11.

0 Nyquists Stability Criterion

11.1 Introduction
We have already seen how the Routh-Hurwitz criterion can be used to
determine system stability. This lecture develops the Nyquist stability
criterion which allows us to determine closed-loop system stability by
using open-loop information.
11.2 Stability
From the Bode plots (see handout), the K=2 magnitude plot passes
through the KG(j)=1 point at exactly the same frequency as the
phase curve plot passes through -180.
At this point, it can be seen that for stable values of K, the magnitude of
KG(j)<1 and for unstable values of K, KG(j)>1 - i.e. for
stability:
KG(j) < 1 at [G(j)] = -180

Consider the following root locus plot. and this is true for systems where increasing the gain leads to instability.

j 11.3 Measures of Stability

Referring to the Bode plots in the handout:

K>2
K=2
Gain margin: the amount by which system gain can be increased before
1
This system is unstable if K instability occurs.
is large enough.
Phase margin: the amount by which phase exceeds -180 when
-2 -1 0 It is marginally stable if the KG(j)= 1.
locus lies on the j-axis.
2
-1 PM =
K=2 -2 2 + 1 + 4 4

From the C.E. 1 + KG(s) = 0, we know that for any point on the root 11. 4 Nyquist stability criterion
locus:
KG(S) = 1 Some systems may become more stable as the gain is increased,
[G(s)] = 180 therefore we use Nyquists stability criterion.

Control 2E Contho11.doc Page 1

 Im(s) ImH1(s)
From this, we can conclude that a contour evaluation of a function will
only encircle the origin if the contour contains a singularity (pole or
H1(s) zero) of the function.
C1
This principle holds for multiple singularities although the number and
ReH1(s) direction of encirclements may change.
Re(s)

To apply this to what we already know about control theory, we let the
contour C1 encircle the entire R.H. plane. The resulting evaluation of
fig.1 fig.2 an H(s) will only encircle the origin if H(s) has a R.H. plane
singularity.

Imagine H1(s) (fig.1) evaluated for s around contour C1. The angle of Consider the following unity feedback system:
H1(s) will change as C1 is traversed (fig.2) but will not undergo a net
change of 360 whilst there are no poles or zeros inside C1 - i.e. in the +
right hand plane. Therefore, H1(s) will not encircle the origin. R(s) KG(s) Y(s)
_

Im(s) ImH1(s)

H2(s) Y(s) KG(s)

C1 =
R(s) 1 + KG(s)

Re(s) ReH1(s) and the C.E. is: 1 + KG(s) = 0

If the right hand plane contains a singularity of 1+KG(s), then 1+KG(s)

evaluated on the contour will encircle the origin.
fig.3 fig.4
1+KG(s) is merely KG(s) shifted to the right by 1. Therefore if 1+KG(s)
encircles the origin, the KG(s) must encircle -1.
Now consider H2(s) (fig.3) evaluated as C1 is traversed. The angle from R.H. zeros result in clockwise encirclements of -1.
the pole within C1 undergoes a net change of 360. The argument of R.H. poles result in anti-clockwise encirclements of -1.
H2(s) therefore undergoes this change and the function H2(s) encircles
the origin (fig.4).
Control 2E Contho11.doc Page 2
Number of clockwise encirclements, N, of -1: Note that the contour takes up the entire R.H. plane and so has an infinite
radius.
Im
Z: R.H. poles of the C.L.T.F. (zeros of the C.E.).

P: R.H. poles of the C.E. (poles of the O.L.T.F.).

We can see that our
Z is what we are trying to find. Thus we can use open-loop polar plot encircles
information to find out whether the closed-loop system is stable. the -1 point twice.

Example 11.1: Use the Nyquist criterion to test whether the unity -1 Re
feedback system with the following O.L.T.F. is stable.

1
G(s) = 2
s (s +1)

Firstly we must plot this function evaluated at points around the Nyquist
contour. The resulting plot is a polar plot showing magnitude and
angle.
From the O.L.T.F., P =
j From the polar plot, N =
The O.L.T.F. has a
double pole at the
origin, so to invoke Z=N+P
the Nyquist
criterion, we must i.e. there are 2 closed-loop poles in the right hand plane and the system is
form the contour unstable.

such that it takes a
detour around this
point.

Control 2E Contho11.doc Page 3