CONTROLSYSTEM

(part2)

EEE350
FREQUENCYDOMAINANALYSIS

EN.MUHAMMADNASIRUDDIN
MAHYUDDIN

Frequency Response Technique

Continues.
n

NYQUIST PLOT

Nasiruddin's Horizons

NYQUIST PLOT
ThebasisofNyquistPlotisthepolarplot(PlotKutub).
Polarplotofatransferfunction G(s)H(s)isamagnitudeplotfor G( jw)H(jw )
againstitsphaseplotwithfrequency, w ,actsasaparameterthatchangesfrom
0toinfinityaftersisreplacedwith jw inG(s)H(s).
Mathematically,plottingapolarplotfor G( jw)H(jw ) isaprocessofmapping
thepositivesideoftheSplanesimaginaryintoa G( jw)H(jw )plane.

Nasiruddin's Horizons

NYQUIST PLOT
Generallyapolarplotornyquistplotofasystemisdonebytheaidofcomputer.
However,asketchcanbedoneifthefollowinginformation:

Thebehaviourofthemagnitudeandphasefor G( jw)H(jw ) at0frequency(w=0)

andinfinitefrequency(w= ).
Theintersectionpointbetweenthepolarplotandthereal,imaginaryaxisinthe
G(jw)H(jw)plane,andthevaluesofwattheintersectionpoint.

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WorkedExample:

Sketchapolarplotforthefollowingtransferfunction.

10
G ( s)=
s(s+ 1)(s+ 5)
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Solution:
First,substituteswith jwinthetransferfunction,

G (jw )=
=
=
=

10
jw (jw + 1)(jw + 5)
10

(-w 2 + jw )(jw + 5)
10
(- jw 3- 5w 2 - w 2 + 5jw )
- 6w 2 - j(5w - w 3)

10

*
6w + j(5w - w ) - 6w 2 - j(5w - w 3)
2

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G( jw )=

- 60w 2 - j10w (5- w 2)

36w 4 - (5w - w 3)2

Atfrequencyw = 0 ,weonlyobservethemostsignificanttermsthattaketheeffect.For

10
2
.
thiscase, G( jw)
=
w =0 = 5jw
w =0 jw w =0
MagnitudeforG(jw)atfrequency w = 0 ,

2
2
= lim =
w 0 jw w 0w

G (jw )w=0 = lim G(jw ) = lim

w 0

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PhaseforG(jw)atfrequencyw=0,

G(jw )w=0 = lim

w 0

2
= -90o
jw

At w ,weshalllookatthe mostsignificanttermthattakeseffectwhenthefrequency
approachesinfinity.ThetermofG(jw)is G ( jw )

w =

10
3

(jw )

Formagnitude,

G (jw )w = lim

10

10

= lim 3 = 0
w (jw ) w w

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Forphase,

10
o
G(jw )|w = lim
=
270

w ( jw )3

Thepointofintersectionoftheplotwiththerealaxis,

ImG (jw)= 0
10w (5w 2 )

= 0
4
3 2
36w + (5w - w )
10(5w 2)= 0
w 2 = 5
w = 5
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Theintersectionpointbetweenthepolarplotandtherealaxisis
whenw= 5 at,

G(jw)|w =

1
5= 3

The intersection between the polar plot with the imaginary axis
canbeobtainedbysettingtherealpartof G( jw)= 0.
ReG ( jw)= 0

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NYQUIST PLOT
60w2
= 0
4
3 2
36w + (5w - w )
w =
Therefore,

G ( j)= 0

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NyquistDiagram
0.2
0dB

2dB

4dB

6dB

10dB

0.15

20dB

0.1

0.05
System:OpenLoopL
Real:0.327
Imag:0.000358
Frequency(rad/sec):2.27
0

0.05

0.1

0.15

0.2
0.5

0.45

0.4

0.35

0.3

0.25

0.2

0.15

0.1

0.05

RealAxis

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NYQUIST PLOT
Nyquiststabilitycriterion

Nyquiststabilitycriterionisagraphicalmethodtodeterminethestabilityof
aclosedloopsystembyexaminingthebehaviourofthefrequency domainin
responsetotheopenloopsystem.

Nyquiststabilitycriteriondeterminesthestabilityoftheclosedloopsystem
basedontheopenlooptransferfunctionofthatsystem.

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NYQUIST PLOT
Thestabilityofaclosedloopsystemcanbedeterminedbymeansofcharacteristic
equation,thatis F (s)=1+ G(s)H(s) intheSplanewhensequalstothepointsonthe
Nyquistpath.Then,weneedtostudythebehaviouroftheplot,comparingwith
theoriginintheSplane.ThisplotiscalledtheNyquistPlot for1+G(s)H(s).

However,tosimplifythings,itiseasytoconstructaNyquistplotforG(s)H(s)in
theG(s)H(s)planeratherthanin1+G(s)H(s)planelikewhatwedidforPolarplot
(remember?)

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NYQUIST PLOT
Therearetwotypesofstabilitytobeexaminedinanycontrolsystem:

Openloopstability
Closedloopstability

ByusingtheNyquistcriterion,

1.Thestabilityofopenloopsystemcanbefoundbystudyingthebehaviourofthe
NyquistplotforG(s)H(s)inrelativetotheoriginofG(s)H(s)planealthoughthe
polesofG(s)H(s)arenotknown.
2.Thestabilityofclosedloopsystemcanbefoundbystudyingthebehaviourof
NyquistplotforG(s)H(s)inrelativetothe(1,j0)point.

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NYQUIST PLOT
NyquistPath whatisit?
apaththatgoesincounterclockwisedirection(arahlawanjam)thatencloses
therighthalfSplaneanddoesnotpassthroughthepolesofF(s)=1+G(s)H(s)=0,
locatedontheimaginaryaxis(instead,theNyquistpathencircleshalfwayand
proceeddownwards)

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NYQUIST PLOT
TheNyquiststabilitycriterionmethodscanbesummarizedasfollows:

1. TheNyquistpathisdeterminedinSplane.
2. NyquistplotforG(s)H(s)issketchedintheG(s)H(s)planewithsvalueequalsto
thepointsvaluealongtheNyquistpath.
3. Theopenloopandclosedloopstabilityforasystemcanbedeterminedby
observingthebehaviouroftheNyquistplotforG(s)H(s)relativetotheorigin
(0,j0)andpoint(1,j0).

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NYQUIST PLOT
Thefollowingsarethesymbolsusedtodeterminethesystemstabilitybyusing
NyquistCriterion:

N0:Thenumberofencirclementaroundtheorigin(0,j0)bythe Nyquistplotfor
G(s)H(s) (positiveiftheencirclement(kepungan) iscounterclockwisedirection.

Z0 :ThenumberofzerosforG(s)H(s) thathavebeenenclosed(dikepung)bythe
Nyquistpathoron therighthalfofsplane.

P0 :ThenumberofpolesforG(s)H(s) thathavebeenenclosedbythe Nyquist

path oron therighthalfofsplane.

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N-1 :Thenumberofencirclementaroundthepoint(1,j0)bytheNyquistplotfor
G(s)H(s)(positiveiftheencirclementisincounterclockwisedirection)

Z-1 :ThenumberofzerosforF(s)=1+G(s)H(s) thathavebeenenclosedbythe

NyquistpathorontherighthalfofSplane.

P-1 :ThenumberofpolesforF(s)=1+G(s)H(s)thathavebeenenclosedbythe
Nyquistpathorontherighthalfofsplane.

Sincepolesfor G(s)H(s)isthesameaspolesfor F(s)=1+G(s)H(s),then

P0 =P-1

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NYQUIST PLOT
ByNyquistCriterion,foropenloopsystemstability,thefollowingshouldbeadhered,

N 0 =Z0 - P0
with

P0 =0
forclosedloopstability,then,

N-1 =Z-1 - P-1

with

Z -1 = 0

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NYQUIST PLOT
NyquistStabilityCriterioncanbestatedasfollow:

i.

For openloop system to be stable, the Nyquist plot for G(s)H(s) must encloses or
encircles(mengepung)origin(0,j0)asmanyasthenumberofzerosofG(s)H(s)that
situates on the right half of Splane. The encirclement must be in counterclockwise
direction,hence N 0 =Z0.

ii. Forclosedloopsystemtobestable,theNyquistplotforG(s)H(s)mustencirclesthe
point (1,j0) in clockwise direction with number of encirclements as many as the
number of poles of G(s)H(s) that located on the righthalf of Splane, hence

N -1 = - P-1 = - P0.

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NYQUIST PLOT
StepsindeterminingthestabilityusingNyquistStabilityCriterion:

i.

From the characteristic equation, F(s)=1+G(s)H(s)=0, the Nyquist path on the S

planeisconstructedfromthebehaviourofzeropoleofG(s)H(s)atfirst.

ii. SketchtheNyquistplotforG(s)(s)ontheG(s)H(s)plane.
iii. Determinethevalueof N0 and N-1 fromthebehaviourofNyquistplotforG(s)H(s)
withrespecttooriginpoint(0,j0)andpoint(1,j0).
iv. Obtainthevalueof P0 (ifnotknown)from

N 0 =Z0 - P0 (Z0 isknown)

If P0

=0,thentheopenloopsystemisstable.

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NYQUIST PLOT
v.Then,after P
0 isknown,obtainthevalueof P
-1 by P
0=P
-1 .
vi.Obtain Z-1 from N-1
If

=Z-1- P-1.

Z-1 =0,then,theclosedloopsystemisstable.

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NYQUIST PLOT
Examples1

K
G( s)H(s)=
s(s+ 5)
DeterminethesystemstabilitywhenKchangesfrom0toinfiniti.

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GainmarginandphasemarginfromNyquistplot.

Gaincrossoverfrequencyisthefrequencyatwhichthe
pointontheNyquistPlotforG(s)H(s)hasmagnitudeequals
to1.
G(s)H(s)w=w = 1
1

Phase crossover frequency is the frequency at which the

pointontheNyquistplotforG(s)H(s)hasphasedifference
of180
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ThegainmargincanbeobtainedfromtheNyquistplot
bythefollowings,

X = G( jw )H(jw )
GainMargin=
n

1
X

Indesigningacontrolsystem,phasemarginischosen
suchthatitisinrangebetween30to60.

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