The Nyquist Stability Criterion

The Nyquist Stability Criterion
Born in 1889 in Sweden

Died in 1976, USA
Yale PhD, 1917
Career at Bell Labs
138 patents
Nyquist diagram,
criterion, sampling
theorem
Laid the foundation for
information theory, data
transmission and
negative feedback theory
Nyquist Stability Criterion

Nyquist stability criterion
Nyquist stability criterion: based on Nyquist diagram
of open-loop system to determine the stability of the
system.
10/23/16
Advantage of Nyquist stability criterion

Geometric criterion: simplicity, graphical method, low
computational complexity (Routh stability criterion is an
algebraic method
No need to know the differential equation or transfer
function. The frequency responses can be obtained by
mathematical modeling or experimental method.
Helpful to understand the concept of relative stability
Mathematical basis for Nyquist stability criterion:

Conformal Mapping (Cauchys Theorem)
The Nyquist-criterion
A method to investigate the stability of a system in terms of the
open-loop frequency response.
The argument principle(Cauchys theorem)
Assume: G ( s ) H ( s ) K 1 ( s z1 )( s z 2 )...( s z m )
nm
( s p1 )( s p2 )...( s pn )
here : z i open-loop zeros; p j open-loop poles .
Make :
F ( s) 1 G( s)H ( s) 1
K 1 ( s z1 )( s z 2 )...( s z m )
( s p1 )( s p2 )...( s pn )
( s p1 )( s p2 )...( s pn ) K 1 ( s z1 )( s z 2 )...( s z m )
( s p1 )( s p2 )...( s pn )
K F ( s s1 )( s s2 )...( s s n )
( s p1 )( s p2 )...( s pn )
s i zeros of the F ( s )
Note: si the zeros of the F(s), also the roots of the 1+G(s)H(s)=0
The argument principle

Now we consider the net phase shift F (s ) if s travels 360o
along a closed path of the s-plane in the clockwise direction
shown in Fig.5.4.1 .
Because : F ( s )
i 1
j 1
( s si ) ( s p j )
S-plane
If the zeros si is enclosed by , then :

( s si ) 2
If the zeros si is not enclosed by , then :
Im
si
( s si ) 0
s si
Re
si
Similarly we have:
p j is enclosed by : ( s p j ) 2
p j is not enclosed by : ( s p j ) 0
Fig. 5.4.1

If Z zeros and P poles are enclosed by , then:
F ( s )
i 1
j 1
( s si ) ( s p j )
Z ( 2 ) P ( 2 ) ( P Z ) 2
It is obvious that path can not pass through any zeros si or

poles pj . Then we have the argument principle:
If a closed path in the s-plane encircles Z zeros and P poles of
F(s) and does not pass through any poles or zeros of F(s) , when s
travels along the contour in the clockwise direction, the corresponding F(s) locus mapped in the F(s)-plane will encircle the
origin of the F(s) plane N = P-Z times in the counterclockwise
direction, that is:
N=P Z

here: N number of the F(s) locus encircling the origin of the
F(s)-plane in the counterclockwise direction.
P number of the zeros of the F(s) encircled by the path
in the s-plane.
Z number of the poles of the F(s) encircled by the path
in the s-plane.
Nyquist criterion
Im
If we choose the closed path so

S-plane
that the encircles the entire right
Re
hand of the s-plane but not pass
through any zeros or poles of F(s)
shown in Fig.5.4.2 .
The path is called the Nyquist-path.
Fig. 5.4.2
Nyquist criterion
Im
S-plane
When s travels along the the Nyquist-path:

F ( s) 1 G( s)H ( s)
F ( s)
s j
s j
1 G( s) H ( s) 0
Re
1 G ( j ) H ( j ) G ( j ) H ( j ) 1 F ( s )
Because the origin of the F(s)-plane is

Fig. 5.4.2
equivalent to the point (-1, j0) of the G(j)H(j)-plane, we have
another statement of the argument principle:
When vary from - (or 0) + , G(j)H(j) Locus mapped
in the G(j)H(j)-plane will encircle the point (-1, j0) in the
counterclockwise direction:
N P Z [or N (P Z)/ 2 for from 0 ]
here: P the number of the poles of G(s)H(s) in the right hand
of the s-plane.
Z the number of the zeros of F(s) in the right hand of the
s-plane.
Nyquist-criterion
If the systems are stable, should be Z = 0, then we have:
The sufficient and necessary condition of the stability of the
linear systems is : When vary from - (or 0) + , the
G(j)H(j) Locus mapped in the G(j)H(j)-plane will encircle
the point (-1, j0) as P (or P/2) times in the counterclockwise
direction. Nyquist criterion
Here: P the number of the poles of G(s)H(s) in the right hand
of the s-plane.
Discussion :
i) If the open loop systems are stable, that is P = 0, then:
for the stable open-loop systems, The sufficient and necessary
condition of the stability of the closed-loop systems is :
When vary from - (or 0) + , the G(j)H(j) locus
mapped in the G(j)H(j)-plane will not encircle the point (-1,
j0).
Nyquist-criterion
ii) Because that the G(j)H(j) locus encircles the point (-1, j0)
means that the G(j)H(j) locus traverse the left real axis of
the point (-1, j0) , we make:
G(j)H(j) Locus traverses the left real axis of the point (-1, j0)
in the counterclockwise direction positive traversing.
G(j)H(j) Locus traverses the left real axis of the point (-1, j0)
in the clockwise direction negative traversing.
Then we have another statement of the Nyquist criterion:
The sufficient and necessary condition of the stability of the
linear systems is : When vary from - (or 0) + , the
number of the net positive traversing is P (or P/2).
Here: the net positive traversing the difference between the
number of the positive traversing and the number of the negative
traversing .
Nyquist-criterion
Example 5.4.1
The polar plots of the open loop systems are shown in Fig.5.4.3,
determine whether the systems are stable.
Im
(-1, j0)
Im
stable
0
Re
(1) P=2
Im
(-1, j0)
(-1, j0)
(3) P=2
Re
Fig.5.4.3
(2) P=0
Im
(-1, j0)
Re
unstable
stable
unstable
Re
(4) P=0
Nyquist-criterion
Note: the system with the poles (or zeros) at the imaginary axis
10
G
(
s
)
H
(
s
)
Example 5.4.2
s( s 1)( 0.5s 1)
There is a pole s = 0 at the origin in this system, but the Nyquist
path can not pass through any poles of G(s)H(s).
Radius
Idea: We consider a semicircular
Im
s j
r
detour around the pole (s = 0) represented by setting s e j ( 0)
0
0
at the s = 0 point we have:
Re
1 j 90o 2
0 s e
G( j0 ) H ( j0 )
e
Radius
o
1
0
e j 90
0
1
1 j 0o
j 0o
0 s e G ( j 0) H ( j 0)
e
s j
s j
o
e j 0
Fig. 5.4.4
o
o
1
1
0 s e j 90 G ( j 0 ) H ( j 0 )
e j 90
j 90o
e
j 90o
Nyquist-criterion
It is obvious that there is a phase saltation of the G(j)H(j) at
=0, and the magnitude of the G(j)H(j) is infinite at =0.
s j
0
Im
Radius
r
0
Re
Radius
0
G ( s) H ( s)
10
s( s 1)( 0.5s 1)
s j
s j
Fig. 5.4.4
Im

Re
(-1, j0)
Fig.5.4.5
In terms of above discussion , we can plot the systems polar

plot shown as Fig.5.4.5.
The closed loop system is unstable.
Example
10
10
G ( s) H ( s)
2
s( s 1)( s 4) s( s 1)( s j 2)( s j 2)
Determine the stability of the system applying Nyquist criterion.

Im
Solution
Similar to the Example
j 2
5.4.2, the systems polar plot
Re
is shown as Fig.5.4.6 .
The closed loop system
is unstable.
(-1, j0)
j 2
0
5.4.3 Application of the

Nyquist criterion in the Bode diagram
Fig.5.4.6

The Nyquist Stability Criterion

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The Nyquist Stability Criterion

Born in 1889 in Sweden

Nyquist Stability Criterion

Advantage of Nyquist stability criterion

Mathematical basis for Nyquist stability criterion:

The argument principle

If the zeros si is enclosed by , then :

The argument principle

It is obvious that path can not pass through any zeros si or

The argument principle

If we choose the closed path so

When s travels along the the Nyquist-path:

Because the origin of the F(s)-plane is

In terms of above discussion , we can plot the systems polar

Determine the stability of the system applying Nyquist criterion.

5.4.3 Application of the

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