Systems Analysis and Control

Matthew M. Peet
Illinois Institute of Technology

Lecture 23: Drawing The Nyquist Plot

Overview

In this Lecture, you will learn: Review of Nyquist Drawing the Nyquist Plot
Using the Bode Plot What happens at r = Poles on the imaginary axis

Phase Margin and Gain Margin

Reading Stability Margins o the Nyquist Plot

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Review
Systems in Feedback

The closed loop is kG(s) 1 + kG(s) We want to know when 1 + kG(s) = 0 Question: Does
1 k

+ G(s) have any zeros in the RHP?

u(s) + k G(s) y(s)

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Review
The Nyquist Contour

Denition 1.
The Nyquist Contour, CN is a contour which contains the imaginary axis and encloses the right half-place. The Nyquist contour is clockwise. A Clockwise Curve
Starts at the origin. Travels along imaginary axis till r = . At r = , loops around clockwise. Returns to the origin along imaginary axis.
r=

We want to know if 1 + G(s) k has any zeros in the Nyquist Contour

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Review
Contour Mapping Principle

Key Point: For a point on the mapped contour, s = G(s), s = G(s)

We measure , not phase.

To measure the 360 resets in G(s)

We count the number of +360 resets in ! We count the number of times CG encircles the origin Clockwise.

The number of clockwise encirclements of 0 is

The #poles #zeros in the RHP
s

s*= G(s)

= < G(s)

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The Nyquist Contour

Closed Loop

The number of unstable closed-loop poles is N + P , where

N is the number of clockwise

encirclements of poles.

1 k .

P is the number of unstable open-loop

If we get our data from Bode, typically P = 0

-1/k

How to Plot the Nyquist Curve?

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Plotting the Nyquist Diagram

Example

How are we to plot the Nyquist diagram for G(s) =

1 = 1 1 2 = 10

1 (1 s + 1)(2 s + 1)

First lets take a look at the root locus.

Root Locus

Obviously stable for any k > 0.

2 Imaginary Axis

6 12

10

6 4 Real Axis

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The Nyquist Plot

Bode Plot: Lets look at the Frequency Response. The Bode plot can give us information on |G| at dierent frequencies. Point A B C D E .1 1 3 10 100 G 0 45 90 135 175 |G| 1 .7 .3 .07 .001
Magnitude (dB) Bode Diagram 20

A
0 -20 -40

B C D

E
-60 -80 -100 -120 0

A B C

-45 Phase (deg)

The last two columns give us points on the Nyquist diagram.

-90

D
-135

E
-180 10
-2

10

-1

10 Frequency (rad/sec)

10

10

10

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The Nyquist Plot

Plot the points from the Bode Diagram.
Nyquist Diagram

Imaginary Axis

Point A B C D E

.1 1 3 10 100

G 0 45 90 135 175

|G| 1 .7 We get .3 .07 .001

0.8

0.6

0.4

0.2

E
0

the upper half of the Nyquist diagram from symmetry.

D
-0.2

C
-0.4

-0.6

-0.8 -0.2 0 0.2 0.4 Real Axis 0.6 0.8 1 1.2

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The Nyquist Plot

Nyquist Diagram 0.8

0.6

0.4

0.2 Imaginary Axis

E
0

D
-0.2

C
-0.4

-0.6

-0.8 -0.2 0 0.2 0.4 Real Axis 0.6 0.8 1 1.2

1 There are no encirclements of k . Stable for all k > 0. We already knew that from Root Locus.
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The Nyquist Plot

Example 2

G(s) = First lets take a look at the root locus.

1 (s + 1)3

Root Locus

We expect instability for large k .

1.5

0.5 Imaginary Axis

0.5

1.5

2 2.5

1.5

1 Real Axis

0.5

0.5

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The Nyquist Plot

Bode Plot: Lets look at the Frequency Response. The Bode plot can give us information on |G| at dierent frequencies. Point A B C D E .1 .28 1 1.8 10 G 0 45 135 180 260 |G| 1 .95 .35 .1 .001
Magnitude (dB) Bode Diagram 10

A
0 -10

B C D

-20 -30 -40 -50 -60 -70 0 -45 -90

Phase (deg)

C
-135

D
-180 -225 -270 10
-2

10

-1

10 Frequency (rad/sec)

10

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The Nyquist Plot

Plot the points from the Bode Diagram.
Nyquist Diagram

Imaginary Axis

Point A B C D E

.1 .28 1 1.8 10

G 0 45 135 180 260

|G| 1 .95 .35 .1 .001

0.8

0.6

0.4

0.2

D
0

Point D is especially important.

-0.2

-0.4

-0.6

B
-0.8 -0.4 -0.2 0 0.2 0.4 Real Axis 0.6 0.8 1 1.2

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The Nyquist Plot

Nyquist Diagram 0.8

0.6

0.4

0.2 Imaginary Axis

D
0

-0.2

-0.4

-0.6

B
-0.8 -0.4 -0.2 0 0.2 0.4 Real Axis 0.6 0.8 1 1.2

1 Point D: Two CW encirclements when k < .1 (N=2). 1 Instability for k < .1

Stable for k < 10. Could have used Routh Table.

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The Nyquist Plot

Conclusion: We can use the Bode Plot to map the imaginary axis onto the Nyquist Diagram. Question: What about the other part of the Nyquist contour at r = ?

r=

Case 1: Strictly Proper.

s

lim |G(s)| = 0
Im(s)

What happens at doesnt matter. Case 2: Not Strictly Proper.

s
< s-p1

lim |G(s)| = c

< s-z = < s-p1 = < s-p2 = < s-p3 Re(s)

Constant Magnitude at .
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The Nyquist Plot

Case 2: Not Strictly Proper.
Angle to all poles and zeros is the same. Degree of n(s) and d(s) the same. Number of Poles and Zeros the same.
< s-p1 Im(s)

The total angle is

n n

< s-z = < s-p1 = < s-p2 = < s-p3 Re(s)

G(s) =
i=1

(s zi )
i=1

( s p i )
Nyquist Diagram 0.8

=0 The contour map at has

Imaginary Axis

0.6

0.4

Constant magnitude. Zero angle.

0.2

0.2

0.4

The innite loop is mapped to a single point! Either (0, 0) or (c, 0).
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0.6

0.8 0.6 0.8 1 1.2 1.4 Real Axis 1.6 1.8 2 2.2

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The Nyquist Plot

Another Problem: Recall the non-inverted pendulum with PD feedback. s+1 G(s) = 2 s + g l Magnitude goes to at = g l. Question How do we plot the Nyquist Diagram?
Magnitude (dB)
Nyquist Diagram 6

Bode Diagram 160 140 120 100 80 60 40 20

0 20 40 45

2 Imaginary Axis

0 Phase (deg)
0

45

90

135 10
6
2

10

10 Frequency (rad/sec)

10

10

1.5

0.5

0 0.5 Real Axis

1.5

2.5

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The Nyquist Plot

Problem: The Nyquist Contour passes through a pole. Because of the pole, the argument principle is invalid. What to do?
r=

We Modify the Nyquist Contour. We detour around the poles. Can detour to the right or left. If we detour to the left, then the poles count as unstable open loop poles. P=2 Assume we detour to the right. P=0
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The Nyquist Plot

Look at the detours at small radius.
Obviously, magnitude Before the Detour, the phase from the pole is

(s p) = 90
In the middle of the Detour, the phase from the

< (s - p) = 80o

pole is (s p) = 0
At the end of the Detour, the phase from the pole

< (s - p) = -5o

is (s p) = 90 The total phase change through the detour is 180 .

Corresponds to a CW loop at large radius. If there are two or more poles, there is a -180 loop for each pole.

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The Nyquist Plot

Look at the following example: G(s) = s+2 s2

There are 2 poles at the origin. At = 0,

G(0) = 180 |G(0)| = 2 poles means 360 loop at = 0
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The Nyquist Plot

Lets re-examine the pendulum problem with derivative feedback.
Nyquist Diagram

___ =(g/l)
10

Imaginary Axis

10

10

0 Real Axis

10

Now we can gure out what goes on at . g There is a 180 loop at each = l.
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The Nyquist Plot

Conclusion: The loops connect in a non-obvious way!

Nyquist Diagram

Nyquist Diagram 1500

___ =(g/l)
10

1000

500 Imaginary Axis

Imaginary Axis

500

1000
10

10

0 Real Axis

10

1500 400 200

200

400 600 Real Axis

800

1000 1200 1400

For 0 <

1 k

< 1, we have N = 1

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Stability Margins
Recall the denitions of Gain Margin.

Denition 2.
The Gain Margin, Km = 1/|G( )| when G( ) = 180 Let Km is the maximum stable gain in closed loop.
Km G(s) is unstable in closed loop Sometimes expressed in dB

It is easy to nd the maximum stable gain from the Nyquist Plot. 1 Find the point K which m destabilizes

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Stability Margins
Example

Recall G(s) =

1 (s + 1)3

Nyquist Diagram 0.8

0.6

0.4

Stability: Stable for k < 10.

0.2

Km = 10 or

20dB.

Imaginary Axis

D
0

-0.2

-0.4

-0.6

B
-0.8 -0.4 -0.2 0 0.2 0.4 Real Axis 0.6 0.8 1 1.2

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Stability Margins
Example

Suspension System with integral feedback There is a pole at the origin.

Nyquist Diagram

CW loop at .
Nyquist Diagram 50

40

9.5

30

20

2
Imaginary Axis 10

Imaginary Axis

10

20

30

-2

40

50 20 0 20 40 Real Axis 60 80 100

-4

Conclusion: Stable for

Stable for k < .105

1 k

> 9.5.

-6

-8 -14

-12

-10

}
-8 -6 Real Axis -4 -2 0 2

Km = .105
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or

19.5dB
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Stability Margins
Question: What is the eect of a phase change on the Nyquist Diagram.
A shift in phase changes the angle of all points. A Rotation about the origin. Will we rotate into instability?
Nyquist Diagram 0.8 0.8 Nyquist Diagram

0.6

0.6

0.4

0.4

0.2 Imaginary Axis Imaginary Axis

0.2

-0.2

-0.2

-0.4

-0.4

-0.6

-0.6

-0.8 -0.2 0 0.2 0.4 Real Axis 0.6 0.8 1 1.2

-0.8 -0.2 0 0.2 0.4 Real Axis 0.6 0.8 1 1.2

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Stability Margins
Nyquist Diagram 3

Recall the denitions of Phase Margin.

2

Denition 3.
1

The Phase Margin, M is the uniform phase change required to destabilize the system under unitary feedback.

Imaginary Axis

M
0

3 3

0 Real Axis Nyquist Diagram

Imaginary Axis

3 3

0 Real Axis

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Stability Margins
Example

The Suspension Problem

Nyquist Diagram 2

1.5

0.5 Imaginary Axis

-0.5

-1

-1.5

-2 -3

-2.5

-2

-1.5

-1 Real Axis

-0.5

0.5

Looking at the intersection with the circle: Phase Margin: M = 40 Gain Margin is innite.
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Stability Margins
Example

The Inverted Pendulum Problem

1.5

Nyquist Diagram

0.5 Imaginary Axis

-0.5

-1

-1.5

-2

-1.5

-1

-0.5 Real Axis

0.5

Even though open-loop is unstable, we can still nd the phase margin: Phase Margin: M = 35 Gain Margin is technically undened because open loop is unstable. There is a minimum gain, not a maximum.
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Summary

What have we learned today? Review of Nyquist Drawing the Nyquist Plot
Using the Bode Plot What happens at r = Poles on the imaginary axis

Phase Margin and Gain Margin

Reading Stability Margins o the Nyquist Plot

Next Lecture: Controller Design in the Frequency Domain

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