Experiment No: 01

Heaven’s Light is Our Guide

Rajshahi University of Engineering

& Technology
Department of Electrical & Electronic Engineering

Course No: EEE 3106

Course Name: Control Systems Sessional

Experiment No: 07
Experiment Name: Stability analysis of a system using ‘Nyquist Plot’

Date of experiment: 26/06/2022

Submitted By: Submitted To:
Md. Khayrul Islam Dr. Md. Sohel Rana
Roll: 1801122 Professor
Section: C Department of Electrical &
Group: 1st 30 Electronic Engineering
Session: 2018-2019 Rajshahi University of Engineering
& Technology
Date of Submission: 24/07/2022

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 Experiment No: 05

7.1 Name of the experiment: Stability analysis of a system using ‘Nyquist Plot’

7.2 Objectives: The main objectives of this experiment are---

To get some basic idea about Nyquist Plot and stability analysis of a system by Nyquist Plot.
To learn how Nyquist Plot gives relative stability.
To use MATLAB for obtaining Nyquist Plot, also determine the stability of the system.

7.3 Required software:

Following software package is required: MATLAB (Version-R2021a)

7.4 Theory:
Nyquist plots are the continuation of polar plots for finding the stability of the closed loop
control systems by varying ω from −∞ to ∞. The Nyquist criteria help us determine the closed-loop
system's stability from the frequency response of the open-loop poles and plot.
The primary difference between the polar plots and the Nyquist plot is that the polar plots are based
on frequencies range from zero to infinity, while the Nyquist plot also deals with negative
frequencies.

We know that the closed loop control system is stable if all the poles of the closed loop transfer
function are in the left half of the ‘s’ plane. So, the poles of the closed loop transfer function are
nothing but the roots of the characteristic equation. As the order of the characteristic equation
increases, it is difficult to find the roots. So, correlation of these roots of the characteristic equation as
follows.
 The Poles of the characteristic equation are same as that of the poles of the open loop TF.
 The zeros of the characteristic equation are same as that of the poles of the closed loop TF.

In the Nyquist plot, we will detect the presence of the closed-loop system poles in the right half of the
s-plane to determine the system's stability. It is because the Nyquist plot relates the open loop
frequency response (given by G(jω)H(jω)) to the number of poles and zeroes of 1 + G(s)H(s) that lie
in the right-half of the s-plane. Nyquist Diagram gives relative stability.
The Nyquist stability criterion is based on the point -1 + j0 to determine the stability of the
closed loop system. It is because the contour of the function F(s) with respect to the origin of the
plane is same as the contour of the F(s) -1 plane with respect to the point -1 + j0. Imaginary
The point -1 + j0 on the axis will appear as: 900 or-2700

jh
7.4.1 Nyquist stability criterion for open loop systems: 1800 or -1800 +ve Real
N=Z-P 00
Where, N= Number of clockwise encirclement of the -1+j0 point
Z=number of zeros (close loop poles) of 1+G(s)H(s) in the Right Half s-plane -900 or2700
P= number of poles of G(s)H(s) in the Right Half Plane

The Nyquist stability criteria in terms of encirclement, anticlockwise encircle, and clockwise
encirclement.

Case 1: N = 0 (no encirclement), so Z = P = 0 and Z = P

If N = 0, P must be zero therefore system is stable.
Case 2: N > 0 (clockwise encirclement), so P = 0, Z ≠0 and Z > P
For both cases system is unstable.
Case 3: N < 0 (counter clockwise encirclement), so Z = 0, P ≠0 and P > Z
System is stable.

7.4.2 Stability Analysis using Nyquist Plots (by GCF, PCF, GM, PM):
From the Nyquist plots, we can identify whether the control system is stable, marginally stable or
unstable based on the values of these parameters.
 Gain cross over frequency and phase cross over frequency

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 Experiment No: 05

 Gain margin and phase margin

1. Gain crossover frequency (ωgc): The frequency at which the gain curve intersects the 0 dB
line is called the Gain crossover frequency (ωgc).
2. Phase crossover frequency (ωpc): The frequency at which the phase curve intersects the -
1800 line is called the phase crossover frequency (ωpc).
3. Gain Margin (GM): Gain margin is the reciprocal of the magnitude of G ( j ) at the phase
crossover frequency.
1
GM = dB at phase cross over frequency
¿ G ( j )∨¿ ¿
4. Phase Margin (PM): The phase margin is that amount of additional phase lag at gain
crossover frequency required to bring the system to the verge of instability.
0
PM =180 +❑ gcdegree
7.4.3 Conditions for stability:
1. Stable system: PM → (+ve), GM → (+ve), ω𝑝c > ω𝑔c
2. Marginally stable system: PM =0, GM =0, ω𝑝c = ω𝑔c
3. Unstable system: PM → (-ve), GM → (-ve), ω𝑝c < ωgc
By analyzing the above terms and conditions, the absolute and relative stability of a system can be
determined.
7.5 Using MATLAB command to determine stability of a system by Nyquist Plot:
In this experiment we are going to determine the stability of the following two systems:
1000 1000
G1 (s)= i.e. G 1 (s)= 3 2 and
s (s +5)(s +20) s + 25 s +100 s
1
G2 (s)= 3 2
s + 0.5 s + s

Using the MATLAB command ‘nyquist(sys)’ Root locus plot of a system can be obtained. Here, sys
is the transfer function of the system.

7.6 MATLAB command for stability analysis using Nyquist Plot is shown below:
System-1:
Capture from editor window: Capturer from command window:

Nyquist Plot:

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 Experiment No: 05

Nyquist Diagram
40
sys1=G1(s)=1000/(s(s+5)(s+20))
30 sys1

20
Imaginary Axis
10

-10

-20

-30

-40
-2.5 -2 -1.5 -1 -0.5 0
Real Axis
Fig. 7.1: Nyquist Plot for the given system-1[ G1(s) =1000/{s(s+5) (s+20)}].
Nyquist Diagram
8
sys1=G1(s)=1000/(s(s+5)(s+20))
6 sys1

4
-1+j0 point
Imaginary Axis

-2

-4

-6

-8
-2.5 -2 -1.5 -1 -0.5 0
Real Axis
Fig. 7.2: Zoom in view of Nyquist Plot at (-1,0) point for the given system-1[ G1(s) =1000/{s(s+5) (s+20)}].
Observation-1 (from fig.7.1 and fig.7.2):
P=0; N=0; Z=P+N=0
There is no close loop pole in the RHP. Hence system is stable.

Nyquist Diagram
40
sys1=G1(s)=1000/(s(s+5)(s+20)) 0 dB
30 sys1

20
System: sys1
Imaginary Axis

10 Gain Margin (dB): 7.96

At frequency (rad/s): 10
2 dB 4 dB -2
Closed loop dB Yes
-4 stable?
0
System: sys1
Phase Margin (deg): 22.5
-10 Delay Margin (sec): 0.0647
At frequency (rad/s): 6.08
Closed loop stable? Yes
-20

-30

-40
-2.5 -2 -1.5 -1 -0.5 0
Real Axis
Fig. 7.3: Nyquist Plot for the given system-1[ G1(s) =1000/{s(s+5) (s+20)}] with all stability margin.

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 Experiment No: 05

Nyquist Diagram
8
sys1=G1(s)=1000/(s(s+5)(s+20)) 0 dB
6 sys1

4 -1+j0 point System: sys1

2 dB Gain Margin (dB): 7.96
Imaginary Axis

2 -2 dB(rad/s): 10
At frequency
4 dB -4 dB
6 dB 10 dB Closed-10-6 dB
loopdB
stable? Yes
0
System: sys1
-2 Phase Margin (deg): 22.5
Delay Margin (sec): 0.0647
-4 At frequency (rad/s): 6.08
Closed loop stable? Yes
-6

-8
-2.5 -2 -1.5 -1 -0.5 0
Real Axis
Fig. 7.4: Zoom in view of Nyquist Plot at point (-1,0) for the given system-1[ G 1(s) =1000/{s(s+5)
(s+20)}] with all stability margin.
Observation-2 (from fig.7.3 and fig.7.4):
GM=7.96 dB (+ve), PM=22.5 degree (+ve)
ωgc= 6.08 rad/sec and ωpc= 7.96 rad/sec where ωgc < ωpc
Hence, system-1 is stable.

System-2:
Capture from editor window: Capturer from command window:

Nyquist Plot:
Nyquist Diagram
10
sys2=G2(s)=1/(s3 +0.5ss +100s)
8 sys2

4
-1+j0 point
Imaginary Axis

-2

-4

-6

-8

-10
-2.5 -2 -1.5 -1 -0.5 0
Real Axis

Fig. 7.5: Nyquist Plot for the given system-2[ G2(s) =1/(s3+0.5s2+s)].
Observation-3 (from fig.7.5):
P=0; N=1; Z=P+N=1
There is 1 close loop pole in the RHP. Hence system is unstable.

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 Experiment No: 05

Nyquist Diagram
10
sys2=G2(s)=1/(s 3+0.5ss +100s) 0 dB
8 sys2

6
-1+j0 point System: sys2
Phase Margin (deg): -40.3
4
Delay Margin (sec): 4.52
2 dB
Imaginary Axis

At frequency (rad/s): 1.23

2
4 dB Closed loop stable? No -2-4
dB
dB
6 dB 10 dB -6 dB
-10 dB
0
System: sys2
-2 Gain Margin (dB): -6.02
At frequency (rad/s): 1
-4 Closed loop stable? No

-6

-8

-10
-2.5 -2 -1.5 -1 -0.5 0
Real Axis

Fig. 7.6: Nyquist Plot for the given system-2[ G2(s) =1/(s3+0.5s2+s)].
Observation-4 (from fig.7.6):
GM=-6.02 dB (-ve), PM=-40.3 degree (-ve)
ωgc= 1.23 rad/sec and ωpc= 1 rad/sec where ωgc > ωpc
Hence, system-2 is unstable.

7.7 Discussion and Conclusion:

In this experiment, Frequency response analysis by using Nyquist plot was performed in MATLAB
platform. At first, some knowledge about Nyquist plot was obtained from the theory section. The
plotting of Nyquist Diagram was performed in MATLAB by using build in command ‘nyquist(sys)’
where sys is the transfer function of the system. From the Nyquist Diagram by guessing the position
of roots of the characteristics equation anyone can comment on system stability also determine the
reason of system stability that’s why Nyquist Diagram gives us the relative stability.
The required information for determining stability was also found directly in MATLAB by right
clicking on the figure and selecting the ‘All stability margin’ option. Even it was also written if the
system was stable or not. Other additional information like: phase crossover frequency, gain crossover
frequency, gain margin, phase margin also obtained from all stability margin. Hence, it was very easy
to plot the Nyquist diagram and determine the stability of the system from the diagram using
MATLAB. It was very easy to perform these tasks in the MATLAB platform that would be very time
consuming by hand computation.
By analyzing the information obtained from the experiment one can comment on system stability. The
result of the whole experiment is given in tabular form below -
System Poles & Value of Z Gain Margin (GM) Gain and phase System
position of from equation & crossover stability
poles Z=P+N Phase Margin (PM) frequency
Sys1=G1 ( s ) S=0, -5, -20 0 GM=7.96 dB (+ve) ωgc= 6.08 rad/sec Stable
All poles at Left (No close loop PM=22.5 deg (+ve) ωpc= 7.96 rad/sec
1000 half plane pole in RHP) ωgc < ωpc
¿
s (s +5)(s +20)
sys 2=G 2 ( s ) S=0,0.25j0.96 1 GM=-6.02 dB (-ve) ωgc= 1.23 rad/sec Unstable
One pole at (1 close loop PM=-40.3deg (-ve) ωpc= 1 rad/sec
1 origin and pole in RHP) ωgc > ωpc
¿ other two are at
s + 0.5 s 2+ s
3
left half plane

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 Experiment No: 05

Summary table:

Hence finally, it can be said that the experiment was performed properly for determining the
frequency response and stability of a system and all the objectives of the experiment is fulfilled
successfully.

7.8 References:
& https://www.electrical4u.com/nyquist-plot/
& https://www.javatpoint.com/nyquist-plot
& https://www.tutorialspoint.com/control_systems/
control_systems_nyquist_plots.htm#:~:text=Nyquist%20plots%20are%20the
%20continuation,the%20open%20loop%20transfer%20function.

The End

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