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Class+#+17+Nyquist+Criterion++w+Alt+Text

Uploaded by

Yasir Manzoor
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© © All Rights Reserved
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Class # 17

Nyquist Criterion

1
Introduction

• The Nyquist criterion relates the stability of a


closed-loop system to the open-loop frequency
response and open-loop pole location.

2
Introduction to the Nyquist Criterion

Let G(S)=NG /DG ; H(S)= NH/DH


G(S)H(S) = NG NH/DGDH
T(S) = [G(S)]/[1+ G(S)H(S)] = [NG DG] /[1 + NG NH/DGDH ]
= [NG /DG] / [(DGDH + NGNH) /DGDH]
= [NG DH]/ [DGDH + NGNH]

Conclusions:
1.- The poles of [1+ G(S)H(S)], on the closed-loop system, are
the same as the poles of G(S)H(S), the open-loop system.
2.- The zeros of [1+ G(S)H(S)] are the same as the poles of
T(S), the closed-loop system

3
Mapping

• If we take a complex number on the s-plane, and substitute


it into a function F(S),another complex number results. This
process is called “mapping”.
• Example: Take (S+j3) and map it through the function (S+4)
yields (6+j3).

4
Mapping Contours

Consider a collection of points called contour A in the figure.


Assume that

Point Q maps into point Q’ through the function F(S)

5
Vector Representation of Mapping
• A unique relationship exist between the number of poles and zeros
of F(S) contained inside contour A, and the number of
counterclockwise encirclements of the origin for the mapping of
contour B. Each pole or zero factor of [1+G(S)H(S)] whose vector
undergoes a complete rotation around contour A must yield a complete
rotation of the mapping of contour B

6
Number of Closed-Loop Poles Inside the
Contour

Zeros of [1+ G(S)H(S)] = Poles of closed- loop system T(S) (not known)
P = # of enclosed open-loop poles (which is known)
Z = # of enclosed closed-loop poles (not known)
N = P – Z (Number of counterclockwise rotations of contour B
about the origin)
Z = P – N (Number of closed-loop poles inside the contour
which is equal to the zeros inside the contour)

7
Contour Enclosing RHP to Determine Stability

• If we extend the contour


to include the entire RHP,
we can count the
number of closed-loop
poles inside the contour
A.

8
Nyquist Plot of G(S)H(S)
Mapping through G(S)H(S) instead of [1 + G(S)H(S)] is the same, only that
rotations will be around -1 and not around 0.

Conclusion:
The number of closed-loop poles, Z, in the rhp is equal to the number of open-
loop poles, P, that are in the rhp minus the number of counterclockwise
revolutions, N, around -1.
Z=P-N

9
Example # 1

Contour does not encircle -1:


P = 0, N = 0, Z = P – N = 0 (stable system)

10
Example # 2
• P = 0, N = -2, Z = P – N = 2 (unstable system)

11
Example # 3:
L (S) = G(S)H(S) = K/S(S + 2)(S + 10). Sketch the Nyquist plot.

12
Critical Point

If the closed-loop system has a variable gain in the loop, for what range
of gain is the system stable?
The general approach is to set the loop gain equal to unity (K = 1), and
draw the Nyquist diagram. The intersect on the real axis for this value
of K is known as the “critical point” (CP), so for gains different from 1,
the point of intersection corresponds to
-1 = (CP)K, or K =-1/CP, where CP is negative
Conclusion: Consider the critical point to be at -1/K rather than at -1.
Adjust the value of K to yield stability, based upon the Nyquist
criterion.

13
Example # 4
Stability via the Nyquist Diagram

• P=2
• Z=P–N
• There are necessary 2 encirclements of point -1 for having Z = 0

14
Contour and Nyquist Diagram for

For K = 1: CP = -1.33
K = -1/CP = 1/1.33 = 0.751
For K < 0.751 the system is unstable, because Z = 2 – 0 = 2

15
MATLAB Program

>> n = poly([-3 -5])


n = 1 8 15
>> d = poly([2 4])
d = 1 -6 8
>> g = tf(n,d)
Transfer function:
s^2 + 8 s + 15
- --------------
s^2 - 6 s + 8
>> Ltiview

16
MATLAB Results

17
Conclusions for Variable K

• Set K = 1 and sketch the Nyquist diagram. Consider the critical


point to be at -1/K rather than at -1. Adjust the value of K to
yield stability, based upon the Nyquist criterion.

18
Ex. # 5
MATLAB Nyquist Program of
G(S) = 1/(S2 + 0.8 S + 1)
• >> num = 1;
• >> den=[1 0.8 1];
• >> nyquist (num,den)
• >> v=[-2 2 -2 2];axis(v)
• >> title('Nyquist Plot of G(S) = 1/S^2 + 0.8S + 1')
• Z= P- N = 0 – 0 (Stable as the
point -1 is not encircled)

19
Ex. # 6
For the system G(S) = K/[S(S+3)(S+5),
what is the value of K that makes the system unstable?
From Nyquist: Z = P – N = 0 – N. for Z = 0, N = 0 (for stable system).
For K = 1, The CP = -0.0083 (Analytical solution can be found from example
10.6 in the textbook)
K = -1/CP = -1/-0.0083 = 120.5
for K = 120.5, the system is marginally stable. If K < 120.5, the critical point will
not be encircled by the contour (N = 0), and the system is stable.

20
Home Work

• Analyze Ex. 10.4


• Problem 10.9; 10.10

21

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