Control Systems

by

Dr. Kollu Ravindra

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Topics covered till now:
• Root locus method
• Effect of addition of poles and zeros on Root locus
• Non-minimum phase systems
• P, PI, PD, PID controllers
• Sinusoidal transfer function, Bode diagrams, Transfer function from Bode diagrams
• Polar or Nyquist plot

Topics to be covered in this lecture:

References: 1.Modern control engineering- K Ogata

3. An all-pass network imparts only

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8. The asymptotic approximation of the log magnitude versus frequency plot of a
minimum phase system with real poles and one zero is shown in figure. Its transfer
function is

20(𝑠+5) 10(𝑠+5)
a) 𝑠(𝑠+2)(𝑠+25)
b)
(𝑠+2)2 (𝑠+25)
20(𝑠+5) 50(𝑠+5)
c) d) 2
(𝑠)2 (𝑠+2)(𝑠+25) (𝑠) (𝑠+2)(𝑠+25)

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 5. Consider a control system having a open loop transfer function G(S)H(S)=
1
S 2 ( S + A)( S + B)( S + C )
if all the finite poles has positive real part , then the polar plot of the system will be

(c)

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 Nyquist Stability Criterion
• Nyquist stability criterion determines the stability of a closed-loop system from its
open-loop frequency response and open-loop poles.

𝐶 𝑠 𝐺(𝑠)
=
𝑅(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠)

• For stability, all roots of the characteristic equation 1+G(s)H(s)=0 must lie in the left-
half s plane.
• The Nyquist stability criterion relates the open-loop frequency response G(jω)H(jω) to
the number of zeros and poles of 1+G(s)H(s) that lie in the right-half s plane.
• Using Nyquist stability criterion absolute stability of the closed-loop system can be
determined graphically from open-loop frequency-response curves, and there is no
need for actually determining the closed-loop poles. Analytically obtained open-loop
frequency-response curves, as well as those experimentally obtained, can be used for
the stability analysis.
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 t.F discussion to highlight zeros nd poles

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• Mapping of contours in the complex plane will be discussed first to understand Nyquist
stability criterion
F(s) = 1+G(s)H(s)=0
• It can be shown that for a given continuous closed path in the s plane that does not go
through any singular points, there corresponds a closed curve in the F(s) plane.
2
𝐺 𝑠 𝐻 𝑠 =
𝑠−1
• The characteristic equation F(s) = 1+G(s)H(s)
2 𝑠+1
=1+ = =0
𝑠−1 𝑠−1
• The function F(s) is analytic everywhere in the s plane except at its singular points. For
each point of analyticity in the s plane, there corresponds a point in the F(s) plane.

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• Suppose that representative point s traces out a contour in the s plane in the
clockwise direction. If the contour in the s plane encloses the pole of F(s), there is
one encirclement of the origin of the F(s) plane by the locus of F(s) in the
counterclockwise direction.

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• If the contour in the s plane encloses the zero of F(s), there is one encirclement of
the origin of the F(s) plane by the locus of F(s) in the clockwise direction.

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• If the contour in the s plane encloses both the zero and the pole or if the contour
encloses neither the zero nor the pole, then there is no encirclement of the origin of
the F(s) plane by the locus of F(s).

Closed contours in the s plane and their corresponding closed curves in the F(s) plane, where F(s)=(s+1)/(s-1).
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• From the foregoing analysis, we can say that the direction of encirclement of the origin
of the F(s) plane by the locus of F(s) depends on whether the contour in the s plane
encloses a pole or a zero.
• Note that the location of a pole or zero in the s plane, whether in the right-half or left-
half s plane, does not make any difference, but the enclosure of a pole or zero does. If
the contour in the s plane encloses equal numbers of poles and zeros, then the
corresponding closed curve in the F(s) plane does not encircle the origin of the F(s)
plane
• Mapping Theorem. Let F(s) be a ratio of two polynomials in s. Let P be the number of
poles and Z be the number of zeros of F(s) that lie inside some closed contour in the s
plane, with multiplicity of poles and zeros accounted for. Let the contour be such that it
does not pass through any poles or zeros of F(s).This closed contour in the s plane is
then mapped into the F(s) plane as a closed curve. The total number N of clockwise
encirclements of the origin of the F(s) plane, as a representative point s traces out the
entire contour in the clockwise direction, is equal to Z-P.

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Application of the Mapping Theorem to the Stability Analysis of Closed-Loop Systems
• Let the closed contour in s plane enclose the entire right-half s plane. The contour
consists of the entire jω axis from ω= – ∞ to + ∞ and a semicircular path of infinite
radius in the right-half s plane. Such a contour is called the Nyquist path.
• The direction of the path is clockwise.
• The Nyquist path encloses the entire right-half s plane and encloses all the zeros and
poles of 1+G(s)H(s) that have positive real parts.
• It is necessary that the closed contour, or the Nyquist path, not pass through any zeros
and poles of 1+G(s)H(s). If G(s)H(s) has a pole or poles at the origin of the s plane,
mapping of the point s=0 becomes indeterminate.

Closed contour in
the s plane (Nyquist path)

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Encirclement of the origin by the graph of 1+G(jω)H(jω) is equivalent to encirclement of
the –1+j0 point by just the G(j ω)H(jω) locus. Thus, the stability of a closed loop system
can be investigated by examining encirclements of the –1+j0 point by the locus of
G(jω)H(jω)
Plotting G(jω)H(jω) for the Nyquist path is straightforward. The map of the negative jω
axis is the mirror image about the real axis of the map of the positive jω axis. That is, the
plot of G(jω)H(jω) and the plot of G(–jω)H(–jω) are symmetrical with each other about
the real axis. The semicircle with infinite radius maps into either the origin of the GH
plane or a point on the real axis of the GH plane.
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• Criterion can be expressed as Z = N+P
where Z= number of zeros of 1+G(s)H(s) in the right-half s plane
N= number of clockwise encirclements of the –1+j0 point
P=number of poles of G(s)H(s) in the right-half s plane

Nyquist stability criterion [ for a special case when G(s)H(s) has neither poles nor zeros
on the jω axis]: In the system shown in above figure, if the open-loop transfer function
G(s)H(s) has k poles in the right-half s plane and lim 𝐺 𝑠 𝐻 𝑠 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, then for
𝑠→∞
stability, the G(jω)H(jω) locus, as ω varies from – ∞ to ∞, must encircle the –1+j0 point k
times in the counterclockwise direction.

Nyquist stability criterion [for a general case when G(s)H(s) has poles and/or zeros on the
jω axis]: In the system shown in above figure, if the open-loop transfer function G(s)H(s)
has k poles in the right-half s plane, then for stability the G(s)H(s) locus, as a representative
point s traces on the modified Nyquist path in the clockwise direction, must encircle the –
1+j0 point k times in the counterclockwise direction.

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