Beruflich Dokumente
Kultur Dokumente
Section 10.3
Introduction to the
Nyquist Criterion
N G ( s) Two Observations:
G (s) =
DG ( s ) 1. The poles of 1+G(s)H(s) are
N H ( s) the same as the poles of
H ( s) =
DH ( s) G(s)H(s).
NG N H 2. The zeros of 1+G(s)H(s) are
G (s) H ( s) =
DG DH the same as the poles of T(s).
Z=P-N=0-0=0
Z=0-(-2)=2
(Clockwise rotations!)
Z = P-N
The mapping from s to G(s)H(s) is called a Nyquist
diagram or a Nyquist plot.
(Clockwise rotations around s = –1 will yield a
negative N, while CCW rotations yield positive N.)
Lesson #26: The Nyquist Criterion, Sketching the Nyquist Diagram
21/24
Section 10.4
Sketching the Nyquist Diagram
500
G( s) H ( s) =
( s + 1)(s + 3)(s + 10)
500
G( s) H ( s) =
( s + 1)(s + 3)(s + 10)
500
G( s) H ( s) =
( s + 1)(s + 3)(s + 10)
( s + 2)
G(s) H (s) =
s2
clf
numg=[1 2];
deng=[1 0 0];
G=tf(numg,deng)
nyquist(G)
grid on
title('Open-Loop Frequency
Response')
w=0:0.5:10;
[re,im]=nyquist(G,w);
points=[re(:,:)',im(:,:)',w']
Lesson #26: The Nyquist Criterion, Sketching the Nyquist Diagram
Key Take-Aways 30/24
# of closed-loop poles of T
(open-loop zeros of GH)
Z = P-N # of CCW revolutions
in the RHP of the Nyquist diagram
around s = -1.
# of open-loop poles of GH
in the RHP
Lesson #26: The Nyquist Criterion, Sketching the Nyquist Diagram