CONTROLSYSTEM

(part2)
EEE350
EN.MUHAMMADNASIRUDDIN
MAHYUDDIN
FREQUENCYDOMAINANALYSIS
Nasiruddin's Horizons 2
n Frequency Response Technique
Continues.
n NYQUIST PLOT
Nasiruddin's Horizons 3
NYQUIST PLOT
ThebasisofNyquistPlotisthepolarplot(PlotKutub).
Polarplotofatransferfunction ) ( ) ( s H s G isamagnitudeplotfor ) ( ) ( w w j H j G
againstitsphaseplotwithfrequency, w,actsasaparameterthatchangesfrom
0toinfinityaftersisreplacedwith w j inG(s)H(s).
Mathematically,plottingapolarplotfor ) ( ) ( w w j H j G isaprocessofmapping
thepositivesideoftheSplanesimaginaryintoa ) ( ) ( w w j H j G plane.
Nasiruddin's Horizons 4
NYQUIST PLOT
Generallyapolarplotornyquistplotofasystemisdonebytheaidofcomputer.
However,asketchcanbedoneifthefollowinginformation:
Thebehaviourofthemagnitudeandphasefor ) ( ) ( w w j H j G at0frequency(w=0)
andinfinitefrequency(w=).
Theintersectionpointbetweenthepolarplotandthereal,imaginaryaxisinthe
G(jw)H(jw)plane,andthevaluesofwattheintersectionpoint.
Nasiruddin's Horizons 5
NYQUIST PLOT
n WorkedExample:
Sketchapolarplotforthefollowingtransferfunction.
) 5 )( 1 (
10
) (
+ +
=
s s s
s G
Nasiruddin's Horizons 6
NYQUIST PLOT
Solution:
First,substituteswith jwinthetransferfunction,
) 5 ( 6
) 5 ( 6
*
) 5 ( 6
10
) 5 5 (
10
) 5 )( (
10
) 5 )( 1 (
10
) (
3 2
3 2
3 2
2 2 3
2
w w w
w w w
w w w
w w w w
w w w
w w w
w
- - -
- - -
- +
=
+ - - -
=
+ + -
=
+ +
=
j
j
j
j j
j j
j j j
j G
Nasiruddin's Horizons 7
NYQUIST PLOT
2 3 4
2 2
) 5 ( 36
) 5 ( 10 60
) (
w w w
w w w
w
- -
- - -
=
j
j G
Atfrequency 0 = w ,weonlyobservethemostsignificanttermsthattaketheeffect.For
thiscase,
0 0
0
2
5
10
) (
= =
=
= =
w w
w
w w
w
j j
j G .
MagnitudeforG(jw)atfrequency 0 = w ,
= = = =

=
w w
w w
w w w
w
2
lim
2
lim ) ( lim ) (
0 0 0
0
j
j G j G
Nasiruddin's Horizons 8
NYQUIST PLOT
PhaseforG(jw)atfrequencyw=0,
o
90
2
lim ) (
0
0
- = =

=
w
w
w
w
j
j G
At w ,weshalllookatthe mostsignificanttermthattakeseffectwhenthefrequency
approachesinfinity.ThetermofG(jw)is
3
) (
10
) (
w
w
w
j
j G =

.
Formagnitude,
0
10
lim
) (
10
lim ) (
3 3
= = =


w w
w
w w
w
j
j G
Nasiruddin's Horizons 9
NYQUIST PLOT
Forphase,
( )
o
270
10
lim | ) (
3
- =






=


w
w
w
w
j
j G
Thepointofintersectionoftheplotwiththerealaxis,
5
5
0 ) 10(5
0
) 5 ( 36
) (5 10

0 ) ( Im
2
2
2 3 4
2
=
=
=
=
- +

=
w
w
w
w w w
w w
w j G
Nasiruddin's Horizons 10
NYQUIST PLOT
Theintersectionpointbetweenthepolarplotandtherealaxisis
when 5 = w at,
3
1
| ) (
5
- =
= w
w j G
The intersection between the polar plot with the imaginary axis
canbeobtainedbysettingtherealpartof 0 ) ( = w j G .
Re 0 ) ( = w j G
Nasiruddin's Horizons 11
NYQUIST PLOT
Therefore,
0 ) ( = j G
=
=
- +
-
w
w w w
w
0
) 5 ( 36
60
2 3 4
2
Nasiruddin's Horizons 12
NyquistDiagram
RealAxis
0.5 0.45 0.4 0.35 0.3 0.25 0.2 0.15 0.1 0.05
0.2
0.15
0.1
0.05
0
0.05
0.1
0.15
0.2
0dB
20dB
10dB 6dB 4dB 2dB
System:OpenLoopL
Real:0.327
Imag:0.000358
Frequency(rad/sec):2.27
Nasiruddin's Horizons 13
NYQUIST PLOT
Nyquiststabilitycriterion
Nyquiststabilitycriterionisagraphicalmethodtodeterminethestabilityof
aclosedloopsystembyexaminingthebehaviourofthefrequency domainin
responsetotheopenloopsystem.
Nyquiststabilitycriteriondeterminesthestabilityoftheclosedloopsystem
basedontheopenlooptransferfunctionofthatsystem.
Nasiruddin's Horizons 14
NYQUIST PLOT
Thestabilityofaclosedloopsystemcanbedeterminedbymeansofcharacteristic
equation,thatis ) ( ) ( 1 ) ( s H s G s F + = intheSplanewhensequalstothepointsonthe
Nyquistpath.Then,weneedtostudythebehaviouroftheplot,comparingwith
theoriginintheSplane.ThisplotiscalledtheNyquistPlot for1+G(s)H(s).
However,tosimplifythings,itiseasytoconstructaNyquistplotforG(s)H(s)in
theG(s)H(s)planeratherthanin1+G(s)H(s)planelikewhatwedidforPolarplot
(remember?)
Nasiruddin's Horizons 15
NYQUIST PLOT
Therearetwotypesofstabilitytobeexaminedinanycontrolsystem:
Openloopstability
Closedloopstability
ByusingtheNyquistcriterion,
1.Thestabilityofopenloopsystemcanbefoundbystudyingthebehaviourofthe
NyquistplotforG(s)H(s)inrelativetotheoriginofG(s)H(s)planealthoughthe
polesofG(s)H(s)arenotknown.
2.Thestabilityofclosedloopsystemcanbefoundbystudyingthebehaviourof
NyquistplotforG(s)H(s)inrelativetothe(1,j0)point.
Nasiruddin's Horizons 16
NYQUIST PLOT
NyquistPath whatisit?
apaththatgoesincounterclockwisedirection(arahlawanjam)thatencloses
therighthalfSplaneanddoesnotpassthroughthepolesofF(s)=1+G(s)H(s)=0,
locatedontheimaginaryaxis(instead,theNyquistpathencircleshalfwayand
proceeddownwards)
Nasiruddin's Horizons 17
NYQUIST PLOT
TheNyquiststabilitycriterionmethodscanbesummarizedasfollows:
1. TheNyquistpathisdeterminedinSplane.
2. NyquistplotforG(s)H(s)issketchedintheG(s)H(s)planewithsvalueequalsto
thepointsvaluealongtheNyquistpath.
3. Theopenloopandclosedloopstabilityforasystemcanbedeterminedby
observingthebehaviouroftheNyquistplotforG(s)H(s)relativetotheorigin
(0,j0)andpoint(1,j0).
Nasiruddin's Horizons 18
NYQUIST PLOT
Thefollowingsarethesymbolsusedtodeterminethesystemstabilitybyusing
NyquistCriterion:
0
N :Thenumberofencirclementaroundtheorigin(0,j0)bythe Nyquistplotfor
G(s)H(s) (positiveiftheencirclement(kepungan) iscounterclockwisedirection.
:
0
Z ThenumberofzerosforG(s)H(s) thathavebeenenclosed(dikepung)bythe
Nyquistpathoron therighthalfofsplane.
:
0
P ThenumberofpolesforG(s)H(s) thathavebeenenclosedbythe Nyquist
path oron therighthalfofsplane.
Nasiruddin's Horizons 19
NYQUIST PLOT
:
1 -
N Thenumberofencirclementaroundthepoint(1,j0)bytheNyquistplotfor
G(s)H(s)(positiveiftheencirclementisincounterclockwisedirection)
:
1 -
Z ThenumberofzerosforF(s)=1+G(s)H(s) thathavebeenenclosedbythe
NyquistpathorontherighthalfofSplane.
:
1 -
P ThenumberofpolesforF(s)=1+G(s)H(s)thathavebeenenclosedbythe
Nyquistpathorontherighthalfofsplane.
Sincepolesfor G(s)H(s)isthesameaspolesfor F(s)=1+G(s)H(s),then
1 0 -
=P P
Nasiruddin's Horizons 20
NYQUIST PLOT
ByNyquistCriterion,foropenloopsystemstability,thefollowingshouldbeadhered,
0 0 0
P Z N - =
with
0
0
= P
forclosedloopstability,then,
1 1 1 - - -
- = P Z N
with
0
1
=
-
Z
Nasiruddin's Horizons 21
NYQUIST PLOT
NyquistStabilityCriterioncanbestatedasfollow:
i. For openloop system to be stable, the Nyquist plot for G(s)H(s) must encloses or
encircles(mengepung)origin(0,j0)asmanyasthenumberofzerosofG(s)H(s)that
situates on the right half of Splane. The encirclement must be in counterclockwise
direction,hence
0 0
Z N = .
ii. Forclosedloopsystemtobestable,theNyquistplotforG(s)H(s)mustencirclesthe
point (1,j0) in clockwise direction with number of encirclements as many as the
number of poles of G(s)H(s) that located on the righthalf of Splane, hence
0 1 1
P P N - = - =
- -
.
Nasiruddin's Horizons 22
NYQUIST PLOT
StepsindeterminingthestabilityusingNyquistStabilityCriterion:
i. From the characteristic equation, F(s)=1+G(s)H(s)=0, the Nyquist path on the S
planeisconstructedfromthebehaviourofzeropoleofG(s)H(s)atfirst.
ii. SketchtheNyquistplotforG(s)(s)ontheG(s)H(s)plane.
iii. Determinethevalueof
1 0 -
N and N fromthebehaviourofNyquistplotforG(s)H(s)
withrespecttooriginpoint(0,j0)andpoint(1,j0).
iv. Obtainthevalueof
0
P (ifnotknown)from
0 0 0
P Z N - = (
0
Z isknown)
If 0
0
= P ,thentheopenloopsystemisstable.
Nasiruddin's Horizons 23
NYQUIST PLOT
v.Then,after
0
P isknown,obtainthevalueof
1 -
P by
0
P=
1 -
P .
vi.Obtain
1 -
Z from
1 1 1 - - -
- = P Z N .
If
1 -
Z =0,then,theclosedloopsystemisstable.
Nasiruddin's Horizons 24
NYQUIST PLOT
Examples1
) 5 (
) ( ) (
+
=
s s
K
s H s G
DeterminethesystemstabilitywhenKchangesfrom0toinfiniti.
Nasiruddin's Horizons 25
NYQUIST PLOT
n GainmarginandphasemarginfromNyquistplot.
Gaincrossoverfrequencyisthefrequencyatwhichthe
pointontheNyquistPlotforG(s)H(s)hasmagnitudeequals
to1.
1 ) ( ) (
1
=
=w w
s H s G
Phase crossover frequency is the frequency at which the
point on the Nyquist plot for G(s)H(s) has phase difference
of180
Nasiruddin's Horizons 26
NYQUIST PLOT
Nasiruddin's Horizons 27
NYQUIST PLOT
n ThegainmargincanbeobtainedfromtheNyquistplot
bythefollowings,
n Indesigningacontrolsystem,phasemarginischosen
suchthatitisinrangebetween30to60.
X
Gain
j H j G X
1
Margin
) ( ) (
=
= w w
Nasiruddin's Horizons 28
NYQUIST PLOT