Scribd
Upload
53 views8 pages

The Nyquist Criterion The Concept of Mapping: S-Plane S F(S) - Plane

This document discusses concepts related to control system stability analysis including: - The Nyquist criterion relates closed-loop stability to the open-loop frequency response and pole locations. It gives the number of closed-loop poles in the right half plane. - Mapping functions relate transformations between the s-plane and other planes based on poles and zeros. Cauchy's argument principle relates the number of encirclements of points to poles and zeros. - The Nyquist criterion can be used to determine the range of values of a parameter like K for which a closed-loop system is stable by examining the number of encirclements of -1 on the Nyquist plot. - Bode plots can also be used to

Uploaded by

Sergio Abbass
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
53 views8 pages

The Nyquist Criterion The Concept of Mapping: S-Plane S F(S) - Plane

This document discusses concepts related to control system stability analysis including: - The Nyquist criterion relates closed-loop stability to the open-loop frequency response and pole locations. It gives the number of closed-loop poles in the right half plane. - Mapping functions relate transformations between the s-plane and other planes based on poles and zeros. Cauchy's argument principle relates the number of encirclements of points to poles and zeros. - The Nyquist criterion can be used to determine the range of values of a parameter like K for which a closed-loop system is stable by examining the number of encirclements of -1 on the Nyquist plot. - Bode plots can also be used to

Uploaded by

Sergio Abbass
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 8

The Nyquist Criterion Relates stability of the closed-loop system to the open-loop frequency response and open-loop pole

e location Gives # of closed-loop poles in RHP Similar to root-locus, we look at 1 + G(s)H(s) = 0 Unlike root-locus, we can simplify to G(s)H(s)
C

The Concept of Mapping Consider the following function: F(s) = s s0 s0 is possibly complex.
s-plane s F(s) s0 F(s)-plane

Mapping Continued Similarly, consider F(s) = 1/(s s0) where s0 is possibly complex.
s-plane s F(s) s0 C s-s1 s1 1 F(s)-plane

Mapping Continued Suppose F(s) is given by F(s) = (s-s0)(s-s1)


s-plane s s-s0 s0 0 F(s) F(s)-plane

Note: # of zeros inside C = # of times encircles the origin clockwise


3 4

Mapping Continued Next, suppose F(s) is given by F(s) = 1/{(s-s0)(s-s1)}


s-plane s s-s0 1 s0 0 F(s) F(s)-plane

Derivation of the Nyquist Criterion Note the following: 1. Relationship btwn poles of 1+G(s)H(s) & poles of G(s)H(s) 2. Relationship btwn zeros of 1+G(s)H(s) & poles of T(s) Let G(s) = NG/DG and H(s) = NH/DH

s-s1 s1

Note: # of zeros inside C = # of times encircles the origin counterclockwise


5

Note: 1) Poles of 1+GH = poles of GH 2) Zeros of 1+GH = poles of T


6

Derivation Continued Let F(s) = 1+G(s)H(s)


s-plane p0 x z0 x p1 C z1 p2 x F(s) F(s)-plane

The Nyquist Criterion Given F(s) = 1 + G(s)H(s), recall

Zeroes of F(s) correspond to the poles of T(s)!


C

Since N = P Z, if Z > 0 then system is unstable!

Cauchys Principle of Argument Theorem: Let F(s) be the ratio of 2 polynomials in s. Let the closed curve C in the s-plane be mapped into the complex plane through the mapping F(s). If F(s) is analytic within and on C, except at a finite number of poles, and if F(s) has neither poles nor zeros on C, then N=P-Z where Z is the number of zeros of F(s) in C, P is the number of poles in F(s) in C, and N is the number of counterclockwise encirclements of the origin. (Phillips & Harbor)

Some More Simplification Instead of F(s) = 1 + G(s)H(s), let F(s) = G(s)H(s)


s-plane p0 x z0 x p1 C z1 p2 x F(s) F(s)-plane

-1

Then, N = P Z is the number of counterclockwise encirclements of -1


9 10

Stability via Nyquist Criterion

A Closer Look

Z=0 P=0 Thus, N = 0

Z=2 P=0 Thus, N = 2


11

Counterclockwise +1 Clockwise -1

12

Applying the Nyquist Criterion Use Z = P N Consider

First note

Matlab: zpk, nyquist Open-loop poles 2, 4 Open-loop zeros -3, -5 Question: For what range of K is closed-loop system stable? Note the following:
As K changes, inflates/deflates For this system, P = 2, thus N = P Z
If Z = 0 -> system is unstable For system to be stable, Z = 0 => N = 2

13

14

To Find K Obtain Nyquist plot w/ K = 1 Note, if Nyquist diagram intersections real-axis @ -1 Given

Example

G(j)H(j) = -1
System is marginally stable

Step 1: Set K = 1, sketch poles & zeros in s-plane, plot Nyquist diagram Step 2: Find G(j)H(j)

Let -1/K be the critical point (instead of -1), find K to satisfy Nyquist criteria

Step 3: Find point where Nyquist intersects negative real axis Step 4: Determine N for stability and then K
15 16

Stability and Phase Margins


Gain Margin: change in open-loop gain (dB) at 180 to make closedloop system unstable Phase Margin: change in open-loop phase shift at unity gain to make closed-loop system unstable

Stability Range via Bode Plots Given G(s) = K/[(s+5)(s+20)(s+50)], use Bode plots to find range of K where system is stable.

17

18

Evaluating Gain and Phase Margins

Close-loop Transient vs. Frequency Response Recall, 2nd order-system

19

20

Phase Margin via Damping Ratio Consider the 2nd order open-loop TF

Bandwidth of a System Frequency at which magnitude of response curve is 3dB below its value at 0 rad/s

Compute the Phase Margin, M:

21

22

Steady-State Error Unit Step Input Position Constant Kp

Bode Plots & Steady-State Error Constants Ka

Ramp Input

Velocity Constant

Parabolic Input Acceleration Constant

Kv

23

24

Lead Compensation Passive analog of PD compensation Cascade compensator

The Effects of a Lead Compensator

25

26

Frequency Response of the Lead Compensator Determine Mc()c(), given

Design Procedure for Lead Compensation


1. Find closed-loop bandwidth requirement to meet Ts, Tp or Tr 2. Set K s.t. uncompensated system satisfies steady-state error specs 3. Plot Bode plots for set K and determine uncompensated systems phase margin 4. Find phase margin to meet or %OS, find phase contribution from Gc 5. Determine 6. Determine |Gc(j)| @ peak of phase curve 7. Determine phase margin 8. Design the break frequency for Gc 9. Reset system gain to compensate for Gcs gain 10. Check bandwidth to ensure Step 1 specs are met 11. Simulate to check 12. Redesign if needed

27

28

Example Given G(s) = K/[(s(s+50)(s+120)], design a lead compensator s.t. %OS = 20%, TS = 0.2s, and Kv = 50.

29

You might also like