Stability in the frequency domain

Nyquist stability analysis

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In this Lecture:
 𝐓𝐡𝐞 𝐏𝐨𝐥𝐚𝐫 𝐏𝐥𝐨𝐭
 Properties of 𝐓𝐡𝐞 𝐏𝐨𝐥𝐚𝐫 𝐏𝐥𝐨𝐭
 The Nyquist Criterion
 Examples
𝐓𝐡𝐞 𝐏𝐨𝐥𝐚𝐫 𝐏𝐥𝐨𝐭
𝐓𝐡𝐞 𝐏𝐨𝐥𝐚𝐫 𝐏𝐥𝐨𝐭
Properties of 𝐓𝐡𝐞 𝐏𝐨𝐥𝐚𝐫 𝐏𝐥𝐨𝐭
 Example

Consider the transfer function

𝟏
𝑮𝑯 𝒔 =
𝒔+𝟏
1
𝐺𝐻 𝑗𝜔 = ∠ − 𝑡𝑎𝑛−1 (𝜔)
1 + 𝜔2

𝐺𝐻 𝑗0 = 1∠0𝑜

1
𝐺𝐻 𝑗1 = ∠ −45𝑜
2

lim 𝐺𝐻 𝑗𝜔 = 0∠ −90𝑜
𝜔→∞
The Nyquist Criterion
The Nyquist Criterion
The Generalized Nyquist Path in the s-Plane
 Some Concepts Related to Poles and Zeros

For a function F(s) with a variable of s,

the poles of F(s) are the values of s such that F(s) = ∞ ; and the
zeros of F(s) are the values of s such that F(s) = 0

𝐺(𝑠)
𝑇(𝑠) =
1 + 𝐺 𝑠 𝐻(𝑠)

we have following relationships:

The Nyquist Criterion F(s)= 1 + L(s)
 Alternatively F`(s) = F(s)-1 = L(s) = G(s)H(s)

Please note that

Characteristic Equation: F(s)= 1 + L(s)
 𝟏
Nyquist Plot of GH(s)=
𝒔+𝟏

P=0
Number of Open
Loop Poles inside
the s-plane
contour ×

1 −1
1 − 𝑗𝜔
𝐺𝐻 𝑗𝜔 =
to -90 ∠ − 𝑡𝑎𝑛 𝜔 =
1 + 𝜔2 1 + 𝜔2
N=0
Number of encirclements
of the point -1

Zo= N+P

Zo=0
The system is stable
 𝟏
Nyquist Plot for Type one Transfer Function GH(s)=
𝒔(𝒔+𝟏)

a
 𝟏
Nyquist Plot for Type one Transfer Function GH(s)=
𝒔(𝒔+𝟏)

𝟏
𝑮𝑯 𝒔 =
𝒔(𝒔 + 𝟏)
 𝟏
Nyquist Plot for Type one Transfer Function GH(s)=
𝒔(𝒔+𝟏)
Nyquist Stability Plots
Nyquist Stability Plots
Nyquist Stability Plots
 𝑲𝟏
Nyquist Plot for Open Loop GH(s)=
𝒔(𝒔−𝟏)
 𝑲𝟏
Nyquist Plot for Open Loop GH(s)=
𝒔(𝒔−𝟏)

𝐾1
𝐺𝐻 𝑗𝜔 =
𝑗𝜔(𝑗𝜔 − 1)
𝐾1 𝜔
𝐺𝐻 𝑗𝜔 = ∠ − 90 − 𝑡𝑎𝑛−1 ( )
𝜔 1 + 𝜔2 −1

𝐺𝐻 0+ = ∞∠ − 90 − 180

𝐺𝐻 ∞ = 0∠ − 90 − 90
-1

P=1
Number of Open
Loop Poles inside the
s-plane contour
 𝑲𝟏
Nyquist Plot for Open Loop GH(s)=
𝒔(𝒔−𝟏)

𝐿𝑒𝑡 𝑠 = 𝜌𝑒 𝑗𝜃

𝑗𝜃
𝐾1
𝐺𝐻 𝜌𝑒 = 𝑗𝜃
𝜌𝑒 (𝜌𝑒 𝑗𝜃 − 1)

𝐾1
𝐺𝐻 𝜌𝑒 𝑗𝜃 ≈ 𝑗𝜃
= ∞∠ − 𝜃 − 180
𝜌𝑒 −1
 Procedure for Determining Stability using Nyquist Stability Criterion

 Draw the Nyquist Plot

 From the open-loop transfer function, find the number of open-loop poles inside Nyquist contour
 Determine the clockwise encirclement N of the -1 Point
 Determine Z= N+P
 Stable if Z=0
 𝑲
Example: L(s)=GH(s)=
𝒔𝟐 (𝝉𝒔+𝟏)
 𝑲
Example: L(s)=GH(s)=
𝒔𝟐 (𝝉𝒔+𝟏)

𝐾
𝐺𝐻 𝑗𝜔 =
(𝑗𝜔)2 (𝑗𝜏𝜔 + 1)
𝐾
𝐺𝐻 𝑗𝜔 = ∠ − 180 − 𝑡𝑎𝑛−1 𝜏𝜔
𝜔2 (𝜏𝜔)2 +1
𝐺𝐻 0+ = ∞∠ −∈ −180
𝐺𝐻 ∞ = 0∠ − 90 − 180 = 0∠ − 270

A round the origin 𝐿𝑒𝑡 𝑠 = 𝜌𝑒 𝑗𝜃

𝑗𝜃
𝐾
𝐺𝐻 𝜌𝑒 = 2 𝑗2𝜃
𝜌 𝑒 (𝜏𝜌𝑒 𝑗𝜃 + 1)
P=0
Number of Open
Loop Poles inside the 𝑗𝜃
𝐾
s-plane contour 𝐺𝐻 𝜌𝑒 ≈ 2 𝑗2𝜃 = ∞∠ − 2𝜃
𝜌 𝑒
 𝑲
Example: L(s)=GH(s)=
𝒔𝟐 (𝝉𝒔+𝟏)
 𝑲
Exercise: L(s)=GH(s)=
𝒔(𝝉𝟏 𝒔+𝟏)(𝝉𝟐 𝒔+𝟏)

𝐾
𝐺 𝑗𝜔 =
𝑗𝜔(𝜏1 𝑗𝜔 + 1)(𝜏2 𝑗𝜔 + 1)

× ×
−1 −1
𝐾
𝜏2 𝜏1 𝐺 𝑗𝜔 = ∠ − 90 − 𝑡𝑎𝑛−1 𝜏1 𝜔 − 𝑡𝑎𝑛−1 𝜏2 𝜔
𝜔 (𝜏1 𝜔)2 +1 (𝜏2 𝜔)2 +1

𝐺 𝑗0 = ∞∠ − 90
𝐺 𝑗∞ = 0∠ − 270
P=0
Number of Open
Loop Poles inside the
s-plane contour
 𝑲
Exercise: L(s)=GH(s)=
𝒔(𝝉𝟏 𝒔+𝟏)(𝝉𝟐 𝒔+𝟏)

To determine the real axis intersection set the phase

angle to -180

∠ − 90 − 𝑡𝑎𝑛−1 𝜏1 𝜔 − 𝑡𝑎𝑛−1 𝜏2 𝜔 = −180

𝑥+𝑦
𝑡𝑎𝑛−1 𝑥 + 𝑡𝑎𝑛−1 𝑦 = 𝑡𝑎𝑛−1
1 − 𝑥𝑦
−1
𝜔𝜏1 +𝜔𝜏2
−90 − 𝑡𝑎𝑛 = −180
1 − 𝜔 2 𝜏1 𝜏2
𝜔𝜏1 +𝜔𝜏2
−𝑡𝑎𝑛−1 2
= −90
1 − 𝜔 𝜏1 𝜏2
1
𝜔=
𝜏1 𝜏2

𝐾 𝐾𝜏1 𝜏2
𝐺 𝑗𝜔 = =
𝜔 (𝜏1 𝜔)2 +1 (𝜏2 𝜔)2 +1 𝜏1 + 𝜏2