EXAMPLE

 
Consider the closed- loop system

Step 1.Find the open-loop transfer function of the system.

Consider the closed-loop control system as follows:

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 •  
The system characteristic equation is as follow

The factor form of this characteristic equation is:

To determine the previous factor form:

3 2
 𝑠 + 2 𝑠 +5 𝑠 +10 10
3 2
=1+ 3 2
𝑠 +2 𝑠 +5 𝑠 𝑠 + 2 𝑠 +5 𝑠

Where the open-loop transfer function of the system is:

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 Step 2: Use Command Windows of Matlab to draw the Nyquist Diagram, applying the
following commands:

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 •     10
𝐺 ( 𝑗𝑤 ) 𝐻 ( 𝑗𝑤 )=
( 𝑗𝑤 )3+2 ( 𝑗𝑤 )2+5( 𝑗𝑤 )

We can see at the previous Diagram that for:

To reach stability, Z must be equal to zero:

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 •  
Recalling that th poles of , are the same as the poles of , the open-loop
system, we can determine P, the number of open-loop poles enclosed by the contiur A from:

0.0000 + 0.0000i   𝐻 = 10
𝐺 𝑠 𝑠
-1.0000 + 2.0000i 𝑠3 +2 𝑠2 +5 𝑠
-1.0000 - 2.0000i

A detour around the poles on the contour is requered

5

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura