LINEAR CONTROL

SYSTEMS
Ali Karimpour
Assistant Professor
Ferdowsi University of Mashhad

Lecture 25

Lecture 25
Nyquist stability criteria (Continue).
Topics to be covered include:

Nyquist stability criteria (continue).

Minimum phase systems.
Simplified Nyquist stability criterion.

Ali Karimpour Apr 2009

Lecture 25

Nyquist fundamental
kf (s )

Nyquist path

Z 0 P0 N 0

Nyquist plot

Z 1 P1 N 1

k 0

Z 1 P1 N1

k 0

3
3
Ali Karimpour Apr 2009

.Example 1: Discuss about the RHP roots of following system

1 k

Lecture 25

2( s 1)
0 k :1
s ( s 1)
.

Very important part

f ( s)

2( s 1)
s ( s 1)

2 2
f ( s)

180
s
0
2
2
f ( s)

225
s
45
2
2
f ( s)

270
s
90
2
2
f ( s)
90
s 90
f ( s)

2
2

45
s 45

f (s)

2
2

0
s 0

Ali Karimpour Apr 2009

.Example 1: Discuss about the RHP roots of the following system

2( s 1)
1 k
0
s ( s 1)

Lecture 25

k :1
.
f ( s)

2( s 1)
s ( s 1)
1

2( j 1)
f ( j )
j ( j 1)

?1

f ( j )

?2

?Which point is very important

f ( j ) num den 180 tan 1 (90 tan 1 ) 90 2 tan 1

f ( j ) 0

Or equivalently let Im(f) 0

f ( j1)

2(1 j 1)
20
j ( j 1)
5

Ali Karimpour Apr 2009

Lecture 25

Example 1: Discuss about the RHP roots of the following system for different values
.of k
2( s 1)
1 k
0 k :1
s ( s 1)
.

k 0 Z 1 P1 N 1

1
1

Z 1 1

Unstable( one RHP root)

k 0 Z 1 P1 N1

Z 1 0 1

Z 1

Z 1 N1

0.5 k 0 Stable
k 0.5

Unstable
(two RHP root)

More Study:
Z 0 P0 N 0

1 0 1

Ali Karimpour Apr 2009

Lecture 25

Example 2: Discuss about the stability of the following system for different values of
.k

. k :2
+

k (s 2)

k (s 2)

10(s 2)
1 k 3
0
2
s 3s 10

10
s 2 (s 3)

10
s 3s 2 10
3

:
7
7
Ali Karimpour Apr 2009

:Discuss about the RHP roots of

f ( s)

10( s 2)
s 3 3s 2 10

10( s 2)
1 k 3
0
2
s 3s 10

Lecture 25

10(0 2)
2
0 0 10
10
10
f ( s) 2
180
2
f ( s)

s
(90)
10
10
f ( s) 2
90
s
(45) 2
f ( s)

10
10

0
s 2 (0) 2

f ( j )

10( j 2) (10 3 2 ) j 3
f ( j )
(10 3 2 ) j 3 (10 3 2 ) j 3
10( j 10 2)
f ( j 10 )
1180
(10 30) j10 10

10( j 2)
(10 3 2 ) j 3
10 (10 3 2 ) 20 3
Im( f )
0
(10 3 2 ) 2 6

?How

f ( j1)

0 , 10

20 10 j
10( j1 2)
2.6 1.8 j

j
1
(10 3) j1
8

Ali Karimpour Apr 2009

10( s 2)
1 k 3
0
2
s 3s 10

:Discuss about the RHP roots of

Lecture 25

P1 P0 ?
Z 0 P0 N 0
1

k 0

0 P0 2

Z 1 P1 N 1

P1 P0 2
Z 1 2 N 1

2 2 0 k 1
Z 1 N 1 2
0 2 2 0 k 1
k 0

Z 1 P1 N1

02 2
Z 1 N1 2
1 2 1

Stable
Unstable
2 RHP roots

Z 1 2 N1

Z 1 N1 2

0.5 k 0

Unstable (2 RHP roots)

k 0.5

Unstable (1 RHP
roots9)
Ali Karimpour Apr 2009

Lecture 25

Minimum Phase systems

f(s) is said to be minimum phase if it has no poles and zeros
on the RHP and on the j axis (origin is an exception) and
there
is no
delay. f(s)
RHP

. ) ( j
nz

f (s)

( s zi )
i 1
np

Ty

s (s p j )
j 1

Important note:

If it was minimum phase

zi , p j 0
Ty is type of system

If f(s) is minimum phase then

Z 0 P1 P0 0

10

Ali Karimpour Apr 2009

Lecture 25

Nyquist fundamental for minimum phase systems

kf (s )

Nyquist path

Nyquist plot

k 0

Z 1 P1 N 1

Z 1 N 1

k 0

Z 1 P1 N1

Z 1 N1

11
11
Ali Karimpour Apr 2009

Check the stability of following system by Nyquist

method.

f (s)

R (s)+

40
s ( s 25 )

Lecture
C (s) 25

40
s ( s 25)

-1

System is minimum phase

k 0
k 0

2( 90Ty -1 )
2(90 90 )
Z 1 N 1

360
360
2( 90Ty 1 ) 2(90 90 )

1
Z 1 N1

360
360

Stable for k 0
Unstable for k 0
12
12
One
RHP
zero
Ali Karimpour Apr 2009

Simplified Nyquist
path plot

Check the stability of following system by Nyquist

method.

f (s)

R (s)+

40
s ( s 25 )

Lecture
C (s) 25

40
s ( s 25)

System is minimum phase

k 0
k 0

2( 90Ty -1 )
Z 1 N 1
360
2( 90Ty 1 )
Z 1 N1
360

po
la

rp

lo t

-1

-1 is the angle of polar plot around -1

1 is the angle of polar plot around 1
13
Ali Karimpour Apr 2009

Lecture 25

Simplified Nyquist method

kf (s )

-1

System is minimum phase

Simplified Nyquist
path plot

k 0
k 0

2( 90Ty -1 )
Z 1 N 1
360
2( 90Ty 1 )
Z 1 N1
360

Polar plot

-1 is the angle of polar plot around -1

1 is the angle of polar plot around 1
14

Ali Karimpour Apr 2009

Lecture 25

Example 3: Discuss about the RHP roots of the following system for different values
.of k
k RHP :3
1 k

1
0
1 s

Clearly System is minimum phase so we use simplified Nyquist method

f ( s)

1
1 s
1

-1

Simplified Nyquist
path plot

k 0
k 0

Polar plot

Z 1 N 1
Z 1 N1

2(90Ty 1 )

360
2(90Ty 1 )
360

2(0 0)
0

360

1
180 / 180 1

180 0 / 180 0

No RHP root.
k 1
1 k 0

One RHP root.

No RHP root.

15

Ali Karimpour Apr 2009

Lecture 25

Example 4: Discuss about the RHP roots of the following system for different values
.of k
k RHP :4
1 k

1
0
s (1 s)

Clearly System is minimum phase so we use simplified Nyquist method

f (s)

1
s (1 s)
-1

Simplified Nyquist
path plot

k 0

Z 1 N 1

k 0

Z 1 N1

Polar plot

2(90Ty 1 )

2(90 90)
0

360

2(90 90)
1

360

360
2(90Ty 1 )
360

No RHP root.
One RHP root.
16
Ali Karimpour Apr 2009

Lecture 25

Example 5: Discuss about the RHP roots of the following system for different values
.of k

k 1 RHP :5
1 k 2
0 0
.
s (1 s )

Clearly System is minimum phase so we use simplified Nyquist method

f ( s)

1
s 2 (1 s )
1

-1

Simplified Nyquist
path plot

k 0
k 0

Polar plot

2(90Ty 1 ) 2(180 180)

2 Two RHP roots.

Z 1 N 1

360
360
2(90Ty 1 )
2(180 0)

1 One RHP root.

Z 1 N1

360
360
17
Ali Karimpour Apr 2009

Example 6: Discuss about the RHP roots of following system for different valueLecture
of 25
.k

k RHP :6
1
.
1 k 3
0 0
s (1 s )

Clearly System is minimum phase so we use simplified Nyquist method

f ( s)

1
s 3 (1 s )
1

-1

Simplified Nyquist
path plot

k 0

Z 1 N 1

k 0

Z 1 N1

Polar plot

2(90Ty 1 )
360
2(90Ty 1 )
360

2(270 90)
2 Two RHP roots.

360

2(270 90)
1

360

One RHP root.

18
Ali Karimpour Apr 2009

Lecture 25

Simplified Nyquist method

kf (s )
-1

Simplified Nyquist
path plot

k 0
k 0

System is minimum phase

2( 90Ty -1 )
Z 1 N 1
360
2( 90Ty 1 )
Z 1 N1
360

Polar plot

-1 is the angle of polar plot around -1

1 is the angle of polar plot around 1

Important remark: If any of -1 or 1 is greater than zero the system is

unstable but if they were less than zero one must check it!
19

Ali Karimpour Apr 2009

Lecture 25

Simplified Nyquist method

kf (s )
-1

Unstable
Polar plot

kf (s )
Simplified Nyquist
path plot

-1

Polar plot

Stability depends20
on Ty

Ali Karimpour Apr 2009

Lecture 25

Exercises

1- The open loop transfer function of a unity-feedback (negative sign) is:

G p (s)

k
( s 5) n

Apply the Nyquist criterion to determine the range of k for stability. Let
n=1,2,3 and 4
2- The characteristic equation of a linear control system is:
s 3 2s 2 20 s 10k 0

Apply the Nyquist criterion to determine the range of k for stability.

21
Ali Karimpour Apr 2009

Lecture 25

Exercises

3- The open loop transfer function of a unity-feedback (negative sign)

with PD controller is:
G p ( s)

10( K p K d s )
s2

Select the value of Kp so that the parabolic error constant be 100. Find
the equivalent open-loop transfer function Geq(s) for stability analysis
with Kd as a gain factor. Sketch the Nyquist plot and check the stability
for different values of Kd.

22

Ali Karimpour Apr 2009

Lecture 25

Exercises

4- The polar plot of an open loop transfer function of a minimum phase

system is:
3

Determine the steady state error of the system to a unit step.

ess

1
4

5- The open loop transfer function of a unity-feedback (negative sign) is:

ke Ts
G (s)
( k 1)
s 1
Derive an expression that make the system stable.
:
[T k 2 1 tan 1 k 2 1] 23

Ali Karimpour Apr 2009