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Given
Example :
Draw the Nyquist plot for for the following
s-plane contour
Im{s}
R Re{s}
R→∞
Solution :
First rewrite the open loop transfer function in the form
C
A
-1 Re{s}
Then form a Table for the magnitude and angle entries of
the open loop transfer function for each critical point
Use these critical points to skecth the Nyquist plot. Note
that Nyquist plot is symetrical with respect to the real axis
Im{H(j)}
B,C A
r Re{H(j)}
More Examples
Example :
Draw the Nyquist plot for using the given s-
plane contour
with
B
A D
-10 -1 Re{s}
Using the table we can form the magnitude vs phase plot
as
Gain Margin :
-1
unit circle
Example
with
using
Another Example
- Start with the Nyquist contour which does not include the
origin. And from the zero/pole plot form a magnitude/pahse
table
Im{s} C
B
D
-2 -1 A
Re{s}
Using the table form the Nyquist plot and comment on the
stability using
Im{H(j)}
-1 C,D A
Re{H(j)}
r
r =∞
B
Using Nyquist plot to draw Root Locus
Im{s}
-5 -4 -3 -2 -1 Re{s}
However when we use the Nyquist plot
Im{s} C Im{H(j)}
B
A D
-5 -4 -3 -2 -1 Re{s}
r Re{H(j)}
-b -1/a
r
-1
Stable region
What does the above plot tells us ?
Forming a table using the plot we obtain