Module 5: Design of sample data control systems
Lecture Note 4
1. Frequency domain analysis
- Sinusoidal input → LTI System → sinusoidal output (same frequency,
diffierent magnitude and phase).
- Change output magnitude and phase with input frequency: Frequency
respose.
- Frequency domain analysis: Good design when plant model is known.
- Two most popular graphical in frequency domain: Nyquist plot, Bode
diagram.
1.1. Nyquist plot
- Nyquist plot of transfer function, usually loop transfer function GH(z), is a
map–ping of Nyquist contour in z-plane which is in polar coordinate.
→ Application: Nyquist plot can be determined absolute and relative
stabilities.
- For loop transfer function GH(z), setting z = ejωT (ω: 0 → ∞).
- Nyquist plot stability criterion: Closed loop transfer function of SISO of
G (z)
digital control system: M(z) = 1+ GH (z ) (GH(z) = Z(G(s)H(s))).
→ All the root of characteristic equation (1 + GH(z) = 0) must lie inside the
unit circle for the system to stable.
Nyquist stability criterion for the digital system, following step are
necessary:
1. Defining the Nyquist path in the z-plane that encloses the exterior of the unit
circle. Here the region to the left of a closed path is considered to be
enclosed by that path when the direction of the path is taken anticlockwise.
2. Mapping the Nyquist path in z-plane onto the GH(z) plane which results in
Nyquist plot of GH(z).
3. Stability of the closed loop system is investigated by studying the behavior
of Nyquist plot with respect to the critical point (−1, j0) in the GH(z) plane
- Two Nyquist paths are defined. The Nyquist path z1 as shown in Figure 1
does not enclose poles on the unit circle whereas the Nyquist path z2 as
shown in Figure 2 encloses poles on the unit circle.
- These figures are the mapping of the Nyquist contours in s-plane where the
entire right half of the s-plane, without or with the imaginary axis poles, is
enclosed by the contours.
- Let us now define the following parameters:
+ Z−1 = number of zeros of 1 + GH(z) outside the unit circle in the z-plane.
+ P−1 = number of poles of 1 + GH(z) outside the unit circle in the z-plane.
+ P0 = number of poles of GH(z) (same as number of poles of 1 + GH(z)) that
are on the unit circle.
+ N1 = number of times the (−1, j0) point is encircled by the Nyquist plot of
GH(z) corre sponding to z1.
+ N2 = number of times (−1, j0) point is encircled by Nyquist plot of GH(z)
correspond ing to z2.
Figure 1: Nyquist path that does not enclose poles on the unit circle.
Figure 2: Nyquist path that encloses poles on the unit circle.
- According to the principle of argument in complex variable theory:
N1 = Z−1 − P−1
N2 = Z−1 − P−1 − P0
- Now let us denote the angle traversed by the phasor drawn from (−1, j0)
ωs
point to the Nyquist plot of GH(z) as ω varies from 2 to 0 on the unit circle
of z1 excluding the small indentations, by φ.
φ = (Z−1 − P−1 − 0.5P0)180o (1)
- For the closed loop digital control system to be stable, Z−1 should be equal to
zero. Thus the Nyquist criterion for stability of the closed loop digital
control systems is: φ = − (P−1 + 0.5P0)180o (2)
→ Hence, we can conclude that for the closed loop digital control system to be
stable, the angle, traversed by the phasor drawn to the GH(z) plot from (-1, j0)
ωs
point as ω varies from 2 to 0, must satisfy equation (2).
Example 1: Consider a digital control system for which the loop transfer
function is given as:
0.095 Kz
GH(z) = ( z−1)(z−0.9)
- where K is a gain parameter. The sampling time T = 0.1 sec.
- Since GH(z) has one pole on the unit circle and does not have any pole
outside the unit circle, P−1 = 0 and P0 =1.
- Nyquist path has a small indentation at z = 1 on the unit circle.
- Nyquist plot of GH(z), as shown in Figure 3, intersects the negative real axis
ωs
at −0.025K when ω = 2 = 31.4 rad/sec.
- φ can be computed as: φ = − (0+0.5×1)180o = −90o.
- It can be seen from Figure 3 that for φ to be −90o, (−1, j0) point should be
located at the left of −0.025K point. Thus for stability:
Figure 3: Nyquist plot for example 1
⇒ K < 40
−1 < −0.025K
- If K > 40, (−1, j0) will be at the right of −0.025K point, hence making φ =
φ
90o. If φ = 90o, we get from (1): Z−1 = 180(angle) + 0 + 0.5 = 1.
- Thus for K > 40, one of the closed loop poles will be outside the unit circle.
- If K is negative we can still use the same Nyquist plot but refer (+1, j0) point
as the critical point. φ in this case still equals +90o and the system is
unstable. Hence the stable range of K is:
0 ≤K<40
- More details can be found in Digital Control Systems by B. C. Kuo.
