Systems Analysis and Control

Matthew M. Peet
Illinois Institute of Technology
Lecture 23: Drawing The Nyquist Plot
Overview
In this Lecture, you will learn:
Review of Nyquist
Drawing the Nyquist Plot
Using the Bode Plot
What happens at r =
Poles on the imaginary axis
Phase Margin and Gain Margin
Reading Stability Margins o the Nyquist Plot
M. Peet Lecture 23: Control Systems 2 / 30
Review
Systems in Feedback
The closed loop is
kG(s)
1 + kG(s)
We want to know when
1 + kG(s) = 0
Question: Does
1
k
+ G(s) have any zeros in the RHP?
G(s)
k
+
-
y(s)
u(s)
M. Peet Lecture 23: Control Systems 3 / 30
Review
The Nyquist Contour
Denition 1.
The Nyquist Contour, C
N
is a contour which contains the imaginary axis and
encloses the right half-place. The Nyquist contour is clockwise.
A Clockwise Curve
Starts at the origin.
Travels along imaginary axis till r = .
At r = , loops around clockwise.
Returns to the origin along imaginary axis.
We want to know if
1
k
+ G(s)
has any zeros in the Nyquist Contour
r =
M. Peet Lecture 23: Control Systems 4 / 30
Review
Contour Mapping Principle
Key Point: For a point on the mapped contour, s

= G(s),
s

= G(s)
We measure , not phase.
To measure the 360

resets in G(s)
We count the number of +360

resets in !
We count the number of times C
G
encircles the origin Clockwise.
The number of clockwise encirclements
of 0 is
The #
poles
#
zeros
in the RHP
s
s
*
= G(s)
= < G(s)
M. Peet Lecture 23: Control Systems 5 / 30
The Nyquist Contour
Closed Loop
The number of unstable closed-loop poles is
N + P, where
N is the number of clockwise
encirclements of
1
k
.
P is the number of unstable open-loop
poles.
If we get our data from Bode, typically P = 0
-1/k
How to Plot the Nyquist Curve?
M. Peet Lecture 23: Control Systems 6 / 30
Plotting the Nyquist Diagram
Example
How are we to plot the Nyquist diagram for
G(s) =
1
(
1
s + 1)(
2
s + 1)

1
= 1

2
=
1
10
First lets take a look at the root locus.
Obviously stable for any k > 0.
12 10 8 6 4 2 0 2
6
4
2
0
2
4
6
Root Locus
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
M. Peet Lecture 23: Control Systems 7 / 30
The Nyquist Plot
Bode Plot: Lets look at the Frequency Response.
The Bode plot can give us information
on |G| at dierent frequencies.
Point G |G|
A .1 0

1
B 1 45

.7
C 3 90

.3
D 10 135

.07
E 100 175

.001
The last two columns give us points on
the Nyquist diagram.
-120
-100
-80
-60
-40
-20
0
20
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
10
3
-180
-135
-90
-45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
A
B
C
D
E
A
B
C
D
E
M. Peet Lecture 23: Control Systems 8 / 30
The Nyquist Plot
Plot the points from the Bode Diagram.
Point G |G|
A .1 0

1
B 1 45

.7
C 3 90

.3
D 10 135

.07
E 100 175

.001
We get
the upper half of the Nyquist diagram
from symmetry.
-0.2 0 0.2 0.4 0.6 0.8 1 1.2
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
A
B
C
D
E
M. Peet Lecture 23: Control Systems 9 / 30
The Nyquist Plot
-0.2 0 0.2 0.4 0.6 0.8 1 1.2
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
A
B
C
D
E
There are no encirclements of
1
k
.
Stable for all k > 0.
We already knew that from Root Locus.
M. Peet Lecture 23: Control Systems 10 / 30
The Nyquist Plot
Example 2
G(s) =
1
(s + 1)
3
First lets take a look at the root locus.
We expect instability for large k.
2.5 2 1.5 1 0.5 0 0.5
2
1.5
1
0.5
0
0.5
1
1.5
2
Root Locus
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
M. Peet Lecture 23: Control Systems 11 / 30
The Nyquist Plot
Bode Plot: Lets look at the Frequency Response.
The Bode plot can give us information
on |G| at dierent frequencies.
Point G |G|
A .1 0

1
B .28 45

.95
C 1 135

.35
D 1.8 180

.1
E 10 260

.001
-70
-60
-50
-40
-30
-20
-10
0
10
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
-270
-225
-180
-135
-90
-45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
A
B
C
D
E
A
B
C
D
E
M. Peet Lecture 23: Control Systems 12 / 30
The Nyquist Plot
Plot the points from the Bode Diagram.
Point G |G|
A .1 0

1
B .28 45

.95
C 1 135

.35
D 1.8 180

.1
E 10 260

.001
Point D is especially important.
-0.4 -0.2 0 0.2 0.4 0.6 0.8 1 1.2
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
A
B
C
D E
M. Peet Lecture 23: Control Systems 13 / 30
The Nyquist Plot
-0.4 -0.2 0 0.2 0.4 0.6 0.8 1 1.2
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
A
B
C
D E
Point D: Two CW encirclements when
1
k
< .1 (N=2).
Instability for
1
k
< .1
Stable for k < 10.
Could have used Routh Table.
M. Peet Lecture 23: Control Systems 14 / 30
The Nyquist Plot
Conclusion: We can use the Bode Plot to map the
imaginary axis onto the Nyquist Diagram.
Question: What about the other part of the Nyquist
contour at r = ?
r =
Case 1: Strictly Proper.
lim
s
|G(s)| = 0
What happens at doesnt matter.
Case 2: Not Strictly Proper.
lim
s
|G(s)| = c
Constant Magnitude at .
Im(s)
Re(s)
< s-p
1
< s-z = < s-p
1
= < s-p
2
= < s-p
3
M. Peet Lecture 23: Control Systems 15 / 30
The Nyquist Plot
Case 2: Not Strictly Proper.
Angle to all poles and zeros is the same.
Degree of n(s) and d(s) the same.

Number of Poles and Zeros the same.

The total angle is
G(s) =
n

i=1
(s z
i
)
n

i=1
(s p
i
)
= 0
The contour map at has
Constant magnitude.
Zero angle.
The innite loop is mapped to a single point!
Either (0, 0) or (c, 0).
Im(s)
Re(s)
< s-p
1
< s-z = < s-p
1
= < s-p
2
= < s-p
3
0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2
0.8
0.6
0.4
0.2
0
0.2
0.4
0.6
0.8
Nyquist Diagram
Real Axis
Im
a
g
in
a
r
y
A
x
is
M. Peet Lecture 23: Control Systems 16 / 30
The Nyquist Plot
Another Problem: Recall the non-inverted pendulum
with PD feedback.
G(s) =
s + 1
s
2
+

g
l
Magnitude goes to at =

g
l
.
Question How do we plot the Nyquist
Diagram?
2 1.5 1 0.5 0 0.5 1 1.5 2 2.5
6
4
2
0
2
4
6
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
Matlab cant help us this time.
40
20
0
20
40
60
80
100
120
140
160
M
a
g
n
i
t
u
d
e

(
d
B
)
10
2
10
1
10
0
10
1
10
2
135
90
45
0
45
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
M. Peet Lecture 23: Control Systems 17 / 30
The Nyquist Plot
Problem: The Nyquist Contour passes through a pole.
Because of the pole, the argument principle is invalid.
What to do? r =
We Modify the Nyquist Contour.
We detour around the poles.
Can detour to the right or left.
If we detour to the left, then the poles count as unstable open loop poles.
P=2
Assume we detour to the right.
P=0
M. Peet Lecture 23: Control Systems 18 / 30
The Nyquist Plot
Look at the detours at small radius.
Obviously, magnitude
Before the Detour, the phase from the pole is
(s p) = 90

In the middle of the Detour, the phase from the

pole is
(s p) = 0

At the end of the Detour, the phase from the pole

is
(s p) = 90

< (s - p) = 80
o
< (s - p) = -5
o
The total phase change through the detour is 180

.
Corresponds to a CW loop at large radius.
If there are two or more poles, there is a -180 loop for each pole.
M. Peet Lecture 23: Control Systems 19 / 30
The Nyquist Plot
Look at the following example:
G(s) =
s + 2
s
2
There are 2 poles at the origin.
At = 0,

G(0) = 180

|G(0)| =
2 poles means 360

loop at = 0
M. Peet Lecture 23: Control Systems 20 / 30
The Nyquist Plot
Lets re-examine the pendulum problem with derivative feedback.
10 5 0 5 10
10
5
0
5
10
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
___
=(g/l)
Now we can gure out what goes on at .
There is a 180

loop at each =

g
l
.
M. Peet Lecture 23: Control Systems 21 / 30
The Nyquist Plot
Conclusion: The loops connect in a non-obvious way!
10 5 0 5 10
10
5
0
5
10
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y
A
x
i
s
___
=(g/l)
For 0 <
1
k
< 1, we have N = 1
400 200 0 200 400 600 800 1000 1200 1400
1500
1000
500
0
500
1000
1500
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
M. Peet Lecture 23: Control Systems 22 / 30
Stability Margins
Recall the denitions of Gain Margin.
Denition 2.
The Gain Margin, K
m
= 1/|G()|
when G() = 180

Let K
m
is the maximum stable gain in
closed loop.
K
m
G(s) is unstable in closed loop
Sometimes expressed in dB
It is easy to nd the maximum stable
gain from the Nyquist Plot.
Find the point
1
K
m
which
destabilizes
M. Peet Lecture 23: Control Systems 23 / 30
Stability Margins
Example
Recall
G(s) =
1
(s + 1)
3
Stability: Stable for k < 10.
K
m
= 10 or 20dB.
-0.4 -0.2 0 0.2 0.4 0.6 0.8 1 1.2
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
A
B
C
D E
M. Peet Lecture 23: Control Systems 24 / 30
Stability Margins
Example
Suspension System with integral feedback
There is a pole at the origin.
CW loop at .
20 0 20 40 60 80 100
50
40
30
20
10
0
10
20
30
40
50
Nyquist Diagram
Real Axis
Im
a
g
in
a
r
y
A
x
is
Conclusion: Stable for
1
k
> 9.5.
Stable for k < .105
K
m
= .105 or 19.5dB
-14 -12 -10 -8 -6 -4 -2 0 2
-8
-6
-4
-2
0
2
4
6
8
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
}
9.5
M. Peet Lecture 23: Control Systems 25 / 30
Stability Margins
Question: What is the eect of a phase change on the Nyquist Diagram.
A shift in phase changes the angle of all points.
A Rotation about the origin.
Will we rotate into instability?
-0.2 0 0.2 0.4 0.6 0.8 1 1.2
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
-0.2 0 0.2 0.4 0.6 0.8 1 1.2
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
M. Peet Lecture 23: Control Systems 26 / 30
Stability Margins
Recall the denitions of Phase Margin.
Denition 3.
The Phase Margin,
M
is the uniform
phase change required to destabilize the
system under unitary feedback.
3 2 1 0 1 2 3
3
2
1
0
1
2
3
Nyquist Diagram
Real Axis
Im
a
g
in
a
r
y
A
x
is

M
3 2 1 0 1 2 3
3
2
1
0
1
2
3
Nyquist Diagram
Real Axis
Im
a
g
in
a
r
y
A
x
is
M. Peet Lecture 23: Control Systems 27 / 30
Stability Margins
Example
The Suspension Problem
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s

M
Looking at the intersection with the circle:
Phase Margin:
M

= 40

Gain Margin is innite.

M. Peet Lecture 23: Control Systems 28 / 30
Stability Margins
Example
The Inverted Pendulum Problem
-2 -1.5 -1 -0.5 0 0.5 1
-1.5
-1
-0.5
0
0.5
1
1.5
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s

M
Even though open-loop is unstable, we can still nd the phase margin:
Phase Margin:
M

= 35

Gain Margin is technically undened because open loop is unstable.

There is a minimum gain, not a maximum.
M. Peet Lecture 23: Control Systems 29 / 30
Summary
What have we learned today?
Review of Nyquist
Drawing the Nyquist Plot
Using the Bode Plot
What happens at r =
Poles on the imaginary axis
Phase Margin and Gain Margin
Reading Stability Margins o the Nyquist Plot
Next Lecture: Controller Design in the Frequency Domain
M. Peet Lecture 23: Control Systems 30 / 30