Documente Academic
Documente Profesional
Documente Cultură
html#org67b0e8c
Table of Contents
1. Nyquist Stability Criterion
1.1. Review
1.2. Contour and Plot
1.3. Zeros and Poles
1.4. Observation
1.5. Counting Closed-Loop Poles using Argument Principle
1.6. Counting Closed-Loop Poles using Argument Principle
1.7. Example
1.8. Nyquist Contour
1.9. Nyquist Stability Criterion
1.10. Nyquist Stability Criterion
1.11. Implication of Nyquist Stability Criterion
1.12. Procedure for Determining Stability using Nyquist Stability Criterion
1.12.1. How to Sketch the Nyquist Plot
1.13. Example 1
1.13.1. Sketch Nyquist Plot
1.13.2. Finding and
1.14. Example 2
1.14.1. Nyquist Plot
1.14.2. Determine and
1.15. Example 3
1.15.1. Sketch Nyquist Plot
1.15.2. Determine and
1.16. Example 4
1.16.1. Sketch Nyquist Plot
1.16.2. Determine and
1.17. Summary
Frequency response
Bode plot
Frequency domain modeling
1 of 12 26-01-2018, 14:17
https://yilinmo.github.io/EE3011/Lec5.html#org67b0e8c
One Fundamental Question: Given transfer functions , how to determine if the system is
closed-loop stable?
Time Domain: Routh-Hurwitz stability criterion, Root Locus
Frequency Domain: Nyquist Plot + Nyquist Stability Criterion
2 of 12 26-01-2018, 14:17
https://yilinmo.github.io/EE3011/Lec5.html#org67b0e8c
Im Im
Re Re
1.4 Observation
If a clockwise contour does not encircle zeros nor poles, then the plot will not encircle the origin.
If a clockwise contour encircles a zero, then the plot will encircle the origin clockwise once.
If a clockwise contour encircles a pole, then the plot will encircle the origin counterclockwise once.
Cauchy's Argument Principle: If a clockwise contour encircles zeros and poles, then the number
of clockwise encirclements of the origin , is given by
3 of 12 26-01-2018, 14:17
https://yilinmo.github.io/EE3011/Lec5.html#org67b0e8c
1.7 Example
The stability of system is related to whether there exists any closed-loop poles (or zeros of ) on the
Right Half Plane (RHP).
We select a contour (Nyquist contour) consisting of
Segment 1: The imaginary axis from 0 to .
Segment 2: A semicircle of infinite radius that encloses the entire right half -plane.
4 of 12 26-01-2018, 14:17
https://yilinmo.github.io/EE3011/Lec5.html#org67b0e8c
A feedback system is stable if and only if , i.e. the number of the counterclockwise
encirclements of point by the Nyquist plot in the -plane is equal to the number of the unstable
poles of the open-loop transfer function.
If the open-loop system is stable( ), the closed-loop system is stable if and only if the Nyquist plot
does not encircle point
If the open-loop system has unstable poles, the closed-loop system is stable if and only if the Nyquist
plot encircles point times counterclockwise.
If the Nyquist plot passes through , then the system has a closed-loop pole on the imaginary axis
(critically stable).
5 of 12 26-01-2018, 14:17
https://yilinmo.github.io/EE3011/Lec5.html#org67b0e8c
1. Segment 1:
We use Bode plot to help us sketch the first segment.
We need to find 4 types of point:
;
Real intersection: Phase = ;
Imaginary intersection: Phase = ;
;
We can also deduce the trend of the plot around those points:
If the phase is decreasing, the plot goes clockwise
If the phase is increasing, the plot goes counterclockwise
Plot those points on the -plane and draw a smooth line to connect them.
2. Segment 2:
Consider the following open-loop transfer function:
For strictly proper function, the order of the denominator is greater than the order of the
numerator:
For proper function, the order of the denominator is no less than the order of the numerator:
6 of 12 26-01-2018, 14:17
https://yilinmo.github.io/EE3011/Lec5.html#org67b0e8c
Segment 2 is the origin point for strictly proper function. It is a constant for proper function.
Non-proper transfer functions are not physically realizable.
3. Segment 3:
From the property of Laplace transform:
Therefore, segment 3 is the mirror reflection of segment 1 around the real axis.
1.13 Example 1
Determine the stability of the closed-loop system using the Nyquist stability criterion.
Segment 1:
When , .
There is no real intersection for .
There is a imaginary intersection when . The intersection is around .
( )
More precisely, the intersection is at and the corresponding frequency is
.
When , .
The phase is always decreasing, therefore the plot goes clockwise.
Segment 2: Since the system is strictly proper, Segment 2 is the origin.
Segment 3: Mirror reflection of segment 1.
7 of 12 26-01-2018, 14:17
https://yilinmo.github.io/EE3011/Lec5.html#org67b0e8c
1.14 Example 2
Assume first.
Segment 1:
When , .
There is a imaginary intersection when . The intersection is between and .
There is a real intersection when . The intersection is around .
When , .
8 of 12 26-01-2018, 14:17
https://yilinmo.github.io/EE3011/Lec5.html#org67b0e8c
1.15 Example 3
Determine the range of gain for stability of the system using Nyquist stability criterion.
9 of 12 26-01-2018, 14:17
https://yilinmo.github.io/EE3011/Lec5.html#org67b0e8c
$$ G(s) = \frac{K(s+0.5)
Segment 1:
When , .
There is a imaginary intersection when $ω ≈ 0.7 $. The intersection is between and .
There is a real intersection when . Calculation shows that the exact frequency is
and the crossing is at .
When , . Calculation shows that the exact frequency is and
the crossing is at .
The phase is increasing around above points. Therefore the plot goes counterclockwise around
the above points.
Segment 2: Since the system is strictly proper, Segment 2 is the origin.
Segment 3: Mirror reflection of segment 1.
10 of 12 26-01-2018, 14:17
https://yilinmo.github.io/EE3011/Lec5.html#org67b0e8c
1.16 Example 4
Segment 1:
When , .
There is no real intersection for .
There is no imaginary intersection for .
When , .
11 of 12 26-01-2018, 14:17
https://yilinmo.github.io/EE3011/Lec5.html#org67b0e8c
1.17 Summary
12 of 12 26-01-2018, 14:17