The Nyquist Criterion:

A Frequency Response Analysis

Technique
 Nyquist Plot or Polar Plot
• Nyquist Plots were invented by Nyquist - who worked at Bell Laboratories, the
premiere technical organization in the U.S. at the time.

• Nyquist Plots are a way of showing frequency responses of linear systems.

• There are several ways of displaying frequency response data, including Bode' plots
and Nyquist plots.

• Bode' plots use frequency as the horizontal axis and use two separate plots to display
amplitude and phase of the frequency response.

• Nyquist plots display both amplitude and phase angle on a single plot, using
frequency as a parameter in the plot.

• Nyquist plots have properties that allow you to see whether a system is stable or
unstable.
 Nyquist Plot
• A Nyquist plot is a polar plot of the frequency response function of a linear system.

• That means a Nyquist plot is a plot of the transfer function, G(s) with s = jω. That
means you want to plot G(j ω).

• G(j ω) is a complex number for any angular frequency, ω, so the plot is a plot of
complex numbers.

• The complex number, G(j ω), depends upon frequency, so frequency will be a
parameter if you plot the imaginary part of G(j ω) against the real part of G(j ω).
 Sketch the Polar plot of Frequency Response

To sketch the polar plot of G(jω) for the entire range of frequency ω, i.e., from 0
to infinity, there are four key points that usually need to be known:

1) The start of plot where ω = 0,

2) The end of plot where ω = ∞,
3) Where the plot crosses the real axis, i.e., Im(G(jω)) = 0, and
4) Where the plot crosses the imaginary axis, i.e., Re(G(jω)) = 0.
 Problem-1: Polar Plot of Integrator
Consider a first order system,

Representing G(s) in the frequency response form G( jω ) by replacing s = jω:

The magnitude of G( jω ), i.e., | G( jω) |, is obtained as;

The phase of G( jω ), denoted by, φ , is obtained as;

Polar Plot
 Problem-2: Polar Plot of First Order System
Consider a type 0 system where T is the time constant.

Representing G(s) in the frequency response form G( jω ) by replacing s = jω:

The magnitude of G( jω ), i.e., | G( jω) |, is obtained as;

The phase of G( jω ), denoted by, φ , is obtained as;

The start of plot where ω = 0

The end of plot where ω = ∞

The mid part of plot where ω = 1/T

 Rotation

−90° − 0°
= −90°

Polar Plot
 Problem-2: Polar Plot of type 1 System
Consider a type 1 system 𝟏
𝑮 𝒔 =𝒔 where T is the time constant.
𝟏+𝑻𝒔

Representing G(s) in the frequency response form G( jω ) by replacing s = jω:

𝟏 𝟏+𝒋𝟎
𝑮 𝒋𝝎 = 𝒋𝝎 𝟏+𝑻𝒋𝝎 = 𝟎+𝒋𝝎 𝟏+𝑻𝒋𝝎

The magnitude of G( jω ), i.e., | G( jω) |, is obtained as;

𝟏
𝑮 𝒋𝝎 = =𝐌
𝝎 𝟏+𝝎𝟐 𝑻𝟐

The phase of G( jω ), denoted by, φ , is obtained as;

𝟎
𝒕𝒂𝒏−𝟏 𝟏 𝟎°
∠𝑮 𝒋𝝎 = 𝝎 𝝎𝑻 = ∴ ∅ = −90° − 𝑡𝑎𝑛−1 𝜔𝑇
𝒕𝒂𝒏−𝟏 𝟎 𝒕𝒂𝒏−𝟏 𝟏 𝟗𝟎° +𝒕𝒂𝒏−𝟏 𝝎𝑻
 Starting point 𝝎→𝟎 ∞∠ −𝟗𝟎° Rotation
Terminating point 𝜔→∞ 0∠ −180° −180° − −90° = −90°

𝜔→∞
180°

90° 𝑐𝑙𝑜𝑐𝑘𝑤𝑖𝑠𝑒
𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛
𝜔→0

−90°
 𝟏
Consider a type 2 system 𝑮 𝒔 = 𝟐 where T is the time constant.
𝒔 𝟏+𝑻𝒔

1
𝐺 𝑗𝜔 =
𝑗𝜔𝑗𝜔 1 + 𝑇𝑗𝜔

1
𝐺 𝑗𝜔 = ∠𝐺 𝑗𝜔 = −180° − 𝑡𝑎𝑛−1 𝜔𝑇
𝜔2 1 + 𝑇2𝜔2

Starting 𝝎→𝟎 ∞∠ −𝟏𝟖𝟎°

point Rotation of plot
Terminating 𝜔→∞ 0∠ −270° −𝟐𝟕𝟎° − −𝟏𝟖𝟎° = −𝟗𝟎°
point

𝜔→0 𝜔→∞
 Problem-3: Polar Plot of Second Order System
Consider a second order system where T is the time constant.

Representing G(s) in the frequency response form G( jω ) by replacing s = jω:

The magnitude of G( jω ), i.e., | G( jω) |, is obtained as;

The phase of G( jω ), denoted by, φ , is obtained as;

 The start of plot where ω = 0
1
𝐺 𝑗𝜔 = =1 ∠𝐺 𝑗𝜔 = − tan−1 0 − tan−1 0 = 0°
1+0 1+0

The end of plot where ω = ∞

1
𝐺 𝑗𝜔 = =0 ∠𝐺 𝑗𝜔 = − tan−1 ∞ − tan−1 ∞ = −90° − 90° = −180°
∞ ∞

Polar Plot
 𝟏
Consider 𝑮 𝒔 = 𝒔 𝟏+𝒔𝑻𝟏 𝟏+𝒔𝑻𝟐

1
𝐺 𝑗𝜔 =
𝜔 1+𝑇1 2
𝜔2 1+𝑇2 2
𝜔2 ∠𝐺 𝑗𝜔 = −90° − 𝑡𝑎𝑛−1 𝜔𝑇1 − 𝑡𝑎𝑛−1 𝜔𝑇2

Starting 𝝎→𝟎 ∞∠ −𝟗𝟎°

point Rotation of plot
Terminating 𝜔→∞ 0∠ −270° −𝟐𝟕𝟎° − −𝟗𝟎° = −𝟏𝟖𝟎°
point

𝜔→∞

𝜔→0
 Gain cross over frequency 𝝎𝒈𝒄 and phase cross over frequency 𝝎𝒑𝒄
Gain cross over frequency 𝜔𝑔𝑐 is a point where 𝐺 𝑗𝜔 𝐻 𝑗𝜔 = 0 𝑑𝐵
∴ In polar plot gain cross over frequency 𝜔𝑔𝑐 is a point where 𝐺 𝑗𝜔 𝐻 𝑗𝜔 = 1
To get this point in polar plot, draw a circle with radius 1 and centre as origin. The
point where this circle intersects polar plot is the point where 𝐺 𝑗𝜔 𝐻 𝑗𝜔 = 1
and 𝜔 = 𝜔𝑔𝑐

∠𝑮 𝒋𝝎 𝑯 𝒋𝝎 = −𝟏𝟖𝟎°
𝝎 = 𝝎𝒑𝒄
𝝎 = 𝝎𝒈𝒄

𝑷
𝝎=∞
𝑸 𝟎 𝟏
−𝟏 + 𝒋𝟎 𝑸 𝝎=∞
𝟏
𝑷 𝝎 = 𝝎𝒑𝒄 −𝟏 + 𝒋𝟎
°
∠𝑮 𝒋𝝎 𝑯 𝒋𝝎 = −𝟏𝟖𝟎
𝝎 = 𝝎𝒈𝒄

𝝎=𝟎 𝝎=𝟎
Phase cross over frequency 𝜔𝑝𝑐 is frequency where ∠𝐺 𝑗𝜔 𝐻 𝑗𝜔 = −180°
∴ In polar plot phase cross over frequency 𝜔𝑝𝑐 is a point on negative real axis.
At this point, the polar plot intersects the negative real axis. Such a point 𝑄 is
shown in the figure.
Critical point
 In stability analysis, 𝐺 𝑗𝜔 𝐻 𝑗𝜔 = 1 and ∠𝐺 𝑗𝜔 𝐻 𝑗𝜔 = −180° plays an
important role.
 This point 1∠180° is nothing but a point −1 + 𝑗0 on the negative real axis and is
called “Critical point” in polar plot and Nyquist plot analysis.
Determination of G.M. and P.M. from Polar Plot

𝟏
𝑮. 𝑴. = 𝑷. 𝑴. = 𝟏𝟖𝟎° + ∠ 𝑮 𝒋𝝎 𝑯 𝒋𝝎 𝝎=𝝎𝒈𝒄
𝑮 𝒋𝝎 𝑯 𝒋𝝎 𝝎=𝝎𝒑𝒄

For stability both G.M. & P.M. must be positive

1. 𝝎𝒈𝒄 < 𝝎𝒑𝒄 𝐛𝐨𝐭𝐡 𝐆. 𝐌. & 𝐏. 𝐌. 𝐚𝐫𝐞 + 𝐯𝐞: 𝐬𝐲𝐬𝐭𝐞𝐦 𝐬𝐭𝐚𝐛𝐥𝐞

2. 𝝎𝒈𝒄 > 𝝎𝒑𝒄 𝐛𝐨𝐭𝐡 𝐆. 𝐌. & 𝐏. 𝐌. 𝐚𝐫𝐞 − 𝐯𝐞: 𝐬𝐲𝐬𝐭𝐞𝐦 𝐮𝐧𝐬𝐭𝐚𝐛𝐥e
3. 𝝎𝒈𝒄 = 𝝎𝒑𝒄 𝐆. 𝐌. = 𝐏. 𝐌. = 𝟎: 𝐬𝐲𝐬𝐭𝐞𝐦 𝐢𝐬 𝐦𝐚𝐫𝐠𝐢𝐧𝐚𝐥𝐥𝐲 𝐬𝐭𝐚𝐛𝐥e
 𝝎𝒈𝒄 < 𝝎𝒑𝒄 𝐛𝐨𝐭𝐡 𝐆. 𝐌. & 𝐏. 𝐌. 𝐚𝐫𝐞 + 𝐯𝐞: 𝐬𝐲𝐬𝐭𝐞𝐦 𝐬𝐭𝐚𝐛𝐥𝐞
°
∠𝑮 𝒋𝝎 𝑯 𝒋𝝎 = −𝟏𝟖𝟎
𝝎 = 𝝎𝒑𝒄

𝝎=∞
𝑸 𝟎
−𝟏 + 𝒋𝟎 ∠ 𝑮 𝒋𝝎 𝑯 𝒋𝝎 𝝎=𝝎𝒈𝒄

𝑷. 𝑴.=+ve 𝑷

𝝎 = 𝝎𝒈𝒄
𝝎 = 𝝎𝒈𝒄 𝑷. 𝑴.=−ve

𝝎=𝟎 𝑷
𝟏
𝑸 𝝎=∞
𝟎
−𝟏 + 𝒋𝟎
°
∠𝑮 𝒋𝝎 𝑯 𝒋𝝎 = −𝟏𝟖𝟎 ∠ 𝑮 𝒋𝝎 𝑯 𝒋𝝎 𝝎=𝝎𝒈𝒄

𝝎=𝟎
𝝎𝒈𝒄 > 𝝎𝒑𝒄 𝐛𝐨𝐭𝐡 𝐆. 𝐌. & 𝐏. 𝐌. 𝐚𝐫𝐞 − 𝐯𝐞: 𝐬𝐲𝐬𝐭𝐞𝐦 𝐮𝐧𝐬𝐭𝐚𝐛𝐥e
The concept of Nyquist plot is based on the polar plot which can be conveniently
applied to the stability analysis of any kind of system.
Different steps
 Pole -Zero configuration from Nyquist plot point of view.
 Concept of encirclement and number of encirclements.
 Analytic function and its singularities.
 Nyquist stability criterion.
Pole-Zero Configuration
Any function which can be expressed as a ratio of two polynomials has its own poles
and zeros. Consider function 𝑮(𝒔)𝑯(𝒔) called open loop transfer function of a
system.
 The poles of 𝑮(𝒔)𝑯(𝒔) are called open loop poles and zeros of 𝑮(𝒔)𝑯(𝒔) are
called open loop zeros .
𝑪 𝒔
Now consider closed loop transfer function as
𝑹 𝒔
𝑪 𝒔 𝑮 𝒔
=
𝑹 𝒔 𝟏+𝑮 𝒔 𝑯 𝒔
The poles of this transfer function are the roots of the characteristic equation
1 + 𝐺 𝑠 𝐻 𝑠 = 0 and are called closed loop poles of a system.
10
Let 𝐺 𝑠 𝐻 𝑠 =
𝑠 𝑠+2
 Open loop poles are 𝑠 = 0 , −2. Open loop zeros are absent.
10
while 1 + 𝐺 𝑠 𝐻 𝑠 = 0 → 1 + =0
𝑠 𝑠+2
∴ 𝑐𝑕𝑎𝑟𝑎𝑐𝑡𝑒𝑟𝑖𝑠𝑡𝑖𝑐 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑖𝑠 𝑠 2 + 2𝑠 + 10 =0
Now consider the mathematical function 𝐹(𝑠) = 1 + 𝐺(𝑠)𝐻(𝑠).
 Remember that we are considering the function and not the equation 1 +
𝐺(𝑠)𝐻(𝑠) = 0
This function on its own can be expressed as ratio of two separate polynomials in
𝑠 as
𝑃 𝑠
𝐹 𝑠 =1+𝐺 𝑠 𝐻 𝑠 =
𝑄 𝑠
 Now roots of 𝑃 𝑠 = 0 are the zeros of the function 𝐹 𝑠 = 1 + 𝐺 𝑠 𝐻 𝑠
&
 The roots of 𝑄 𝑠 = 0 are the poles of the function 𝐹 𝑠 = 1 + 𝐺 𝑠 𝐻 𝑠
 10
 Consider the open-loop transfer function 𝐺 𝑠 𝐻 𝑠 =
𝑠 𝑠+2
10 𝑠 2 +2𝑠+10
 The function 𝐹 𝑠 = 1 + 𝐺 𝑠 𝐻 𝑠 = 1 + = =
𝑠 𝑠+2 𝑠 𝑠+2
𝑃 𝑠
𝑄 𝑠
 So, 𝑄 𝑠 = 0 gives poles of 1 + 𝐺 𝑠 𝐻 𝑠 i.e. 𝑠 = 0, −2 which
are the open-loop poles.
 While, 𝑃 𝑠 = 0 gives zeros of 1 + 𝐺 𝑠 𝐻 𝑠 i.e. roots of
𝑠 2 + 2𝑠 + 10, which are closed-loop poles.
Conclusions:
 Poles of the function 𝐹 𝑠 = 1 + 𝐺 𝑠 𝐻 𝑠 ⇨ open-loop poles of
the system.
 Zeros of the function 𝐹 𝑠 = 1 + 𝐺 𝑠 𝐻 𝑠 ⇨ closed-loop poles
of the system.
 𝑃 𝑠 = 0 𝑔𝑖𝑣𝑒𝑠 𝑧𝑒𝑟𝑜𝑠 𝑜𝑓 1 + 𝐺 𝑠 𝐻 𝑠
 But 𝑃 𝑠 = 0 gives us an equation which is nothing but the
characteristic equation of the system & gives the closed-loop poles.
Conclusion
 Therefore, from Nyquist point of view, the system is absolutely
stable if “zeros of 1 + 𝐺 𝑠 𝐻 𝑠 ” i.e. closed-loop poles of the
system are located in the left-half of 𝑠 − 𝑝𝑙𝑎𝑛𝑒.
Encirclements
 Enclosement: it is applicable for the paths which are open and not
closed like polar plots.
 Encirclement: it is applicable for the paths which are closed and
not open like Nyquist plots.
 A point is said to be encircled by a closed path if it is found to lie
inside that closed path
In the figure point A and all which are inside the path are
encircled by that path.
𝐴
 This is a simple concept but in some complicated
closed paths it is possible that the point lies inside the
path but actually not encircled by the path.
Hence it is always better to count the number of
encirclements of a point.
Counting Number of Encirclements
 Draw a vector from a point whose encirclements are to be
determined in such a way to join any point outside that closed path
in any direction.
 Identify the number of intersections of this vector with the closed
path.
 Mark these intersections with small arrows indicating direction of
closed path at the point of intersection
 Cancel the oppositely directed encirclements. The remaining arrows
give us the number of encirclements of that point.
 Anticlockwise encirclements are treated as positive and clockwise
encirclements are treated as negative.
 Analytic Function & Singularities
• A mathematical function is said to be analytic at a point in a plane if
its value & its derivative has a finite existence at that point.
• If at a point in a plane, the value of the function or its derivative is
infinite, the function is said to be non-analytic at that point and such
a point is called “singularity” of that function.
Nyquist Stability Criterion
Nyquist suggested to select a single valued function 𝐹 𝑠 = 1 +
𝐺 𝑠 𝐻 𝑠 , where 𝐺 𝑠 𝐻 𝑠 is open-loop transfer function of the
system.
• Poles of 1 + 𝐺 𝑠 𝐻 𝑠 = poles of 𝐺 𝑠 𝐻 𝑠 = open − loop poles
• These are known to us as 𝐺 𝑠 𝐻 𝑠 is known to us, but zeros of
1 + 𝐺 𝑠 𝐻 𝑠 = 𝑐𝑙𝑜𝑠𝑒𝑑 − 𝑙𝑜𝑜𝑝 𝑝𝑜𝑙𝑒𝑠 𝑜𝑓 𝑡𝑕𝑒 𝑠𝑦𝑠𝑡𝑒𝑚.
• For stability, all zeros of 1 + 𝐺 𝑠 𝐻 𝑠 must be in the left half of 𝑠-
plane, none of these zeros should be in the right half of 𝑠-plane.
 The locations of zeros of 1 + 𝐺 𝑠 𝐻 𝑠 are unknown to us.
• Nyquist has suggested a path which will encircle the entire right
half of 𝒔-plane.
• Such a path should start from 𝒔 = +𝒋∞ and should continue till
𝒔 = −𝒋∞ along the imaginary axis and should be completed with a
semicircle of radius ∞, encircling the entire right of 𝒔-plane.

+𝑗∞ 𝑁𝑦𝑞𝑢𝑖𝑠𝑡 𝑃𝑎𝑡𝑕

0 ∞

−𝑗∞
• As poles of 𝑮 𝒔 𝑯 𝒔 are known which are the poles of 𝟏 +
𝑮 𝒔 𝑯 𝒔 , 𝒘𝒉𝒊𝒄𝒉 𝒂𝒓𝒆 𝒆𝒏𝒄𝒊𝒓𝒄𝒍𝒆𝒅 𝒃𝒚 𝑵𝒚𝒒𝒖𝒊𝒔𝒕 𝒑𝒂𝒕𝒉.
• Now map all the points on the Nyquist path in 𝑭-plane.
“This mapped locus obtained in F-plane by mapping all the points on
the Nyquist path is called Nyquist plot ”
𝑵 = 𝒁+ − 𝑷+
N=encirclements of −𝟏 + 𝒋𝟎 in the f-plane by Nyquist plot
𝒁+ =number of zeros of 𝟏 + 𝑮 𝒔 𝑯 𝒔 located in right half of s-plane
𝑷+ =number of poles of 𝟏 + 𝑮 𝒔 𝑯 𝒔 or 𝑮 𝒔 𝑯 𝒔 located in right
half of s-plane.
For stable system no zero of 𝟏 + 𝑮 𝒔 𝑯 𝒔 must be in right half of s-
plane
i.e. 𝒁+ = 𝟎; 𝒇𝒐𝒓 𝒔𝒕𝒂𝒃𝒊𝒍𝒊𝒕𝒚.
 Generalized Nyquist Path
• If the function has poles at origin or poles on the imaginary axis,
Nyquist path cannot be selected along imaginary axis passing
through origin.
• This is because at every point on Nyquist path, function must be
analytic. But at its poles it can not be analytic.
 In such cases Nyquist path is modified in such a way to by pass
these poles by selecting semicircles of radius tending to zero
around them but still encircling the entire right half of s-plane.
 Steps to solve problems by Nyquist criterion
1. Count how many poles of 𝑮 𝒔 𝑯 𝒔 are in right half of s-plane.
This gives the value of 𝑷+
2. Decide the stability criterion as 𝑵 = −𝑷+ i.e. how many times
Nyquist plot should encircle −𝟏 + 𝒋𝟎 point for absolute stability.
3. Select Nyquist path as per the function 𝑮 𝒔 𝑯 𝒔 .
4. Analyze the sections as starting point and terminating point of the
plot. Last section analysis is not required.
5. Mathematically find out 𝝎𝒑𝒄 and the intersection of Nyquist plot
with the negative real axis by rationalizing 𝑮(𝒋𝝎)𝑯 𝒋𝝎 .
6. With the help of step 4 and 5, sketch the Nyquist plot.
7. Count number of encirclements N of the point −𝟏 + 𝒋𝟎 & if it
matches with step 2, the system is stable, otherwise system is
unstable.
𝟏
𝑮. 𝑴. = ; Q: intersection point of Nyquist plot with –ve real axis
𝑶𝑸
𝟏
𝑮. 𝑴. = 𝟐𝟎𝒍𝒐𝒈 𝒅𝑩
𝑶𝑸
 𝟏𝟎
Problem 1. A unity feedback control system has 𝑮 𝒔 =
𝒔 𝒔+𝟏 𝒔+𝟐
Draw Nyquist Plot and comment on closed loop stability.
𝟏𝟎
Solution: 𝑮 𝒔 =
𝒔 𝒔+𝟏 𝒔+𝟐
• Number of poles in right half 𝑷+ = 𝟎.
• For stability 𝑵 = −𝑷+ = 𝟎, i.e. Nyquist plot should not encircle
−𝟏 + 𝒋𝟎 point for absolute stability of this system.
• As there is one pole at origin, it should be bypassed by small
semicircle
+𝒋∞ 𝒔𝒆𝒄𝒕𝒊𝒐𝒏 𝑰𝑽
𝒔𝒆𝒄𝒕𝒊𝒐𝒏 𝑰
+𝒋𝟎

∞
𝒔𝒆𝒄𝒕𝒊𝒐𝒏 𝑰𝑰 −𝒋𝟎 𝑹=∞

𝒔𝒆𝒄𝒕𝒊𝒐𝒏 𝑰𝑰𝑰 −𝒋∞

𝑵𝒚𝒒𝒖𝒊𝒔𝒕 𝑷𝒂𝒕𝒉
 𝟏𝟎
• 𝑮 𝒋𝝎 𝑯 𝒋𝝎 =
𝒋𝝎 𝟏+𝒋𝝎 𝟐+𝒋𝝎
𝟏𝟎
• 𝑮 𝒋𝝎 𝑯 𝒋𝝎 =𝑴=
𝝎×√ 𝟏+𝝎𝟐 ×√ 𝟒+𝝎𝟐
𝟎
𝒕𝒂𝒏−𝟏 𝟏𝟎 𝝎
• ∅= 𝝎 𝝎 𝝎 = −𝟗𝟎° − 𝒕𝒂𝒏−𝟏 𝝎 − 𝒕𝒂𝒏−𝟏
𝒕𝒂𝒏−𝟏 𝟎 𝒕𝒂𝒏𝟏 𝟏 𝒕𝒂𝒏−𝟏 𝟐 𝟐
Section I: 𝒔 = +𝒋∞ 𝒕𝒐 𝒔 = +𝒋𝟎 i.e. 𝝎 = ∞ 𝒕𝒐 𝝎 = +𝟎
Starting point 𝝎→∞ 𝟎∠ −𝟐𝟕𝟎° −𝟗𝟎° − −𝟐𝟕𝟎° = 𝟏𝟖𝟎°
Terminating point 𝜔→0 ∞∠ −90° Anticlockwise
rotation

90°
Anticlockwise

𝟎
180° Anticlockwise

90°
Anticlockwise
∞ −90°
 Section II: 𝒔 = +𝒋𝟎 𝒕𝒐 𝒔 = −𝒋𝟎 i.e. 𝝎 = +𝟎 𝒕𝒐 𝝎 = −𝟎

Starting point 𝝎 → +𝟎 ∞∠ −90° 𝟗𝟎° − −𝟗𝟎° = 𝟏𝟖𝟎°

Terminating 𝜔 → −0 ∞∠ +90° Anticlockwise
point rotation

90°
Anticlockwise

90°
Anticlockwise
Section III: 𝒊𝒔 𝒎𝒊𝒓𝒓𝒐𝒓 𝒊𝒎𝒂𝒈𝒆𝒐𝒇 𝒔𝒆𝒄𝒕𝒊𝒐𝒏 𝑰 𝒂𝒃𝒐𝒖𝒕 𝒓𝒆𝒂𝒍 𝒂𝒙𝒊𝒔
Section IV: is an origin and not required to be analyzed.
 Before sketching the plot, calculate 𝝎𝒑𝒄 and intersection of Nyquist plot
with negative real axis.
𝝎𝒑𝒄 = √𝟐 and 𝑸 = −𝟏. 𝟔𝟔

Nyquist Plot
 Stability Analysis using Nyquist Plot

The number of encirclements of −𝟏 + 𝒋𝟎

𝑵 = 𝒁 + − 𝑷+
𝟐 = 𝒁+ − 𝟎
𝒁+ = 𝟐
i.e. actually there are 2 zeros of 𝟏 + 𝑮 𝒔 𝑯 𝒔 encircled by Nyquist path i.e. 2 closed loop
poles in right half of s-plane due to which closed loop system is unstable.

𝒌
Note: It should be noted that for all the systems with 𝑮 𝒔 𝑯 𝒔 = , the
𝒔 𝟏+𝑻𝟏 𝒔 𝟏+𝑻𝟐 𝒔
shape of Nyquist plot will remain same. Only the co-ordinates of point Q will
change depending on the values of 𝑻𝟏 , 𝑻𝟐 & 𝒌 which will decide the
encirclements of −𝟏 + 𝒋𝟎 and hence the stability.