CONTROL SYSTEMS
(Nyquist Plot)
Nyquist Plot
• It is a frequency domain analysis (s=jω).
• Plot of sinusoidal transfer function GH(jω) in GH-plane
Img of GH(jω)
Real of GH(jω)
• Used to check the stability of closed loop system from
open loop transfer function
Stability using Nyquist Plot
𝐶ℎ𝑎𝑟𝑒𝑐𝑡𝑒𝑟𝑠𝑡𝑖𝑐 𝐸𝑞𝑢𝑎𝑡𝑖𝑜𝑛: 1 + 𝐺𝐻 𝑗𝜔 = 0
𝐺𝐻 𝑗𝜔 =-1
Nyquist Stability Criteria
p= 𝑝𝑜𝑙𝑒𝑠 𝑜𝑓 𝐺𝐻 𝑠 𝑖𝑛 𝑅𝐻𝑆 𝑜𝑓 𝑠 − 𝑝𝑙𝑎𝑛𝑒
N= 𝑒𝑛𝑐𝑖𝑟𝑐𝑙𝑒𝑚𝑒𝑛𝑡 𝑜𝑓 − 1 + 𝑗0 𝑖𝑛 𝑎𝑛𝑡𝑖 − 𝑐𝑙𝑜𝑐𝑘𝑤𝑖𝑠𝑒
System will be stable if N=P
For open loop stable system(p=0):System will be stable if N=0
Procedure to plot
• Step 1: Substitute 𝑠 = 𝑗𝜔 to get 𝐺 𝑗𝜔 and
plot in GH-plane for 𝜔=
− ∞ 𝑡𝑜 0 𝑚𝑖𝑟𝑟𝑜𝑟 𝑖𝑚𝑚𝑎𝑔𝑒 𝑜𝑓 𝑝𝑜𝑙𝑎𝑟 𝑝𝑙𝑜𝑡 𝑎𝑛𝑑
𝜔 = 0 𝑡𝑜 ∞(polar plot)
• Step 2: map and plot in GH-plane for
𝜋 𝜋
𝑠 = 𝑅𝑒 𝑗𝜃 𝜃 𝑣𝑎𝑟𝑖𝑒𝑠 𝑓𝑟𝑜𝑚 𝑡𝑜 − 𝑎𝑛𝑑 𝑅 → ∞
2 2
• Step 3: if any pole in imaginary axis including origin
map and plot in GH-plane for
𝜋 𝜋
𝑠 =∈ 𝑒 𝑗𝜑 𝜑 𝑣𝑎𝑟𝑖𝑒𝑠 𝑓𝑟𝑜𝑚 − 𝑡𝑜 𝑎𝑛𝑑 𝜖 → 0
2 2
(𝑠 + 2)
Example1 𝐺𝐻 𝑠 =
(𝑠 − 1)(𝑠 + 1)
P=1
• Step 1: Substitute 𝑠 = 𝑗𝜔 to get 𝐺 𝑗𝜔 and
plot in GH-plane for 𝜔 = 0 𝑡𝑜 ∞(polar plot)
(𝑗𝜔 + 2) 2 𝜔
𝐺𝐻 𝑠 = = − 𝑗
(𝑗𝜔 − 1)(𝑗𝜔 + 1) 1 + 𝜔 2 1 + 𝜔2
4 𝜔 = 0: 𝑀 =2
4+𝜔 2 +1 𝜔 = ∞: 𝑀 =0
𝜔2
𝑀= =
1 + 𝜔2 1 𝜔 = 0: ∅ =0
𝜔+𝜔 𝜔 = ∞: ∅ = −90
𝑅𝑒𝑎𝑙 𝐶𝑢𝑡: 𝐺(𝑗𝜔)ȁ𝜔
∅ = tan−1 0.5𝜔 − 180 = 0, ∞ = 2, 0
𝐼𝑚𝑎𝑔. 𝐶𝑢𝑡: 𝐺(𝑗𝜔)ȁ𝜔 = ∞ = 0
(𝑠 + 2)
Example1 𝐺𝐻 𝑠 =
(𝑠 − 1)(𝑠 + 1)
P=1
plot in GH-plane for 𝜔 =
− ∞ 𝑡𝑜 0 𝑚𝑖𝑟𝑟𝑜𝑟 𝑖𝑚𝑚𝑎𝑔𝑒 𝑜𝑓 𝑝𝑜𝑙𝑎𝑟 𝑝𝑙𝑜𝑡
(𝑠 + 2)
Example1 𝐺𝐻 𝑠 =
(𝑠 − 1)(𝑠 + 1)
P=1
• Step 2: map and plot in GH-plane for
𝜋 𝜋
𝑠 = 𝑅𝑒 𝑗𝜃 𝜃 𝑣𝑎𝑟𝑖𝑒𝑠 𝑓𝑟𝑜𝑚 𝑡𝑜 − 𝑎𝑛𝑑 𝑅 → ∞
2 2
𝑅𝑒 𝑗𝜃 + 2 𝑅𝑒 𝑗𝜃 1 −𝑗𝜃
𝐺𝐻 = lim = lim = lim = 0𝑒
𝑅→∞ (𝑅𝑒 𝑗𝜃 − 1)(𝑅𝑒 𝑗𝜃 + 1) 𝑅→∞ 𝑅𝑒 𝑗𝜃 𝑅𝑒 𝑗𝜃 𝑅→∞ 𝑅𝑒 𝑗𝜃
This is a point
• Step 3: No pole in
imaginary axis
(Not required)
P=1 and N=1: Closed loop System is stable
𝑘
Example2 𝐺𝐻 𝑠 =
𝑠(𝑇𝑠 + 1)
P=0
• Step 1: Substitute 𝑠 = 𝑗𝜔 to get 𝐺 𝑗𝜔 and
plot in GH-plane for 𝜔 = 0 𝑡𝑜 ∞(polar plot)
𝜔 = 0: 𝑀 = ∞
𝜔 = ∞: 𝑀 =0
𝜔 = 0: ∅ = −90
𝜔 = ∞: ∅ = −180
𝑅𝑒𝑎𝑙 𝐶𝑢𝑡: 𝐺(𝑗𝜔)ȁ𝜔 = ∞ = 0
𝐼𝑚𝑎𝑔. 𝐶𝑢𝑡: 𝐺(𝑗𝜔)ȁ𝜔 ∞ = = 0
plot in GH-plane for 𝜔 =
− ∞ 𝑡𝑜 0 𝑚𝑖𝑟𝑟𝑜𝑟 𝑖𝑚𝑚𝑎𝑔𝑒 𝑜𝑓 𝑝𝑜𝑙𝑎𝑟 𝑝𝑙𝑜𝑡
𝑘
Example2 𝐺𝐻 𝑠 =
𝑠(𝑇𝑠 + 1)
P=0
• Step 2: map and plot in GH-plane for
𝜋 𝜋
𝑠 = 𝑅𝑒 𝑗𝜃 𝜃 𝑣𝑎𝑟𝑖𝑒𝑠 𝑓𝑟𝑜𝑚 𝑡𝑜 − 𝑎𝑛𝑑 𝑅 → ∞
2 2
𝑘 𝑘 𝑘 −𝑗2𝜃
𝐺𝐻 = lim = lim = lim = 0𝑒
𝑅→∞ 𝑅𝑒 𝑗𝜃 (𝑅𝑒 𝑗𝜃 + 1) 𝑅→∞ 𝑅𝑒 𝑗𝜃 𝑅𝑒 𝑗𝜃 𝑅→∞ 𝑅 2 𝑒 𝑗2𝜃
This is a point
𝑘
Example2 𝐺𝐻 𝑠 =
𝑠(𝑇𝑠 + 1)
P=0
• Step 3: One pole in imaginary axis (origin)
map and plot in GH-plane for
𝜋 𝜋
𝑠 =∈ 𝑒 𝑗𝜑 𝜑 𝑣𝑎𝑟𝑖𝑒𝑠 𝑓𝑟𝑜𝑚 − 𝑡𝑜 𝑎𝑛𝑑 𝜖 → 0
2 2
𝑘 𝑘 −𝑗𝜑
𝐺𝐻 = lim = lim = ∞𝑒
𝜀→0 𝜀𝑒 𝑗𝜑 (𝜀𝑒 𝑗𝜑 + 1) 𝜀→0 𝜀𝑒 𝑗𝜑
𝜋 Circle with infinite radius and angle varies
𝜋 𝜋
2 from 2 𝑡𝑜 − 2
P=0 and N=0: Closed loop System is stable
𝜋
−
2
4𝑠 + 1
Example3 𝐺𝐻 𝑠 = P=0
𝑠 2 (𝑠 + 1)(2𝑠 + 1)
• Step 1: Substitute 𝑠 = 𝑗𝜔 to get 𝐺 𝑗𝜔 and
plot in GH-plane for 𝜔 = 0 𝑡𝑜 ∞(polar plot)
(𝑗4𝜔 + 1) 𝜔 = 0: 𝑀 = ∞
𝐺𝐻 𝑠 = 𝜔 = ∞: 𝑀 =0
(𝑗𝜔)2(𝑗𝜔 + 1)(𝑗2𝜔 + 1)
𝜔 = 0: ∅ = −180
1 + 16𝜔 2 𝜔 = ∞: ∅ = −270
𝑀=
𝜔 2 1 + 𝜔 2 1 + 4𝜔 2
𝑅𝑒𝑎𝑙 𝐶𝑢𝑡 = −10.6
∅ = tan−1 4𝜔 − 180 − tan−1 𝜔 − tan−1 2𝜔
𝐼𝑚𝑎𝑔. 𝐶𝑢𝑡: 0, ∞
4𝑠 + 1
Example3 𝐺𝐻 𝑠 = P=0
𝑠 2 (𝑠 + 1)(2𝑠 + 1)
plot in GH-plane for 𝜔 =
− ∞ 𝑡𝑜 0 𝑚𝑖𝑟𝑟𝑜𝑟 𝑖𝑚𝑚𝑎𝑔𝑒 𝑜𝑓 𝑝𝑜𝑙𝑎𝑟 𝑝𝑙𝑜𝑡
4𝑠 + 1
Example3 𝐺𝐻 𝑠 = P=0
𝑠 2 (𝑠 + 1)(2𝑠 + 1)
• Step 2: map and plot in GH-plane for
𝜋 𝜋
𝑠 = 𝑅𝑒 𝑗𝜃 𝜃 𝑣𝑎𝑟𝑖𝑒𝑠 𝑓𝑟𝑜𝑚 𝑡𝑜 − 𝑎𝑛𝑑 𝑅 → ∞
2 2
4𝑅𝑒 𝑗𝜃 + 1 4𝑅𝑒 𝑗𝜃 4
𝐺𝐻 = lim 𝑗𝜃 𝑗𝜃 𝑗𝜃 𝑗𝜃
= lim 𝑗𝜃 𝑗𝜃 𝑗𝜃 𝑗𝜃
= lim 3 𝑗3𝜃 = 0𝑒 −𝑗3𝜃
𝑅→∞ 𝑅𝑒 𝑅𝑒 (𝑅𝑒 + 1)(2𝑅𝑒 + 1) 𝑅→∞ 𝑅𝑒 𝑅𝑒 𝑅𝑒 𝑅𝑒 𝑅→∞ 𝑅 𝑒
This is a point
4𝑠 + 1
Example3 𝐺𝐻 𝑠 = P=0
𝑠 2 (𝑠 + 1)(2𝑠 + 1)
• Step 3: One pole in imaginary axis (origin)
map and plot in GH-plane for
𝜋 𝜋
𝑠 =∈ 𝑒 𝑗𝜑 𝜑 𝑣𝑎𝑟𝑖𝑒𝑠 𝑓𝑟𝑜𝑚 − 𝑡𝑜 𝑎𝑛𝑑 𝜖 → 0
2 2
4𝜀𝑒 𝑗𝜑 + 1 1
𝐺𝐻 = lim 𝑗𝜑 𝑗𝜑 𝑗𝜑 𝑗𝜑
= lim 𝑗𝜑 𝑗𝜑
= ∞𝑒 −𝑗2𝜑
𝜀→0 𝜀𝑒 𝜀𝑒 (𝜀𝑒 + 1)(2𝜀𝑒 + 1) 𝜀→0 𝜀𝑒 𝜀𝑒
Circle with infinite radius and angle varies
from π 𝑡𝑜 − 𝜋
P=0 and N=-2: Closed loop System is unstable
Gain Margin and Phase margin
Gain Margin: Gain required to bring the system to the verge of instability (to -1+j0 point)
at phase cross over frequency
Phase cross over frequency:
Frequency at which phase = -𝜋(𝑜𝑟 1800)
Gain Margin=1/a
a=Gain at phase crossover frequency
Plot for a stable system
Gain Margin and Phase margin
Phase Margin: Phase required to bring the system to the verge of instability (to -1+j0 point)
at gain cross over frequency
Gain cross over frequency:
Frequency at which gain = 1
Phase Margin= ∅ = 𝜋 + )𝜔𝑗(𝐻𝐺ۦ
=)𝜔𝑗(𝐻𝐺ۦPhase at gain crossover frequency 𝐺𝐻(𝑗𝜔)
Plot for a stable system
1
Example1 𝐺𝐻 𝑗𝜔 =
𝑗𝜔(𝑗0.2𝜔 + 1)(𝑗0.05𝜔 + 1)
M=
<GH(jω)=
From graph
−𝑗2𝜔
Example2 𝐺𝐻 𝑗𝜔 = 𝑒
𝑗𝜔
Phase Margin: Phase required to bring the system to the verge of instability (to -1+j0 point)
at gain cross over frequency
Gain cross over frequency: 1
Frequency at which gain = 1 𝑀= = 1 → 𝜔 = 1(𝑔𝑎𝑖𝑛 𝑐𝑟𝑜𝑠𝑠𝑜𝑣𝑒𝑟 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦)
𝜔
Phase Margin= ∅ = 180 + )𝜔𝑗(𝐻𝐺ۦ 𝜋
∅ = 𝜋 + − − 2𝜔 = −24
2
−𝑗2𝜔
Example2 𝐺𝐻 𝑗𝜔 = 𝑒
𝑗𝜔
Gain Margin: Gain required to bring the system to the verge of instability (to -1+j0 point)
at phase cross over frequency
Phase cross over frequency: 𝜋 𝜋
Frequency at which phase = -180 − − 2𝜔 = −𝜋 → 𝜔 =
2 4
𝜋
Gain Margin= 𝜔 = 4
