NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

Nyquist Stability Criteria

D Bishakh
Dr. Bi h kh Bhattacharya
Bh tt h

Professor, Department of Mechanical Engineering

IIT Kanpur

Joint Initiative of IITs and IISc - Funded by MHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

This Lecture Contains

 Introduction to Geometric Technique for Stability Analysis

Frequency response of two second order systems

Nyquist Criteria

Gain and Phase Margin of a system

Joint Initiative of IITs and IISc - Funded by MHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

Introduction

In the last two lectures we have considered the evaluation of stability by

mathematical
th ti l evaluation
l ti off the
th characteristic
h t i ti equation.
ti R th’ test
Routh’s t t and d
Kharitonov’s polynomials are used for this purpose.

There are several geometric procedures to find out the stability of a system. These
are based on:

 Nyquist Plot

 Root Locus Plot and

 Bode plot

The advantage of these geometric techniques is that they not only help in
checking the stability of a system, they also help in designing controller for the
y
systems.

Joint Initiative of IITs and IISc ‐ Funded by 
3
MHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

Nyquist Plot is based on Frequency Response of a Transfer Function.  Consider 
N i t Pl t i b d F R f T f F ti C id
two transfer functions as follows:
s5 s5
T1 ( s )  ; T ( s ) 
s 2  3s  2 s2  s  2
2

The two functions have identical zero. While for function 1, the poles are at ‐1 
and 2 respectively; for function 2 the poles are at +1 and 2 Let us excite both
and ‐2 respectively; for function 2, the poles are at +1 and ‐2.  Let us excite both 
the systems by using a harmonic excitation of frequency 5 rad/sec. The 
responses of the two systems are plotted below:

Stable Frequency Response of T1 Unstable Frequency Response of T2
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

Frequency Domain Issues

Consider a closed loop system of plant transfer function G(s) and

Feedback transfer function H(s) respectively.
respectively
The closed loop transfer function corresponding to negative feedback
may be written as:
G ((ss )
T (s) 
1  G (s) H (s)

 Poles of 1+G(s)H(s) are identical to the poles of G(s)H(s)

 Zeroes of 1+G(s)H(s) are the Closed Loop Poles of the Transfer
Function
 If we
e ta
take
e a Co
Complex
p e Number
u be in tthe
e ss-plane
pa ea and
d subst
substitute
tute itt into
to a
Function F(s), it results in another Complex Number which could be
plotted in the F(s) Plane.
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

Cauchy Criteria
Mapping:
A Clockwise contour in the s-plane results in
Clockwise contour in the F(s) plane if it
contains only zeros

A Clockwise contour in the s-plane results in

anti-Clockwise contour in the F(s) plane if it
contains only poles

If the contour in the s

s-plane
plane encloses a pole or a
zero, it results in enclosing of the origin in the F(s)
plane
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

Example:
p A Clockwise Contour in the s-plane
p for G(s)
( ) = s-z1

Reference: Nise: Control Systems Engineering
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

Example: A clockwise contour around a Right-half Plane Pole for a

function G(s) = 1/(s-p
1/(s p1 )

Reference: Nise: Control Systems Engineering
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

Nyquist
yq Stability
y Criteria

– Number
Number of Counterclockwise (CCW) rotation N 
of Counterclockwise (CCW) rotation N = PPc – Zc (Pc –
no. of enclosed poles of 1+ G(s)H(s) and Zc – no. of enclosed 
zeroes)
– For a Contour in s‐plane mapped through the entire right half 
o a o ou s p a e apped oug ee e g a
plane of open loop transfer function G(s) H(s), the number of 
closed loop poles Zc (same as the open loop zeros)  in the 
right half plane equals the number of open loop poles Pc in 
the right half plane minus the number of counterclockwise 
revolution N around the point ‐1 of the mapping. 
– Z c= Pc ‐ N 
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

Consider a plant transfer function G(s) as follows:

2
s  12s  24
G(s)  2
s  8s  15
For a unity
y feedback closed loop,
p, find using
g Nyquist
yq Criteria
whether the system will be unstable at some values of K.
(Vary K from 0.5 to 10)
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

The Nyquist diagram corresponding to unity Gain and the root locus are  
shown below for your reference.

Nyquist Diagram Root Locus

0.4 0.4

0.3 0.3

System: tf1
0.2 0.2
Gain: 00.51
51
Pole: -6.63

Imaginary Axis (seconds-1)

0.1 Damping: 1
0.1 Overshoot (%): 0
Imaginary Axis

Frequency (rad/s): 6.63

0
0

-0.1
-0 1
-0.1
-0.2
-0.2
-0.3

-0.3
-0.4
-10 -8 -6 -4 -2 0 2
-0.4
04 Real Axis (seconds -11)
-1 -0.5 0 0.5 1 1.5 2
Real Axis

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

Gain Margin
g

The gain margin is the factor by which the gain can be raised such that 
the contour encompassed the unity point resulting in instability of the 
system. 
Following the figure below, gain margin is the inverse of the distance 
shown in the figure.
shown in the figure.
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

Phase Margin
g

The Phase Margin is the amount of phase that needs to be 
g p
added to a system such that the magnitude will be just unity 
while the phase is 1800  .  The figure below is showing ‘theta’ 
to be the phase margin.

Often control engineers consider a system to be 
q y p g
adequately stable if it has a phase margin of at least 300  

. 
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 2- Lecture 14

Special References for this lecture

 Control Engineering and introductory course, Wilkie, Johnson and Katebi,

PALGRAVE

 Control Systems Engineering – Norman S Nise, John Wiley & Sons

 Modern Control Engineering – K. Ogata, Prentice Hall

Joint Initiative of IITs and IISc ‐ Funded by 
14
MHRD