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G (jω) G (jω) G (jω) ω

The document discusses Nyquist plots (polar plots), which graph the magnitude and phase of a transfer function G(jω) on polar coordinates as the frequency ω varies. Key points: - Each point represents the terminal vector of G(jω) at a given ω. - Common examples are plotted, such as 1/jω (-90° imaginary axis) and jω (90° real axis). - First order factors in the numerator and denominator are plotted as examples. - An example open loop transfer function is plotted on a Nyquist plot. - The Nyquist stability criterion is introduced, where systems are stable if the plot does not encircle the (-1, j0) point.

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Jazzy Bieber
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101 views13 pages

G (jω) G (jω) G (jω) ω

The document discusses Nyquist plots (polar plots), which graph the magnitude and phase of a transfer function G(jω) on polar coordinates as the frequency ω varies. Key points: - Each point represents the terminal vector of G(jω) at a given ω. - Common examples are plotted, such as 1/jω (-90° imaginary axis) and jω (90° real axis). - First order factors in the numerator and denominator are plotted as examples. - An example open loop transfer function is plotted on a Nyquist plot. - The Nyquist stability criterion is introduced, where systems are stable if the plot does not encircle the (-1, j0) point.

Uploaded by

Jazzy Bieber
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Nyquist Plot (Polar Plot)

• The polar plot of a sinusoidal


transfer function G(jω) is a plot of
the magnitude of G(jω) versus the
phase angle of G(jω) on polar
coordinates as ω is varied from
zero to infinity.

• Thus, the polar plot is the locus of


vectors as ω is
varied from zero to infinity.

1
Nyquist Plot (Polar Plot)

• Each point on the polar plot of


G(jω) represents the terminal
point of a vector at a
particular value of ω.

• The projections of G(jω) on


the real and imaginary axes
are its real and imaginary
components.

2
Nyquist Plot of Integral and Derivative Factors

• The polar plot of G(jω)=1/jω is the negative imaginary


axis, since
Im
1
G ( jω ) =
jω

1 − jω 1
G ( jω ) = × = −j Re
jω − jω ω ω=∞ -90o

1
In polar form G( jω ) = ∠ − 90
ω ω=0

3
Nyquist Plot of Integral and Derivative Factors

• The polar plot of G(jω)=jω is the positive imaginary axis,


since
Im
ω=∞
G ( jω ) = jω

In polar form G( jω ) = ω∠90 


ω=0
90o
Re

4
Nyquist Plot of First Order Factors

• The polar plot of first order factor in numerator is

G ( jω ) = jω + 1

ω= ∞
Im
ω Re Im
0 1 0 2 ω=2

1 ω=1
1 1 1 ω=0
Re
1
2 1 2

∞ 1 ∞
5
Nyquist Plot of First Order Factors

• The polar plot of first order factor in denominator is

1
G ( jω ) =
jω + 1 ω Re Im
1 1 − jω 0 1 0
G ( jω ) = ×
jω + 1 1 − jω 0.5 0.8 0.4
1 − jω 1 1/2 -1/2
G ( jω ) =
1+ ω 2 2 1/5 -2/5
1 ω
G ( jω ) = 2
− j ∞ 0 0
1+ ω 1+ ω 2 6
Nyquist Plot of First Order Factors
• The polar plot of first order factor in denominator is

ω Re Im Im

0 1 0

0.5 0.8 -0.4


ω= ∞ 0.2 0.5 0.8 1
Re
1 0.5 -0.5 ω=0
-0.4 ω=2
ω=0.5
2 0.2 -0.4 -0.5
ω=1

∞ 0 0

7
Nyquist Plot of First Order Factors
• The polar plot of first order factor in denominator is

ω Re Im G( jω ) ∠G( jω ) Im

0 1 0 1 0o

0.5 0.8 -0.4 0.9 -26o


ω=0
ω= ∞ Re
1 0.5 -0.5 0.7 -45o
ω=0.5
ω=2
2 0.2 -0.4 0.4 -63o ω=1

∞ 0 0 0 -90

8
Example#1
• Draw the polar plot of following open loop transfer function.
1
G( s ) =
Solution s( s + 1)
Put s = jω
1
G ( jω ) =
jω ( jω + 1)
1
G ( jω ) =
− ω 2 + jω
1 − ω 2 − jω
G ( jω ) = ×
− ω + jω − ω 2 − jω
2

− ω 2 − jω
G ( jω ) =
ω4 + ω2 9
Example#1
ω Re Im
2 0 ∞ ∞
− ω − jω
G ( jω ) =
ω4 + ω2 0.1 -1 -10

−ω2 ω 0.5 -0.8 -1.6


G ( jω ) = 4 2
− j
ω +ω ω4 + ω2 1 -0.5 -0.5
−1 1
G ( jω ) = − j 2 -0.2 -0.1
ω2 +1 ω (ω 2 + 1)
3 -0.1 -0.03

∞ 0 0
10
Example#1
Im
ω Re Im
0 ∞ ∞

0.1 -1 -10

0.5 -0.8 -1.6 -1 ω=∞ Re


ω=2 ω=3
1 -0.5 -0.5 ω=1

2 -0.2 -0.1 ω=0.5

3 -0.1 -0.03

∞ 0 0
ω=0.1 -10
ω=0 11
Nyquist Stability Criterion
Im
• The Nyquist stability
criterion determines the
stability of a closed-loop
system from its open-loop
frequency response and (-1, j0)
Re
open-loop poles.

• A minimum phase closed


loop system will be stable if
the Nyquist plot of open
loop transfer function does
not encircle (-1, j0) point.

12
Gain Margin

Phase Margin
Gain cross-over point
Phase cross-over point

13

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