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2014 Lec 13 Nyquist PDF
2014 Lec 13 Nyquist PDF
Outline
F (s)
W(s)
in a unit feedback system, the closed-loop system has hidden modes if and only if
the open-loop has them
+ positive
phase
(, 0]
F(-j!) = F *(j!)
and therefore the plot for negative
angular frequencies ! is the symmetric
wrt the real axis of the one obtained for
F(j!1) [0, )
F(j!2)
in !1
in !2
positive !
polar plot of F(j!) can be obtained from the Bode diagrams (magnitude and phase information)
5
0
0.8
10
15
Magnitude
Magnitude (dB)
dB
20
not in dB
0.6
0.4
25
30
0.2
35
40
0
2
10
10
frequency (rad/s)
10
10
10
frequency (rad/s)
10
0.6
20
0.4
0
0.2
1
F (s) =
s+1
40
60
Im
Phase (deg)
20
1
2
7
6
5
0.2
80
0.4
100
10
10
frequency (rad/s)
10
0.2
0.4
0.6
0.8
Re
fact I
Proof.
such that F (j
Nyquist plot intersects the real axis in -1 therefore
) = 1
that is F (j
) + 1 = 0
F (s)
W (s) =
1 + F (s)
fact II
let us define
If the open-loop system has no poles on the imaginary axis, the unit negative feedback
system is asymptotically stable
if and only if
i) the Nyquist plot does not pass through the point (-1, 0)
ii) the number of encirclements around the point (-1, 0) counted positive if counterclockwise is equal to the number of open-loop poles with positive real part, i.e.
Ncc = nF+
Nyquist stability criterion
Lanari: CS - Stability - Nyquist
Sunday, November 9, 2014
Remarks
if the open-loop system has no positive real part poles then we obtain the simple
N&S condition Ncc = 0 which requires the Nyquist plot not to encircle (-1, 0)
if the stability condition is not satisfied then we have an unstable closed-loop system
-1
+1
0 -2
-2
-1
not in dB
in dB
0
1
10
0.8
Magnitude
Magnitude (dB)
20
30
40
50
0.6
0.4
60
0.2
70
80 2
10
10
frequency (rad/s)
10
phase
100
F (s) =
(s + 10)2
0 2
10
10
frequency (rad/s)
10
0.6
50
0.4
Ncc = nF+ = 0
0.2
50
Im
Phase (deg)
100
0.2
150
0.4
2
4
0.6
200 2
10
10
frequency (rad/s)
10
0.2
0.2
0.4
0.6
Re
0.8
1.2
10
phase
50
0
0
10
50
30
40
50
Phase (deg)
0.8
magnitude
magnitude (dB)
20
0.6
0.4
100
150
200
60
0.2
250
70
80
10
10
frequency (rad/s)
10
10
10
F (s) =
(s + 1)2 (s + 10)
10
frequency (rad/s)
300
10
10
frequency (rad/s)
10
Zoom
Im
0.05
#$
exact
0.6
10
0.05
0.1
0.4
0.08
0.06
0.04
0.02
by hand
Re
Im
0.2
()
Zoom
! % *!
! % (!
! %&'
!"
0.2
0.4
0.6
0.2
0.2
0.4
0.6
Re
0.8
1.2
phase
0
0
1
50
30
100
Phase (deg)
0.8
20
Magnitude
Magnitude (dB)
10
0.6
0.4
40
200
250
300
0.2
50
150
350
60
10
10
frequency (rad/s)
10
10
10
frequency (rad/s)
10(s 1)
F (s) =
(s + 1)2 (s + 10)
10
10
10
frequency (rad/s)
10
Zoom
0.2
0.15
0.1
0.05
Im
exact
#$
0
0.05
0.1
by hand
0.15
0.2
0.5
0.25
0.1
0.05
0
Re
0.05
0.1
Zoom
Im
()
0
! % *!
! % (!
! %&'
!"
0.5
1
0.5
0.5
Re
phase
10
0
50
10
20
Phase (deg)
1.5
Magnitude
Magnitude (dB)
100
150
200
0.5
30
250
40
0
2
10
10
frequency (rad/s)
2
F (s) =
s1
10
10
10
frequency (rad/s)
10
10
10
frequency (rad/s)
10
exact
Ncc = nF+ = 1
Im
0.5
1
2
0.5
Nyquist criterion is
verified: closed-loop system
is asymptotically stable
1
increasing !
3
4
7
6
5
1.5
1
Re
0.5
13
Lets remove the hypothesis of no open-loop poles on the imaginary axis (i.e. with Re[.] = 0)
open-loop poles on the imaginary axis (i.e. with Re[.] = 0) come from:
! = 01
F (s) =
s(s + 1)
R = +
! = -
! = +
! = 0+
closure
at infinity
! = 0+
14
closures at infinity
K
F (s) =
s(1 + 1 s)
K
F (s) = 2
s (1 + 1 s)
K(1 + 2 s)
F (s) = 3
s (1 + 1 s)
K
F (s) = 2
(s + 12 )(1 + 1 s)
K
F (s) = 2
(s + 12 )2 (1 + 1 s)
K(1 + 2 s)
F (s) = 2 2
s (s + 12 )(1 + 1 s)
40
0
20
Phase (deg)
Magnitude (dB)
50
0
20
100
F (s) =
s(s + 10)2
100
150
200
40
250
exact
approx
60 2
10
exact
approx
0
10
frequency (rad/s)
300 2
10
10
10
frequency (rad/s)
10
Zoom
0.3
! %&'
0.2
#$
0.1
Im
0.1
0.2
2
0.25 0.2 0.15 0.1 0.05
Re
0.05
1.5
1
Ncc = nF = 0
)*
! % (!
! % )!
0.5
Im
Zoom
!"
clockwise with
infinite radius
from 0- to 0+
0.5
1
1.5
2
0.5
0.5
Re
! %&'
16
40
1
one pole in +j
F (s) =
(s + 1)(s2 + 1) one pole in -j
magnitude (dB)
20
! %&'
20
#$
! %&('
40
60 2
10
10
10
frequency (rad/s)
10
10
('
! % *!
! %&)
!"
! % (!
Phase (deg)
50
100
! %&'(
150
! %&('(
200
250
exact
approx
300 2
10
10
10
frequency (rad/s)
10
10
40
0
20
Phase (deg)
Magnitude (dB)
50
20
100
150
200
40
250
exact
approx
60 2
10
300 2
10
10
frequency (rad/s)
10
10
frequency (rad/s)
10
clockwise with
infinite radius
from 0- to 0+
Zoom
0.1
s2 + 100
F (s) =
s(s + 1)(s + 10)
0.05
Im
! %&'
0
#$
0.05
8
0.1
0.1
0.05
0
Re
0.05
0.1
! % )!
Im
)*
Zoom
!"
2
! % (!
4
6
8
8
2
Re
! %&'
18
40
exact
approx
20
for K = 1 plot
crosses (-1, 0)
Phase (deg)
magnitude (dB)
50
20
100
150
200
40
250
exact
approx
60 2
10
10
frequency (rad/s)
300 2
10
10
10
frequency (rad/s)
10
Zoom
0.1
! %&'
Im
0.05
#$
0.05
8
6
0.1
0.1
0.05
0
Re
0.05
0.1
Im
K(s + 1)
F (s) =
s(s/10 1)
Zoom
0
2
)*+,
! % )!
! % (!
!"
4
6
8
8
2
Re
clockwise with
infinite radius
from 0- to 0+
! %&'
19
40
1
F1 (s) =
s(s + 1)
30
Magnitude (dB)
20
100
10
0
10
1
F2 (s) = 5
s (s + 1)
20
30
40 2
10
10
10
frequency (rad/s)
10
600 2
10
! %&'
10
#$
300
500
! %&'
! % )!
! % (!
200
400
10
)*
F1
F
Phase (deg)
F1
F
!"
)*
10
frequency (rad/s)
10
10
#$
! % )!
! % (!
!"
! %&'
20
+
F1(s)
F1(s)F2(s)
for stability these two
schemes are equivalent
F2(s)
F1(s) = N1(s)/D1(s)
F2(s) = N2(s)/D2(s)
W1 (s)
F1 (s)
1 + F1 (s)F2 (s)
N1 (s)D2 (s)
D2 (s)D1 (s) + N1 (s)N2 (s)
W2 (s)
F1 (s)F2 (s)
1 + F1 (s)F2 (s)
N1 (s)N2 (s)
D2 (s)D1 (s) + N1 (s)N2 (s)
same denominator
same poles
same stability properties
21
Im
K F (s)
-1
! = +
Re
! = -
as K
increases
! = 0+
Lanari: CS - Stability - Nyquist
Sunday, November 9, 2014
22
In this context, the proximity to the critical point (-1, 0) is an indicator of the proximity of
the closed-loop system to instability.
We can define two quantities:
! = 0-
1/kGM
! = +
-1
Im
Re
!
F (j!)
kGM F (j!)
: F (j ) =
kGM
1
=
|F (j )|
! = 0+
only positive angular
frequencies are shown
23
phase margin PM
Im
|F (jc )| = 1
c :
|F (jc )|dB = 0 dB
P M = + F (jc )
! = +
-1
Re
PM
F (j!c)
F (j!)
24
1/kGM
! = +
-1
Im
Re
PM
real
distance
(B)
Re
(C)
(A)
F (j!)
25
Magnitude (dB)
20
P M = + F (jc )
0
20
40
60 1
10
c
0
10
10
frequency (rad/s)
10
1000
F (s) =
s(s + 10)2
10
PM
c
0.4
90
0.2
180
Im
Phase (deg)
0.6
270
0.2
1
10
10
10
frequency (rad/s)
10
10
0.4
0.6
1.2
0.2
26
Magnitude (dB)
20
500
F1 (s) =
s(s + 10)2
0
20
40 1
10
6000
F1 (s) =
s(s + 10)2
F1(s)
F2(s)
0
10
10
frequency (rad/s)
10
Phase (deg)
90
180
270 1
10
10
10
frequency (rad/s)
10
unstable
closed-loop system
(suggested exercise: check with Routh)
27
F (s) =
0
20
0.5
40
Im
Magnitude (dB)
Phase (deg)
60
0
Ncc = nF+ = 0
0.5
90
180
270 2
10
10
10
frequency (rad/s)
10
10
0.5
0.5
1.5
Re
28
stability margins are useful to evaluate stability robustness wrt parameters variations
(for example the gain margin directly states how much gain variation we can tolerate)
phase margin is also useful to evaluate stability robustness wrt delays in the feedback
loop. Recall that, from the time shifting property of the Laplace transform, a delay is
modeled by e-sT and that
e-sT
F (s)
ejT = T
|ejT | = 1
delay
of T sec
ejT = T
|ejT | = 1
29
Special cases
Im
Im
-1
Re
Re
30
Particular example
good gain and phase margins but close to critical point
0.38(s2 + 0.1s + 0.55)
F (s) =
s(s + 1)(s/30 + 1)(s2 + 0.06s + 0.5)
Magnitude (dB)
10
0
10
1
20
Im
0.5
Phase (deg)
0
0.5
90
1
180
0.01
10
frequency (rad/s)
10
1.5
0.5
Re
0.5
1
0.005
Im
10
0.005
0.01
0.03
0.02
0.01
Re
31