The Nyquist Stability Criterion
The Nyquist Stability Criterion
The Nyquist Stability Criterion
| G ( ω ) |= Re 2 ( ω ) + Im 2 ( ω )
Im( ω )
φ = tan −1
Re( ω )
Im( ω ) − ω / ω1 ω
φ (ω ) = tan −1 = tan −1 = − tan −1 ( )
Re( ω ) 1 ω1
Polar Plot or Nyquist Diagram
K
G (s) = 2rd system
s ( s τ + 1)
Im(ω) −1 − Kω −1 1
φ (ω) = tan
−1
= tan = tan ( )
Re(ω) − Kω τ
2
ωτ
Polar Plots and the Nyquist Criterion
• We have seen how to generate polar
plots of the frequency response.
• Mapping contours
1+L(s)=0
in the s-plane.
Mapping Contours in the s-Plane
Closed contours
F(s)=2s+1
Conformal mapping (angles are preserved)
Mapping Contours in the s-Plane
S-plane F(s)-plane
Cauchy’s Theorem: Principle of the
Argument
If a contour in the s-plane encircles Z zeros and P
poles of F(s ) and does not pass through any poles or
zeros of F(s ) and the traversal is in the clockwise
direction along the contour, the corresponding contour
in the F(s)-plane encircles the origin of the F(s)-plane
N=Z-P times in the clockwise direction
?
N=1-1=0
S-plane F(s)-plane
Illustration of Cauchy’s Theorem
N=Z-P=3-1=2
Illustration of Cauchy’s Theorem
N=Z-P=0-1=-1
The Nyquist Criterion
The Nyquist contour encircles the entire right-half s- plane
Stable
hence for stability we require Z=N=0,
i.e. the contour must not encircle the -1 point in the GH(s)-plane.
System with a Pole at the Origin
R=ε >0
varies from
Portion from
R=ε >0
Stable
The Cauchy theorem requires
Modified or indented
that the contour cannot pass
Nyquist contour
through the pole
System with Three Poles
System with Three Poles
Angle of
Unstable for all K
N=2 hence Z=2, i.e. two roots in the RHP
System with a Pole in the RHP
With
When
Stable
Crosses real axis when
System with a Zero in the RHP
-2K
u=-1 when
Relative Stability and Nyquist Criterion
• Clearly, from the Nyquist criterion the
distance between the (-1,0) point and
the polar plot of the loop transfer
function GH(jω) is a measure of the
relative stability of the system
Critical point
Effect of Time Delay
• The Nyquist criterion is applicable to
non-rational transfer functions
• A time delay is described by
• It does not introduce additional poles
or zeros within the contour
• However delay introduces phase lag
and consequently has a destabilizing
effect.
Effect of Time Delay
Phase margin
for delay-free
system
Delayed
system is
unstable!
System with Delay
Consider the following delayed system:
Hence
System with Delay
K = 2.41
System with Delay
K=3
K=2
K=1