NYQUIST STABILITY CRITERION

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SYED HASAN SAEED 1

 NYQUIST PLOT:
 Nyquist plot was invented by Nyquist.
 A Nyquist plot is a polar plot of the frequency response function of a
linear system.
 Nyquist plot gives the information about the stability of the system.

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IMPORTANT POINTS FOR NYQUIST CRITERION:
 Pole-zero configuration from Nyquist plot.
 Concept of encirclement.
 Mapping theorem or Principle of Argument.
 Nyquist stability criterion.

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POLE-ZERO CONFIGURATION:
Let NG
G (s) 
DG
NH
H (s) 
DH
Open Loop Transfer Function
NG N H
G (s) H (s) 
DG DH
Characteristic Equation NG N H D D  NG N H
1  G (s) H ( s)  1   G H
DG DH DG DH
Closed Loop Transfer Function
C (s) G (s) N G DH
 
R( s) 1  G ( s) H ( s) DG DH  N G N H

N=Numerator, D= Denominator
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From the equations it is clear that
Poles of 1+G(s)H(s)= Open Loop Poles of a System
Zeros of 1+G(s)H(s)= Closed Loop Poles of a System
Thus we can define the two type of stability:
(i) Open Loop Stability: If the poles of the open loop transfer function
G(s)H(s) are all in the left-half of the s-plane then the system is said to
be stable.
(ii) Closed Loop Stability: If the poles of the closed-loop transfer function
i.e., the zeros of 1+G(s)H(s) are all in the left-half of the s-plane then
the system is said to be stable or closed-loop stable.

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ENCIRCLED: A point or region is said to be encircled by a closed path if it is
found inside the path.

As shown in figure, point ‘A’ is encircled by the closed path because ‘A’ is inside
the closed path. Point ‘B’ is not encircled by the closed path because it is
outside the path.
In given figure the direction of closed path is assigned, So the point ‘A’ is
encircled by the closed path in counter clockwise(CCW).

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In the figure we can say that region inside the path is encircled in the
prescribed direction, and the region outside the path is not encircled.
Enclosed: A point or region is said to be enclosed by a closed path if it is
encircled in the counter clockwise direction (CCW) or the point or region
lies to the left of the path when the path is traversed in the prescribed
direction.

B
τ
A A
Fig. a Fig. b
τ

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In fig. a, the point A is enclosed by the closed path τ.
In fig. b, the point B is enclosed by the closed path τ but point A is not
enclosed.
NUMBER OF ENCIRCLEMENTS: When a point is encircled by a closed path
τ, then the number of encirclement (N) is the number of times it is
encircled.
• ‘N’ can be determined by drawing an arrow from a point whose
encirclements are to be determined to any arbitrary point outside the
closed path.
• Find the number of intersections of this arrow with a closed path.

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• Mark these intersections with small arrow on the same arrow indicating
direction of closed path at the time of intersections.
• Cancel the oppositely directed encirclements. The remaining arrows
gives the number of encirclements of that point.

N=1 N=1
N=2 N=2 A
A

B B

Fig. a Fig. b

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In fig. a, the point A is encircled once and point B is encircled twice in clock
wise direction.
In fig. b, the point A is enclosed once and point B is enclosed twice by
closed path.
Note: CCW (anticlockwise) Encirclement is negative and clockwise (CW)
encirclement is positive.

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MAPPING THEOREM OR PRINCIPLE OF ARGUMENT:
THE CONCEPT OF MAPPING POINTS:
Consider a function D( s)  s 2  1
Any point in s-plane can be mapped for the given values of s by
substituting the value of s.
Let s1  2  j 4
D ( s1 )  D ( 2  j 4)  ( 2  j 4) 2  1  11  j16
The mapping is shown in fig. (1)

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 Fig. 1

Therefore, we can say that every point in s-plane maps into one and only one
point in the D(s) plane. Any close contour in the s-plane maps into the closed
contour in the D(s) plane. These are the properties of the mapping.

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THE CONCEPT OF MAPPING CONTOURS:
The collection of points in the complex plane is called contour.
Let us consider a function D(s)=(s-3) CASE:1
Choose a contour A,B,C,D,E,F (encloses a zero) in s-plane. Map all points
(A,B,C,D,E,F) in D(s)- plane according to the following table

Points s D(s)=(s-3) Note

A 2+j2 -1+j2 Put the values of ‘s’ in
B 4+j2 1+j2 D(s)=(s-3)
C 4+j0 1+j0
D 4-j2 1-j2
E 2-j2 -1-j2
F 2+j0 -1+j0

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The contour (A,B,C,D,E,F) in s-plane encloses a zero and its direction is
clockwise. Map all points in s-plane in
D(s)-plane and draw a contour according to the table.

S-plane D(s)-plane

Fig. 2
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From fig.(2) we can see that when the contour A,B,C,D,E,F (encloses a zero) is
mapped in D(s)-plane, it form another contour A’, B’, C’, D’, E’, F’
which encloses the origin one time in the same direction (clockwise).
CASE 2: The contour in s-plane does not encircle zero or pole. Map the points as
per table given below.

Points s D(s)=(s-3)
A 4+j2 1+j2
B 5+j2 2+j2
C 5+j0 2+j0
D 5-j2 2-j2
E 4-j2 1-j2
F 4+j0 1+j0
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 s-plane

From the fig. 3(a) and 3(b), it is

clear that when the contour in s-
plane (no zero and pole inside
the contour) is mapped in D(s)- Fig. 3a
plane it form another contour
which does not enclose the
origin in D(s)- plane. D(s)-plane

Fig. 3b
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CASE 3: When contour in s-plane encloses a pole
1
Let F (s) 
( s  3)
Now the contour encloses a pole at s=3. map the points of contour from s-
plane to D(s)-plane as per following table.

Points s D(s)=1/(s-3)
A 2+j2 -0.2-j0.4
B 4+j2 0.2-j0.4
C 4+j0 1+jo
D 4-j2 0.2+j0.4
E 2-j2 -0.2+j0.4
F 2+j0 -1+j0
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 s-plane D(s)-plane

Fig. 4

From fig. 4 it can be seen that when contour (encloses a pole) is mapped from
s-plane to D(s)-plane it encircles the origin one time in opposite direction as
that of contour in s-plane (counter clockwise in this case).

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CONCLUSION: From above discussion following points are clear
 A contour in s-plane encloses a zero in clockwise direction when
mapped to D(s)-plane, it encircle the origin in D(s)-plane one time in
clockwise direction i.e in the same direction as that in s-plane. If it
contains two zeros then it encircle the origin in D(s)-plane two times
with same direction and so on.
 A contour in s-plane with no zero or pole, when mapped in D(s)-plane
then it does not encircle the origin of D(s)-plane.

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 A contour in s-plane encloses a pole in clockwise direction when mapped
to D(s)-plane, it encircle the origin in D(s)-plane one time in counter
clockwise direction i.e. in the opposite direction as that in s-plane. If it
contains two poles then it encircle the origin in D(s)-plane two times
with opposite direction and so on.
 If N= no. of encirclement of origin, Z= no. of zeros P=no. of poles and
N=Z-P then
(i) If N>0 i.e. Z>P, then N is positive integer. In this case the contour in D(s)-
plane encircle the origin ‘N’ times in the same direction as that of
contour in s-plane.

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(ii) If N=0 i.e. Z=P, the contour will not encircle the origin.
(iii) If N<0 i.e. Z<P, then N is negative integer. In this case the contour in
D(s)-plane encircle the origin ‘N’ times in the opposite direction as that
of contour of s-plane.
This relation between enclosure of poles and zeros by contour in s-plane
and encirclement of origin by the contour in D(s)-plane is known as
Principle of Argument.

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NYQUIST PATH OR NYQUIST CONTOUR:
The overall transfer function of a system is given by
C (s) G (s)

R( s) 1  G ( s) H ( s)
The characteristic equation 1  G (s) H (s)  0

The main purpose in study the stability of the closed loop system is to
determine whether the characteristic equation has any root in the right
half of s-plane i.e. whether C(s)/R(s) has any pole in right half of s-plane.
Here we use a contour in s-plane which encloses the right half plane. This
contour having the encirclement in clockwise direction and radius ‘R’
approaches infinity.

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This path or contour is known as Nyquist contour fig.(a) If the system
does not have any pole or zero at origin then the contour is shown in fig.
5(b)

Fig.5(a) Fig.5(b)
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Back slide 27 23
NYQUIST CRITERION:
We know that:
 If the poles of the closed-loop transfer function i.e., the zeros of
1+G(s)H(s) are all in the left-half of the s-plane (LHP) then the
system is said to be stable or closed-loop stable.
 Use equation N=Z-P, find the number of zeros of the characteristic
equation that are in right half of s-plane (RHP), for this draw a s-
plane contour that will include the entire RHP including imaginary
axis.

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 By using N=Z-P, the stability of closed loop system is determined by
counting the number of encirclements (N) of 1+G(s)H(s) around the
origin of the D(s) plane, this is equivalent to determine the number of
encirclements of G(s)H(s) around (-1,0) point in the s-plane.
 Therefore N=Z-P can be written as N0 =Z0- P0
where,
N0 =number of encirclements of the (-1,0) point when s-plane Nyquist
contour is mapped.
Z0 = number of zeros of 1+G(s)H(s) in right half.
P0 =Number of poles of G(s)H(s) in right half s-plane.

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We can state the Nyquist stability criterion as follows:
“ A feedback system or closed loop system is stable if the contour τGH of the open
loop transfer function G(s)H(s) corresponding to the Nyquist contour in the s-
plane encircles the point (-1,0) in counter wise direction and the number of
counter wise encirclements about (-1,0) equals the number of poles of G(s)H(s)
in the right half of s-plane i.e. with positive real parts.”
In common case of open loop stable system, the closed loop system is stable if the
contour τGH of G(s)H(s) does not pass through or does not encircle (-1,0) point,
i.e. net encirclement is zero.
Note: CCW (anticlockwise) Encirclement is negative and clockwise (CW)
encirclement is positive.

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GENERAL CONSTRUCTION RULES OF THE NYQUIST PATH:
Consider fig. 5(a) on slide 23
Path ab s  j 0    0        (1)
Path bc s  Limit ( j0   e j )
 0  900    900    ( 2)
Path cd s  j 0          (3)
Path def s  Limit Re j  90    90      ( 4)
0 0
R 

Path fg s  j      0      (5)

Path gh s  Limit ( j0   e j )
 0
 90 0    90 0    (6)
s  j   0    0       (7 )
Path hi
Path ija s  Limit  e j  90 0    90 0    (8)
 0

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Step 1: Check G(s) for poles on jω axis and at the origin.
Step 2: Using equation (1) to equation (3) sketch the image of the path a-d
in the G(s)-plane. If there are poles on jω axis equation (2) need not be
employed.
Step 3: Draw the mirror image about the real axis of the sketch resulting
from step 2.
Step 4: Use equation (4) plot the image of path def. This path at infinity
usually plot into a point in the G(s) plane.
Step 5: Use equation (8) plot the image path ija (pole at origin).
Step 6: Connect all curves drawn into the previous steps.

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EXAMPLE: Sketch the Nyquist plot and determine the stability of a unity
feedback control system has the following open loop transfer function.

K
G (s) 
(1  sT1 )(1  sT2 )
SOLUTION:
Step 1: First draw the Nyquist contour (Nyquist Path) which covers the
entire RHP as R tends to ∞ . This contour also include imaginary axis.
Step 2: The given T.F is of type zero, order 2. The poles are at s 1 = 1/-T1
and at s2 = 1/-T2 . There is no pole in RHP.
 P0  0

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Step 3: Map each part as follows
From 0 to A: s=jω ; 0≤ω≤∞
Put s=jω K
G ( j ) H ( j ) 
(1  jT1 )(1  jT2 )
K
A G ( j ) H ( j ) 
( 1   2T12 )( 1   2T22 )
G ( j ) H ( j )   tan 1 T1  tan 1 T2
B
Limit G ( j ) H ( j )  K
 0

Limit G ( j ) H ( j )  0
 0

Limit G ( j ) H ( j )  0
 
C
Limit G ( j ) H ( j )  1800
Fig.(6a): Nyquist Contour  

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Separate the real and imaginary parts
K K (1   2T1T2 )  (T1  T2 ) K
  j
(1  jT1 )(1  jT2 ) (1   T1 )(1   T2 )
2 2 2 2
(1   2T12 )(1   2T22 )

Equate the real part to zero, we get

1

T1T2
KT1T2
G ( j ) H ( j )   1 
T1T2 T1  T2

Step 4: The part ‘ABC’ in the s-plane is mapped into the origin of G(s)H(s)
plane.

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Step 5: Part ‘OA’ is the mirror image of G(jω), which is shown by dotted line in
G(s)H(s) plane.

Fig. 6(b) : Nyquist Plot

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The Nyquist plot is shown in fig. 6(b)
As the point (-1+j0) is not encircled by the plot

Use equation N0 =Z0- P0

 N0  0
P0  0
Z0  0

Since there is no zero of the characteristic equation in RHP and imaginary axis,
hence the closed loop system is stable.
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Example : Use Nyquist criterion, determine whether the closed loop
system having the following open loop transfer function with unity
feedback is stable or not.
1
G (s) 
Solution: s (1  2 s )(1  s )
Step 1: First draw the Nyquist contour (Nyquist Path) which covers the
entire RHP as R tends to ∞ . Since there is a pole at origin, draw a small
circle around the origin of s-plane with centre at origin and ρ→0 and -900
to +900 Fig.(7a)

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SYED HASAN SAEED 35
Step 2: For part ‘ab’ 0 
Put s  j
1
G ( j ) H ( j ) 
j (1  2 j )(1  j )
1
G ( j ) H ( j ) 
 1  4 2 1   2
G ( j ) H ( j )  90 0  tan 1 2  tan 1 
Limit G ( j ) H ( j )  
 0

Limit G ( j ) H ( j )  0
 

Limit G ( j ) H ( j )  90 0
 0

Limit G ( j ) H ( j )  2700
 
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The polar starts from -∞, traverses through the third quadrant, cuts the
negative real axis and terminates at origin in third quadrant.
Equate the imaginary part to zero, we get the point of intersection on real axis.

3 1  2 2
G ( j ) H ( j )   j
(1  4 )(1   )
2 2
 (1  4 )(1   )
2 2

Equate the imaginary part to zero and get the point of intersection with
negative real axis.
1  2  0
2

  0.707
 G ( j ) H ( j )   0.707  0.66
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Step 3: Part ‘BCD’ is plotted into the origin of G(s)H(s).
Step 4: Part ‘DE’ is the mirror image of ‘AB’.
Step 5: Part ‘EFA’ is semicircle of ∞ radius in clockwise direction and
Nyquist contour closed.
Nyquist contour is shown in fig. 7(b)
From plot it is clear that the point (-1+j0) is not encircled therefore N0
= 0, P0 = 0
 Z=0

Hence, the system is stable because no closed loop poles lies in RHP.

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EXAMPLE : The open loop transfer function of a control system is given by

K
G (s) 
s ( s  2)( s  10)
Draw the Nyquist plot and determine the range of values of K for the
closed loop system stability.
SOLUTION:
Step 1: No poles in RHP. So P0 =0
Step 2: put s=jω in given T.F.

K
G ( j ) H ( j ) 
j ( 2  j )(10  j )
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 K
G ( j ) H ( j ) 
 4 2
100   2

 
G ( j ) H ( j )  90  tan 0 1
 tan 1

2 10
Limit G ( j ) H ( j )  
 0

Limit G ( j ) H ( j )  0
 

Limit G ( j ) H ( j )  90 0
 0

Limit G ( j ) H ( j )  270 0
 
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Rationalize the equation, separate the real and imaginary axis.

 12 K 2 K ( 20   3 )
G ( j ) H ( j )  2  j
 (  4)(  100)
2 2
 2 ( 2  4)
To get the point of intersection on real axis, equate the imaginary part to
zero.

We get K ( 20   3 )
0
 (  4)
2 2
ω=4.47 rad/sec.
Note: (this is the phase cross over frequency)
At this frequency, calculate the magnitude

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 K
G ( j ) H ( j ) 
240
(i) If K<240, then the Nyquist plot is to the right of
(-1+j0). In this case N0 =0, then use equation N0 =Z0- P0
we get Z0 =0
Hence the closed loop system is stable.
(ii) If K>240, then the point (-1+j0) is encircled by the Nyquist plot, then use
equation N0 =Z0- P0
N0 =2, P0 =0
therefore, Z0 =2, it means there are 2 roots in RHP, hence the system is stable.
(iii) For K=240, the system is marginally stable.

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Fig. 8: Nyquist plot

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THANK YOU

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