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Control Engineering (ME55)

CHAPTER VI
FREQUENCY RESPONSE
(Continued from Session 21)
6.10.4 System Analysis using Nyquist Criterion: Illustrations
Illustration 1: Sketch the Nyquist plot for the system represented by the open loop transfer
function and comment on its stability.

G(S ) H (S )

K
K 0, a 0
S ( S a)

Poles: S = 0 (on imaginary axis) and S = -a

Step 1: Define Nyquist path. Let the Nyquist path be defined as given below.

+j
S= +j

S=+j0
-

S= -j0

r=
r 0

Nyquist Path

S= -j
-j
Section I:

S = +j to S = +j0;

Section II:

S = +j0 to S = -j0

Section III:

S = -j0 to S = -j;

Section IV:

S = -j to S = +j

2. Corresponding to different sections namely I, II, III, and IV Obtain polar plots on G(S) H(S)
plane, which are nothing but Nyquist Plots.
Nyquist Plot for Section I: In S-plane section I runs from S= + j to S = +j0
To obtain polar plot in G(S) H(S) plane:

1
Dr. B. K. Sridhara, Head, Mechanical Engineering, NIE, Mysore-8

Session 22: 18/10/06

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G(S ) H (S )

Control Engineering (ME55)

K
K 0, a 0
S ( S a)

(i) G ( S ) H ( S )

S j

G(S ) H (S )

K
,
S2

K
0
S2

G ( S ) H ( S )

K
K S 2
S2

= 0 2*900 = - 1800

(ii) G ( S ) H ( S )

S j0

K
K
K1

a
,
S .a
S
S

G(S) H(S) = K/a S = 0 - 900 = - 900

Img
S

M()

G(S) H(S) Plane

()

-1800

S 0

-900

S=j
-1800

Real

Section I

S=j0

-900

2
Dr. B. K. Sridhara, Head, Mechanical Engineering, NIE, Mysore-8

Session 22: 18/10/06

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Control Engineering (ME55)

Nyquist Plot for Section II: In S-plane section II runs from S= + j0 to S = -j0
In this region S 0
In S-plane section II is a semicircle from S = + j0 to S = -j0 of radius r 00, covering an angle of
1800 in clockwise direction

G(S ) H (S )

K
K1

S( a )
S

where K1 = K/a

But S = re+j equation of a circle in exponential form

G(S ) H (S )

K1
Re j , where
j
re
R

G(S) H(S) = R.e-j

K1

K1
R
r
(as r is very small)

This shows that G(S) H(S) plot of section II of Nyquist path is a circle of radius = starting
from S = +j0 and ending at a point S = -j0 covering an angle of 1800 in opposite direction of
section II of Nyquist path (CCW direction i.e., negative sign)

K1
In general if G (S) H (S) = n
S
G(S ) H (S )

Where R =

K1
R.e jn
n jn
r e

K1

rn

Img

G(S) H(S) Plane

S= -j0
R=

Section II
Real

S=j0

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Dr. B. K. Sridhara, Head, Mechanical Engineering, NIE, Mysore-8

Session 22: 18/10/06

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Control Engineering (ME55)

The G (S) H (S) plot will be a portion circle (part) of radius R , starting at a point S = +j
and ending at a point S = -j covering an angle of (n*1800) in the opposite direction (CCW)
(since sign is negative)
Nyquist Plot for Section III: In S-plane section III runs from S= -j0 to S = j
G(S ) H (S )

S j 0

K
S( S a )

K
K1 / S
S .a

where Kl = (K/a)

G(S ) H (S ) K 1 / S
G(S) H(S)

= Kl S, Kl is negative
= -Kl S

G(S) H(S)

G(S ) H (S )

= 1800 900 = 900

S j

K
S ( S a)

S j

= K/S2

K
0
S2
G(S) H(S) = K - S2 = 0 2 (-900) = 1800 ;
G(S ) H (S )

+900

(S is negative)
Img
S= -j0

G(S) H(S) Plane

Section III
+1800

S= -j
Real

This Section III is the mirror image of section of the Section I.

Nyquist Plot for Section IV: In S-plane section IV runs from S= -j to S = j
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Dr. B. K. Sridhara, Head, Mechanical Engineering, NIE, Mysore-8

Session 22: 18/10/06

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Control Engineering (ME55)

In this region S
In the S-plane it is a semicircle of radius R from S = - j to S = + j covering an angle of
1800 in the counter clockwise direction.
In the G(S) H(S) plane
K
S2
But S = R e+j Equation in circle in exponential form
G(S ) H (S )

G(S ) H (S )

K
r.e j 2
R .e j 2
2

where r

K
0
R2

Thus G(S) H(S) plot for section IV is also a circle of radius r 0 starting at S = - j and
ending at S = + j covering an angle of 2* 1800 (2) in the opposite direction (CW).
Img

S= -j
S= +j

G(S) H(S) Plane

r0
Section IV

Real

Now assemble the Nyquist plots of all the sections as given below to get the overall Nyquist
plot

5
Dr. B. K. Sridhara, Head, Mechanical Engineering, NIE, Mysore-8

Session 22: 18/10/06

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Control Engineering (ME55)

Img
-j0

G(S) H(S) Plane

-j
(-1+j0)

Real

j0
From Nyquist Criterion:
No. of encirclements made by Nyquist plot about ( 1 +j0) = N-1+j0 = Z P
P = No. of poles lying in the right half of S plane
For the function G ( S ) H ( S )

K
, the Poles are: S = 0, S = - a = 0, which lie on the left half
S ( S a)

of S-plane
Therefore P = 0: Number of poles on the right half of S-plane
N-1+j=0 = 0 as counted from the Nyquist plot
N-1+j0 = Z P
0=Z0
Therefore Z = 0
Number of zeros lying on the right half of S-plane is 0 and hence the system is stable

6
Dr. B. K. Sridhara, Head, Mechanical Engineering, NIE, Mysore-8

Session 22: 18/10/06

VTU e-learning Courseware

Control Engineering (ME55)

Illustration 2: Obtain the Nyquist diagram for the system represented by the block diagram given
below and comment on its stability

R (S)

C (S)

K
2
S (S 1)

+
-

G(S )

K
S (S 1)
2

H (S ) S

G(S ) H (S )

K
K
*S
,
S (S 1)
S (S 1)
2

Poles are

S = 0, -1/

P = 0

Solution is same as that of Illustration 1

CONTINUED IN THE NEXT PART OF THE NOTES

******************END****************

7
Dr. B. K. Sridhara, Head, Mechanical Engineering, NIE, Mysore-8

Session 22: 18/10/06