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Drawing Nyquist Diagram - Control Systems
Drawing Nyquist Diagram - Control Systems
Matthew M. Peet
Illinois Institute of Technology
Overview
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Review
Systems in Feedback
1
k
u(s) +
M. Peet
G(s)
y(s)
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Review
The Nyquist Contour
Definition 1.
The Nyquist Contour, CN 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 = .
r=
We want to know if
1
+ G(s)
k
has any zeros in the Nyquist Contour
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Review
Contour Mapping Principle
s*= G(s)
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encirclements of
1
k .
poles.
If we get our data from Bode, typically P = 0
-1/k
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1
(1 s + 1)(2 s + 1)
1 = 1
1
2 = 10
Imaginary Axis
6
12
M. Peet
10
6
4
Real Axis
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20
B
C
.1
1
3
10
100
G
0
45
90
135
175
|G|
1
.7
.3
.07
.001
-40
E
-60
-80
-100
-120
-45
Phase (deg)
Point
A
B
C
D
E
Magnitude (dB)
-20
C
-90
D
-135
E
-180
10
M. Peet
-2
10
-1
10
Frequency (rad/sec)
10
10
10
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.1
1
3
10
100
G
0
45
90
135
175
|G|
1
.7
We get
.3
.07
.001
0.8
0.6
0.4
0.2
Imaginary Axis
Point
A
B
C
D
E
D
-0.2
C
-0.4
-0.6
-0.8
-0.2
M. Peet
0.2
0.4
Real Axis
0.6
0.8
1.2
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0.6
0.4
Imaginary Axis
0.2
D
-0.2
C
-0.4
-0.6
-0.8
-0.2
0.2
0.4
Real Axis
0.6
0.8
1.2
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G(s) =
1
(s + 1)3
1.5
Imaginary Axis
0.5
0.5
1.5
2
2.5
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1.5
1
Real Axis
0.5
0.5
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10
G
0
45
135
180
260
|G|
1
.95
.35
.1
.001
D
Magnitude (dB)
.1
.28
1
1.8
10
-20
-30
-40
-50
-60
-70
0
-45
-90
Phase (deg)
Point
A
B
C
D
E
-10
C
-135
D
-180
-225
-270
10
-2
10
-1
10
10
Frequency (rad/sec)
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.1
.28
1
1.8
10
G
0
45
135
180
260
|G|
1
.95
.35
.1
.001
0.8
0.6
0.4
0.2
Imaginary Axis
Point
A
B
C
D
E
-0.2
-0.4
-0.6
B
-0.8
-0.4
M. Peet
-0.2
0.2
0.4
Real Axis
0.6
0.8
1.2
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0.6
0.4
Imaginary Axis
0.2
-0.2
-0.4
-0.6
B
-0.8
-0.4
-0.2
0.2
0.4
Real Axis
0.6
0.8
1.2
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r=
< s-p1
lim |G(s)| = c
Re(s)
Constant Magnitude at .
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Im(s)
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< s-p1
Im(s)
n
X
(s zi )
i=1
n
X
Re(s)
(s pi )
i=1
Nyquist Diagram
=0
0.8
0.6
0.4
0.2
Imaginary Axis
Constant magnitude.
Zero angle.
0.2
0.4
0.6
0.8
0.6
0.8
1.2
1.4
Real Axis
1.6
1.8
2.2
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Bode Diagram
160
140
120
Magnitude (dB)
100
Nyquist Diagram
80
60
40
20
0
20
40
45
0
0
Phase (deg)
Imaginary Axis
45
90
135
2
10
10
10
Frequency (rad/sec)
10
10
1.5
M. Peet
0.5
0
0.5
Real Axis
1.5
2.5
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r=
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(s p) = 90
< (s - p) = 80o
pole is
(s p) = 0
At the end of the Detour, the phase from the pole
< (s - p) = -5o
is
(s p) = 90
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.
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s+2
s2
G(0) = 180
|G(0)| =
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___
=(g/l)
10
Imaginary Axis
10
10
0
Real Axis
10
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Nyquist Diagram
1500
___
=(g/l)
10
1000
500
Imaginary Axis
Imaginary Axis
500
1000
10
10
For 0 <
1
k
0
Real Axis
1500
400 200
10
200
400
600
Real Axis
800
< 1, we have N = 1
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Stability Margins
Recall the definitions of Gain Margin.
Definition 2.
The Gain Margin, Km = 1/|G()|
when G() = 180
Let Km is the maximum stable gain in
closed loop.
Km G(s) is unstable in closed loop
Sometimes expressed in dB
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Stability Margins
Example
Recall
G(s) =
1
(s + 1)3
Nyquist Diagram
0.8
0.6
0.4
20dB.
Imaginary Axis
0.2
-0.2
-0.4
-0.6
B
-0.8
-0.4
M. Peet
-0.2
0.2
0.4
Real Axis
0.6
0.8
1.2
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Stability Margins
Example
CW loop at .
Nyquist Diagram
6
50
9.5
40
4
30
20
Imaginary Axis
Imaginary Axis
2
10
10
20
-2
30
40
-4
50
20
20
40
Real Axis
60
1
k
80
100
> 9.5.
Km = .105
M. Peet
or
-6
-8
-14
-12
-10
-8
-6
Real Axis
-4
-2
19.5dB
Lecture 23: Control Systems
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Stability Margins
Question: What is the effect 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?
Nyquist Diagram
0.8
0.6
0.6
0.4
0.4
0.2
0.2
Imaginary Axis
Imaginary Axis
Nyquist Diagram
0.8
-0.2
-0.2
-0.4
-0.4
-0.6
-0.6
-0.8
-0.8
-0.2
M. Peet
0.2
0.4
Real Axis
0.6
0.8
1.2
-0.2
0.2
0.4
Real Axis
0.6
0.8
1.2
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Stability Margins
Nyquist Diagram
3
Definition 3.
Imaginary Axis
M
0
3
3
0
Real Axis
Nyquist Diagram
3
Imaginary Axis
3
3
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0
Real Axis
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Stability Margins
Example
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-2
-3
-2.5
-2
-1.5
-1
Real Axis
-0.5
0.5
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Stability Margins
Example
Nyquist Diagram
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-2
-1.5
-1
-0.5
Real Axis
0.5
Even though open-loop is unstable, we can still find the phase margin:
Phase Margin: M
= 35
Gain Margin is technically undefined because open loop is unstable.
There is a minimum gain, not a maximum.
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Summary
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