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Nyquist Stability Criterion. Consider An Open-Loop Transfer

The Nyquist stability criterion determines closed-loop stability based on the open-loop frequency response characteristics. It is based on concepts from complex variable theory such as contour mapping and the principle of argument. The closed-loop system is stable if the number of times the Nyquist plot encircles the -1 point (N) plus the number of open-loop poles to the right of the imaginary axis (P) equals zero. Gain margin is the inverse of the open-loop amplitude ratio at the critical frequency, while phase margin indicates how much additional time delay can be included before instability occurs.

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40 views15 pages

Nyquist Stability Criterion. Consider An Open-Loop Transfer

The Nyquist stability criterion determines closed-loop stability based on the open-loop frequency response characteristics. It is based on concepts from complex variable theory such as contour mapping and the principle of argument. The closed-loop system is stable if the number of times the Nyquist plot encircles the -1 point (N) plus the number of open-loop poles to the right of the imaginary axis (P) equals zero. Gain margin is the inverse of the open-loop amplitude ratio at the critical frequency, while phase margin indicates how much additional time delay can be included before instability occurs.

Uploaded by

Pooja Varshney
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© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Nyquist Stability Criterion

• The Nyquist stability criterion is similar to the Bode criterion


in that it determines closed-loop stability from the open-loop
frequency response characteristics.
• The Nyquist stability criterion is based on two concepts from
Chapter 14

complex variable theory, contour mapping and the Principle


of the Argument.

Nyquist Stability Criterion. Consider an open-loop transfer


function GOL (s) that is proper and has no unstable pole-zero
cancellations. Let N be the number of times that the Nyquist plot
for GOL (s) encircles the -1 point in the clockwise direction. Also
let P denote the number of poles of GOL (s) that lie to the right of
the imaginary axis. Then, Z = N + P where Z is the number of
roots of the characteristic equation that lie to the right of the
imaginary axis (that is, its number of “zeros”). The closed-loop
system is stable if and only if Z = 0. 1
Some important properties of the Nyquist stability criterion are:

1. It provides a necessary and sufficient condition for closed-


loop stability based on the open-loop transfer function.
2. The reason the -1 point is so important can be deduced from
the characteristic equation, 1 + GOL (s) = 0. This equation can
Chapter 14

also be written as G (s) = -1, which implies that AROL = 1


o OL
and φOL = −180 , as noted earlier. The -1 point is referred to
as the critical point.
3. Most process control problems are open-loop stable. For
these situations, P = 0 and thus Z = N. Consequently, the
closed-loop system is unstable if the Nyquist plot for GOL (s)
encircles the -1 point, one or more times.
4. A negative value of N indicates that the -1 point is encircled
in the opposite direction (counter-clockwise). This situation
implies that each countercurrent encirclement can stabilize
2
5. Unlike the Bode stability criterion, the Nyquist stability
criterion is applicable to open-loop unstable processes.
6. Unlike the Bode stability criterion, the Nyquist stability
criterion can be applied when multiple values of ωc or ω g
occur (cf. Fig. 14.3).
Chapter 14

Example 14.6
Evaluate the stability of the closed-loop system in Fig. 14.1 for:
4e − s
G p(s) =
5s + 1

(the time constants and delay have units of minutes)


Gv = 2, Gm = 0.25, Gc = Kc
Obtain ωc and Kcu from a Bode plot. Let Kc =1.5Kcu and draw the
Nyquist plot for the resulting open-loop system. 3
Solution
The Bode plot for GOL and Kc = 1 is shown in Figure 14.7. For ωc
= 1.69 rad/min, φ OL = -180° and AROL = 0.235. For Kc = 1, AROL
= ARG and Kcu can be calculated from Eq. 14-10. Thus, Kcu =
1/0.235 = 4.25. Setting Kc = 1.5Kcu gives Kc = 6.38.
Chapter 14

Figure 14.7
Bode plot for
Example 14.6,
Kc = 1.

4
Chapter 14

Figure 14.8 Nyquist


plot for Example 14.6,
Kc = 1.5Kcu = 6.38.

5
Gain and Phase Margins
Let ARc be the value of the open-loop amplitude ratio at the
critical frequency ωc . Gain margin GM is defined as:
1
GM @ (14-11)
Chapter 14

ARc

Phase margin PM is defined as

PM @180φ+ g (14-12)

• The phase margin also provides a measure of relative stability.


• In particular, it indicates how much additional time delay can be
included in the feedback loop before instability will occur.
• Denote the additional time delay as ∆θ max .
• For a time delay of ∆θ max , the phase angle is −∆θ max ω . 6
Chapter 14

Figure 14.9 Gain


and phase margins
in Bode plot.

7
 180o 
PM =θ∆ max
ω c (14-13)
 π 
 
or
 PM   π 
∆θ max =  o
(14-14)
ω
 c  180 
( )
Chapter 14

where the π /180o factor converts PM from degrees to radians.

• The specification of phase and gain margins requires a


compromise between performance and robustness.
• In general, large values of GM and PM correspond to sluggish
closed-loop responses, while smaller values result in less
sluggish, more oscillatory responses.

Guideline. In general, a well-tuned controller should have a gain


margin between 1.7 and 4.0 and a phase margin between 30° and
45°.
8
Chapter 14

Figure 14.10 Gain and phase margins on a Nyquist plot.


9
Recognize that these ranges are approximate and that it may not
be possible to choose PI or PID controller settings that result in
specified GM and PM values.

Example 14.7
Chapter 14

For the FOPTD model of Example 14.6, calculate the PID


controller settings for the two tuning relations in Table 12.6:
1. Ziegler-Nichols
2. Tyreus-Luyben
Assume that the two PID controllers are implemented in the
parallel form with a derivative filter (α = 0.1). Plot the open-loop
Bode diagram and determine the gain and phase margins for each
controller.

10
Chapter 14

Figure 14.11
Comparison of GOL
Bode plots for
Example 14.7.

11
For the Tyreus-Luyben settings, determine the maximum
increase in the time delay ∆θ max that can occur while still
maintaining closed-loop stability.
Solution
From Example 14.6, the ultimate gain is Kcu = 4.25 and the
Chapter 14

ultimate period is Pu = 2π /1.69 = 3.72 min . Therefore, the PID


controllers have the following settings:

Controller τI τD
Settings Kc (min) (min)
Ziegler-Nichols 2.55 1.86 0.46

Tyreus-Luyben 1.91 8.27 0.59

12
The open-loop transfer function is:
2e − s
GOL = GcGvG pGm = Gc
5s + 1
Figure 14.11 shows the frequency response of GOL for the two
controllers. The gain and phase margins can be determined by
Chapter 14

inspection of the Bode diagram or by using the MATLAB


command, margin.

Controller GM PM ω c (rad/min)
Ziegler-Nichols 1.6 40° 1.02

Tyreus-Luyben 1.8 76° 0.79

13
The Tyreus-Luyben controller settings are more conservative
owing to the larger gain and phase margins. The value of ∆θ max
is calculated from Eq. (14-14) and the information in the above
table:
(76°) (π rad)
∆θ max = = 1.7 min
(0.79 rad/min) (180°)
Chapter 14

Thus, time delay θ can increase by as much as 70% and still


maintain closed-loop stability.

14
Chapter 14

Figure 14.12 Nyquist plot where the gain and phase margins are
misleading.
15

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