Lecture6 Beamer

Outline
Classical Control
Lecture 6
Lecture 6 Classical Control

Outline
Outline
1 The Argument Principle
2 Application to Control Design
3 Stability Margins

The Argument Principle
Application to Control Design
Stability Margins
Exercises
Nyquist Stability Criterion
What is the Nyquist stability criterion useful for?

Based on a Nyquist plot
Laplace domain plot (frequency)
Contains information on phase and amplitude
Stability criterion
Can determine if a closed-loop system is unstable
Can be used with Nyquist plot to determine which gains will
make a system unstable

Stability Margins
Exercises
Outline

Nyquist Plot
3 Stability Margins

Stability Margins
Exercises
Contour Evaluation

Stability Margins
Exercises
Contour Evaluation - continued

Stability Margins
Exercises
Further Details
Symmetry
Contour symmetric wrt. real axis ⇒ Evaluated contour
symmetric wrt. real axis
Encirclement of Poles and Zeros

Origin will be encircled clockwise Z − P times
Z number of zeros inside contour
P number of poles inside contour
Similarities?
Surface integral
Singularities inside contour affects result

Application to Control Design Nyquist Plot
Stability Margins Nyquist Stability Criterion
Exercises
Outline

Nyquist Plot
3 Stability Margins

Exercises
Contour plot encircling entire RHP

Exercises
Connection to Closed-loop System

Closed loop system
Transfer function
KD(s)G (s)
T (s) =
1 + KD(s)G (s)H(s)
Closed-loop roots are given by
1 + KD(s)G (s)H(s) = 0
Shift of Contour
1 + KD(s)G (s)H(s) = 0 ⇒ encirclements of origin
KD(s)G (s)H(s) = 0 ⇒ encirclements of −1 (Nyquist)
Examining contour of open-loop system can give information

of closed-loop system poles!
Exercises
Net Clockwise Encirclements

Net clockwise encirclements of −1 are given by
N =Z −P
Definition of clockwise encirclements of −1

Net number of left-to-right crossings by KD(s)G (s)H(s) of a
straight line drawn from −1 to ∞ in any direction
Stability
A system is stable if Z = N + P = 0
N: Net number of clockwise encirclements of −1
P: Number of unstable poles of KD(s)G (s)H(s)

Exercises
How to draw a Nyquist plot?

1 Plot KD(s)G (s)H(s) for 0 ≤ s ≤ j∞
2 Reflect the image about the real axis (due to symmetry)
3 If lims→j∞ KD(s)G (s)H(s) 6= 0 determine how many times
the plot crosses the real axis and in which half-plane(s)

Exercises
Determining stability using the Nyquist Stability Criterion
Procedure
1 Draw the Nyquist plot of KD(s)G (s)H(s)
2 Determine net number of clockwise encirclements of −1, N

3 Determine number of unstable poles, P
4 If Z = N + P = 0 the system is stable

Exercises
Example 6.8
Determine stability for the following system:

System
+ 1
K (s+1)2
−

Exercises
Example 6.8 - continued

Root Locus
0.8
0.84 0.72 0.58 0.44 0.3 0.14
0.6
0.92
0.4
0.98
0.2
Imaginary Axis
1.2 1 0.8 0.6 0.4 0.2

0
−0.2
0.98
−0.4
0.92
−0.6
0.84 0.72 0.58 0.44 0.3 0.14

−0.8
−1.2 −1 −0.8 −0.6 −0.4 −0.2 0 0.2
Real Axis

Exercises

Bode Diagram
−10
Magnitude (dB)
−20
−30
−40
−50
0
−45
Phase (deg)
−90
−135
−180
−1 0 1
10 10 10
Frequency (rad/sec)

Exercises

Nyquist Diagram
0.8
0.6
0.4
0.2
Imaginary Axis
−0.2
−0.4
−0.6
−0.8
−1 −0.8 −0.6 −0.4 −0.2 0 0.2 0.4 0.6 0.8 1
Real Axis

Exercises
How to determine stability for a range of gains?
Stable system for range of K

1
1 Draw Nyquist plot for
D(s)G (s)H(s), scaling by K
1
K KD(s)G (s)H(s)
2 Investigate encirclements of − K1 and use in Nyquist Stability
Criterion
3 The values of K fulfilling the Nyquist Stability Criterion will
yield a stable system

Exercises
Example 6.9

System
+ 1
K s(s+1)2
−

Exercises

Root Locus
3
0.81 0.7 0.56 0.38 0.2
0.89
2 System: sys
Gain: 2.02
Pole: 0.00211 + 1i
0.95 Damping: −0.0021
Overshoot (%): 101
Frequency (rad/sec): 1
1
0.988
Imaginary Axis
5 4 3 2 1
0
0.988
−1
0.95
−2
0.89
0.81 0.7 0.56 0.38 0.2
−3
−5 −4 −3 −2 −1 0 1 2
Real Axis

Exercises

Bode Diagram
20
10 System: sys
0 Magnitude (dB): −6.09
Magnitude (dB)
−10
−20
−30
−40
−50
−60
−90
−135
System: sys
Phase (deg)
Phase (deg): −180
−180
−225
−270
−1 0 1
10 10 10
Frequency (rad/sec)

Exercises

Nyquist Diagram
0.8
0.6
0.4
System: sys
Imaginary Axis
0.2 Real: −0.501

Imag: −0.00336
0
−0.2
−0.4
−0.6
−0.8
−1
−2 −1.5 −1 −0.5 0 0.5 1 1.5 2
Real Axis

Exercises
Details of the Nyquist plot for poles on the imaginary axis

Exercises
Example 6.10

System
+ s+1
K s ( 10
s
−1)
2

Exercises

Root Locus
4
0.9 0.82 0.66 0.4
0.945
3 System: sys
Gain: 1
Pole: −0.00397 + 3.16i
0.974 Damping: 0.00126
2 Overshoot (%): 99.6
Frequency (rad/sec): 3.16
0.99
1
Imaginary Axis
0.997
10 8 6 4 2
0
0.997
−1
0.99
−2
0.974
−3
0.945
0.9 0.82 0.66 0.4
−4
−10 −8 −6 −4 −2 0 2 4 6 8 10
Real Axis

Exercises

Bode Diagram
60
40
Magnitude (dB)
20 System: sys
Magnitude (dB): 0.0266
0
−20
−40
−90
−135
Phase (deg)
−180
System: sys
Phase (deg): −180
−225
−270
−2 −1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

Exercises

Nyquist Diagram
1.5
0.5 System: sys

Imaginary Axis
Real: −1
Imag: −0.0123
Frequency (rad/sec): −3.11
0
−0.5
−1
−1.5
−2
−2 −1.5 −1 −0.5 0 0.5 1
Real Axis

Exercises
Details of the Nyquist plot for poles on the imaginary axis

- continued

Stability Margins
Exercises
Outline

Nyquist Plot
3 Stability Margins

Stability Margins
Exercises
Gain/Phase Margin
Gain Margin
Additional gain required to make system marginally
stable/unstable
Found when phase crosses 180◦
Phase Margin
Remaining phase before system becomes marginally
stable/unstable
Found when gain crosses 0dB

Stability Margins
Exercises
Gain/Phase Margin on Nyquist Plot

Stability Margins
Exercises
Introducing the Vector Margin

Stability Margins
Exercises
Special Cases - Conditionally Stable Systems

Stability Margins
Exercises
Example 6.11
System
K (s + 10)2
KD(s)G (s)H(s) =
s3

Stability Margins
Exercises
Book: Feedback Control

1 Exercise 6.19
2 Exercise 6.21
3 Exercise 6.23

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Outline

Lecture 6 Classical Control

1 The Argument Principle

2 Application to Control Design

Lecture 6 Classical Control

Nyquist Stability Criterion

What is the Nyquist stability criterion useful for?

Lecture 6 Classical Control

1 The Argument Principle

2 Application to Control Design

Lecture 6 Classical Control

Lecture 6 Classical Control

Contour Evaluation - continued

Lecture 6 Classical Control

Encirclement of Poles and Zeros

Lecture 6 Classical Control

1 The Argument Principle

2 Application to Control Design

Lecture 6 Classical Control

Contour plot encircling entire RHP

Lecture 6 Classical Control

Connection to Closed-loop System

Closed-loop roots are given by

Examining contour of open-loop system can give information

Nyquist Stability Criterion

Net Clockwise Encirclements

Definition of clockwise encirclements of −1

Lecture 6 Classical Control

How to draw a Nyquist plot?

Lecture 6 Classical Control

Determining stability using the Nyquist Stability Criterion

2 Determine net number of clockwise encirclements of −1, N

Lecture 6 Classical Control

Determine stability for the following system:

Lecture 6 Classical Control

Example 6.8 - continued

1.2 1 0.8 0.6 0.4 0.2

0.84 0.72 0.58 0.44 0.3 0.14

Lecture 6 Classical Control

Example 6.8 - continued

Lecture 6 Classical Control

Example 6.8 - continued

Lecture 6 Classical Control

How to determine stability for a range of gains?

Stable system for range of K

Lecture 6 Classical Control

Determine stability for the following system:

Lecture 6 Classical Control

Example 6.9 - continued

Lecture 6 Classical Control

Example 6.9 - continued

Lecture 6 Classical Control

Example 6.9 - continued

0.2 Real: −0.501

Lecture 6 Classical Control

Details of the Nyquist plot for poles on the imaginary axis

Lecture 6 Classical Control

Determine stability for the following system:

Lecture 6 Classical Control

Example 6.10 - continued

Lecture 6 Classical Control

Example 6.10 - continued

Lecture 6 Classical Control