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The Nyquist Criterion The Concept of Mapping: S-Plane S F(S) - Plane

This document discusses concepts related to control system stability analysis including: - The Nyquist criterion relates closed-loop stability to the open-loop frequency response and pole locations. It gives the number of closed-loop poles in the right half plane. - Mapping functions relate transformations between the s-plane and other planes based on poles and zeros. Cauchy's argument principle relates the number of encirclements of points to poles and zeros. - The Nyquist criterion can be used to determine the range of values of a parameter like K for which a closed-loop system is stable by examining the number of encirclements of -1 on the Nyquist plot. - Bode plots can also be used to

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Sergio Abbass
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54 views8 pages

The Nyquist Criterion The Concept of Mapping: S-Plane S F(S) - Plane

This document discusses concepts related to control system stability analysis including: - The Nyquist criterion relates closed-loop stability to the open-loop frequency response and pole locations. It gives the number of closed-loop poles in the right half plane. - Mapping functions relate transformations between the s-plane and other planes based on poles and zeros. Cauchy's argument principle relates the number of encirclements of points to poles and zeros. - The Nyquist criterion can be used to determine the range of values of a parameter like K for which a closed-loop system is stable by examining the number of encirclements of -1 on the Nyquist plot. - Bode plots can also be used to

Uploaded by

Sergio Abbass
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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The Nyquist Criterion Relates stability of the closed-loop system to the open-loop frequency response and open-loop pole

e location Gives # of closed-loop poles in RHP Similar to root-locus, we look at 1 + G(s)H(s) = 0 Unlike root-locus, we can simplify to G(s)H(s)
C

The Concept of Mapping Consider the following function: F(s) = s s0 s0 is possibly complex.
s-plane s F(s) s0 F(s)-plane

Mapping Continued Similarly, consider F(s) = 1/(s s0) where s0 is possibly complex.
s-plane s F(s) s0 C s-s1 s1 1 F(s)-plane

Mapping Continued Suppose F(s) is given by F(s) = (s-s0)(s-s1)


s-plane s s-s0 s0 0 F(s) F(s)-plane

Note: # of zeros inside C = # of times encircles the origin clockwise


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Mapping Continued Next, suppose F(s) is given by F(s) = 1/{(s-s0)(s-s1)}


s-plane s s-s0 1 s0 0 F(s) F(s)-plane

Derivation of the Nyquist Criterion Note the following: 1. Relationship btwn poles of 1+G(s)H(s) & poles of G(s)H(s) 2. Relationship btwn zeros of 1+G(s)H(s) & poles of T(s) Let G(s) = NG/DG and H(s) = NH/DH

s-s1 s1

Note: # of zeros inside C = # of times encircles the origin counterclockwise


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Note: 1) Poles of 1+GH = poles of GH 2) Zeros of 1+GH = poles of T


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Derivation Continued Let F(s) = 1+G(s)H(s)


s-plane p0 x z0 x p1 C z1 p2 x F(s) F(s)-plane

The Nyquist Criterion Given F(s) = 1 + G(s)H(s), recall

Zeroes of F(s) correspond to the poles of T(s)!


C

Since N = P Z, if Z > 0 then system is unstable!

Cauchys Principle of Argument Theorem: Let F(s) be the ratio of 2 polynomials in s. Let the closed curve C in the s-plane be mapped into the complex plane through the mapping F(s). If F(s) is analytic within and on C, except at a finite number of poles, and if F(s) has neither poles nor zeros on C, then N=P-Z where Z is the number of zeros of F(s) in C, P is the number of poles in F(s) in C, and N is the number of counterclockwise encirclements of the origin. (Phillips & Harbor)

Some More Simplification Instead of F(s) = 1 + G(s)H(s), let F(s) = G(s)H(s)


s-plane p0 x z0 x p1 C z1 p2 x F(s) F(s)-plane

-1

Then, N = P Z is the number of counterclockwise encirclements of -1


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Stability via Nyquist Criterion

A Closer Look

Z=0 P=0 Thus, N = 0

Z=2 P=0 Thus, N = 2


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Counterclockwise +1 Clockwise -1

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Applying the Nyquist Criterion Use Z = P N Consider

First note

Matlab: zpk, nyquist Open-loop poles 2, 4 Open-loop zeros -3, -5 Question: For what range of K is closed-loop system stable? Note the following:
As K changes, inflates/deflates For this system, P = 2, thus N = P Z
If Z = 0 -> system is unstable For system to be stable, Z = 0 => N = 2

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To Find K Obtain Nyquist plot w/ K = 1 Note, if Nyquist diagram intersections real-axis @ -1 Given

Example

G(j)H(j) = -1
System is marginally stable

Step 1: Set K = 1, sketch poles & zeros in s-plane, plot Nyquist diagram Step 2: Find G(j)H(j)

Let -1/K be the critical point (instead of -1), find K to satisfy Nyquist criteria

Step 3: Find point where Nyquist intersects negative real axis Step 4: Determine N for stability and then K
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Stability and Phase Margins


Gain Margin: change in open-loop gain (dB) at 180 to make closedloop system unstable Phase Margin: change in open-loop phase shift at unity gain to make closed-loop system unstable

Stability Range via Bode Plots Given G(s) = K/[(s+5)(s+20)(s+50)], use Bode plots to find range of K where system is stable.

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Evaluating Gain and Phase Margins

Close-loop Transient vs. Frequency Response Recall, 2nd order-system

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Phase Margin via Damping Ratio Consider the 2nd order open-loop TF

Bandwidth of a System Frequency at which magnitude of response curve is 3dB below its value at 0 rad/s

Compute the Phase Margin, M:

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Steady-State Error Unit Step Input Position Constant Kp

Bode Plots & Steady-State Error Constants Ka

Ramp Input

Velocity Constant

Parabolic Input Acceleration Constant

Kv

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Lead Compensation Passive analog of PD compensation Cascade compensator

The Effects of a Lead Compensator

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Frequency Response of the Lead Compensator Determine Mc()c(), given

Design Procedure for Lead Compensation


1. Find closed-loop bandwidth requirement to meet Ts, Tp or Tr 2. Set K s.t. uncompensated system satisfies steady-state error specs 3. Plot Bode plots for set K and determine uncompensated systems phase margin 4. Find phase margin to meet or %OS, find phase contribution from Gc 5. Determine 6. Determine |Gc(j)| @ peak of phase curve 7. Determine phase margin 8. Design the break frequency for Gc 9. Reset system gain to compensate for Gcs gain 10. Check bandwidth to ensure Step 1 specs are met 11. Simulate to check 12. Redesign if needed

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Example Given G(s) = K/[(s(s+50)(s+120)], design a lead compensator s.t. %OS = 20%, TS = 0.2s, and Kv = 50.

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