش نایکوئیست بررسی کنید‬

375
f ( s) 
s( s  5)( s  10)
-1

Checking the RHP roots of

375k
1 0
s( s  5)( s  10)
or stability of above system

0 Stable for 0  k  2
k  0 Z 1  P1  N1 Z1  0  N1 Z 1  N 1  
2 Unstable for 6k  2
TwoDr.RHP roots
Ali Karimpour Dec 2013
Example 1: Check the stability of following Lecture 19
R(s)+ C (s )
375
system by Nyquist method. k
- s( s  5)( s  10)

.‫پایداری سیستم را توسط روش نایکوئیست بررسی کنید‬

375
f ( s) 
s( s  5)( s  10)
-1

Checking the RHP roots of

375k
1 0
s( s  5)( s  10)
or stability of above system

k 0 Z1  P1  N1 Z 1  0  N1 Z 1  N1  1 0  1 Unstable for k  0

1 RHP root
7
Dr. Ali Karimpour Dec 2013
 Example 2: Check the stability of following system from the givenLecture 19
Nyquist plot.
.‫ پایداری سیستم را با توجه به منحنی نایکوئیست داده شده بررسی کنید‬:2 ‫مثال‬
1
d(s) is a polynomial. d (s)

R(s)+ C (s )
1
k
- d (s) 1
  0.1  0
6

Z 0  P0  N 0 0  P0  1 P0  1  P1

0  k  6 Z 1  P1  N1 Z 1 1  0 Z 1  1 System is unstable( 1 RHP zero)

6  k  10 Z 1  P1  N1 Z 1 1  1 z 1  0 System is stable

k  10 Z 1  P1  N1 Z 1 1  1 z 1  2 System is unstable( 2 RHP zero)
k 0 Z1  P1  N1 Z 1 1  0 z 1  1 System is unstable(
8
1 RHPDeczero)
Dr. Ali Karimpour 2013
 Example 2: Check the stability of following system from the givenLecture 19
Nyquist plot.
.‫ پایداری سیستم را با توجه به منحنی نایکوئیست داده شده بررسی کنید‬:2 ‫مثال‬
1
d(s) is a polynomial. d (s)

R(s)+ C (s )
1
k
- d (s) 1
  0.1  0
6

Z 0  P0  N 0 0  P0  1 P0  1  P1
 0 1 0  k  6 System is unstable( 1 RHP zero)
Z 1  P1  N1  N1  P1   1 1
6  k  10 System is stable

 1 1 k  10 System is unstable( 2 RHP zero)
k 0 Z1  P1  N1 Z 1 1  0 z 1  1 System is unstable(
9
1 RHPDeczero)
Dr. Ali Karimpour 2013
 Lecture 19
Example 3: Discuss about the RHP roots of following system.
2( s  1)
1 k  0.‫ بحث کنید‬k ‫ در مورد ریشه های سمت راست معادله روبرو بر حسب مقادیر مختلف‬:3 ‫مثال‬
s ( s  1)
2( s  1)
f (s) 
s ( s  1)
Very important part

2 2 ?
f ( s)      180
s 0
2 2
f (s)      225
s 45
2 2
f (s)      270
s 90
2 2
f ( s)      90
s 90
2 2
f ( s)      45
s  45
2 2
f ( s)    0
s 0
10
Dr. Ali Karimpour Dec 2013
 Lecture 19
Example 3: Discuss about the RHP roots of the following system.
2( s  1)
1 k  0.‫ بحث کنید‬k ‫ در مورد ریشه های سمت راست معادله روبرو بر حسب مقادیر مختلف‬:3 ‫مثال‬
s ( s  1)

2( s  1)
f (s) 
s ( s  1)

 1
2( j  1)
f ( j ) 
j ( j  1) 2

 ?1
f ( j ) ?2

Which point is very important?

f ( j )  num  den  180  tan 1   (90  tan 1  )  90  2  tan 1 

2(1 j  1)
f ( j )  0   1 Or equivalent ly let Im(f)  0 f ( j1)   211
0
j ( j  1)
Dr. Ali Karimpour Dec 2013
 Example 3: Discuss about the RHP roots of the following system for different values
Lecture 19

of k.
2( s  1)
1 k  0.‫ بحث کنید‬k ‫ در مورد ریشه های سمت راست معادله روبرو بر حسب مقادیر مختلف‬:3 ‫مثال‬
s ( s  1)

k  0 Z1  P1  N1 Z 1  0  1

 Z 1  1 Unstable( one RHP root)

 1 k  0 Z 1  P1  N1 Z 1  N1
1 1 2
0  0.5  k  0 Stable

 Z 1  
2 k  0.5
Unstable
 (two RHP root)

More Study:
Z 0  P0  N 0 1 0  1
12
Dr. Ali Karimpour Dec 2013
 Lecture 19
Example 4: Discuss about the stability of the following system for different values of k.

.‫ بحث کنید‬k ‫ پایداری سیستم را بر حسب مقادیر مختلف‬:4 ‫مثال‬

+ + 10
k (s  2)
- s 2 (s  3)
-

+ 10
k (s  2)
- s 3  3s 2  10

10(s  2)
1 k 3 0 :‫فرم استانداردمعادله به صورت زیر است‬
s  3s  10
2

13
Dr. Ali Karimpour Dec 2013
 10( s  2) Lecture 19

Discuss about the RHP roots of: 1 k 3 0

s  3s  10
2

10( s  2)
f ( s) 
s 3  3s 2  10

10(0  2)
f ( s)  2
0  0  10
10 10
f ( s)  2     180
s (90) 2

10 10 1 2
f ( s)  2     90
s (45) 2
10 10
f ( s)    0
s 2 (0) 2
10( j  2)
f ( j ) 
(10  3 2 )  j 3

10( j  2) (10  3 2 )  j 3 10 (10  3 2 )  20 3   0 ,  10

f ( j )  Im( f )  0
(10  3 2 )  j 3 (10  3 2 )  j 3 (10  3 2 ) 2   6

10( j 10  2) 10( j1  2) 20  10 j
f ( j 10 )   1180 How? f ( j1)    2.6  1.8 j
(10  30)  j10 10 (10  3)  j1 7  j1 14
Dr. Ali Karimpour Dec 2013
 10( s  2) Lecture 19

Discuss about the RHP roots of: 1 k 3 0

s  3s  10
2

P1  P0  ?

Z 0  P0  N 0 0  P0  2 P1  P0  2

1 2
k 0 Z 1  P1  N1 Z1  2  N1

 2  2  0 k  1 Stable
Z 1  N1  2  
 0  2  2 0  k 1
Unstable
2 RHP roots

k 0 Z1  P1  N1 Z 1  2  N1 Z1  N1  2

 02  2  0.5  k  0 Unstable (2 RHP roots)
Z1  N1  2  
k  0.5
15
 1  2  1 Unstable (1Dr.RHP roots)
Ali Karimpour Dec 2013
 Lecture 19

Minimum Phase systems

‫توابع حداقل فاز‬
f(s) is said to be minimum phase if it has no poles and zeros
on the RHP and on the jω axis (origin is an exception) and
there is no delay.
‫ و روی‬RHP ‫ را حداقل فاز گویند اگر این تابع هیچ قطب و صفری در‬f(s) ‫تابع‬
.‫ نداشته (مبدا استثنا است) و دارای تاخیر نباشد‬jω ‫محور‬
nz
If it was minimum phase
 ( s  zi )
f ( s)  i 1n p
zi , p j  0
s  (s  p j )
Ty
j 1
Ty is type of system

Important note: If f(s) is minimum phase then Z 0  P1  P0  0

16
Dr. Ali Karimpour Dec 2013
 Lecture 19

Nyquist fundamental for minimum phase systems

kf (s )

Nyquist path Nyquist plot

k 0 Z1  P1  N1 Z1  N1

k 0 Z1  P1  N1 Z 1  N1 17
Dr. Ali Karimpour Dec 2013
 Lecture
C (s ) 19
Check the stability of following system by Nyquist R(s)+ 40
k
method. - s ( s  25 )

40
f ( s) 
s( s  25)

-1

System is minimum phase

2( 90Ty φ-1 ) 2(90  90 ) Stable for k  0

k 0 Z 1  N 1  
 
0
360 360
2( 90Ty  φ1 ) 2(90  90 ) Unstable for k  0
k 0 Z 1  N1  
 
1 18
360 360 One RHP zero
Dr. Ali Karimpour Dec 2013
 Lecture
C (s ) 19
Check the stability of following system by Nyquist R(s)+ 40
k
method. - s ( s  25 )
Simplified Nyquist
path plot

40
f ( s) 
s( s  25)

-1

System is minimum phase

2( 90Ty φ-1 )
k 0 Z 1  N 1  φ-1 is the angle of polar plot around -1
360
2( 90Ty  φ1 ) φ1 is the angle of polar plot around
Z 1  N1 
k 0 19
1
360 Dr. Ali Karimpour Dec 2013
 Lecture 19
Example 5: Discuss about the RHP roots of the following system for different values
of k.
‫ بحث‬k ‫ سیستم زیر بر حسب مقادیر مختلف‬RHP ‫ در مورد ریشه های‬:5 ‫مثال‬
1
1 k 0  0 .‫کنید‬
1 s
Clearly System is minimum phase so we use simplified Nyquist method

1
f (s) 
1 s

-1 1

Simplified Nyquist Polar plot

path plot

2(90Ty  1 ) 2(0  0)

k 0 Z 1  N 1  
 
0 No RHP root.
360 360
2(90Ty  1 ) 1 180 / 180  1 k  1 One RHP root.
k 0 Z 1  N1    
360 180  0 / 180  0 1  k  0 No RHP
20 root.
Dr. Ali Karimpour Dec 2013
Example 7: Discuss about the RHP roots of the following system for different values
Lecture 19

of k.
‫ بحث‬k ‫حسب مقادیر مختلف‬
1
‫ سیستم زیر بر‬RHP ‫ در مورد ریشه های‬:6 ‫مثال‬
1 k 2 0  0 .‫کنید‬
s (1   s )
Clearly System is minimum phase so we use simplified Nyquist method

1
f ( s) 
s 2 (1   s)

-1 1

Simplified Nyquist Polar plot

path plot

2(90Ty  1 ) 2(180  180)

k 0 Z 1  N 1  
 
 2 Two RHP roots.
360 360
2(90Ty  1 ) 2(180  0)
k 0 Z 1  N1  
 
 1 One RHP root.
360 360 21
Dr. Ali Karimpour Dec 2013
 Lecture 19

Simplified Nyquist method

kf (s )

-1

Simplified Nyquist System is minimum phase Polar plot

path plot

2( 90Ty φ-1 )
k 0 Z 1  N 1  φ-1 is the angle of polar plot around -1
360
2( 90Ty  φ1 ) φ1 is the angle of polar plot around 1
k 0 Z 1  N1 
360
Important remark: If any of φ-1 or φ1 is greater than zero the system is
unstable but if they were less than zero one must check it! 22
Dr. Ali Karimpour Dec 2013
 Lecture 19

Simplified Nyquist method

kf (s )
-1

Unstable
Polar plot

kf (s )

Simplified Nyquist
path plot -1

Polar plot
Stability depends on
23 T
y
Dr. Ali Karimpour Dec 2013
 Lecture 19

Exercises
‫تمرینها‬

1- The open loop transfer function of a unity-feedback (negative sign) is:

k
G p ( s) 
( s  5) n

Apply the Nyquist criterion to determine the range of k for stability. Let
n=1,2,3 and 4

2- The characteristic equation of a linear control system is:

s 3  2s 2  20s  10k  0

Apply the Nyquist criterion to determine the range of k for stability.

24
Dr. Ali Karimpour Dec 2013
 Lecture 19

Exercises
‫تمرینها‬
3- The open loop transfer function of a unity-feedback (negative sign)
with PD controller is:

10( K p  K d s)
G p ( s) 
s2

Select the value of Kp so that the parabolic error constant be 100. Find
the equivalent open-loop transfer function Geq(s) for stability analysis
with Kd as a gain factor. Sketch the Nyquist plot and check the stability
for different values of Kd.

25
Dr. Ali Karimpour Dec 2013
 Lecture 19

Exercises
‫تمرینها‬
4- The polar plot of an open loop transfer function of a minimum phase
system is:
3

Determine the steady state error of the system to a unit step. ess 
1
4
:‫جواب‬

5- The open loop transfer function of a unity-feedback (negative sign) is:

keTs
G( s)  (k  1)
s 1
Derive an expression that make the system stable.
[T k 2  1  tan 1 k 2  1]   :‫ جواب‬26
Dr. Ali Karimpour Dec 2013
 Lecture 19
Example 6: Discuss about the RHP roots of the following system for different values
of k.
‫ بحث‬k ‫ سیستم زیر بر حسب مقادیر مختلف‬RHP ‫ در مورد ریشه های‬:7 ‫مثال‬
1
1 k 0  0 .‫کنید‬
s(1   s)
Clearly System is minimum phase so we use simplified Nyquist method

1
f (s) 
s (1   s )

-1 1

Simplified Nyquist Polar plot

path plot

2(90Ty  1 ) 2(90  90)

k 0 Z 1  N 1  
 
0 No RHP root.
360 360
2(90Ty  1 ) 2(90  90)
k 0 Z 1  N1  
 
1 One RHP root.
360 360 27
Dr. Ali Karimpour Dec 2013
 Lecture 19
Example 8: Discuss about the RHP roots of following system for different value of k.
‫ بحث‬k ‫ سیستم زیر بر حسب مقادیر مختلف‬RHP ‫ در مورد ریشه های‬:8 ‫مثال‬
1
1 k 3 0  0 .‫کنید‬
s (1   s )
Clearly System is minimum phase so we use simplified Nyquist method

1
f ( s) 
s 3 (1   s )

-1 1

Simplified Nyquist Polar plot

path plot

2(90Ty  1 ) 2(270  90)

k 0 Z 1  N 1   
 2 Two RHP roots.
360 360
2(90Ty  1 ) 2(270  90)
k 0 Z 1  N1  
 
1 One RHP root.
360 360 28
Dr. Ali Karimpour Dec 2013