Introduction to Control 034040

Tutorial 10 Nyquist stability criterion

Spring 2014
Department of Mechanical Engineering
Technion Israel Institute of Technology

Short background
Consider the closed-loop control system

L(s)

n
and the Nyquist contours depicted in Fig. 1.

Im s

Im s

Gs,2

Gs,2
Gs,1

Gs,1

Gs,0
Re s

R
Re s

Gs,4

Gs,3

Gs,3

-R

-R

(a) Nyquist contour

(b) Nyquist contour for L(s) with

pole(s) at the origin

Figure 1
The Nyquist plot is the mapping L of s by the loop transfer function, L(s).
The graph of L(j) in polar coordinates as runs from to + is called the Nyquist
plot of L(j). The Nyquist plot can be constructed in two steps:
1. Construct the polar plot of L(j).
2. Add the reflection of the polar plot about the real axis.
When L(s) has poles on the imaginary axis, we add an infinite-radius arc connecting the
point where 0 and the point where 0+ through the angle l in the clockwise
direction.
2

 Nyquist stability criterion: If the Nyquist plot of L(j) doesnt cross the critical point
(1 + 0j), the number of closed-loop unstable poles, Pcl+ is
Pcl+ = Pol+ +
where is the number of clockwise encirclements of the critical point by the Nyquist plot,
and Pol+ is the number of unstable open-loop poles. For stability, we require Pcl+ = 0; hence,
Pol+ = .
If the Nyquist plot does intersect the critical point, say at the frequency = 0 , then cl (s)
has at least one root at s = j.

Question 1
Use the Nyquist stability creterion to determine the stability of the closed-loop systems below (the
150
is controlled by the controller C(s) = 1):
plant P (s) = (s+2)(s+5)(s+10)
d
r

ym

150
(s+2)(s+5)(s+10)

Question 1 Solution
Step 1: Construct the polar plot of L(j)
Here, L(s) = P (s)C(s) = P (s) =

150
.
(s+2)(s+5)(s+10)

Compute the loop frequency response

150
(j + 2) (j + 5) (j + 10)

150

|L(j)| =
2
2
+ 4 + 25 2 + 100



tan1
tan1
arg L(j) = tan1
2
5
10
L(j) =

Compute the initial values,

|L(0)| = 1.5

arg L(0) = 0
and the final values,
|L(j)| = 0

arg L(j) = 270

Since |L(j)| and arg L(j) are monotonically decreasing functions of , there can be only one
intersection point of the polar plot with the negative part of the real axis. In order to find the
intersection frequency, P , use the trigonometric formula


ab
1
1
1
tan (a) tan (b) = tan
1 ab

The intersection frequency, P , satisfies arg L (jP ) = 180 .



 
tan1
tan1
arg L(j) = tan1
5
10
2


7
= tan1
tan1
2
10
10


2
(80 )
= 180
= tan1
2
100 17
Hence,

(80 2 )
=0
100 17 2
The solution
which
satisfies
the equation

 rad 
 rad

 rad  and drives the denominator to be negative is P =
80 sec
  8.94 sec (as 0 = 0 sec drives the denominator to be positive, which implies that
0 = 0 rad
is the intersection frequency with the positive part of the real axis). The magnitude
sec
of L(jP ) is
150
p
p
0.12
|L (jP )| = p 2
2
P + 4 P + 25 P2 + 100
Hence, the polar plot intersects the negative part of the real axis at P = (0.12, 0).

Step 2: Draw the Nyquist plot and count the encirclements

Fig. 2 shows the Nyquist plot of L(j).
Im

-1

- 0.12

1.5

Re

Figure 2: Nyquist plot of L(s)

Our loop transfer function is stable; namely, Pol+ = 0. Therefore, in order to have a stable closedloop (Pol+ = 0), we need = 0. Namely, the Nyquist plot must not encircle the critical point. It
5

is readily seen that there are no encirclements of the critical point; therefore, the closed-loop is
stable.
Q: What would change if the controller was C(s) = 8.333 or C(s) = 20 ?
Hint: The Nyquist diagrams presented in Fig. 3 should help you out a little.

Im

Im

12.5

Re

30

(a) Nyquist diagram: C(s) = 8.333

(b) Nyquist diagram: C(s) = 20

Figure 3

Re

Question 2
Use the Nyquist stability creterion to determine the stability of the closed-loop systems below (the
1
is controlled by the controller C(s) = 10):
plant P (s) = s(s2 +6s+25)
d
r

10

ym

s(s2 +6s+25)

Question 2 Solution
Here, the loop transfer function is
L(s) = P (s)C(s) =

s (s2

10
+ 6s + 25)

Compute the frequency response

10
j (25 2 + 6j)

10
|L(j)| = q
(25 2 )2 + 36 2


6

1
arg L(j) = 90 tan
25 2
L(j) =

Find the initial values

|L(0)| =
arg L(0) = 90
and the final values
|L(j)| = 0
arg L(j) = 90 180 = 270
Namely, the polar plot goes from to 0. In order to understand it better, split L(j) into its real
and imaginary parts,
L(j) =
When 0, we have

10 (25 2 )
60

j
36 2 + (25 2)2 36 2 + (25 2)2

L(0) =

60
j = 0.096 j
252
7

Hence, we have an asymptote at 0.096. Now, compute the intersection of the polar plot with the
negative part of the real axis; namely, arg L (jP ) = 180


6P

1
= 180
arg L (jP ) = 90 tan
25 P2



6P
1
= 90
tan
2
25 P



rad
P = 5
sec
Compute the gain of L(jP )
|L(jP )| =

10

10
1
= q
=
15
2
(25 P2 ) + 36P2
5 (25 52 )2 + 36 52

1
Hence, the intersection point with the negative part of the real axis is P = 15
, 0 . Now, construct the Nyquist plot (Fig. 4)
Im

-1

Re

1
- 15

-0.096

Figure 4: Nyquist plot of L(s)

The open-loop is stable (the integrator does NOT count!); thus, Pol+ = 0. In order to obtain a
stable closed-loop, Pcl+ = 0, we need = 0; namely, the polar plot must not encircle the critical
point. Indeed, there are no encirclements; therefore, the closed-loop is stable.
Q: What would change if the controller was C(s) = 150 or C(s) = 300 ?
Hint: The Nyquist diagrams presented in Fig. 5 should help you out a little.

Im

-1

Im

Re

-1

(a) Nyquist diagram: C(s) = 150

(b) Nyquist diagram: C(s) = 300

Figure 5

Re

Question 3
Use the Nyquist stability creterion to determine the stability of the closed-loop systems below (a
plant controlled by the integral controller C(s) = 1s ) for

1. P (s) =

3s+1

s(s+ 3)

2. P (s) =

s+ 3

s( 3s+1)

d
r

1
s

ym

P (s)

Question 3 Solution
Item 1
The loop transfer function is
L(s) = P (s)C(s) =
Compute the frequency response
L(j) =

s2

3s + 1


s+ 3

3j + 1


2 j + 3

3 2 + 1
|L(j)| =
2 2 + 3
!



3
1
1

tan
arg L(j) = tan
180
1
3
The initial and the final values are
|L(0)| =
arg L(0) = 180
|L(j)| = 0
arg L(j) = 180
Since tan

.
3

is a monotonically increasing function of , tan

10

 
3
1

> tan

, as

3
1

>

tan-1 H 3 L

tan-1 H 3 L

Therefore, arg L(j) is always greater than 180 . Split L(j) into its real and imaginary parts
and obtain

2
( 2 + 1) 3

j
L(j) = 2 2
2
( + 3)
( + 3)

2
3
j
L(0) = lim 2
0
3
3
Although there is no finite asymptote, the real part approaches zero faster than the imaginary. At
this point we can draw the Nyquist diagram (Fig. 6). Note that we have two integrators in L(s);
hence, we need to add a 360 arc from L (j0 ) to L (j0+ ) in clockwise direction.
Im

=0Re

-1

=0+

Figure 6: Nyquist plot of L(s)

Since the open-loop is stable (Pol+ = 0, as the integrators dont count), for a stable closed-loop
(Pcl+ = 0) we need = 0 encirclements of the critical point. This actually happens here, so the
closed-loop system is stable.
11

Item 2
The loop transfer function is

s+ 3

L(s) = P (s)C(s) =
s2
3s + 1

Compute the frequency response

j + 3

L(j) =
2 3j + 1

2 + 3
|L(j)| =
2 3 2 + 1
!


3

1
1

180
arg L(j) = tan
tan
1
3
The initial and the final values are
|L(0)| =
arg L(0) = 180

|L(j)| = 0
arg L(j) = 180
 
 
3

1
1
1
< 0, as
Since tan is a monotonically increasing function of , tan
tan
1
3

< 13 .Therefore, arg L(j) is always smaller than 180 . Construct the Nyquist diagram
(Fig. 7). Note that we have two integrators in L(s); hence, we need to add a 360 arc from L (j0 )
to L (j0+ ) in clockwise direction.

Im

=0+

Re

-1

=0-

Figure 7: Nyquist plot of L(s)

The open-loop is still stable, for a stable closed-loop (Pcl+ = 0) we need = 0 encirclements of the
critical point. However, now we have two encirclements; therefore, Pcl+ = Pol+ + = 2. Namely, the
closed-loop is unstable (has two unstable poles).
12

Question 4
Use the Nyquist stability creterion to determine the stability of the closed-loop systems below (the
plant P (s) = ss+1
2 +1 is controlled by the controller C(s) = 1):
d
r

ym

s+1
s2 +1

n
Determine the closed-loop stability.

Question 4 Solution
The loop transfer function is
L(s) = P (s)C(s) =

s+1
s2 + 1

The frequency response is

j + 1
1 2

L(j) =

2 + 1
|L(j)| =
|1 2 |
(
tan1 ()
0<1
arg L(j) =
1

tan () 180 1 < <

The initial and final values are
|L(0)|
arg L(0)
|L(j)|
arg L(j)

=
=
=
=

1
0
0
90

Also compute the values of L(j) when 1

|L(j1)| =
arg L(j1 ) = 45
arg L(j1+ ) = 135
The Nyquist plot is presented in Fig. .

13

=
1

Im

Re

=
1

-1

0
=
=
0-

Figure 8: Nyquist plot of L(s)

The open-loop is stable (the poles on j axis dont count); therefore, we need = 0 encirclements
of the critical point to have a stable closed-loop. Indeed, we have 0 encirclements, and the closedloop is stable.

14