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Experiment No. (4)

Nyquist Criterion

 Objectives:
The objectives of this experiment are to:
1. Plot the Nyquist diagram, and determine the absolute or relative
stability of a system.
2. See the effect of the time delay on the stability and transient response.
 Nyquist Criterion:
The Nyquist criterion is the most effective frequency domain analysis
technique for determining the stability of the linear closed loop control
systems. This criterion is useful in control engineering because the
absolute stability of the closed loop system can be determined
graphically from open loop frequency response curves, and there is no
need for actually determining the closed loop poles. The Nyquist plot
contains of the magnitude of 𝐺(𝑗𝜔) versus the phase angle 𝐺(𝑗𝜔) on
polar coordinates as 𝜔 is varied from zero to infinity.

This technique has different advantages in the following situations:

1. Shows the frequency response characteristics of a system over the

Bode Plot in a single plot.
2. The Nyquist criterion provides us with suitable information
concerning the absolute and relative stability of the system.
3. It has advantage over Root Locus and Routh – Hurwitz because it can
be determine the stability of the system with time delay.

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4. In addition, there is a natural generalization to more complex systems

with Multiple Input Multiple Output (MIMO).
One disadvantage of the Nyquist plot, it’s difficult to determine the
frequencies value, because the Nyquist plot has been plotted as
Magnitude vs. Phase Plot.
The Nyquist criterion provides us with two relative stability measures:
gain margin and phase margin.
Gain Margin (GM): is the increase in the system gain when phase equal
to −180° that will result in a marginally stable system with intersection
of the (−1 + 𝑗0) point on the Nyquist diagram.

1
𝐺𝑀 = 20 log (dB)
|𝑎|

Phase Margin (PM): the angular difference between the point on the
frequency response at the unit circle crossing and −180°.
Another meaning: phase margin is the amount of phase shift at unity
magnitude that will result in a marginally stable system with intersection
of the(−1 + 𝑗0) point on the Nyquist diagram.

PM = ∠𝐺(𝑗𝜔)|𝜔𝑐 − (−180°).

Also, you must be know some parameters in this method:

Phase crossover frequency (𝝎𝝅 ): the frequency where it crosses the
negative real axis.
Gain crossover frequency (𝝎𝒄 ): the frequency where it intersect the
Nyquist diagram to unit circle.

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Figure 5.1: Gain and phase margins on the Nyquist Diagram.

 Stability of Nyquist Criterion:

The Nyquist diagram used to determine the stability of Linear closed loop
control systems. This criterion is defined in terms of the (−1 + 𝑗0) point
on the Nyquist diagram.
1. When the plot passes before the point (−1 + 𝑗0) the gain and phase
margins are positive, it means that the system is stable.
2. When the plot passes after the point (−1 + 𝑗0) the gain and phase
margins are negative, it means that the system is unstable.
3. When the plot passes through the point (−1 + 𝑗0) the gain and phase
margins are zero, it means that the system is marginally stable.

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Stable System Unstable System

Figure 5.2: Gain and phase margins of stable and unstable systems.

Example 5.1: The open loop transfer function of a unity feedback system is:

45 K
𝐺(𝑠) =
(𝑠 + 3)(𝑠 + 6)

Using MATLAB. Plot the Nyquist diagram if K = 2, then determine the

following from the graph:
1. Gain and Phase crossover frequencies (𝝎𝒄 & 𝝎𝝅 ).
2. Gain and Phase Margins (GM & PM).
3. Stability of the system.

Also, determine the peak time, overshoot, settling time, and steady state
error for the closed loop step response.

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Solution:

90 5
𝐺(𝑠) = → 𝐺(𝑗𝜔) =
(𝑠 + 3)(𝑠 + 6) 𝑗𝜔 𝑗𝜔
( 3 + 1) ( 6 + 1)

90
|𝐺(𝑗𝜔)| =
√𝜔 2 + 9 √𝜔 2 + 36

𝜔 𝜔
∠𝐺(𝑗𝜔) = − tan−1 ( ) − tan−1 ( )
3 6

lim |𝐺(𝑗𝜔)| = 5 lim ∠𝐺(𝑗𝜔) = 0°

𝜔→0 𝜔→0

lim |𝐺(𝑗𝜔)| = 0 lim ∠ 𝐺(𝑗𝜔) = −180°

𝜔→∞ 𝜔→∞

>> % To plot the Nyquist diagram of Example 5.1 using MATLAB %

>> s=tf('s');

>> x=90/((s+3)*(s+6));

>> nyquist(x)

>> allmargin(x)

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Nyquist Diagram

1
System: x
Imaginary Axis

Phase Margin (deg): 55.9

Delay Margin (sec): 0.118
0
At frequency (rad/sec): 8.28
Closed Loop Stable? Yes

-1

-2

-3

-1 0 1 2 3 4 5
Real Axis

Figure 5.3: Nyquist diagram of Example 5.1.

From Figure 5.3:

1. The gain crossover frequency (𝜔𝑐 ) equals 8.28 rad/sec, and the phase
crossover frequency (𝜔𝜋 ) doesn’t exist.
2. The Gain Margin (GM) approaches infinity, and the Phase Margin (PM)
equals 55.9°.
3. Since, phase margin is positive and phase cross over frequency doesn’t
exist. Therefore, the system is stable for any value of K.

>> % To determine the peak time, overshoot, settling time, and ess %
>> sys=feedback(x,1);
>> step(sys)

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Step Response
1.4

System: sys
1.2 Peak amplitude: 1.02
Overshoot (%): 22.1
At time (sec): 0.338

1
System: sys
Final Value: 0.833

0.8
Amplitude

System: sys
Settling Time (sec): 0.807
0.6

0.4

0.2

0
0 0.5 1 1.5
Time (sec)

Figure 5.4: Step response of Example 5.1.

From Figure 5.4: the peak time is 0.338 sec, overshoot is 22.1 %, settling
time is 0.807 sec, and the steady state error equals 0.167.
Example 5.2: Use MATLAB LTI Viewer with the Nyquist diagram for a
unity feedback system with:

100 𝐾
𝐺(𝑠) =
𝑠(𝑠 + 2)(𝑠 + 3)

To find the following:

1. Gain and phase crossover frequencies.
2. Gain and phase margins.
3. Stability of the system from Nyquist diagram.

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Solution:
100 𝐾
𝐺(𝑠) =
𝑠(𝑠 + 2)(𝑠 + 3)

>> % To plot Nyquist diagram of Example 5.2 when K = 1 using MATLAB LTI Viewer %
>> s=tf('s');

>> x=100/(s*(s+2)*(s+3));

>> ltiview(x)

Nyquist Diagram
3

2
System: x
Phase Margin (deg): -28.8
Delay Margin (sec): 1.38
1 System: x At frequency (rad/sec): 4.19
Gain Margin (dB): -10.5 Closed Loop Stable? No
At frequency (rad/sec): 2.45
Imaginary Axis

Closed Loop Stable? No

0

-1

-2

-3
-7 -6 -5 -4 -3 -2 -1 0 1 2
Real Axis

Figure 5.5: LTI Viewer with Nyquist diagram for K = 100 of Example 5.2.

From Figure 5.5:

1. The gain crossover frequency equals to 4.19 rad/sec, and the phase
crossover frequency equals to 2.45 rad/sec.
2. The gain margin equals to −10.5 dB, and the phase margin equals to
−28.8°.

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3. Since, the Nyquist plot passes after the point (−1 + 𝑗0) the gain and
phase margins are negative, it means that the system is unstable.
But it can be made stable by reducing the value of gain K, where:

GM = 20 log K → − 10.5 = 20 log K → K = 0.3.

𝐾 = 0.3 × 100 = 30 will cause the system to be marginally stable. Hence,

the system is stable if 0 < 𝐾 < 30.
Let K = 20, then plot the Nyquist diagram:

20
𝐺(𝑠) =
𝑠(𝑠 + 2)(𝑠 + 3)
>> % To plot Nyquist diagram when K=20 %
>> x1=20/(s*(s+2)*(s+3));
>> ltiview(x1)

Nyquist Diagram
2 System: x1
System: x1
Phase Margin (deg): 11.9
Gain Margin (dB): 3.52
1 Delay Margin (sec): 0.105
At frequency (rad/sec): 2.45
At frequency (rad/sec): 1.98
Closed Loop Stable? Yes
Closed Loop Stable? Yes
0

-1
Imaginary Axis

-2

-3

-4

-5

-6

-7
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Real Axis

Figure 5.6: LTI Viewer with Nyquist diagram for K = 20 of Example 5.2.

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From Figure 5.6:

 The gain crossover frequency equals 1.98 rad/sec, and the phase
crossover frequency equals 2.45 rad/sec.
 The gain margin equals 3.52 dB, and the phase margin equals 11.9°.
Therefore, the system is stable.

Example 5.3: Given a unity feedback system that has the forward transfer
function:
15 𝑒 −0.5𝑠
𝐺(𝑠) =
(𝑠 + 1)(𝑠 2 + 4𝑠 + 10)

Using MATLAB (SISO Design Tool). Plot the Nyquist diagram, then
determining the following from the graph:
1. Gain and phase crossover frequencies.
2. Gain and phase margins.
3. Range of K for stability from Nyquist diagram.
4. The closed loop response of the system for 𝑟(𝑡) = 𝑢(𝑡).

Solution:

15 𝑒 −0.5𝑠
𝐺(𝑠) =
(𝑠 + 1)(𝑠 2 + 4𝑠 + 10)

To plot the Nyquist diagram and closed loop step response using MATLAB
SISO Design Tool:
1. Write the transfer function of the system in the command window.
2. Write the command (sisotool) for the defined transfer function.
3. From the given window, choose the open loop Nyquist and closed loop
step response only.
4. Record the required system characteristics from the given figures.

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Nyquist Diagram

0.5
System: x
Gain Margin (dB): 3.83
At frequency (rad/sec): 2.09
Imaginary Axis

Closed Loop Stable? Yes

0

System: x
-0.5 Phase Margin (deg): 69.8
Delay Margin (sec): 1.05
At frequency (rad/sec): 1.15
Closed Loop Stable? Yes

-1

-1 -0.5 0 0.5 1 1.5

Real Axis

Figure 5.7: SISO Design Tool with Nyquist diagram of Example 5.3.

From Figure 5.7:

1. The gain crossover frequency equals to 1.15 rad/sec, and the phase
crossover frequency equals to 2.09 rad/sec.
2. The gain margin equals to 3.83 dB, and the phase margin equals to
69.8°. Therefore, the system is stable.
3. To determine the range K for stability from Nyquist diagram:

GM = 20 log K → 3.83 = 20 log K → K = 1.556.

K = 1.556 × 15= 23.35 will cause the system to be marginally stable.

Hence, the system is stable if 0 < 𝐾 < 23.35.

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4. The step response for the closed loop system:

Step Response
1

System: sys
0.9
Peak amplitude: 0.969
Overshoot (%): 61.6
0.8 At time (seconds): 2.16

0.7 System: sys

Final value: 0.6
0.6
Amplitude

System: sys
0.5 Settling time (seconds): 13.6

0.4

0.3

0.2

0.1

0
0 2 4 6 8 10 12 14 16 18 20
Time (seconds)

Figure 5.8: Closed loop step response of Example 5.3.

From Figure 5.8: the peak time is (2.16 − 0.5 = 1.66 sec), overshoot is 61.6 %,
settling time is (13.6 − 0.5 = 13.1 sec), and the steady state error equals 0.4.
Comparison the performance of the system with and without time delay:

System Performance System without T. D System with T. D

𝜔𝐶 (rad/sec) 1.15 1.15
𝜔𝜋 (rad/sec) 3.74 2.09
Gain Margin (dB) 12 3.83
Phase Margin 103° 69.8°
Overshoot(OS%) 20.7 % 61.6 %
Peak Time ( Tp ) 1.51 sec 1.66 sec
Settling Time ( Ts ) 4.03 sec 13.1 sec
Error(ess ) 0.4 0.4

What is the effect of the time delay on the system performance?

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Homework 5.1: Given a unity feedback system that has the forward
transfer function:
101 𝐾
𝐺(𝑠) =
𝑠(1 + 0.1𝑠)(1 + 0.001𝑠)

Using MATLAB LTI Viewer:

1. Plot the Nyquist diagram if K =10.
2. Find the values of gain and phase crossover frequencies.
3. Determine the gain margin and phase margin.
4. Is the system stable? Why?
----------------------------------------------------------------------------------------------
Homework 5.2: A unity feedback control system shown in Figure 5.9 has
a forward transfer function:

𝐾
𝐺(𝑠) =
𝑠(𝑠 + 2)(𝑠 + 50)

Using MATLAB SISO Design Tool:

1. Determine the phase margin and gain margin when K = 1300.
2. Select a gain K so that the phase margin of the system is 50°.
3. For K obtained in part (2), determine the gain margin.
4. Find the range of K for stability from Nyquist Plot.

Figure 5.9: Unity feedback control system.

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Homework 5.3: A control system for a chemical concentration control

system shown in Figure 5.10. The system receives a granular feed of varying
composition, and we want to maintain a constant composition of the output
mixture by adjusting the feed flow valve. The transfer function of the tank
and output valve is:
5 𝐾𝐼
𝐺(𝑠) = , and that of the controller is 𝐺𝐶 (𝑠) = 𝐾𝑃 +
5𝑠 + 1 𝑠
The transport of the feed along the conveyor requires a transport (or delay)
time, T = 1.5 sec. Using MATLAB:
1. Draw the Nyquist diagram when 𝑲𝑰 = 𝑲𝑷 = 𝟏 , and investigate the
stability of the system.
2. Repeat Part (1) when 𝑲𝑰 = 𝟎. 𝟏 , and 𝑲𝑷 = 𝟎. 𝟎𝟒.
3. When 𝑲𝑰 = 𝟎 , calculate the maximum allowable gain 𝑲𝑷 for the system
to remain stable.

Figure 5.10: Chemical concentration control.

Khaled Mustafa Mahmoud Session: Fall 2015/2016