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Nyquist Stability Criterion

A stability test for time invariant linear systems can also be derived in the frequency domain. It is known as Nyquist stability criterion. It is based on the complex analysis result known as Cauchys principle of argument. Note that the system transfer function is a complex function. By applying Cauchys principle of argument to the open-loop system transfer function,

function and arrive at the Nyquist stability criterion (Nyquist, 1932).

used to determine the relative degree of system stability by producing the so-called phase and gain stability margins. These stability margins are needed for frequency domain controller design techniques.

w w

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The importance of Nyquist stability lies in the fact that it can also be

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we will get information about stability of the closed-loop system transfer

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p. tk

We present only the essence of the Nyquist stability criterion and dene the phase and gain stability margins. The Nyquist method is used for

For a SISO feedback system the closed-loop transfer function is given by

Since the system poles are determined as those values at which its transfer

obtained by solving the following equation

which, in fact, represents the system characteristic equation.

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function becomes innity, it follows that the closed-loop system poles are

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where

represents the system and

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p. tk

studying the stability of linear systems with pure time delay.

is the feedback element.

In the following we consider the complex function

whose zeros are the closed-loop poles of the transfer function. In addition, it is easy to see that the poles of time the poles of are the zeros of . At the same

are contributed by the poles of

open-loop control system transfer functionobtained when the feedback loop is open at some point. The Nyquist stability test is obtained by applying the Cauchy principle of argument to the complex function

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are the open-loop control system poles since they , which can be considered as the

p. tk

w w

First, we state Cauchys principle of argument.

Cauchys Principle of Argument Let plane be an analytic function in a closed region of the complex

the poles of

). It is also assumed that

point on the contour. Then, as

travels around the contour in the -

plane in the clockwise direction, the function the Figure 4.6), with

given by

where

and

multiplicities) of the function

w w

stand for the number of zeros and poles (including their inside the contour.

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-plane in the same direction

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p. tk

given in Figure 4.6 except at a nite number of points (namely, is analytic at every

encircles the origin in times (see

The above result can be also written as

which justies the terminology used, the principle of argument.

Im{s}

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N= -3

+ +

Re{s}

s-plane

Z=3 P=6

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Figure 4.6: Cauchys principle of argument

w w

.a

p. tk

Im{F(s)} Re{F(s)}
F(s)-plane

Nyquist Plot The Nyquist plot is a polar plot of the function

Im{s} r 0

The contour in this gure covers the whole unstable half plane of the complex plane ,

.a

Figure 4.7: Contour in the -plane

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. Since the function

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, according to

Cauchys principle of argument, must be analytic at every point on the

w w

s-plane

Re{s}

p. tk

when

travels around the contour given in Figure 4.7.

contour, the poles of

on the imaginary axis must be encircled by

innitesimally small semicircles.

It states that the number of unstable closed-loop poles is equal to the number of unstable open-loop poles plus the number of encirclements of the origin of the Nyquist plot of the complex function

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to the function that and

with the -plane contour given in Figure 4.7. Note

in the unstable part of the complex plane. At the same time, the zeros of are the closed-loop system poles, and the poles of

.a

represent the numbers of zeros and poles, respectively, of

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This can be easily justied by applying Cauchys principle of argument

p. tk
.

Nyquist Stability Criterion

are

the open-loop system poles (closed-loop zeros).

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The above criterion can be slightly simplied if instead of plotting the function , we plot only the function

, so that the modied Nyquist criterion has the following form. The number of unstable closed-loop poles (Z) is equal to the number of unstable open-loop poles (P) plus the number of encirclements (N) of the point of the Nyquist plot of , that is

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.a

riv

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p. tk

and count encirclement of the Nyquist plot of

around the point

Phase and Gain Stability Margins Two important notions can be derived from the Nyquist diagram: phase

presented in Figure 4.8.

Im{H(s)G(s)}

(0,j)

riv
cg (0,-j)

1 Gm

(-1,j0)

.a w w w


Figure 4.8: Phase and gain stability margins

Pm

cp

ur
(1,j0)

p. tk

Re{H(s)G(s)}

and gain stability margins. The phase and gain stability margins are

   

They give the degree of relative stability; in other words, they tell how far the given system is from the instability region. Their formal denitions

frequencies, which from Figure 4.8 are obtained as

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and

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where

and

stand for, respectively, the gain and phase crossover

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p. tk
 

are given by
        

Example 4.23: Consider a control system represented by

Since this system has a pole at the origin, the contour in the -plane should encircle it with a semicircle of an innitesimally small radius. This contour has three parts (a), (b), and (c). Mappings for each of them are considered below.

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(a) On this semicircle the complex variable

.a

into

, we easily see that

Thus, the huge semicircle from the -plane maps into the origin in the

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-plane (see Figure 4.9).

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form by
" &!

with

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p. tk

is represented in the polar . Substituting .

" #!

B A (b) (c)

Re{s}

-1

(c)

(b) On this semicircle the complex variable

10

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10 ) #(

Figure 4.9: Nyquist plot for Example 4.23

10

Since

w w

changes from

at point A to

at point B,

10

form by

with

.a

ur

=0+ B

p. tk

(a) = + 8

is represented in the polar , so that we have

(c)

  

(a)

 

Im{s}

=0(c)

Im{G(s)H(s)}

'

) &(

(b)

Re{G(s)H(s)}

semicircle at the origin in the -plane is mapped into a semicircle of

(c) On this part of the contour with changing from

takes pure imaginary values, i.e. to

4

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3 3

is sufcient to study only mapping along

are given by

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nd the real and imaginary parts of the function

p. tk

innite radius in the

32

32

will change from

to

. We conclude that the innitesimally small

-plane.

. Due to symmetry, it . We can , which

From these expressions we see that neither the real nor the imaginary parts can be made zero, and hence the Nyquist plot has no points of

B and since the plot at

will end up at the origin, the

Nyquist diagram corresponding to part (c) has the form as shown in

4.9 is given by
6 6

.a

From the Nyquist diagram we see that

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.

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6

Figure 4.9. Note that the vertical asymptote of the Nyquist plot in Figure
6

open-loop poles in the left half of the complex plane, i.e.

so that the corresponding closed-loop system has no unstable poles.

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p. tk
5

intersection with the coordinate axis. For

we are at point

since at those points

and since there are no , we have

The Nyquist plot is drawn by using the MATLAB function nyquist num=1; den=[1 1 0];

axis([-1.5 0.5 10 10]); axis([-1.2 0.2 1 1]);

The MATLAB Nyquist plot is presented in Figure 4.10. It can be seen

ur
8 7

riv

from Figures 4.8 and 4.9 that

, which implies that

p. tk
. . In order to nd

nyquist(num,den);

Also, from the same gures it follows that

the MATLAB function margin as follows [Gm,Pm,wcp,wcg]=margin(num,den)

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.a

the phase margin and the corresponding gain crossover frequency we use

producing, respectively, gain margin, phase margin, phase crossover frequency, and gain crossover frequency. The required phase margin and

p. tk
1 0.5 Real Axis 0

.
10 8 6 4 2 Imag Axis 0 2 4 6 8 1 0.8 0.6 0.4 0.2 0

.a

10

0.5 Real Axis

w w

Figure 4.10: MATLAB Nyquist plot for Example 4.23

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Imag Axis 0.2 0.4 0.6 0.8 1 0

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A @

gain crossover frequency are obtained as

Example 4.24: Consider now the following system, obtained from the one in the previous example by adding a pole, that is

The contour in the

-plane is the same as in the previous example.

For cases (a) and (b) we have the same analyses and conclusions. It

, we get

.a w w w
B

riv
B

remains to examine case (c). If we nd the real and imaginary parts of

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B

p. tk
B B B B

It can be seen that an intersection with the real axis happens at

C
=0A -1 -3 4

at the point

. The Nyquist plot is

MATLAB is given in Figure 4.12.

Im{G(s)H(s)}

w w w


Figure 4.11: Nyquist plot for Example 4.24

.a
=0+ B

(a) = + -

(c)

(c)

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-1 6

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(b)

p. tk
Re{G(s)H(s)}

given in Figure 4.11. The corresponding Nyquist plot obtained by using

 D   

10 8 6

0.2

0.15

0.1 4 2 Imag Axis Imag Axis 0 2 4 0.1 6 8 10 1.5 0.15 0.05

0.05

Figure 4.12: MATLAB Nyquist plot for Example 4.24

Note that the vertical asymptote is given by . Thus, we have , and so that the closed-

loop system is stable. The MATLAB function margin produces

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riv
H F

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0.5 Real Axis

0.5

0.2

0.5 Real Axis

w w

w
G F

p. tk
0

w w w .a riv ur p. tk