PROBLEM STATEMENT:

Find the nyquist plot of the given transfer function

1
1. 𝐺(𝑠) =
(1+𝑠𝑇1 )(1+𝑠𝑇2)
1
2. 𝐺(𝑠) =
𝑠(1+𝑠𝑇1 )(1+𝑠𝑇2)
1
3. 𝐺(𝑠) =
𝑠 2 (1+𝑠𝑇1 )(1+𝑠𝑇2)
T1=2, T3=3.
AIM
To determine the stability of the above closed loop systems with Nyquist criterion
MATLAB CODE:
clear;
s=tf(‘s’) ;
g=1/((2*s+1)*(3*s+1));
nyquist(g);
SIMULATION DIAGRAM:
From the above curve we get

Phase margin=-180 𝜔𝑔𝑐 = 0

Gain margin=∞

MATLAB CODE:
clear;
s=tf(‘s’)
g=1/(s*(2*s+1)*(3*s+1));
nyquist(g),grid on;

SIMULATION DIAGRAM:

From the above curve we get

Phase margin=-5 𝜔𝑔𝑐 = 0.446

Gain margin=-1.58 𝜔𝑝𝑐 = 0.408
MATLAB CODE:
clear;
s=tf(‘s’);
h=1/(s^2*(2*s+1)(3*s+1));
nyquist(h),grid on;
SIMULATION DIAGRAM

From the above curve we get

Phase margin=-109 𝜔𝑔𝑐 = 0.574

Gain margin= ∞

CALCULATION:
𝟏
1. 𝑮(𝒔) =
(𝟏+𝒔𝑻𝟏 )(𝟏+𝒔𝑻𝟐)
T1=2, T3=3
Putting s=𝜔𝑗,
1
𝐺(𝑗𝜔)𝐻(𝑗𝜔) =
(1 + 2𝑗𝜔)(1 + 3𝑗𝜔)
lim |𝐺(𝑗𝜔)𝐻(𝑗𝜔)| =1 lim |𝐺(𝑗𝜔)𝐻(𝑗𝜔)| = 0
𝜔→0 𝜔→∞

lim ∠𝐺(𝑗𝜔)𝐻(𝑗𝜔) = 0° lim ∠𝐺(𝑗𝜔)𝐻(𝑗𝜔) = −180°

𝜔→0 𝜔→∞

Rationalizing the above transfer function:

1 − 6𝜔2 𝑗5𝜔
− =0
4𝜔 2 + 1 4𝜔 2 + 1

Equating the real part to 0

1 − 6𝜔2
=0
4𝜔 2 + 1

1
So,𝜔 = = ±0.4
√6

This is the point of intersection with the imaginary axis.

No. of encirclement N= Z-P = 0
No. of right half poles in the GH plane=0
No. of right half zeros in the GH plane, Z = 0
So, the system lies inside unit circle and hence is stable.

𝟏
2. 𝑮(𝒔)𝑯(𝒔) =
𝒔(𝟏+𝒔𝑻𝟏 )(𝟏+𝒔𝑻𝟐)

T1=2, T3=3
Putting s=𝜔𝑗,
1
𝐺(𝑗𝜔)𝐻(𝑗𝜔) =
𝑗𝜔(1 + 2𝑗𝜔)(1 + 3𝑗𝜔)
lim |𝐺(𝑗𝜔)𝐻(𝑗𝜔)|
=∞ lim|𝐺(𝑗𝜔)𝐻(𝑗𝜔)| = 0
𝜔→0 𝜔→∞
lim ∠𝐺(𝑗𝜔)𝐻(𝑗𝜔) = −90° lim ∠𝐺(𝑗𝜔)𝐻(𝑗𝜔) = −270°
𝜔→0 𝜔→∞
 Rationalizing the above transfer function:
−5𝜔2 𝑗(6𝜔2 − 1)
− =0
𝜔 2 (4𝜔 2 + 1)(9𝜔 2 + 1) 𝜔 2 (4𝜔 2 + 1)(9𝜔 2 + 1)

Equating the imaginary part to 0

(6𝜔2 − 1)
=0
𝜔 2 (4𝜔 2 + 1)(9𝜔 2 + 1)

1
So,𝜔 = = ±0.4
√6

This is the point of intersection with the real axis.

No. of encirclement N= Z-P =2
No. of right half poles in the GH plane, P =0
No. of right half zeros in the GH plane, Z = 2
As N and P are not equal hence the system is unstable.

𝟏
3. 𝑮(𝒔) =
𝒔𝟐 (𝟏+𝒔𝑻𝟏 )(𝟏+𝒔𝑻𝟐)
T1=2, T3=3.
Putting s=𝜔𝑗,
1
𝐺(𝑗𝜔)𝐻(𝑗𝜔) =
(𝑗𝜔)2 (1 + 2𝑗𝜔)(1 + 3𝑗𝜔)

lim |𝐺(𝑗𝜔)𝐻(𝑗𝜔)| =1 lim |𝐺(𝑗𝜔)𝐻(𝑗𝜔)| = 0

𝜔→0 𝜔→∞

lim ∠𝐺(𝑗𝜔)𝐻(𝑗𝜔) = −180° lim ∠𝐺(𝑗𝜔)𝐻(𝑗𝜔) = −360°

𝜔→0 𝜔→∞

Rationalizing the above transfer function:

1 − 6𝜔2 𝑗5
− 2 =0
𝜔 (4𝜔 + 1)(9𝜔 + 1) 𝜔 (4𝜔 + 1)(9𝜔 2 + 1)
2 2 2 2
Equating the real part to 0
1 − 6𝜔2
=0
𝜔 2 (4𝜔 2 + 1)(9𝜔 2 + 1)

1
So,𝜔 = = ±0.4
√6

This is the point of intersection with the imaginary axis.

No. of encirclement N= Z-P = -2
No of poles on the right of G-H-plane, P = 0
No. of right half zeros in the GH plane, Z = 2
As N and P are not equal hence the system is unstable.

INFERENCE:
From the first transfer function we observed that the number of encirclements
around the -1+j0 point is 0 with the number of poles and zeros in the right half of
the GH plane is zero, hence the system is stable. In the second transfer function,
the encirclement is 2 and P=0, Z=2. As, P is not equal to Z, the system is unstable.
In the third transfer, function the number of encirclement is 2 and hence the
number of zero is also 2 as the number of poles is zero. Hence, the system becomes
unstable.