Department of Electrical Engineering

Experiment 6
Nyquist Stability

APPARATUS:
Software: MATLAB
THEORY:
A Nyquist plot is used in automatic control and signal processing for assessing the stability of a
system with feedback. It is represented by a graph in polar coordinates in which the gain and phase
of a frequency response are plotted. The plot of these phasor quantities shows the phase as the angle
and the magnitude as the distance from the origin. This plot combines the two types of
Bode plot — magnitude and phase — on a single graph with frequency as a parameter along the
curve.
Nyquist calculates the Nyquist frequency response of LTI models. When invoked without left-hand
arguments, Nyquist produces a Nyquist plot on the screen. Nyquist plots are used to analyze system
properties including gain margin, phase margin, and stability.
The Nyquist stability criterion, provides a simple test for stability of a closed-loop control system by
examining the open-loop system's Nyquist plot. Stability of the closed-loop control system may be
determined directly by computing the poles of the closed-loop transfer function. The Nyquist Criteria
can tell us things about the frequency characteristics of the system. For instance, some systems with
constant gain might be stable for low-frequency inputs, but become unstable for high-frequency
inputs. Also, the Nyquist Criteria can tell us things about the phase of the input signals, the time-shift
of the system, and other important information.
The Nyquist Contour
The Nyquist contour, the contour that makes the entire Nyquist criterion work, must encircle the
entire right half of the complex s plane. Remember that if a pole to the closed-loop transfer function
(or equivalently a zero of the characteristic equation) lies in the right-half of the s plane, the system
is an unstable system. To satisfy this requirement, the Nyquist contour takes the shape of an infinite
semi-circle that encircles the entire right-half of the s plane.
Nyquist Criteria
Let us first introduce the most important equation when dealing with the Nyquist criterion:
Where:
N=Z-P
􀀀 N is the number of encirclements of the (-1, 0) point.
􀀀 Z is the number of zeros of the characteristic equation.
􀀀 P is the number of poles of the characteristic equation.
With this equation stated, we can now state the Nyquist Stability Criterion:
Nyquist Stability Criterion
A feedback control system is stable, if and only if the contour in the F(s) plane does not encircle the
(-1, 0) point when P is 0.
A feedback control system is stable, if and only if the contour in the F(s) plane encircles the (-1, 0)
point a number of times equal to the number of poles of F(s) enclosed by .
In other words, if P is zero then N must equal zero. Otherwise, N must equal P. Essentially, we are
saying that Z must always equal zero, because Z is the number of zeros of the characteristic equation
(and therefore the number of poles of the closed-loop transfer function) that are in the right-half of
the s plane.
MATLAB PROGRAM:
num=input(‘enter the numerator of the transfer function’)
den=input(‘enter the denominator of the transfer function’)

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h=tf(num,den)
nyquist(h)
[gm pm wcp wcg]=margin(h)
if(wcp>wcg)
disp(‘system is stable’)
else
disp(‘system is unstable’)
end
PROCEDURE:
Write MATLAB program in the MATLAB editor document.
Then save and run the program.
Give the required input.
The syntax “tf(num,den)” solves the given transfer function and gives poles and zeros of the
function.
“nyquist(sys)”, Nyquist calculates the Nyquist frequency response of LTI models. When invoked
without left-hand arguments, Nyquist produces a Nyquist plot on the screen.
Nyquist plots are used to analyze system properties including gain margin, phase margin, and
stability. “nyquist(sys)” plots the Nyquist response of an arbitrary LTI model sys.
This model can be continuous or discrete, and SISO or MIMO. In the MIMO case,
Nyquist produces an array of Nyquist plots, each plot showing the response of one particular I/O
channel. The frequency points are chosen automatically based on the system poles and zeros.
“[Gm,Pm,Wcg,Wcp] = margin(sys)”, margin calculates the minimum gain margin, phase margin,
and associated crossover frequencies of SISO open-loop models. The gain and phase margins
indicate the relative stability of the control system when the loop is closed.

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 Department of Electrical Engineering

Experiment 7
Closed Loop Proportional Control of the Motor

Closed Loop Proportional Control of the Motor

Requirements
1. IT-4406 Trainer Board
2. 2mm Patch Cords
3. CRO
Experimental Setup
Refer to the following diagram to configure setup for the present experiment

Procedure
1. Make all connections as shown in fig
2. Connect the oscilloscope probe to the output of PID block TP52.
3. Set the voltage of about 3V at the output of Setpoint 1 TP54.
4. DC motor will start to rotate. If not so, turn the proportional pot to about 25%.
5. Observe the wave form of PID block on oscilloscope.

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6. There will be some oscillations in the wave. Try to remove these ripples from the
wave by adjusting proportional pot.
7. When the system is balanced it will give you straight line. Try to unstable the system
by interrupting the motor with something. It will destabilize the system for some time
but the PID controller will again stabilize it.
8. Note the time taken by the system to stabilize.
9. Now set the voltage of about 3.5V at the output of Setpoint 1 TP54.
10. Repeat the above steps and note the readings.

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 Department of Electrical Engineering

Experiment 8
Closed Loop Proportional-Integral-Derivative Control of the Motor

Closed Loop Proportional-Integral-Derivative Control of the Motor

Requirements
1. IT-4406 Trainer Board
2. 2mm Patch Cords
3. CRO
Experimental Setup
Refer to the following diagram to configure setup for the present experiment

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 Department of Electrical Engineering

Procedure
1. Make all connections as shown in fig
2. Connect the oscilloscope probe to the output of PID block TP52.
3. Set the voltage of about 3V at the output of Setpoint 1 TP54.
4. DC motor will start to rotate. If not so, turn the proportional pot to about 25%.
5. Turn the Integral and Derivative pot to about 25%.
6. Press the RESET button given on the trainer.
7. Observe the wave form of PID block on oscilloscope.
8. There will be some oscillations in the wave. Try to remove these ripples from the
wave by adjusting proportional pot.
9. When the system is balanced it will give you straight line. Try to unstable the system
by interrupting the motor with something. It will destabilize the system for some time
but the PID controller will again stabilize it.
10. Note the time taken by the system to stabilize.
11. Now set the voltage of about 3.5V at the output of Setpoint 1 TP54.
12. Repeat the above steps and note the readings.

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 Department of Electrical Engineering

Experiment 9
Open Loop Control of the Light

Open Loop Control of the Light

Requirements
1. IT-4406 Trainer Board
2. 2mm Patch Cords
3. CRO
Experimental Setup
Refer to the following diagram to configure setup for the present experiment

Procedure
1. Connect the Dark Test circuit TP3 and TP5 to the input of Lx/V converter TP6 and
TP7 respectively as shown in fig
2. Connect the voltmeter to the output of Photo Sensor Interface TP10.
3. Note the voltage at this point. There should be 0V at the output. If not so, then adjust
the OFFSET pot to make it 0V.
3. Similarly attach the input TP6 to the Full Light Test circuit TP4 as shown in Fig

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5. Now again note the voltage at VOUT-1 TP10. It should be around 10V. If not so,
adjust the gain pot so that the output is 10V.
6. Repeat step 3 and again check the required result. These steps must be performed
until the required result is obtained.

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7. Now connect the Photo Sensor output TP1 and TP2 to the input of Lx/V converter
TP6 and TP7 respectively.
8. Connect the Setpoint 1 output TP54 to the input of PWM driver TP36.
9. Connect the output of PWM Driver with the Lamp 1 as shown in Fig

10. Turn the potentiometer Setpoint 1 until the lamp glows.

11. Connect the voltmeter at the output of Photo Sensor Interface TP30. There should be
some DC volts.
12. Turn the Setpoint 1 pot fully counter clockwise and note the reading at VOUT1 TP10.
13. Increase the voltage by turning the potentiometer clockwise thus increases the Light
Lux and the increase in voltage can be observed.

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 Department of Electrical Engineering

Experiment 10
Closed Loop Proportional-Integral-Derivative Control of the Light

Closed Loop Proportional-Integral-Derivative Control of the Light

Requirements
1. IT-4406 Trainer Board
2. 2mm Patch Cords
3. CRO
Experimental Setup
Refer to the following diagram to configure setup for the present experiment

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 Department of Electrical Engineering

Procedure
1. Make all connections as shown in fig.
2. Connect the oscilloscope probe to the output of PID block TP52.
3. Set the voltage of about 3V at the output of Setpoint 1 TP54.
4. Lamp will start to illuminate. If not so, turn the proportional pot to about 25%.
5. Turn the Integral and Derivative pot to about 25%.
6. Press the RESET button given on the trainer.
7. Observe the wave form of PID block on oscilloscope.
8. There will be some oscillations in the wave. Try to remove these ripples from the
wave by adjusting proportional pot.
9. When the system is balanced it will give you straight line. Try to unstable the system
by interrupting the light with the disturbance given on the trainer. It will destabilize
the system for some time but the PID controller will again stabilize it.
10. Note the time taken by the system to stabilize.
11. Now set the voltage of about 3.5V at the output of Setpoint 1 TP54.
12. Repeat the above steps and note the readings.

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