Nyquist Stability Criterion

By: Nafees Ahamad

AP, Department of EECE, DIT University,
Dehradun
Introduction
• Nyquist stability criterion is based on the principle of argument.
• The principle of argument is related with the theory of mapping.
Mapping
• Consider a function D(s) = s2 + 1
• Let s1 = 2+4j
• So, D(s1) = (2+4j)2+1 = -11+j16 = u+jv
• Therefore any point s1 in s-plane can be mapped in D(s) plane by locating the
values of ‘u’ and ‘v’.
 Mapped

Im Im

s1= 2+j4 D(s1)= -11+j16

4 16

2 Re -11 Re

S-plane D(s)-plane
Mapping…
• Therefore, every point in s-plane maps into one and only one point in D(s) plane.
• Any closed contour in s-plane maps into the closed contour in D(s) plane.
Mapping of closed contour and principle of
argument
• Consider the characteristic equation
•
• Where are zeros and are poles.
• Let then D(s) will also be complex .
• Now a arbitrary closed ‘C’ in s-plane maps onto the D(s) plane as
contour as shown on next slide
 Mapped

Im Im

C
Γ

Re Re

S-plane D(s)-plane

No Poles & Zeros inside the contour ‘C’

Mapping of closed contour and principle of
argument…
• Consider this contour ‘C’ in s-plane.
• This contour encircles neither zeros nor poles, then the contour ‘’ in
D(s) plane can’t encircle the origin or the point at infinity.
• If we trace the contour ‘C’ in clockwise direction then the inside
region will be on right of the contour.
• The corresponding region in D(s) plane which contains neither origin
nor the point at infinity should also be to the right of the contour
Mapping of closed contour and principle of
argument…
• If the contour ‘C’ encircles zero but not poles then the point D1(s) is
given by

• Where
•

• IT means that the trip of forms a close contour about the origin in
clockwise direction as shown on next slide.
 Mapped

Im C
Im

Γ
Re
Zeros Re

S-plane
D(s)-plane
One Zero inside the contour ‘C’
Mapping of closed contour and principle of
argument…
• From previous slide we can say that the tip of forms a closed counter
about the origin in clockwise direction.
• Similarly, if the contour ‘C’ encircles ‘z’ zeros in clockwise direction
then the contour in D(s) plane encircles the origin of D(s) plane ‘z’
times in clockwise direction.
• This is shown on next slide for z = 2.
 Mapped

Im C
Im

Re
Re

S-plane
D(s)-plane
Two Zero inside the contour ‘C’
Mapping of closed contour and principle of
argument…
• Consider another case when the contour ‘C’ encircles ‘P’ number of
poles in clockwise direction then the corresponding contour ‘’ will
encircle the origin ‘P’ time in anti-clockwise direction.
• Next two slides show this situation when P =1 and P = 2.
 Mapped

Im C
Im

Γ
Re
Re

S-plane
D(s)-plane
One pole inside the contour ‘C’
 Mapped

Im C
Im

Re
Re

S-plane
D(s)-plane
Two poles inside the contour ‘C’
Mapping of closed contour and principle of
argument…
• Now, if contour ‘C’ encircles both zeros and poles in clockwise
direction then corresponding contour ‘’ encircles the origin of D(s)
plane N (=Z-P) time in clockwise direction.
• This relationship between enclosure of poles and zeros by the contour
in s-plane and encirclement of origin of the contour ‘’ in D(s) plane is
known as principle of argument.
Nyquist path or Nyquist Contour
• The overall transfer function of a given system is given by
• , Its characteristic equation

• For stability of closed loop system this characteristic equation should

not have any root (Pole of T.F) on right half of s-plane.
• For this purpose, we use a contour in s-plane which enclosed the
entire right half of s-plane with clockwise encirclement and radios .
• This contour is know as Nyquist Contour. (See on next slide)
Nyquist path or Nyquist Contour …

𝑅→∞ 𝑅→∞

𝑟 →0

No Poles on axis One Poles at origin Poles at origin and axis

Nyquist Criterion
• The characteristic equation is given by

• Let there are ‘Z’ zeros and ‘P’ poles of D(s) in the right hand side of s-
plane.
• If this contour is mapped in D(s) plane as then encloses the origin N
times (N = Z – P) in clockwise direction.
• Then the system becomes unstable because the clockwise
encirclement is possible only when there are zeros of D(s) in right half
of s-plane
Nyquist Criterion …
• A feedback system (closed loop system) is stable if and only if there is
no zeros of D(s) in the right half of s-plane. i.e., Z = 0
• N=Z–P=-P
• Therefore, for a closed loop system to be stable, the number of
counter clockwise encirclement of the origin of D(s) plane by should
equal the number of right half s-plane poles of D(s) [which are the
poles of open loop transfer function G(s)H(s)].
Nyquist Criterion …
• Since
• Or
• The contour in D(s) plane can be mapped in G(s)H(s) plane by
shifting horizontally to the left by one unit. Im

Contour
-1

Contour Re
Nyquist Criterion …
• Thus the encirclement of the origin by the contour is equivalent to
the encirclement of the point (-1+j0) by the contour as shown on
previous slide.
• In most, single loop feedback system G(s)H(s) has no poles in the right
half plane i.e. P = 0 then close loop system is stable if N = P = 0.
• So, we can say that a closed loop system with P = 0 is stable if the net
encirclement of the origin of D(s) plane by contour is zero.
Nyquist Stability Criterion: Statement
• A feedback system is stable if the contour of the open loop transfer
function G(s)H(s) corresponding to the Nyquist contour in the s-plane
encircles the point (-1+j0) in counter clockwise direction and the
number of counter clockwise encirclement about the (-1+j0) equals
the number of poles of G(s)H(s) in the right half of the s-plane i.e.
with positive real parts.
• In common case, the closed loop system is stable if the contour of
G(s)H(s) does not pass through or does not encircle (-1+j0) point, i.e.
net encirclement is zero
Example
• Consider the following example K
G ( s) H ( s) 
s( sT  1)
• Draw the polar plot:
K
• Put ω=+0 G (0) H (0)     900
j 0( j 0T  1)

• Assuming 1>>j0T
K
• Put ω=+∞ G () H ()   0  1800
j( jT  1)

• Assuming 1<<j ∞ T
• Separate the real & Im parts KT K
G ( jw) H ( jw)   j
( 2T 2  1)  ( 2T 2  1)

• So, No intersection with jω axis other then at origin and infinity

07/07/2023 By: Nafees Ahmed, EED, DIT, DDun

Example …
Im
• Polar plot ⇒ω=+0 to ω=+∞ 𝜔=− 0
• Plot for variation from ω=-0 to ω=-∞
is mirror image of the plot from ω=+0
to ω=+∞. As shown by doted line.
• From ω=-0 to ω=+0 the plot is not 𝜔=− ∞
complete. The completion of plot 𝜔=+ ∞ Re
depends on the no of poles of
G(s)H(s) at origin(Type of the
G(s)H(s)).

𝜔=+0
Nyquist Plot
07/07/2023 By: Nafees Ahmed, EED, DIT, DDun
Closing Nyquist plot from s=-j0 to s=+j0…

• The closing angle for different type of sys

Type of Angle through which Nyquist plot is Magnitude of G(s)H(s)
G(s)H(s) to be closed from ω=-0 to ω=+0
(n)
0 0 The points ω=-0 & ω=+0 are
coincident
1 -π ∞
2 -2π ∞
3 -3π ∞
.
.
n -nπ ∞

07/07/2023 By: Nafees Ahmed, EED, DIT, DDun

Example…
Im
𝜔=− 0

𝜔=− ∞
𝜔=+ ∞ Re

𝜔=+0
Nyquist Plot
07/07/2023
By: Nafees Ahmed, EED, DIT, DDun
Example…
• No of roots of characteristic equation having + real part(Z) are given
by N  PZ

• N=0 As point -1+j0 is not encircled by the plot

• P=0 (Poles of G(s)H(s) having + real parts)
0  0Z  Z  0

• No of roots of characteristic equation (Z) with +ve real part = 0

• Hence, closed loop system is stable

07/07/2023 By: Nafees Ahmed, EED, DIT, DDun

Thanks