Frequency Response Techniques

Contd.......

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N-plots with open-loop poles on imaginary axis

Problem: mapping would go to infinity in an undetermined way

Sol:

Fig: Detour right Fig: Detour left

Detour radius  0 2
Example: 10.5
Problem: Sketch the Nyquist diagram of the unity feedback system with G(s)  s  2
s2

Fig: O-L p/z plot and contour Fig: N-diagram

Here, detour to the right is made

At A: Total angle = -2  90o + 0o = -180o, Magnitude  
At B: Total angle = -2  90o + 90o = -90o, Magnitude  0

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BCD: Total angle change = 2  180o -180o = 180o,
Magnitude  0
DE: DE is mirror image of AB
EFA:
Magnitude   ((one finite zero length/2 pole length of mag 0)
Total angle change = - 2  180o = - 360o

Now, draw a test radius through point (-1+j0) to determine N.

We can find, N=0
We know, the # of OL poles in RHP, P=0
So, Z=P–N=0
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Check:
s2
Given, G( s) 
s2
s2
2 s2
T ( s)  s 
s2 s s2
2
1 2
s

So, CL poles are: p 

1  j 7
1, 2
2

Clearly, the poles are not in the RHP

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10.5: Stability via N-Diagram
Consider a variable gain, K. Find range of K for stable CL system

Can be solved in 3-ways:

1. Using R-H criterion  Done
2. Using R-L  Done
3. Using N-diagram  Will be covered here

Procedure using N-diagram:

Treating K as a separate variable, 1 + KGH = 0  GH = -1/K

1. sketch N-diagram for GH.

2. The point to be encircled is (-1/K) rather than -1.

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For the above system:
the # of OL poles in RHP, P=2
We know, Z = P – N
For a stable system Z (# of CL poles) must be zero. So, the point (-1/K)
must be encircled anticlockwise twice for a stable system, i.e. N=2

So, for stability of this system, 1/K < 1.33

or, K >1/1.33 7
 Analytical Expression for (A to B):
Here, G(s)H(s) = G(jω)H(jω)

G( j ) H ( j ) 
 j  3 j  5

   15  j8 
2

 j  2 j  4    8  j6 
2


   15  j8    8  j6 
2 2

   8  j6    8  j6 

2 2


 4

 71 2  120  j14  2  11  
  2

 8   j 6 
2 2

At the real-axis crossings,   2  11  0    0, or,  2  11

The value of GH at negative real axis crossing:

G( j ) H ( j )   11
 1.333

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Example 10.6
For the unity feedback system shown below, where , find
the range of gain, K, for stability, instability, and the value of K for marginal
stability. For marginal stability also find the frequency of oscillation. Use the
Nyquist criterion.

Solution:
N-plot: