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Notes Nyquist S09

1. A Nyquist plot provides information about the stability of a closed-loop system based on the open-loop transfer function. It is essentially a polar Bode plot. 2. Basic rules for constructing a Nyquist plot include starting at the open-loop transfer function value at s=0, checking the initial phase angle, and ending at the value as s approaches infinity. Clockwise encirclements of -1 indicate an unstable closed-loop system. 3. Gain and phase margin can be determined from where the Nyquist plot crosses the unit circle and negative real axis. Crossings that result in clockwise encirclements of -1 indicate instability.

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45 views

Notes Nyquist S09

1. A Nyquist plot provides information about the stability of a closed-loop system based on the open-loop transfer function. It is essentially a polar Bode plot. 2. Basic rules for constructing a Nyquist plot include starting at the open-loop transfer function value at s=0, checking the initial phase angle, and ending at the value as s approaches infinity. Clockwise encirclements of -1 indicate an unstable closed-loop system. 3. Gain and phase margin can be determined from where the Nyquist plot crosses the unit circle and negative real axis. Crossings that result in clockwise encirclements of -1 indicate instability.

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matteogaeta
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ECE 3510

Nyquist Plot Notes

A. Stolp 4/3/08, 4/9/09

A Nyquist plot is essentially a polar Bode plot. Like a Bode plot, it is plotted for the Open-Loop (OL) Transfer function and will give information about the stability of the Closed-Loop (CL) system.
Open-Loop (OL) Transfer function: G( s ) = N G( s ) D G( s ) m = number of zeros n = number of poles

Basic Nyquist Rules


1. "Clean up" any "-s" term s in G(s) by multiplying by -1 as needed. If a "-" remains in G(s), the Nyquist plot will be m irrored about the im aginary axis. (rare) Start at G(0), the DC gain, a point on the real axis. If G(s) has a zero at the origin: If G(s) has a pole at the origin: G( 0 ) = 0 G( 0 ) = + - +180o + 0 o, +360 o -90o, 270 o -j Plot ---> almost always + +j -270 o, 90o

2.

Check initial phase angle as you would for a Bode plot.

3.

End at G(). n < m (rare) n = m

Plot ---> G(), a point on the real axis

n-m = 3

n > m Plot ---> 0 (most com mon) 4. 5.

Angle of approach to origin =

(n

m ) . ( 90. deg )

n-m = 2

n-m = 4

Plot the rest of the frequency response of G(s). It may help to start with Bode plots. The < 0 curve (dashed line) is simply the mirror image of the > 0 curve about the real axis. This part of the curve is usually not necessary, it doesn't provide any more information. Gain, k, m akes entire plot grow in all directions (or shrink if k<1).

n-m = 1

6.

--> bigger k -->

--> bigger k -->

7.

Z = N+P
P = OL poles in RHP N = CW encirclements of -1, Z = CL poles in RHP
(0 if open-loop stable) CCW encirclements are counted as negative and m ay make up for P.

(must be zero (or < 0) if closed-loop stable)

8.

ANY CW encirclements means Closed-Loop system is UNSTABLE N > 0 --> CL unstable

ECE 3510

Nyquist Plot Notes p.1

ECE 3510

Nyquist Plot Notes p.2

Counting Clockwise Encirclements N = CW encirclements of -1,


CCW encirclem ents are counted as negative and may make up for P.

N=0

N=2
CL System CANNOT be stable

N=2
CL System CANNOT be stable

If you have the < 0 curve (dashed line), then you can use any single-ended line that starts at -1 to help you count encirclements.

If you don't have the < 0 curve (dashed line), then m ake your line extend both directions from -1.

N=4
CL System CANNOT be stable

N=2

CL System CANNOT be stable

N=0

N = -2

CCW encirclem ents are counted as negative.

CL System CAN be stable, if an OL unstable system

P<2

Z = N+P
P = OL poles in RHP N = CW encirclements of -1. Z = CL poles in RHP
(0 if open-loop stable) CL System CANNOT be stable if

-N can make up for +P. and stabilize

N>0 ECE 3510 Nyquist Plot Notes p.2

(must be zero (or < 0) if closed-loop stable)

Gain Margin (GM) and Phase Margin (PM)


To find the Phase Margin (PM):

ECE 3510

Nyquist Plot Notes p.3

1. Find where the Nyquist plot crosses the unit circle. These crossings separate the unit circle into regions. 2. Decide which of these regions have unacceptable CW encirclements. 3. Determine what phase change would cause the -1 point to be an unacceptable region, usually 180o - / crossing

GM =

1 1 2

=2 =

PM = 207

180 = 27 deg

To find the Gain Margin (GM): 1. Find where the Nyquist plot crosses the negative real axis. These crossings separate the negative real axis into regions. 2. Decide which of these regions have unacceptable CW encirclements. 3. Determine what gain would cause the -1 point to be an unacceptable region, usually 4. Usually there is just one upper limit of gain-- in that case report that as the Gain Margin. 5. If there is a lower lim it of gain, report the Gain Margin as: GM = Lower limit , upper limit If there is no upper limit, then report it as G( s ) (s 1.5 . ( s 1 ). s
2

1 crossing

into the unacceptable region.

2) 2. s 2 = P 1 For CL stability, N 1 or more

=0

1 in this region

GM =

1 1.5

1 0.75

0.667

, 1.333

ECE 3510

Nyquist Plot Notes p.3

Poles on the imaginary (j) axis


The normal contour j

ECE 3510

Nyquist Plot Notes p.4

A pole on the imaginary axis causes a problem. Is it inside or outside of the contour? j A single pole at the origin A closer look Modify the contour to exclude the problematic pole. -j The Nyquist plot of this

=j -j -j -j A double pole at the origin j -j -j = = A triple pole at the origin j The Nyquist plot j =j

The Nyquist plot =j

-j -j Poles at other locations on the imaginary axis j Possible Nyquist plots

pole

pole

-j

ECE 3510

Nyquist Plot Notes p.4

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