Scribd
Upload
74 views13 pages

G (jω) G (jω) G (jω) ω

The document discusses Nyquist plots (polar plots), which graph the magnitude and phase of a transfer function G(jω) on polar coordinates as the frequency ω varies. Key points: - Each point represents the terminal vector of G(jω) at a given ω. - Common examples are plotted, such as 1/jω (-90° imaginary axis) and jω (90° real axis). - First order factors in the numerator and denominator are plotted as examples. - An example open loop transfer function is plotted on a Nyquist plot. - The Nyquist stability criterion is introduced, where systems are stable if the plot does not encircle the (-1, j0) point.

Uploaded by

Jazzy Bieber
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
74 views13 pages

G (jω) G (jω) G (jω) ω

The document discusses Nyquist plots (polar plots), which graph the magnitude and phase of a transfer function G(jω) on polar coordinates as the frequency ω varies. Key points: - Each point represents the terminal vector of G(jω) at a given ω. - Common examples are plotted, such as 1/jω (-90° imaginary axis) and jω (90° real axis). - First order factors in the numerator and denominator are plotted as examples. - An example open loop transfer function is plotted on a Nyquist plot. - The Nyquist stability criterion is introduced, where systems are stable if the plot does not encircle the (-1, j0) point.

Uploaded by

Jazzy Bieber
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 13

Nyquist Plot (Polar Plot)

• The polar plot of a sinusoidal


transfer function G(jω) is a plot of
the magnitude of G(jω) versus the
phase angle of G(jω) on polar
coordinates as ω is varied from
zero to infinity.

• Thus, the polar plot is the locus of


vectors as ω is
varied from zero to infinity.

1
Nyquist Plot (Polar Plot)

• Each point on the polar plot of


G(jω) represents the terminal
point of a vector at a
particular value of ω.

• The projections of G(jω) on


the real and imaginary axes
are its real and imaginary
components.

2
Nyquist Plot of Integral and Derivative Factors

• The polar plot of G(jω)=1/jω is the negative imaginary


axis, since
Im
1
G ( jω ) =
jω

1 − jω 1
G ( jω ) = × = −j Re
jω − jω ω ω=∞ -90o

1
In polar form G( jω ) = ∠ − 90
ω ω=0

3
Nyquist Plot of Integral and Derivative Factors

• The polar plot of G(jω)=jω is the positive imaginary axis,


since
Im
ω=∞
G ( jω ) = jω

In polar form G( jω ) = ω∠90 


ω=0
90o
Re

4
Nyquist Plot of First Order Factors

• The polar plot of first order factor in numerator is

G ( jω ) = jω + 1

ω= ∞
Im
ω Re Im
0 1 0 2 ω=2

1 ω=1
1 1 1 ω=0
Re
1
2 1 2

∞ 1 ∞
5
Nyquist Plot of First Order Factors

• The polar plot of first order factor in denominator is

1
G ( jω ) =
jω + 1 ω Re Im
1 1 − jω 0 1 0
G ( jω ) = ×
jω + 1 1 − jω 0.5 0.8 0.4
1 − jω 1 1/2 -1/2
G ( jω ) =
1+ ω 2 2 1/5 -2/5
1 ω
G ( jω ) = 2
− j ∞ 0 0
1+ ω 1+ ω 2 6
Nyquist Plot of First Order Factors
• The polar plot of first order factor in denominator is

ω Re Im Im

0 1 0

0.5 0.8 -0.4


ω= ∞ 0.2 0.5 0.8 1
Re
1 0.5 -0.5 ω=0
-0.4 ω=2
ω=0.5
2 0.2 -0.4 -0.5
ω=1

∞ 0 0

7
Nyquist Plot of First Order Factors
• The polar plot of first order factor in denominator is

ω Re Im G( jω ) ∠G( jω ) Im

0 1 0 1 0o

0.5 0.8 -0.4 0.9 -26o


ω=0
ω= ∞ Re
1 0.5 -0.5 0.7 -45o
ω=0.5
ω=2
2 0.2 -0.4 0.4 -63o ω=1

∞ 0 0 0 -90

8
Example#1
• Draw the polar plot of following open loop transfer function.
1
G( s ) =
Solution s( s + 1)
Put s = jω
1
G ( jω ) =
jω ( jω + 1)
1
G ( jω ) =
− ω 2 + jω
1 − ω 2 − jω
G ( jω ) = ×
− ω + jω − ω 2 − jω
2

− ω 2 − jω
G ( jω ) =
ω4 + ω2 9
Example#1
ω Re Im
2 0 ∞ ∞
− ω − jω
G ( jω ) =
ω4 + ω2 0.1 -1 -10

−ω2 ω 0.5 -0.8 -1.6


G ( jω ) = 4 2
− j
ω +ω ω4 + ω2 1 -0.5 -0.5
−1 1
G ( jω ) = − j 2 -0.2 -0.1
ω2 +1 ω (ω 2 + 1)
3 -0.1 -0.03

∞ 0 0
10
Example#1
Im
ω Re Im
0 ∞ ∞

0.1 -1 -10

0.5 -0.8 -1.6 -1 ω=∞ Re


ω=2 ω=3
1 -0.5 -0.5 ω=1

2 -0.2 -0.1 ω=0.5

3 -0.1 -0.03

∞ 0 0
ω=0.1 -10
ω=0 11
Nyquist Stability Criterion
Im
• The Nyquist stability
criterion determines the
stability of a closed-loop
system from its open-loop
frequency response and (-1, j0)
Re
open-loop poles.

• A minimum phase closed


loop system will be stable if
the Nyquist plot of open
loop transfer function does
not encircle (-1, j0) point.

12
Gain Margin

Phase Margin
Gain cross-over point
Phase cross-over point

13

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy