Control Engineering

100
Then, GH(jw) Tju +1)
=
(j (jw + 2) (j +
100
GH(jw) x
+9/tan
vw+
V + 4 / t atn
an()
Vw2+1/tan-wx
100tan 'w tan'tan
Vw2+1vw?+4 vw+9
- M /a
100
where. A = |GH(jw)| = Vw+1 V + 4 V +9
1
tan
a=á GH(jw) = - tan w - tan 3
100
w
lim GH (jw) =
0
/0° (point a'
lim GH (jw) = 0/-270° (point b)
-270°. Hence
b is -270° (0°)
-
=
net angular change from point a' to point
ne changes from 0°
to -zrU
GH (Ju) locus lies in the three quadrants where the angle
-2700 l m GH
G(s)H(s)-plane
R e GH
-180
-90
Section lI: To find the image of path bcd
Put s =lim Re in G(s)H(3), where 0 changes from +90° 0° -90°.
R00
100
lim GH (Re") = lim
Hence, R-
R-oo (Re®+1) (Re+2) (Re"+3)
100
lim
Roo R3 36
 Control Engineering

Tb find M:
At point r,i GH(jw)
= a =
- 180°
= -180°

Hence,
- t a n w - tan - tan ()
tan ( 180*

= 180°
tan
1
9w+w (2-) = 180°
tan 3(2-)-302

+o(2-) 0
=

Since, w #0, we get

w = 11
w=V11 rad/sec.

M = |GH(j)=vm
Hence,
100
vw+1 V+4 Vu2+9=VTT
100
>1
12 x15x 20
the cloc
Since, M is greater than 1, the (-1+ j0) point is encircled twice in
direction. This means, N = 2.
The Nyquist stability criterion is 2 = P+ N.

Z 0+2 =2

This means that two roots of the characteristic equation lie to the right-half o
8-plane. Hence, closed-loop control system is unstable. However, since P 0 , the.
loop control system is stable.
 Frequency-domain Analysis8
R
2Kenple the stability of a
tpen-loop transfer Investigaie negative feedback control system whose
function is given by,

G(s)H(6)= (s +1)(s 100 +3)

Solution +2)(s
Step 1: Plot the poles of the
G(s)H(s) on s-plane.
Jw
S-plane

Since, all the poles of G(s)H(s) lie to the left-half of the =

ihat the s-plane, P 0. This means
open-loop control system is stable.
Step 2: To find N:
Section : To find the image of path ab
Put s=jw in G(s)H (s).
jw
S-plane
+joo

S= lim Re
Ro
S=jo R

C
 -
(Jw) T00
jwi 1) (jw 2) (jw t 3) ()
(Jw) 100
Vw24 1/tan'w
xVw244/tan'()xv+9/ tan
100 tan wtan
tan 3

Vu Vw2 +4 Vw2 9

100
GH
Vw+1 Vw2 + 4 Vu" 9
GH(jw) w -

tan tan
2 3
100
6 (point a)
(J)0/--270 (point &')

gular change from point a' to point b' is -270°- (0°) =

-270°. Hene
IN lies in the three quadrants where the angle changes from 0° to -2
2700 im GH

G(s)H(s)-plane

00
Re GH
b' a

-900

o find the image of path bed

G(») (s), where 6 changes from +90° 0 ° -90°.

lim Re"
Ro0
in

100
lim
R00
GH(Re") TRe1) (Re +2) (Re" +3)
100
00 R3 e30
 0/ 30

0/ 270 (0 270

luis imlies that the inhnite semcircle bed on the

s-plane is
tgin od tlhe GH(s)}-plane. Siee, we are interested in the encirelesrnapved
i n d and not on the encirelenments ot the origin of the GH(s)-plane, the
itb and d have been let ont while performing conforrnal rnappitis

T lin 1he image of path da

t h e niTor image of the patlh a' with respert. to the real axis.

jlm GH
270
G(s)H(s)-plane

Re GH
a 00

-90

Hlete Nyquist plot is as shown in the Fig. Ex. 6.7.

A jlm GH
-2700

G(s)H(s)-plane

80
cd' 00Re GH

M-

90
Hg.Ex.6.7
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