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    Nyquist Stbility

    Uploaded by

    Getasew Mekonnen
    Nyquist stability

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    © All Rights Reserved
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    Nyquist Stbility

    Uploaded by

    Getasew Mekonnen
    0 views12 pages
    Nyquist stability

    Original Title

    Nyquist_stbility

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    © © All Rights Reserved

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    Nyquist stability

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    0 views12 pages

    Nyquist Stbility

    Uploaded by

    Getasew Mekonnen
    Nyquist stability

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 12

    8.

    Stability Analysis in Frequency Domain


     we are concerned with investigating the stability of
    a system in terms of the frequency response
    Nyquist stability Criterion
     Consider the system

     Characteristic equation

    1
     For a give continuous closed path in the s plane
    that does not go through any singular points,
    there corresponds a closed curve in the F(s)
    plane.

    1
    Let G(s) H (s) 
    s 1

    The characteristic equation:


    s
    F ( s)  0
    s 1
    2
    If s  1  j1 ,then
    1 j
    F (s)  1 j
    j
    The point s  1  j1 in the s plane maps in to point 1-j in
    F(s) plane.

    3
     Mapping Theorem:
    Let F(s) be a ratio of two polynomials in s. let P be
    the number of poles and Z be the number of zeros of
    F(s) that lie inside some closed contour in the s
    plane, with multiplicity of poles and zeros accounted
    for. Let the contour be such that it does not pass
    through any poles or zeros of F(s). This closed
    contour in the s plane is then mapped in to the F(s)
    plane as a closed curve. The total number N of
    clockwise encirclement of the origin of the F(s)
    plane, as a representative point s traces out the entire
    contour in the clockwise direction, is equal to Z-
    P.(Note that by this mapping theorem, the number of
    zeros and of poles can’t be found-only their
    4 difference.)
     Application of mapping theorem to stability
    analysis
    Closed loop TF:
    C ( s) G( s)

    R( s ) 1  G ( s ) H ( s)

    The characteristic equation:


    1+G(s)H(s)=0
     No zero of F(s) in the RH s plane,
     the system is stable
     The number P can be readily determined for
    F(s)=1+G(s)H(s) from the function G(s)H(s).
    5
    P( s )
    Let G(s) H (s)  , be ratio of polynomials
    q( s)

    For physically realizable system,


    C (s)
    lim  0 or constant
    s  R ( s )

    G (s) G ( s)q( s)
     lim  0 or constant
    s  1  G ( s ) H ( s ) q(s)  p(s)
     Degree of P(s) is equal or greater than q(s).
     lim G ( s ) H ( s )  0 or constant
    s 

    Thus,
    lim1  G ( s) H ( s )  constant
    s 
    6
    Right-half of s plane(Region of interest for
    stability)
    The Contour:(Nyquist path)
    • Entire jω axis(ω=-∞to ∞)
    •Semi-circular path of infinite radius
    in RHP.
    •Clockwise path direction

    7
    Mapping theorem for the Nyquist path says that
    Z=P+N
    Where
    Z&P: Number of RHP zeros and poles
    of F(s),respectively.
    N: Number of clockwise
    encirclements of the origin of
    F(s) plane.

    Since lim1  G(s) H (s)  constant ,


    s 

    the function 1+G(s)H(s) is constant for the semicircle.

     We consider the jω axis for stability.


    8
    Since 1+ G(jω)H(jω)-1=G(jω)H(jω),

    Encirclement of the origin by the graph of 1+G(jω)H(jω)


    is equivalent to encirclement of the point -1+j0 by
    G(jω)H(jω).

    •The plot of G(jω)H(jω) is symmetric about the real axis.

    9
     Nyquist stability criterion [G(s)H(s) has neither poles or
    zeros on the jω axis]
    If the open-loop TF G(s)H(s) has K poles in the RHP
    and lim G(s) H (s)  constant, then for stability, the
    s 

    G(jω)H(jω) locus, as ω varies from -∞to∞, must


    encircle the -1+j0 point K times in the
    counterclockwise direction.
     Special case when G(s)H(s) involves poles and/or zeros on
    the jω axis.
    o The Nyquist path is modified not to pass through poles
    or zeros of G(s)H(s).
    • Use a semicircle of infinitesimal radius,ε,near the
    zero/pole.

    10
    Example: A closed system has open-loop Tf
    K
    G(s) H (s) 
    (T1s  1)(T2 s  1)

    examine its stability;(k,T1,T2 are +ve)


    Solution:
    By using the concept of polar plot or just using MATLAB, the
    G(jω)H(jω) plot becomes

    11
    The plot doesn’t encircle the -1+j0 point and G(s)H(s)
    doesn’t have open-loop poles on RHP.
     1+G(s)H(s) doesn’t have zero in the RHP
    Therefore, the system is stable

    12

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