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Nyquist PDF
Nyquist PDF
A stability test for time invariant linear systems can also be derived in the
The importance of Nyquist stability lies in the fact that it can also be
so-called phase and gain stability margins. These stability margins are
the phase and gain stability margins. The Nyquist method is used for
by
Since the system poles are determined as those values at which its transfer
function becomes infinity, it follows that the closed-loop system poles are
whose zeros are the closed-loop poles of the transfer function. In addition,
it is easy to see that the poles of are the zeros of . At the same
time the poles of are the open-loop control system poles since they
where and stand for the number of zeros and poles (including their
Im{s}
Im{F(s)}
+
+
+
Re{F(s)}
+ +
Re{s}
+
s-plane Z=3 N= -3
P=6 F(s)-plane
r 0
s-plane
+
R Re{s}
+
+
The contour in this figure covers the whole unstable half plane of the
to the function with the -plane contour given in Figure 4.7. Note
in the unstable part of the complex plane. At the same time, the
zeros of are the closed-loop system poles, and the poles of are
unstable open-loop poles (P) plus the number of encirclements (N) of the
Two important notions can be derived from the Nyquist diagram: phase
and gain stability margins. The phase and gain stability margins are
Im{H(s)G(s)}
(0,j)
1
Gm
(-1,j0) Re{H(s)G(s)}
ωcp
(1,j0)
Pm ωcg
(0,-j)
the given system is from the instability region. Their formal definitions
are given by
where and stand for, respectively, the gain and phase crossover
and
Example 4.23: Consider a control system represented by
Since this system has a pole at the origin, the contour in the -plane should
has three parts (a), (b), and (c). Mappings for each of them are considered
below.
Thus, the huge semicircle from the -plane maps into the origin in the
(a)
(c)
(c)
(b)
B Re{s} -1 (a)
ω= +-
+
8
A (b) Re{G(s)H(s)}
(c) (c)
ω=0+
B
(c) On this part of the contour takes pure imaginary values, i.e.
are given by
!
From these expressions we see that neither the real nor the imaginary
parts can be made zero, and hence the Nyquist plot has no points of
Figure 4.9. Note that the vertical asymptote of the Nyquist plot in Figure
$ $
4.9 is given by since at those points
$ $
.
From the Nyquist diagram we see that and since there are no
open-loop poles in the left half of the complex plane, i.e. , we have
nyquist(num,den);
Also, from the same figures it follows that %& . In order to find
the phase margin and the corresponding gain crossover frequency we use
[Gm,Pm,wcp,wcg]=margin(num,den)
producing, respectively, gain margin, phase margin, phase crossover fre-
quency, and gain crossover frequency. The required phase margin and
10 1
8 0.8
6 0.6
4 0.4
2 0.2
Imag Axis
Imag Axis
0 0
−2 −0.2
−4 −0.4
−6 −0.6
−8 −0.8
−10 −1
−1 −0.5 0 −1 −0.5 0
Real Axis Real Axis
For cases (a) and (b) we have the same analyses and conclusions. It
remains to examine case (c). If we find the real and imaginary parts of
, we get
* * *
* * *
It can be seen that an intersection with the real axis happens at
Im{G(s)H(s)}
ω=0- A
(c)
-1
6 (b)
-1 (a)
ω= +-
8
Re{G(s)H(s)}
-3
4
(c)
ω=0+ ,
B
8
0.15
6
0.1
4
0.05
2
Imag Axis
Imag Axis
0 0
−2
−0.05
−4
−0.1
−6
−0.15
−8
−10 −0.2
−1.5 −1 −0.5 0 0.5 −1 −0.5 0
Real Axis Real Axis
./ .0