𝑠+2

Example: 𝐺 𝑠 =
(𝑠 + 1)(𝑠 − 1)
90 90
Nyquist
contour

C C

−180
0 −180
0
C

−90 −90

C1: 𝜔 = 0 𝐺 𝑗𝜔 = 2∠ − 180° = −2 + 𝑗0 C2: 𝜔 = 𝑅𝑒 (𝑅 → ∞, 𝜃 varies from 90° to 0° to − 90° )

𝐺 𝑗𝜔 = 0, −90° to 0° to 90°
𝜔=∞ 𝐺 𝑗𝜔 = 0∠ − 90° = 0 + 𝑗0

ℝ − axis intersection: 𝜔 = 0
𝑗ℝ − axis intersection: 𝜔 = ∞
 1
Example: 𝐺 𝑠 =
𝑠(𝑠𝑇 + 1)
90
Nyquist
contour

−180
0

−90
 1
Example: 𝐺 𝑠 =
𝑠(𝑠𝑇 + 1)
C = {s = j𝜔|𝜔 ∈ [0 , ∞)}
90
Nyquist
contour

−180
0

−90
 1
Example: 𝐺 𝑠 =
𝑠(𝑠𝑇 + 1)
C = {s = j𝜔|𝜔 ∈ [0 , ∞)}
90
Nyquist
contour
C = s = 𝑅𝑒 |R → ∞, 𝜃 from + 90 to − 90
C C
𝑅𝑒

−180
0

−90
 1
Example: 𝐺 𝑠 =
𝑠(𝑠𝑇 + 1)
C = {s = j𝜔|𝜔 ∈ [0 , ∞)}
90
Nyquist
contour
C = s = 𝑅𝑒 |R → ∞, 𝜃 from + 90 to − 90
C C

C = {s = j𝜔|𝜔 ∈ (−∞, 0 ]}
−180
0

−90
Example:
C = {s = j𝜔|𝜔 ∈ [0 , ∞)}
90
Nyquist
contour
C = s = 𝑅𝑒 |R → ∞, 𝜃 from + 90 to − 90
C C

𝜖𝑒 C = {s = j𝜔|𝜔 ∈ (−∞, 0 ]}
−180
0
C = s = 𝜖𝑒 |𝜖 → 0, 𝜃 from − 90 to + 90
C

−90
 1
Example: 𝐺 𝑠 = ,𝑇 > 0
90
𝑠(𝑠𝑇 + 1)
C = {s = j𝜔|𝜔 ∈ [0 , ∞)}

1 1
C 𝐺 𝑠 = = ∠ − 90 − tan (𝜔𝑇)
𝑗𝜔(𝑗𝜔𝑇 + 1) 𝜔 1 + 𝜔 𝑇

𝑇 𝑗
=− −
−180 0 1+𝜔 𝑇 𝜔(1 + 𝜔 𝑇 )

−90
 1
Example: 𝐺 𝑠 = ,𝑇 > 0
90
𝑠(𝑠𝑇 + 1)
C = {s = j𝜔|𝜔 ∈ [0 , ∞)}

1 1
C 𝐺 𝑠 = = ∠ − 90 − tan (𝜔𝑇)
𝑗𝜔(𝑗𝜔𝑇 + 1) 𝜔 1 + 𝜔 𝑇

𝑇 𝑗
=− −
−180 0 1+𝜔 𝑇 𝜔(1 + 𝜔 𝑇 )

Step − 1:

𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 90 = −T − j∞

−90
𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠ − 180 = 0 + j0
→

Step − 2:

Imaginary axis intersection: No finite 𝜔

Real axis intersection: No finite 𝜔

 1
Example: 𝐺 𝑠 = ,𝑇 > 0
90
𝑠(𝑠𝑇 + 1)
C = {s = j𝜔|𝜔 ∈ [0 , ∞)}

1 1
C 𝐺 𝑠 = = ∠ − 90 − tan (𝜔𝑇)
𝑗𝜔(𝑗𝜔𝑇 + 1) 𝜔 1 + 𝜔 𝑇

90 𝑇 𝑗
=− −
−180 0 1+𝜔 𝑇 𝜔(1 + 𝜔 𝑇 )

Step − 1:

𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 90 = −T − j∞

−90
−180 −𝑇 0
𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠ − 180 = 0 + j0
→

Step − 2:

Imaginary axis intersection: No finite 𝜔

−90 Real axis intersection: No finite 𝜔

 1
Example: 𝐺 𝑠 = ,𝑇 > 0
90
𝑠(𝑠𝑇 + 1)
C = {s = j𝜔|𝜔 ∈ [0 , ∞)}

1 1
C 𝐺 𝑠 = = ∠ − 90 − tan (𝜔𝑇)
𝑗𝜔(𝑗𝜔𝑇 + 1) 𝜔 1 + 𝜔 𝑇

90 𝑇 𝑗
=− −
−180 0 1+𝜔 𝑇 𝜔(1 + 𝜔 𝑇 )

Step − 1:

𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 90 = −T − j∞

−90
−180 −𝑇 𝜔=∞ 0
𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠ − 180 = 0 + j0
→

Step − 2:

Imaginary axis intersection: No finite 𝜔

𝜔=0
−90 Real axis intersection: No finite 𝜔
 1
Example: 𝐺 𝑠 = ,𝑇 > 0
𝑠(𝑠𝑇 + 1) C = s = 𝑅𝑒 |R → ∞, 𝜃 from + 90 to − 90
90

C C
𝑅𝑒

90
−180 0

1 1
𝐺 𝑠 | = lim = lim
→ 𝑅𝑒 × (1 + 𝑇𝑅𝑒 ) → 𝑇𝑅 𝑒
−90
−180 −𝑇 𝜔=∞ 0
𝜃 from + 90 to − 90

𝜔=0
−90
 1
Example: 𝐺 𝑠 = ,𝑇 > 0
𝑠(𝑠𝑇 + 1) C = s = 𝑅𝑒 |R → ∞, 𝜃 from + 90 to − 90
90

C C
𝑅𝑒

90
−180 0

1 1
𝐺 𝑠 | = lim = lim
→ 𝑅𝑒 × (1 + 𝑇𝑅𝑒 ) → 𝑇𝑅 𝑒
−90
−180 −𝑇 𝜔=∞ 0
𝜃 from + 90 to − 90

= 0, angle changes from − 180 to + 180

𝜔=0
−90
 1
Example: 𝐺 𝑠 = ,𝑇 > 0 C = {s = j𝜔|𝜔 ∈ (−∞, 0 ]}
90
𝑠(𝑠𝑇 + 1)

C C

90
−180 0

−90
−180 −𝑇 𝜔=∞ 0

𝜔=0
−90
 1
Example: 𝐺 𝑠 = ,𝑇 > 0 C = {s = j𝜔|𝜔 ∈ (−∞, 0 ]}
90
𝑠(𝑠𝑇 + 1)

C C

0
90
−180 𝜔=0

−90
𝜔=∞
−180 −𝑇 𝜔=∞ 0

𝜔=0
−90
 1
Example: 𝐺 𝑠 = ,𝑇 > 0 𝜋 𝜋
90
𝑠(𝑠𝑇 + 1) C = s = 𝜖𝑒 |𝜖 → 0, 𝜃 from − to +
2 2

C C

0
90
−180 𝜔=0

1 1
𝐺 𝑠 | = lim = lim
→ 𝜖𝑒 × (1 + 𝑇𝜖𝑒 ) → 𝜖𝑒
−90
𝜔=∞
𝜔=∞
𝜃 from − 90 to 0 to + 90
−180 −𝑇 0

𝜔=0
−90
 1
Example: 𝐺 𝑠 = ,𝑇 > 0 𝜋 𝜋
90
𝑠(𝑠𝑇 + 1) C = s = 𝜖𝑒 |𝜖 → 0, 𝜃 from − to +
2 2

C C

0 90
−180 𝜔=0

1 1
𝐺 𝑠 | = lim = lim
→ 𝜖𝑒 × (1 + 𝑇𝜖𝑒 ) → 𝜖𝑒
−90
𝜔=∞
𝜔=∞
𝜃 from − 90 to 0 to + 90
−180 −𝑇 0

= ∞, angle changes from + 90 to 0 to − 90

𝜔=0
−90
 1
Example: 𝐺 𝑠 = ,𝑇 > 0
𝑠(𝑠𝑇 + 1)
90
𝜔=0
90

C C

𝜔=∞
0 𝜔=∞
−180 −180 −𝑇 0

−90
𝜔=0
−90
 1
Example: 𝐺 𝑠 = ,𝑇 > 0
𝑠(𝑠𝑇 + 1)
90

C C

C
−180 0

−90
1 1
𝐺 𝑠 | = lim = lim
→ 𝜖𝑒 × (1 + 𝑇𝜖𝑒 ) → 𝜖𝑒

𝜃 from − 90 to − 180 to + 90

= ∞, angle changes from + 90 to + 180 to − 90

 1
Example: 𝐺 𝑠 = ,𝑇 > 0 90
𝑠(𝑠𝑇 + 1) 𝜔=0

90

C C

C
𝜔=∞
−180 0 −180 −𝑇
𝜔=∞
0

−90
𝜔=0
1 1 −90
𝐺 𝑠 | = lim = lim
→ 𝜖𝑒 × (1 + 𝑇𝜖𝑒 ) → 𝜖𝑒

𝜃 from − 90 to − 180 to + 90

= ∞, angle changes from + 90 to + 180 to − 90

 𝐾
Example: 𝐺 𝑠 = ,𝑇 > 0
𝑠(𝑠𝑇 + 1)
90
𝜔=0

90

C C

C 𝜔=∞
𝜔=∞
0 −180 −𝐾𝑇 0
−180

−90 𝜔=0
−90
 𝐾
Example: 𝐺 𝑠 = ,𝑇 > 0 90
𝑠(𝑠𝑇 + 1) 𝜔=0

90

C C

C
𝜔=∞
−180 0 −180 −𝐾𝑇
𝜔=∞
0

−90
𝜔=0
𝐾 𝐾 −90
𝐺 𝑠 | = lim = lim
→ 𝜖𝑒 × (1 + 𝑇𝜖𝑒 ) → 𝜖𝑒

𝜃 from − 90 to − 180 to + 90

= ∞, angle changes from + 90 to + 180 to − 90

 𝐾
Example: 𝐺 𝑠 = ,𝑇 < 0
𝑠(𝑠𝑇 + 1)
 𝐾 𝐾 𝐾
Example: 𝐺 𝑠 = ,𝑀 > 0 𝐺 𝑗𝜔 = = ∠ − 90 + tan (𝜔𝑇)
𝑠(−𝑠𝑀 + 1) 𝑗𝜔(−𝑗𝜔𝑀 + 1) 𝜔 1 + 𝜔 𝑀

𝐾𝑀 𝑗
= −
1+𝜔 𝑀 𝜔(1 + 𝜔 𝑀 )
 𝐾 𝐾 𝐾
Example: 𝐺 𝑠 = ,𝑀 > 0 𝐺 𝑗𝜔 = = ∠ − 90 + tan (𝜔𝑇)
𝑠(−𝑠𝑀 + 1) 𝑗𝜔(−𝑗𝜔𝑀 + 1) 𝜔 1 + 𝜔 𝑀

90 𝐾𝑀 𝑗
= −
1+𝜔 𝑀 𝜔(1 + 𝜔 𝑀 )

C C

C
−180 0

−90
 𝐾 𝐾 𝐾
Example: 𝐺 𝑠 = ,𝑀 > 0 𝐺 𝑗𝜔 = = ∠ − 90 + tan (𝜔𝑇)
𝑠(−𝑠𝑀 + 1) 𝑗𝜔(−𝑗𝜔𝑀 + 1) 𝜔 1 + 𝜔 𝑀

90 𝐾𝑀 𝑗
= −
1+𝜔 𝑀 𝜔(1 + 𝜔 𝑀 )

C C 𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 90 = KM − j∞
C :
C
𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠0 = 0 + j0
0 →
−180

−90
 𝐾 𝐾 𝐾
Example: 𝐺 𝑠 = ,𝑃 > 0 𝐺 𝑗𝜔 = = ∠ − 90 + tan (𝜔𝑇)
𝑠(−𝑠𝑃 + 1) 𝑗𝜔(−𝑗𝜔𝑃 + 1) 𝜔 1 + 𝜔 𝑃

90 𝐾𝑃 𝑗
= −
1+𝜔 𝑃 𝜔(1 + 𝜔 𝑃 )

C C 𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 90 = KP − j∞
C :
C
𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠0 = 0 + j0
0 →
−180

C
𝐾
C : 𝐺 𝑠 | = lim , 𝜃 varies from 90 to − 90
→ 𝑅𝑒 × (1 − 𝑀𝑅𝑒 )

−90 𝐾 𝐾𝑒
= lim = lim = 0 ∠ 0 to 180
→ −𝑀𝑅 𝑒 → 𝑀𝑅
 𝐾 𝐾 𝐾
Example: 𝐺 𝑠 = ,𝑃 > 0 𝐺 𝑗𝜔 = = ∠ − 90 + tan (𝜔𝑇)
𝑠(−𝑠𝑃 + 1) 𝑗𝜔(−𝑗𝜔𝑃 + 1) 𝜔 1 + 𝜔 𝑃

90 𝐾𝑃 𝑗
= −
1+𝜔 𝑃 𝜔(1 + 𝜔 𝑃 )

C C 𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 90 = KP − j∞
C :
C
𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠0 = 0 + j0
−180 0 →

C
𝐾
C : 𝐺 𝑠 | = lim , 𝜃 varies from 90 to − 90
→ 𝑅𝑒 × (1 − 𝑃𝑅𝑒 )

−90 𝐾 𝐾𝑒
= lim = lim = 0 ∠ 0 to 180
→ −𝑃𝑅 𝑒 → 𝑃𝑅

𝐾
𝐺 𝑠 | = lim , 𝜃 varies from − 90 to 0 to 90
→ 𝜖𝑒 × (1 − 𝑃𝜖𝑒 )
C :
𝐾
= lim = ∞ ∠ 90 to 0 to − 90
→ 𝜖𝑒
 𝐾 𝐾 𝐾
Example: 𝐺 𝑠 = ,𝑃 > 0 𝐺 𝑗𝜔 = = ∠ − 90 + tan (𝜔𝑇)
𝑠(−𝑠𝑃 + 1) 𝑗𝜔(−𝑗𝜔𝑃 + 1) 𝜔 1 + 𝜔 𝑃
90
𝐾𝑃 𝑗
= −
1+𝜔 𝑃 𝜔(1 + 𝜔 𝑃 )

𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 90 = KP − j∞
C :
−180 0 𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠0 = 0 + j0
𝜔=∞ 𝐾𝑃 →

𝐾
C : 𝐺 𝑠 | = lim , 𝜃 varies from 90 to − 90
→ 𝑅𝑒 × (1 − 𝑃𝑅𝑒 )
𝐾 𝐾𝑒
−90 𝜔=0 = lim = lim = 0 ∠ 0 to 180
→ −𝑃𝑅 𝑒 → 𝑃𝑅

𝐾
𝐺 𝑠 | = lim , 𝜃 varies from − 90 to 0 to 90
→ 𝜖𝑒 × (1 − 𝑃𝜖𝑒 )
C :
𝐾
= lim = ∞ ∠ 90 to 0 to − 90
→ 𝜖𝑒
 𝐾 𝐾 𝐾
Example: 𝐺 𝑠 = ,𝑀 > 0 𝐺 𝑗𝜔 = = ∠ − 90 + tan (𝜔𝑇)
𝑠(−𝑠𝑀 + 1) 𝑗𝜔(−𝑗𝜔𝑀 + 1) 𝜔 1 + 𝜔 𝑀
90 𝜔=0
𝐾𝑀 𝑗
= −
1+𝜔 𝑀 𝜔(1 + 𝜔 𝑀 )

𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 90 = KM − j∞
C :
−180 𝜔=∞ 0 𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠0 = 0 + j0
𝜔=∞ 𝐾𝑃 →

𝐾
C : 𝐺 𝑠 | = lim , 𝜃 varies from 90 to − 90
→ 𝑅𝑒 × (1 − 𝑀𝑅𝑒 )
𝐾 𝐾𝑒
−90 𝜔=0 = lim = lim = 0 ∠ 0 to 180
→ −𝑀𝑅 𝑒 → 𝑀𝑅

𝐾
𝐺 𝑠 | = lim , 𝜃 varies from − 90 to 0 to 90
→ 𝜖𝑒 × (1 − 𝑀𝜖𝑒 )
C :
𝐾
= lim = ∞ ∠ 90 to 0 to − 90
→ 𝜖𝑒
 𝐾 𝐾 𝐾
Example: 𝐺 𝑠 = ,𝑃 > 0 𝐺 𝑗𝜔 = = ∠ − 90 + tan (𝜔𝑇)
𝑠(−𝑠𝑃 + 1) 𝑗𝜔(−𝑗𝜔𝑃 + 1) 𝜔 1 + 𝜔 𝑃
90 𝜔=0
𝐾𝑃 𝑗
= −
1+𝜔 𝑃 𝜔(1 + 𝜔 𝑃 )

𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 90 = KP − j∞
C :
−180 𝜔=∞ 0 𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠0 = 0 + j0
𝜔=∞ 𝐾𝑃 →

𝐾
C : 𝐺 𝑠 | = lim , 𝜃 varies from 90 to − 90
→ 𝑅𝑒 × (1 − 𝑃𝑅𝑒 )
𝐾 𝐾𝑒
−90 𝜔=0 = lim = lim = 0 ∠ 0 to 180
→ −𝑃𝑅 𝑒 → 𝑃𝑅

𝐾
𝐺 𝑠 | = lim , 𝜃 varies from − 90 to 0 to 90
→ 𝜖𝑒 × (1 − 𝑃𝜖𝑒 )
C :
𝐾
= lim = ∞ ∠ 90 to 0 to − 90
→ 𝜖𝑒
Example: Comment on the stability of an unity negative feedback system with an open loop transfer function

𝐾(𝑠 + 3)
𝐺 𝑠 =
𝑠(𝑠 − 1)
Example: Comment on the stability of an unity negative feedback system with an open loop transfer function

𝐾(𝑠 + 3)
𝐺 𝑠 =
𝑠(𝑠 − 1)
𝐾(𝑠 + 3)
Using Routh Hurwitz: 1+ 𝐺 𝑠 =1+ = 0 ⇒ 𝑠 + 𝐾 − 1 𝑠 + 3𝐾 = 0
𝑠(𝑠 − 1)

𝑠 1 3𝐾
𝑠 𝐾−1 0
𝑠 3𝐾

System is stable for 0 < K < 1

Example: Comment on the stability of an unity negative feedback system with an open loop transfer function

𝐾(𝑠 + 3)
𝐺 𝑠 =
𝑠(𝑠 − 1)

Using Root Locus:

 𝐾(𝑠 + 3) 𝐾(𝑗𝜔 + 3) 𝐾 𝜔 +9 𝜔
𝐺 𝑠 = 𝐺 𝑗𝜔 = = ∠ − 90 − 180 − tan 𝜔 + tan
𝑠(𝑠 − 1) 𝑗𝜔(𝑗𝜔 − 1) 𝜔 1+𝜔 3

90

C C

C
−180 0

−90
 𝐾(𝑠 + 3) 𝐾(𝑗𝜔 + 3) 𝐾 𝜔 +9 𝜔
𝐺 𝑠 = 𝐺 𝑗𝜔 = = ∠ − 270 + tan 𝜔 + tan
𝑠(𝑠 − 1) 𝑗𝜔(𝑗𝜔 − 1) 𝜔 1+𝜔 3

90

C C

C
−180 0

−90
 𝐾(𝑠 + 3) 𝐾(𝑗𝜔 + 3) 𝐾 𝜔 +9 𝜔
𝐺 𝑠 = 𝐺 𝑗𝜔 = = ∠ − 270 + tan 𝜔 + tan
𝑠(𝑠 − 1) 𝑗𝜔(𝑗𝜔 − 1) 𝜔 1+𝜔 3
4𝐾 𝐾(3 − 𝜔 )
90 =− + 𝑗
1+𝜔 𝜔 1+𝜔

C C

C
−180 0

−90
 𝐾(𝑠 + 3) 𝐾(𝑗𝜔 + 3) 𝐾 𝜔 +9 𝜔
𝐺 𝑠 = 𝐺 𝑗𝜔 = = ∠ − 270 + tan 𝜔 + tan
𝑠(𝑠 − 1) 𝑗𝜔(𝑗𝜔 − 1) 𝜔 1+𝜔 3
4𝐾 𝐾(3 − 𝜔 )
90 =− + 𝑗
1+𝜔 𝜔 1+𝜔

C 𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 270 = −4K + j∞ jℝ − axis intercept: None

C
C :
ℝ − axis intercept: 𝜔 = 3
C 𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠ − 90 = 0 + j0
→ 𝐺 𝑗 3 = −𝐾 − 𝑗0
−180 0

C 𝐾(𝑅𝑒 + 3)
𝐺 𝑠 | = lim , 𝜃 varies from + 90 to − 90
→ 𝑅𝑒 × (𝑅𝑒 − 1)
C :
𝐾𝑅𝑒 𝐾𝑒
−90 = lim = lim = 0 ∠ −90 to + 90
→ 𝑅 𝑒 → 𝑅

𝐾(𝜖𝑒 + 3)
𝐺 𝑠 | = lim , 𝜃 varies from − 90 to 0 to 90
C : → 𝜖𝑒 × (𝜖𝑒 − 1)
𝐾 𝐾 ( )
= lim = lim 𝑒 = ∞ ∠ 270 to 180 to 90
→ −𝜖𝑒 → 𝜖
 𝐾(𝑠 + 3) 𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 270 = −4K − j∞ jℝ − axis intercept: None
𝐺 𝑠 =
𝑠(𝑠 − 1) C :
ℝ − axis intercept: 𝜔 = 3
𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠ − 90 = 0 + j0
90 → 𝐺 𝑗 3 = −𝐾 − 𝑗0

C : 𝐺 𝑠 | = 0 ∠ −90 to + 90 C :𝐺 𝑠 | = ∞ ∠270 to 180 to 90

C C
90

C
−180 0

C
−180 0

−90

−90
 𝐾(𝑠 + 3) 𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 270 = −4K − j∞ jℝ − axis intercept: None
𝐺 𝑠 =
𝑠(𝑠 − 1) C :
ℝ − axis intercept: 𝜔 = 3
𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠ − 90 = 0 + j0
90 → 𝐺 𝑗 3 = −𝐾 − 𝑗0

C : 𝐺 𝑠 | = 0 ∠ −90 to + 90 C :𝐺 𝑠 | = ∞ ∠270 to 180 to 90

C C
𝜔=0
90

C
−180 0

C
−180 0
𝜔=∞
−𝑲
𝜔= 3
−90

−90
 𝐾(𝑠 + 3) 𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 270 = −4K − j∞ jℝ − axis intercept: None
𝐺 𝑠 =
𝑠(𝑠 − 1) C :
ℝ − axis intercept: 𝜔 = 3
𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠ − 90 = 0 + j0
90 → 𝐺 𝑗 3 = −𝐾 − 𝑗0

C : 𝐺 𝑠 | = 0 ∠ −90 to + 90 C :𝐺 𝑠 | = ∞ ∠270 to 180 to 90

C C
𝜔=0
90

C
−180 0

C
−180 𝜔=∞ 0
𝜔=∞
−𝑲
𝜔= 3
−90

𝜔=0

−90
 𝐾(𝑠 + 3) 𝜔 = 0 : 𝐺 𝑗𝜔 = ∞ ∠ − 270 = −4K − j∞ jℝ − axis intercept: None
𝐺 𝑠 =
𝑠(𝑠 − 1) C :
ℝ − axis intercept: 𝜔 = 3
𝜔 = ∞ : 𝐺 𝑗𝜔 = 0 ∠ − 90 = 0 + j0
90 → 𝐺 𝑗 3 = −𝐾 − 𝑗0

C : 𝐺 𝑠 | = 0 ∠ −90 to + 90 C :𝐺 𝑠 | = ∞ ∠270 to 180 to 90

C C
𝜔=0
90

C
−180 0

C
−180 𝜔=∞ 0
𝜔=∞
−𝑲
𝜔= 3
−90

𝜔=0

−90
 𝐾(𝑠 + 3) NYQUIST PLOT
𝐺 𝑠 =
𝑠(𝑠 − 1)
𝜔=0

90

C C

C
−180 𝜔=∞
−180 0 𝜔=∞
−𝑲
𝜔= 3
C

−90
𝜔=0

−90
MARGIN NYQUIST PLOT
MARGIN NYQUIST PLOT
Gain crossover frequency:
Frequency 𝜔 at which the gain is 1 or 0 dB.

Phase margin:
PM = 180 + ∠𝐺 𝑗𝜔 𝐻 𝑗𝜔
MARGIN NYQUIST PLOT
Gain crossover frequency:
Frequency 𝜔 at which the gain is 1 or 0 dB.

Phase crossover frequency:

PM = 180 + ∠𝐺 𝑗𝜔 𝐻 𝑗𝜔
MARGIN NYQUIST PLOT
Gain crossover frequency:
Frequency 𝜔 at which the gain is 1 or 0 dB.

Phase crossover frequency:

PM = 180 + ∠𝐺 𝑗𝜔 𝐻 𝑗𝜔
MARGIN NYQUIST PLOT
Phase crossover frequency:
Frequency 𝜔 at which the phase crosses − 180

Gain margin:
1
GM =
𝐺 𝑗𝜔 𝐻 𝑗𝜔
MARGIN NYQUIST PLOT
Phase crossover frequency:
Frequency 𝜔 at which the phase crosses − 180

Gain margin:
1
GM =
𝐺 𝑗𝜔 𝐻 𝑗𝜔
MARGIN NYQUIST PLOT
Phase crossover frequency:
Frequency 𝜔 at which the phase crosses − 180

Gain margin:
1
GM =
𝐺 𝑗𝜔 𝐻 𝑗𝜔
𝐶𝑂𝑀𝑀𝐸𝑁𝑇 𝑂𝑁 𝑆𝑇𝐴𝐵𝐼𝐿𝐼𝑇𝑌 𝑂𝐹 𝐶𝐿𝑂𝑆𝐸𝐷 𝐿𝑂𝑂𝑃 𝑆𝑌𝑆𝑇𝐸𝑀 𝑊𝐼𝑇𝐻 𝑅𝐸𝐿𝐴𝑇𝐼𝑉𝐸 𝑆𝑇𝐴𝐵𝐼𝐿𝐼𝑇𝑌 𝑃𝐴𝑅𝐴𝑀𝐸𝑇𝐸𝑅𝑆

+ 𝐺(𝑠)
𝑅(𝑠) - 𝐶(𝑠)

𝐻(𝑠)

G s H s is stable, minimum phase

𝐶𝑂𝑀𝑀𝐸𝑁𝑇 𝑂𝑁 𝑆𝑇𝐴𝐵𝐼𝐿𝐼𝑇𝑌 𝑂𝐹 𝐶𝐿𝑂𝑆𝐸𝐷 𝐿𝑂𝑂𝑃 𝑆𝑌𝑆𝑇𝐸𝑀 𝑊𝐼𝑇𝐻 𝑅𝐸𝐿𝐴𝑇𝐼𝑉𝐸 𝑆𝑇𝐴𝐵𝐼𝐿𝐼𝑇𝑌 𝑃𝐴𝑅𝐴𝑀𝐸𝑇𝐸𝑅𝑆

→ Since open loop system is stable, P = 0 + 𝐺(𝑠)

𝑅(𝑠) - 𝐶(𝑠)
→ For closed loop system to be stable, we need Z = 0

→ From Nyquist stability criterion, system is stable iff N = 0

𝐻(𝑠)
No encirclement of the − 1 + j0 point by the Nyquist plot
G s H s is stable, minimum phase
𝐶𝑂𝑀𝑀𝐸𝑁𝑇 𝑂𝑁 𝑆𝑇𝐴𝐵𝐼𝐿𝐼𝑇𝑌 𝑂𝐹 𝐶𝐿𝑂𝑆𝐸𝐷 𝐿𝑂𝑂𝑃 𝑆𝑌𝑆𝑇𝐸𝑀 𝑊𝐼𝑇𝐻 𝑅𝐸𝐿𝐴𝑇𝐼𝑉𝐸 𝑆𝑇𝐴𝐵𝐼𝐿𝐼𝑇𝑌 𝑃𝐴𝑅𝐴𝑀𝐸𝑇𝐸𝑅𝑆

→ Since open loop system is stable, P = 0 + 𝐺(𝑠)

𝑅(𝑠) - 𝐶(𝑠)
→ For closed loop system to be stable, we need Z = 0

→ From Nyquist stability criterion, system is stable iff N = 0

𝐻(𝑠)
No encirclement of the − 1 + j0 point by the Nyquist plot
G s H s is stable, minimum phase
𝐶𝑂𝑀𝑀𝐸𝑁𝑇 𝑂𝑁 𝑆𝑇𝐴𝐵𝐼𝐿𝐼𝑇𝑌 𝑂𝐹 𝐶𝐿𝑂𝑆𝐸𝐷 𝐿𝑂𝑂𝑃 𝑆𝑌𝑆𝑇𝐸𝑀 𝑊𝐼𝑇𝐻 𝑅𝐸𝐿𝐴𝑇𝐼𝑉𝐸 𝑆𝑇𝐴𝐵𝐼𝐿𝐼𝑇𝑌 𝑃𝐴𝑅𝐴𝑀𝐸𝑇𝐸𝑅𝑆

→ Since open loop system is stable, P = 0 + 𝐺(𝑠)

𝑅(𝑠) - 𝐶(𝑠)
→ For closed loop system to be stable, we need Z = 0

→ From Nyquist stability criterion, system is stable iff N = 0

𝐻(𝑠)
No encirclement of the − 1 + j0 point by the Nyquist plot
G s H s is stable, minimum phase
→ The closed loop system is stable if GM > 0, PM > 0.