Prof. Dr. E.

Frazzoli

151-0591-00 Control Systems I (Autumn 2017) Exercise Set 9

Topic: Analysis of Feedback Systems 2: The Nyquist Condition

Discussion: 01. 12. 2017

clruch@ethz.ch, 5th December 2017

Learning objectives: The student can

• Understand how Nyquist plots are constructed and what each point in the plots represents.
• Draw Nyquist plots for simple transfer functions (possible detour to Bode plots).
• Create a Nyquist plot based on a Bode plot and vice versa (qualitatively).
• Apply the Nyquist theorem to find the number of unstable poles of a closed loop system.
• Follow the reasoning why Nyquist theorem applies.
• Check the Nyquist condition on a Bode plot.
• Calculate the gain margin and phase margin from a Bode plot.

Exercise 1 (Nyquist Condition for the Seesaw)

Before we can market our controller for the seesaw, we are asked by the authorities to prove its
stability using the Nyquist criterion. Therefore we consider again our controller

s−z ω02
L(s) = k · ·β· 2 (1)
s−p s + 2 · δ · ω0 · s + ω02
and we use the same parameter values as in the last exercise set:

ω0 = 2.01 δ = 0.93 β = 407950 k = 0.00001 z = −1.7 p = −6 (2)

Background:

• The gain margin k ∗ is the number with which we can multiply our open-loop transfer
function at 180◦ (mod 2π) to reach point −1. More mathematically:

∠L(jω ∗ ) = π, k ∗ · |L(jω ∗ )| = 1 (3)

• The phase margin ϕ∗ is defined as the angular distance of ∠L(jωc ) to −180◦ , where ωc
is the frequency where |L(jωc )| = 1.

|L(jωc )| = 1, ϕ∗ = ∠L(jωc ) − π (4)

a) Check the stability of the closed-loop seesaw system using the Nyquist criterion.
b) Sketch the Bode plot and indicate the gain margin and the phase margin.
c) Explain the Nyquist criterion based on the previous Bode plot.
Exercise 2 (Bode-Nyquist Practice)
Consider the loop transfer function

(0.1s + 1)
L(s) = . (5)
(s + 1)(10s + 1)

a) Sketch the Bode Plot. Use the empty Bode plot templates provided at the end of the exercise
set.

b) Sketch the Nyquist Plot

c) Now sketch the same plots for 10 · L(s). What do you notice? Use the empty Bode plot
templates provided at the end of the exercise set.

Exercise 3 (Nyquist Practice)

Suppose the Nyquist plot shown in Figure 1 corresponds to the loop transfer function

(s + 10)(s + 15)
L(s) = 10, 000 · . (6)
(s + 1)(s − 50)(s − 100)(s − 100)

Will the closed loop system be stable?

(s+10)(s+15)
Figure 1: Nyquist plot of the transfer function L(s) = 10, 000 · (s+1)(s−50)(s−100)(s−100) .

Exercise 4 (Nyquist Plots)

Assign the following loop gains, L(s), to their corresponding Nyquist diagrams in figure 2, and
justify your choice.
Background:
The term e−s in iv) refers to a delay. This element will be covered in a future lecture. For the
purpose of this exercise, it is most important to understand the following characteristics of the
delay.

q
|e−jω | = | cos(ω) + j sin(ω)| = cos2 (ω) + sin2 (ω) = 1 (7)
∠e−jω = −ω (8)

3 3 3
i) L(s) = iii) L(s) = v) L(s) =
s+1 (s + 1)2 s(s + 2)
3 3 −3s + 3
ii) L(s) = iv) L(s) = · e−s vi) L(s) =
−s + 1 s+1 (s + 1)2

(a) (b) (c)

4 2 20
Imaginary Axis

Imaginary Axis

Imaginary Axis
2 1 10

0 0 0

−2 −1 −10

−4 −2 −20
−5 0 5 −2 0 2 4 −1 −0.5 0
Real Axis Real Axis Real Axis

(d) (e) (f)

2 4 2
Imaginary Axis

Imaginary Axis

Imaginary Axis

1 2 1

0 0 0

−1 −2 −1

−2 −4 −2
−5 0 5 −2 0 2 4 −2 0 2 4
Real Axis Real Axis Real Axis

Figure 2: Nyquist Plots for Exercise Nyquist Plots

Exercise 5 (Open loop analysis)

Figure 3 shows |L(s)| for a system’s loop transfer function.

a) Sketch the pole and zero locations for L(s) on the complex plane.

b) Assuming the static gain is 1, what is L(s)?

c) Classify L(s) as proper, strictly proper, or improper.

d) Using root locus sketching techniques, will the system be stable if we close the loop?

e) Using bode plot sketching techniques, plot the approximate magnitude and phase of L(s)
for s along the jω-axis (i.e. the imaginary axis). Use the empty Bode plot templates
provided at the end of the exercise set.
 Figure 3: |L(s)| of some system.

f) Sketch the Nyquist. Hint: it helps to use the Bode plot.

g) Does L(s) satisfy the Nyquist criterion? What does this tell us about closed loop stability?

Exercise 6 (Nyquist Plot of a First-Order System)

Show that the Nyquist plot for the first-order system
k
g(s) =
T ·s+1
for ω ∈ (−∞, ∞) is a circle of radius k/2 centered about the point (k/2, 0).

Exercise 7 (Nyquist Criterion Derivation)

First explain the reasoning behind the Nyquist theorem. Your explications should contain the
following elements in the same order: Closed loop transfer function, D-Contour, Principle of
the variation of the argument, relations between open and closed-loop transfer function. Then
apply the Nyquist criterion to the open-loop transfer function

1
L(jω) = k · p ∈ R>0 k>0
s−p
Judge if a P controller can stabilize the system and if yes for what values of k.
Bode Plot Templates for Drawing

Σ2

80

60

40

20
Magnitude (dB)

−20

−40

−60

−80

−100
90

45

0
Phase (deg)

−45

−90

−135

−180
−1 0 1 2 3 4 5
10 10 10 10 10 10 10
Frequency (rad/s)

Σ2

80

60

40

20
Magnitude (dB)

−20

−40

−60

−80

−100
90

45

0
Phase (deg)

−45

−90

−135

−180
−1 0 1 2 3 4 5
10 10 10 10 10 10 10
Frequency (rad/s)
 Σ2

80

60

40

20
Magnitude (dB)

−20

−40

−60

−80

−100
90

45

0
Phase (deg)

−45

−90

−135

−180
−1 0 1 2 3 4 5
10 10 10 10 10 10 10
Frequency (rad/s)

Σ2

80

60

40

20
Magnitude (dB)

−20

−40

−60

−80

−100
90

45

0
Phase (deg)

−45

−90

−135

−180
−1 0 1 2 3 4 5
10 10 10 10 10 10 10
Frequency (rad/s)