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Nyquesy Stability Criterion Final
Nyquesy Stability Criterion Final
Fig.1
Fig2
From Fig.2(a) it is found that as the point s follows the prescribed path ( i.e.
clockwise direction on the s-plane contour, eventually returning to the
starting point, the phasor ( s 1 ) generates a net angle of 2 ,while all
other phasors generate net angles.
Mathematical Preliminaries
This implies tip of q(s)-phasor must describe a closed contour
about the origin of the q(s)-plane in clockwise direction.
As said before, exact shape of the closed contour in q(s)-plane
is not important for us rather it is sufficient to observe that this
contour encircles origin once.
If the contour in the s-plane is so chosen that it does not enclose
any zero or pole, the corresponding contour in q(s)-plane then
it will not encircle the origin.
Mathematical Preliminaries
If s-plane contour encloses 2 zeros (say s = 1 , s = 2 ) , q(s)-plane contour
encircles origin twice in clockwise direction.
Fig.3
Fig.4
Nyquist Stability Criterion
Consider Single-loop feedback system
(3)
Ch. Eq: q( s) = 1 + G ( s) H ( s) = 0
Open loop transfer function (pole zero form):
K ( s + z1 )( s + z2 )L( s + zm )
G ( s) H ( s) =
( s + p1 )( s + p2 )L( s + pn )
( s + z1 )( s + z2 )L( s + zm )
q( s ) = 1 + K
( s + p1 )( s + p2 )L( s + pn )
Nyquist Stability Criterion
( s + z1 )( s + z2 )L( s + zm )
q( s ) = 1 + K (5)
( s + p1 )( s + p2 )L( s + pn )
( s + p1 )( s + p2 )L( s + pn ) + K ( s + z1 )( s + z2 )L( s + zm )
=
( s + p1 )( s + p2 )L( s + pn )
( s + z11 )( s + z12 )L( s + z1n ) (6)
=
( s + p1 )( s + p2 )L( s + pn )
From (6) Zeros of q(s) at z11 , z12 ,L z1n are the roots of Ch.Eq. Closed loop
poles of q(s) at p1 , p2 ,L pn are the same as the open loop poles of the
system.
For a system to be stable, the roots of Ch.Eq and hence zeros of q(s) must
lie in LHSP
Note: Even if some of OL poles lie in RHSP, all the zeros of q(s) i.e. CL poles
may lie in LHSP meaning there by that an OL unstable system may lead to
a CL stable operation.
Nyquist Stability Criterion
In order to investigate the presence of any zero of q(s)=1+G(s)H(s) in the
RHSP, let us choose a contour which completely encloses the RHSP. Such a
contour C is called Nyquist Contour (Fig.6)
Fig.6
Fig7
Nyquist Stability Criterion
If the contour GH of the OL TF G(s)H(s) corresponding to the Nyquist contour
in the s-plane encircles the point (1 + j 0) in the CCW direction as many times
as the no. of RHSP poles of G(s)H(s), the CL system is stable.
The CL system is stable if the contour GH of G(s)H(s) does not encircle (1 + j 0)
point, i.e. the net encirclement is zero.
Mapping of Nyquist contour into contour GH is carried out as follows :
Mapping of Imaginary axis: Substitute j axis in G(s)H(s). This converts mapping
function into a frequency function of G ( j ) H ( j )
In physical systems (m n)
limj G ( s) H ( s ) = real constant
s = Re
Thus the infinite arc of Nyquist contour maps into a point on the real-axis.
Complete contour GH is thus the polar plot of G ( j ) H ( j ) with varying from to
Nyquist plot is symmetrical about the real axis since
G * ( j ) H * ( j ) = G ( j ) H ( j )
Example-1:
Consider a feedback system whose OL TF is
K
G ( s) H ( s) =
(T1s + 1)(T2 s + 1)
K
G ( j ) H ( j ) = (1)
(1 + jT1 )(1 + jT2 )
K Fig.7
G ( j ) H ( j ) =
2 2 2 2
(1 + T ) (1 + T2 )
1
G ( j ) H ( j ) = tan 1 T1 tan 1 T2
lim G ( j ) H ( j ) = K , lim GH = 0
KT1T2
GH = 1 =
T1T2 T1 + T2
The plot of GH is shown in Figure. The infinite semicircular arc of the Nyquist contour
maps into the origin.
As the point 1 + j 0 is not encircled by the plot, N=0, P=0, Z=0 which implies stable
system.
Fig.8
Fig.9
To study the stability in such cases, the Nyquist contour must ne modified so as to bypass
any imaginary axis poles. This is accompanied by indenting the Nyquist contour around
The imaginary axis poles along a semicircle of radius , where 0 . Fig.10
Fig.10