Chapter-5

Stability of Control Systems

Topics:-
 The concept of stability
 The Routh-Hurwitz Stability Criterion
 Root-Locus Techniques
 Nyquist Plot

By:- Mr. Tsegaye Paulos, Lecturer@WSU 1

 The Concept of Stability
• Stability is considered to be an important property
of a control system.
• It referred as the system’s ability to reach the
steady-state as it is an important characteristic
thus the performance of the control system shows
a high dependency on stability.

Mr. Tsegaye Paulos, Lecturer@WSU 2

 Stability criterion in complex plane
A system is stable if and only if

all roots of the system characteristic equation have

negative real parts
or equivalently
all poles of closed-loop transfer functions must
locate in the left half of s-plane.

For LTI systems, both BIBO stability { Bounded input Bounded

output} and asymptotic stability have the same requirement on
pole location. Thus if a system is BIBO stable , it must also
be asymptotic stable.
So we simply refer to the stability condition of a LTI system
as stable or unstable.
Mr. Tsegaye Paulos, Lecturer@WSU 3
 LTI systems
Stability Conditions Location of poles
stable all poles in LHP

marginally stable simple poles on the jw-axis

and no poles in RHF
at least one simple pole in
unstable RHF or at least one multi-
order pole on the jw-axis

Mr. Tsegaye Paulos, Lecturer@WSU 4

 All poles in left No poles in
s-plane ＝> right s-plane

• Routh-Hurwitz stability criterion is an analytical method

used for the determination of stability of a linear time-invariant
system.
• The basis of this criterion revolves around simply determining
the location of poles of the characteristic equation in either
left half or right half of s-plane without actually calculating the
roots.
• Information about stability can be obtained directly from the
coefficients of the characteristic equation

Mr. Tsegaye Paulos, Lecturer@WSU 5

 Routh-Hurwitz’s stability criterion
A necessary (but not sufficient) condition for
stability:
1) All the coefficients of the characteristic
equation have the same positive sign.
2) None of the coefficients vanishes.

Consider the characteristic equation of a LTI

system
n 1
D( s)  a0 s  a1s
n
 ...  an1s  an  0, a0  0

Mr. Tsegaye Paulos, Lecturer@WSU 6

Note 1: The above conditions are based on the laws of
algebra .
( s  s1 )( s  s2 )( s  s3 )  0  a0 s  a1s  a2 s  a3  0
3 2

s( s  s2 )( s  s3 )  s1 ( s  s2 )( s  s3 )  0
s( s2  ( s2  s3 )s  s2 s3 )  s1 (s 2  (s2  s3 )s  s2 s3 )  0
s  ( s1  s2  s3 )s  (s1s2  s1s3  s2 s3 )s  s1s2 s3  0
3 2

3 3 3
a2 a3
  si s j  0    si s j sk  0
a1
  si  0
a0 i 1 a0 i , j 1 a0 i , j , k 1
i j i j k
If all roots of the system characteristic equation have
negative real parts, all the coefficients have the same
sign

Mr. Tsegaye Paulos, Lecturer@WSU 77

 Routh’s Tabulation
Note 2: These conditions are not sufficient.
Consider the characteristic equation of a LTI system
D( s)  a0 sn  a1sn1  ...  an1s  an  0, a0  0
sn a0 a2 a4 a6 
s n 1 a1 a3 a5 a7 
1 a0 a2  1 a1 a3
b1  c1 
s n  2 b1 b2 b3 b4  a1 a1 a3 b1 b1 b2
s n 3 c1 c2 c3 c4 
1 a0 a4  1 a1 a5
   b2  c2 
a1 a1 a5 b1 b1 b3
  
s2 e1 e2 1 a0 a6  1 a1 a7
b3  c3 
1 a1 a1 a7 b1 b1 b4
s f1
s0 g1 Mr. Tsegaye Paulos, Lecturer@WSU 8
The third row will be formed using the first and
second rows.

In a similar way after forming the 3rd row, we can use

2nd and 3rd row to form the 4th row:

Therefore, we have to continue the process until the time we

get the coefficients for s0, which is nothing but an.
In this way, we get routh array from which the stability of
the system is predicted.
Mr. Tsegaye Paulos, Lecturer@WSU 9
First-order: a0 s  a1  0
If a0 and a1 have the same sign, the system is stable.
Second-order: a0 s  a1s  a2  0
2

If a0 , a1 and a2 have the same sign, the system is stable.

Third-order:
a0 s  a1s  a2 s  a3  0
3 2

s3 a0 a2
s2 a1 a3 If a0,a1,a2,a3 are all
a0 a3  a1a2 positive and
s1
 a1a2>a3a0,the system is
a1
stable.
s0 a3
Mr. Tsegaye Paulos, Lecturer@WSU 10
10
Special cases when applying Routh’s Tabulation
Case 1: only the first element in one of the rows of
Routh’s tabulation is zero
Solution: replace the zero with a small positive constant 
and proceed as before by taking the limit as   0

s 4  3s 3  4s 2  12s  16  0 when   0
s4 1 4 16 12  48 48
 12  0
s 3
3 12  
s2 0( ) 16 The system is unstable and
12  48 has two roots not in the left-
s1 0 half s-plane.

s0 16 Mr. Tsegaye Paulos, Lecturer@WSU 11
Case 2: an entire row of Routh’s tabulation is zero.

This indicates…
There are complex conjugate pairs of roots that are
mirror images of each other with respect to the
imaginary axis.
j j j

0 0 0

e.g. s1,2  1 e.g. s1,2  1  j1 e.g. s1,2  1 j

s3,4  1  j1 s3,4  2 j
Mr. Tsegaye Paulos, Lecturer@WSU 12
12
Example The Characteristic equation of a system is：
s 5  3s 4  3s 3  9s 2  4s  12  0
Determine whether there are any roots on the
imaginary axis or in the RHP.
s5 1 3  4
s 4
3 9  12
s3 0 0 0
2
s
s1
s0

Introducing an auxiliary equation:

A( s )  3s 4  9 s 2  12  0
dA( s )
Its derivative:  12 s 3  18s  0
ds
Mr. Tsegaye Paulos, Lecturer@WSU 13
13
s5 1 3 4
s4 3 9 12
s3 12 18 0
s2
s1
s0

s5 1 3 4
s4 3 9 12
s3 12 18 0
s2 9 / 2 12
s1 50 0
s0 12

Here, one negative sign and the system is

unstable.
Mr. Tsegaye Paulos, Lecturer@WSU 14
Another way of Solving the auxiliary equation
A( s )  3s  9 s  12  0
4 2

s  3s  4  ( s  1)( s  4)  0
4 2 2 2

s1, 2  1 s3,4   j 2

j A positive real
 j2 root locates in
the RHP

1 0 1
 j2
Mr. Tsegaye Paulos, Lecturer@WSU 15
15
Exercises:
Determine the stability of the following systems
by using Routh’s tabulation stability criterion:

(1) 2 s  s  3s  5s  10  0
4 3 2

(2) s 5  3s 4  12 s 3  24 s 2  32 s  48  0

Mr. Tsegaye Paulos, Lecturer@WSU 16

16
 Application of Routh Tabulation
(1) Routh’s tabulation can not only be used to determine
the stability of a system, but also the spread of its
characteristic roots.
(2) For a control system with a regulator, Routh’s
tabulation can be used to select parameter values so that
the system is stable.
Example Determine the range of K so that the system is stable.

R( s ) 10 Y ( s)
K
s( s  1)( s  2)

2
Mr. Tsegaye Paulos, Lecturer@WSU 17
17
 R( s ) 10 Y ( s)
K
s( s  1)( s  2)

2
10k
C ( s) G forward ( s ) s ( s  1)( s  2)
 ( s)   
R( s ) 1  Gloop ( s ) 1
20k
s ( s  1)( s  2)

Characteristic equation: 1  Gl oop ( s )  0

20k
1  0
s( s  1)( s  2)
Mr. Tsegaye Paulos, Lecturer@WSU 18
18
Characteristic equation 20k
1 0
s( s  1)( s  2)

s  3s  2 s  20k  0
3 2

s3 1 2
s2 3 20k
3  2  20k
s1
0  6 - 20k  0  k  0.3
3
s0 20k  k 0

So when 0  k  0.3 , the system is stable.

Mr. Tsegaye Paulos, Lecturer@WSU 19
19
Example
Consider that a 3rd-order system has the characteristic
equation 0.025s 3  0.325s 2  s  k  0
Determine the range of k so that the system is stable.
Solution. Reformulate the characteristic equation as

s 3  13s 2  40s  40k  0

3
s 1 40
2
s 13 40k
13  40  40k
s 1
 k  13
13
s 0
40k  k 0
Mr. Tsegaye Paulos, Lecturer@WSU 20
20
• The root locus method typically focuses on the gain
parameter. It is an approach to select the gain as to achieve
desired transient behaviour.
• The root locus rules of behaviour provide insight for
adjusting additional compensator parameters.
• Introduction: Consider a unity feedback control system shown
below. R(s) K
C (s )
s 1

K
G (s) 
• The open loop transfer function G(s) of the system is s 1
• And the closed transfer function is C ( s) G (s) K
 
R( s) 1  G ( s) s  1  K
Mr. Tsegaye Paulos, Lecturer@WSU 21
• Location of closed loop Pole for different values of K
(remember K>0).
C (s) K

R( s) s  1  K

Pole-Zero Map
K Pole 1

0.5 -1.5
1 -2 0.5
Imaginary Axis

2 -3
0
3 -4
5 -6
-0.5
10 -11
15 -16
Mr. Tsegaye
-16 -14Paulos,
-12Lecturer@WSU
-10 -8 -6 -4 -2 22
 What is Root Locus?
The root locus is the path of the roots of the
characteristic equation traced out in the s-plane as
a system parameter varies from zero to infinity.
How to Sketch root locus?
One way is to compute the roots of the
characteristic equation for all possible values of K.
K Pole
0.5 -1.5
1 -2
C ( s) K
 2 -3
R( s) s  1  K 3 -4
5 -6
10 -11
Mr. Tsegaye Paulos, Lecturer@WSU 15 -16 23
 Cont…
• Computing the roots for all values of K might
be tedious for higher order systems. K Pole
C (s) K 0.5 ?

R ( s ) s ( s  1)( s  10)( s  20)  K 1 ?
2 ?
 Finding the roots of the characteristic equation of
degree higher than 3 is laborious and will need 3 ?
computer solution. 5 ?
 A simple method for finding the roots of the 10 ?
characteristic equation has been developed by W. R. 15 ?
Evans and used extensively in control engineering.
 This method, called the root-locus method, is one in
which the roots of the characteristic equation are
plotted for all values of a system parameter.
Mr. Tsegaye Paulos, Lecturer@WSU 24
 Cont…
• The roots corresponding to a particular value of this
parameter can then be located on the resulting
graph.
• By using the root-locus method the designer can
predict the effects on the location of the closed-loop
poles of varying the gain value or adding open-loop
poles and/or open-loop zeros.

Mr. Tsegaye Paulos, Lecturer@WSU 25

• In constructing the root loci angle and magnitude
conditions are important.
• Consider the system shown in
following figure.
C (s) G (s)

R( s) 1  G ( s) H ( s)

• The characteristic equation is obtained by setting the

denominator polynomial equal to zero.
1  G ( s) H ( s)  0
Or
G ( s ) H ( s )  1
• Since G(s)H(s) is a complex quantity it can be split into
angle and magnitudeMr.part.
Tsegaye Paulos, Lecturer@WSU 26
 Cont…
• The angle of G(s)H(s)=-1 is G ( s ) H ( s )    1
G ( s ) H ( s )  180 (2k  1)
Where k=0, 1,2,3…
• The magnitude of G(s)H(s)=-1 is

• Magnitude Condition G (s) H (s)   1

G (s) H (s)  1
• The values of s that fulfill both the angle and magnitude
conditions are the roots of the characteristic equation,
or the closed-loop poles.

Mr. Tsegaye Paulos, Lecturer@WSU 27

 Example
Step-1: The first step in constructing a root-locus plot is
to locate the open-loop poles and zeros in s-plane.
Pole-Zero Map
1

0.5

Imaginary Axis
0

-0.5

K
G( s) H ( s) 
s( s  1)(s  2) -1
-5 -4 -3 -2 -1 0 1 2
Real Axis

The angle is  s  ( s  1)  ( s  2)
Mr. Tsegaye Paulos, Lecturer@WSU 28
 Cont…
Step-2: Determine the root loci on the real axis.
• To determine the root loci Pole-Zero Map
on real axis we select some 1
test points.
• e.g: p1 (on positive real
0.5
axis).

Imaginary Axis
p1
0

• The angle condition is not

satisfied. -0.5

• Hence, there is no root

-1
locus on the positive real -5 -4 -3 -2 -1 0 1 2
axis. Real Axis
Mr. Tsegaye Paulos, Lecturer@WSU 29
 Cont…
Step-2: Determine the root loci on the real axis.
• Next, select a test point on the
negative real axis between 0 and Pole-Zero Map
–1. 1

• Then
0.5

Imaginary Axis
• Thus p2
0

• The angle condition is satisfied. -0.5

Therefore, the portion of the
negative real axis between 0 and
–1 forms a portion of the root -1
-5 -4 -3 -2 -1 0 1 2
locus.
Real Axis
Mr. Tsegaye Paulos, Lecturer@WSU 30
 Cont…
Step-2: Determine the root loci on the real axis.
• Now, select a test point on the
negative real axis between -1 and Pole-Zero Map
1
–2.
• Then
0.5

Imaginary Axis
p3
• Thus 0

-0.5
• The angle condition is not
satisfied. Therefore, the negative
real axis between -1 and –2 is not -1
-5 -4 -3 -2 -1 0 1 2
a part of the root locus. Real Axis
Mr. Tsegaye Paulos, Lecturer@WSU 31
 Cont…
Step-2: Determine the root loci on the real axis.

Pole-Zero Map
• Similarly, test point on the 1

negative real axis between -2

and – ∞ satisfies the angle 0.5
condition.

Imaginary Axis
p4
0
• Therefore, the negative real
axis between -2 and – ∞ is part
of the root locus. -0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
Mr. Tsegaye Paulos, Lecturer@WSU 32
 Cont…
• Step-2: Determine the root loci onMap
Pole-Zero the real axis.
1

0.5
Imaginary Axis

-0.5

-1 Mr. Tsegaye Paulos, Lecturer@WSU 33

-5 -4 -3 -2 -1 0 1 2
 Cont…
Step-3: Determine the asymptotes of the root loci. That
is, the root loci when s is far away from origin.
Asymptote is the straight line approximation of a curve

Ψ Actual Curve
Asymptotic Approximation
𝜎

𝜎 𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 𝑜𝑓 𝐴𝑠𝑦𝑚𝑝𝑡𝑜𝑡𝑒𝑠
Ψ 𝐴𝑛𝑔𝑙𝑒 𝑜𝑓 𝐴𝑠𝑦𝑚𝑝𝑡𝑜𝑡𝑒𝑠
Mr. Tsegaye Paulos, Lecturer@WSU 34
 Cont…
Step-3: Determine the asymptotes of the root loci.
±180(2𝑘+1)
𝜑= , (k=0, 1, 2, …)
𝑛−𝑚
where
– n-----> number of poles
– m-----> number of zeros
• For this Transfer Function
𝐾 𝐾
𝑎𝑝𝑝𝑜𝑎𝑐ℎ𝑒𝑠 3 𝑤ℎ𝑒𝑛 𝑠 𝑖𝑠 𝑙𝑎𝑟𝑔𝑒,
𝑠(𝑠 + 1)(𝑠 + 2) 𝑠+1
𝑎𝑛𝑔𝑙𝑒 𝑐𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛 𝑖𝑠 − 3∠𝑠 + 1 = ±180°(2𝑘 + 1)
 180(2k  1)

30
Mr. Tsegaye Paulos, Lecturer@WSU 35
 Cont…
Step-3: Determine the asymptotes of the root loci.
 180(2k  1)
  60 whe n k  0 
30
 180 when k  1
 300 when k  2
 420 when k  3

• Since the angle repeats itself as k is varied, the distinct angles

for the asymptotes are determined as 60°, –60°, and 180°.

Mr. Tsegaye Paulos, Lecturer@WSU 36

 Cont…
Step-3: Determine the asymptotes of the root loci.

• Before we can draw these asymptotes in the complex

plane, we need to find the point where they intersect the
real axis.

• Point of intersection of asymptotes on real axis (or

centroid of asymptotes) is

 poles   zeros

nm
Mr. Tsegaye Paulos, Lecturer@WSU 37
 Cont…
Step-3: Determine the asymptotes of the root loci.

K
• For G( s) H ( s) 
s( s  1)(s  2)
𝐾 𝐾
𝑎𝑝𝑝𝑜𝑎𝑐ℎ𝑒𝑠 𝑤ℎ𝑒𝑛 𝑠 𝑖𝑠 𝑙𝑎𝑟𝑔𝑒,
𝑠(𝑠 + 1)(𝑠 + 2) 𝑠+1 3
𝑎𝑛𝑔𝑙𝑒 𝑐𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛 𝑖𝑠 − 3∠𝑠 + 1 = ±180°(2𝑘 + 1)

( 0  1  2)  0
 
30

3
  1
3
Mr. Tsegaye Paulos, Lecturer@WSU 38
 Cont…
Step-3: Determine the asymptotes of the root loci.
Pole-Zero Map
1

0.5

  60 ,60 , 180

Imaginary Axis

180 60

  1
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real
Mr. Tsegaye Paulos, Lecturer@WSU Axis 39
 Cont…
Step-4: Determine the breakaway/break-in point.
Pole-Zero Map

• The breakaway/break-in 1

point is the point from

which the root locus 0.5
branches leaves/arrives
Imaginary Axis
real axis.
0

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Mr. Tsegaye Paulos, Lecturer@WSU Real Axis 40
 Cont…
Step-4: Determine the breakaway point or break-in point.

• The breakaway or break-in points can be determined from the

roots of :
dK
0
ds
• It should be noted that not all the solutions of dK/ds=0
correspond to actual breakaway points.

• If a point at which dK/ds=0 is on a root locus, it is an actual

breakaway or break-in point.

Mr. Tsegaye Paulos, Lecturer@WSU 41

 Cont…
Step-4: Determine the breakaway point or break-in point.

• The characteristic equation of the system is

K
1  G( s) H ( s)  1  0
s( s  1)(s  2)

K
 1
s( s  1)(s  2)

K  s(s  1)(s  2)

• The breakaway point can now be determined as
  s ( s  1)(s  2)
dK d
dsMr. TsegayedsPaulos, Lecturer@WSU 42
 Cont…
Step-4: Determine the breakaway point or break-in point.

  s ( s  1)(s  2)
dK d
ds ds
dK
ds

d 3
ds

s  3s 2  2s 
dK
 3 s 2  6 s  2
ds
• Set dK/ds=0 in order to determine breakaway point.
 3s 2  6 s  2  0
3s 2  6s  2  0

s  0.4226
 1.5774
Mr. Tsegaye Paulos, Lecturer@WSU 43
 Cont…
Step-4: Determine the breakaway point or break-in point.
s  0.4226 G( s) H ( s) 
K
s( s  1)(s  2)
 1.5774
• Since the breakaway point needs to be on a root locus
between 0 and –1, it is clear that s=–0.4226 corresponds to
the actual breakaway point.
• Point s=–1.5774 is not on the root locus. Hence, this point is
not an actual breakaway or break-in point.

Mr. Tsegaye Paulos, Lecturer@WSU 44

 Cont…
Step-4: Determine the breakaway point.
Pole-Zero Map
1

0.5

s  0.4226
Imaginary Axis

180 60
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real
Mr. Tsegaye Paulos, Lecturer@WSU Axis 45
 Cont…
Step-4: Determine the breakaway point.
Pole-Zero Map
1

0.5
Imaginary Axis

s  0.4226
0

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Mr. Tsegaye Paulos, Lecturer@WSU 46
Real Axis
 Cont…
Step-5: Determine the points where root loci cross the
imaginary axis.
Pole-Zero Map
1

0.5
Imaginary Axis

180 60
0
  60

-0.5

-1
-5 -4 -3 Tsegaye Paulos,
Mr. -2 Lecturer@WSU
-1 0 1 2 47
 Cont…
Step-5: Determine the points where root loci cross the
imaginary axis.
• Let s=jω in the characteristic equation, equate both the real
part and the imaginary part to zero, and then solve for ω and K.

• For present system the characteristic equation is

s 3  3s 2  2s  K  0

( j )3  3( j ) 2  2 j  K  0

( K  3 2 )  j (2   3 )  0
Mr. Tsegaye Paulos, Lecturer@WSU 48
 Cont…
Step-5: Determine the points where root loci cross the
imaginary axis.
( K  3 2 )  j (2   3 )  0
• Equating both real and imaginary parts of this equation
to zero
(2   3 )  0

( K  3 2 )  0
• Which yields

Mr. Tsegaye Paulos, Lecturer@WSU 49

Mr. Tsegaye Paulos, Lecturer@WSU 50
 Root Locus
5

2
Imaginary Axis

-1

-2

-3

-4

-5
-7 -6 -5 -4 -3 -2 -1 0 1 2
RealLecturer@WSU
Mr. Tsegaye Paulos, Axis 51
Exercise
Construct root locus for the following
characteristic equations
a) (s+3)(s+4)/(s+1)(s+2)
b) (s+4)(s+1)/(s+3)(s+2)

Mr. Tsegaye Paulos, Lecturer@WSU 52

• Nyquist Plots were invented by Nyquist - who worked at Bell
Laboratories, the premiere technical organization in the U.S. at the
time.
• Nyquist Plots are a way of showing frequency responses of linear
systems.
• There are several ways of displaying frequency response data,
including Bode' plots and Nyquist plots.
• Bode' plots use frequency as the horizontal axis and use two
separate plots to display amplitude and phase of the frequency
response.
• Nyquist plots display both amplitude and phase angle on a single
plot, using frequency as a parameter in the plot.
• Nyquist plots have properties that allow you to see whether a system
is stable or unstable.
Mr. Tsegaye Paulos, Lecturer@WSU 53
 Cont…
• A Nyquist plot is a polar plot of the frequency response
function of a linear system.

• That means a Nyquist plot is a plot of the transfer

function, G(s) with s = jω. That means you want to plot
G(j ω).

• G(j ω) is a complex number for any angular frequency,

ω, so the plot is a plot of complex numbers.

• The complex number, G(j ω), depends upon frequency,

so frequency will be a parameter if you plot the
imaginary part of G(j ω) against the real part of G(j ω).
Mr. Tsegaye Paulos, Lecturer@WSU 54
 Sketch the Polar plot of Frequency
Response
To sketch the polar plot of G(jω) for the entire range of
frequency ω, i.e., from 0 to infinity, there are four key
points that usually need to be known:
1) The start of plot where ω = 0,
2) The end of plot where ω = ∞,
3) Where the plot crosses the real axis, i.e., Im(G(jω))
= 0, and
4) Where the plot crosses the imaginary axis, i.e.,
Re(G(jω)) = 0.
Mr. Tsegaye Paulos, Lecturer@WSU 55
 Problem-1: Polar Plot of Integrator
Consider a first order system,

Representing G(s) in the frequency response form G( jω ) by replacing s = jω:

The magnitude of G( jω ), i.e., | G( jω) |, is obtained as;

The phase of G( jω ), denoted by, φ , is obtained as;

Mr. Tsegaye Paulos, Lecturer@WSU 56

Polar Plot
 Problem-2: Polar Plot of First Order System
Consider a first order system where T is the time constant.

Representing G(s) in the frequency response form G( jω ) by replacing s = jω:

The magnitude of G( jω ), i.e., | G( jω) |, is obtained as;

The phase of G( jω ), denoted by, φ , is obtained as;

Mr. Tsegaye Paulos, Lecturer@WSU 57

The start of plot where ω = 0

The end of plot where ω = ∞

The mid part of plot where ω = 1/T

Mr. Tsegaye Paulos, Lecturer@WSU 58

 Problem-3: Polar Plot of Second Order System
Consider a second order system where T is the time constant.
Representing G(s) in the frequency response form G( jω ) by replacing s = jω:

The magnitude of G( jω ), i.e., | G( jω) |, is obtained as;

The phase of G( jω ), denoted by, φ , is obtained as;

Mr. Tsegaye Paulos, Lecturer@WSU 59

 The start of plot where ω = 0
1
𝐺 𝑗𝜔 = =1 ∠𝐺 𝑗𝜔 = − tan−1 0 − tan−1 0 = 0°
1+0 1+0
The end of plot where ω = ∞
1
𝐺 𝑗𝜔 = = 0 ∠𝐺 𝑗𝜔 = − tan−1 ∞ − tan−1 ∞ = −90° − 90° = −180°
∞ ∞

Polar Plot

Mr. Tsegaye Paulos, Lecturer@WSU 60

Problem-4: Sketch the Nyquist diagram for the system shown in the following figure,
and then determine the system stability using the Nyquist criterion.

(a)
Mr. Tsegaye Paulos, Lecturer@WSU 61
Now that we have expressions for the magnitude and phase of the frequency response, we
can sketch the polar plot using the 4 key points.

Point 1: The start of plot where ω = 0

500 0
𝐺 0 𝐻(0) = = 16.67 ∠𝐺 0 𝐻 0 = tan−1 = 0°
30 2 30

Mr. Tsegaye Paulos, Lecturer@WSU 62

Point 2: The end of plot where ω = ∞
500 ∞3
𝐺 ∞ 𝐻(∞) = =0 ∠𝐺 ∞ 𝐻 ∞ = tan−1 = −3 × 90° = −270°
∞ 30
Point 3: Where the plot crosses the real axis, i.e., Im(G(jω)) = 0

Take the imaginary part of equation (a), and put equal to zero, to get the value of
frequency ω at the interception of real axis.

Mr. Tsegaye Paulos, Lecturer@WSU 63

 Point 4: Where the plot crosses the imaginary axis, Re(G(jω)) = 0
Take the real part of equation (a), and put equal to zero, to get the value of frequency
ω at the interception of imaginary axis.

Mr. Tsegaye Paulos, Lecturer@WSU 64

 Problem-5: Sketch the polar plot for the following transfer
function.

Representing G(s)H(s) in the frequency response form G( jω )H(jω) by replacing s = jω:

The magnitude of GH(jω) i.e., |GH(jω)|, is obtained as;

1
𝐺𝐻 𝑗𝜔 =
𝜔4 𝜔2 + 𝑝2

The phase of GH(jω) denoted by, 𝜑, is obtained as;

𝜔
𝜑 = ∠𝐺𝐻 0 = − tan−1
𝑝
Mr. Tsegaye Paulos, Lecturer@WSU 65
Point 1: The start of plot where ω = 0
1 0
𝐺𝐻(0) = =∞ 𝜑 = ∠𝐺𝐻 0 = −tan−1 = 0°
0 0 + 𝑝2 𝑝

Point 2: The end of plot where ω = ∞

1 −1 ∞
𝐺𝐻(∞) = =0 𝜑 = ∠𝐺𝐻 ∞ = −tan = −90°
∞ ∞ + 𝑝2 𝑝

Polar Plot
|GH(jω)| ∠GH(jω)
ω=0 ∞ 0o
ω=∞ 0 -90o

Mr. Tsegaye Paulos, Lecturer@WSU 66

• A linear closed-loop continuous control system is absolutely
stable if the roots of the characteristic equation have negative
real parts.
• Equivalently, the poles of the closed-loop transfer function, or
the zeros of the denominator, 1 + GH(s), of the closed-loop
transfer function, must lie in the left-half plane.
• The Nyquist Stability Criterion establishes the number of
zeros of 1 + GH(s) in the right-half plane directly from the
Nyquist Stability Plot of GH(s).
N=Z-P
Where:
 N is the number of encirclements of the (-1, j0) point.
 Z is the number of zeros of the characteristic equation.
 P is the number of poles of the open-loop characteristic
equation.
Mr. Tsegaye Paulos, Lecturer@WSU 67
 Cont…
The closed-loop control system whose open-loop transfer function is GH is
stable if and only if

Where,

N = total number of CW encirclements of the (-1,j0) point (i.e., GH = - 1 ) in the

GH-plane.
Po = number of poles of GH in the right-hand-plane RHP for continuous
systems.
If N > 0, the number of zeros Zo of 1 + GH in the RHP for continuous systems, is
determined by

If N ≤ 0 and Po = 0, then the system is absolutely stable if and only if N = 0;

that is, if and only if the (-1, j0) point does not lie in the shaded region.
Mr. Tsegaye Paulos, Lecturer@WSU 68
 Problem-6: Sketch the polar plot for the following transfer function
and check the stability of the system.

There is one pole at the origin.

Representing G(s)H(s) in the frequency response form G( jω )H(jω) by replacing s = jω:

The magnitude of GH(jω) i.e., |GH(jω)|, is obtained as;

1
𝐺𝐻 𝑗𝜔 =
𝜔 𝜔2 + 1

The phase of GH(jω) denoted by, 𝜑, is obtained as;

𝜔
𝜑 = ∠𝐺𝐻 0 = −90° − tan−1
1
Mr. Tsegaye Paulos, Lecturer@WSU 69
Point 1: The start of plot where ω = 0
1 0
𝐺𝐻(0) = =∞ 𝜑 = ∠𝐺𝐻 0 = −90° −tan−1 = −90°
0 0+1 1

Point 2: The end of plot where ω = ∞

1 ∞
𝐺𝐻(∞) = =0 𝜑 = ∠𝐺𝐻 ∞ = −90 − tan−1 = −90° − 90° = −180°
∞ ∞+ 1 𝑝
Polar Plot

|GH(jω)| ∠GH(jω)
ω=0 ∞ -90o
ω=∞ 0 -180o

Mr. Tsegaye Paulos, Lecturer@WSU 70

Nyquist or Polar Plot Nyquist Diagram

Mr. Tsegaye Paulos, Lecturer@WSU 71

• The region to the right of the contour has been shaded.

• Clearly, the (-1,j0) point is not in the shaded region; therefore it is

not enclosed by the contour and so N ≤ 0.

• The poles of GH(s) are at s = 0 and s = -1, neither of which are in the
right-hand-plane RHP; hence Po = 0. Thus N = -Po = 0, and the
system is absolutely stable.

Mr. Tsegaye Paulos, Lecturer@WSU 72

Problem-7: The Nyquist Stability Plot for GH(s) = 1/s(s-1) is given in the figure below.

• The region to the right of the contour has been shaded and the (-1,j0) point is enclosed;
then N > 0. (It is clear that N = 1).
•
• The poles of GH are at s = 0 and s = +1, the latter pole being in the RHP. Hence Po = 1.

• N ≠ Po indicates that the system is unstable.

• Z = N + Po = 1 + 1 = 2, therefore the poles of the closed-loop transfer function, or the zeros

of the characteristic equation 1+GH in the right-hand plane RHP.

Mr. Tsegaye Paulos, Lecturer@WSU 73

 Design of control system by using
Nyquist plot stability
1. There is no encirclement of the -1+j0 point. This implies
that the system is stable if there is no poles of G(s)H(s) in
the right half s plane; otherwise, the system is unstable.
2. There is counterclockwise encirclement or encirclement
of the -1+j0 point. In this case the system is stable if the
number of counterclockwise encirclement is the same as
the number of poles G(s)H(s) in the right half s plane;
otherwise, the system is unstable.
3. There is clockwise encirclement or encirclement of the -
1+j0 point. In this case the system is unstable.

Mr. Tsegaye Paulos, Lecturer@WSU 74

Thank you!!

Mr. Tsegaye Paulos, Lecturer@WSU 75