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Introduction to Nyquist
Criterion
Contour Mapping
The basic idea of contour mapping is that one
has a transfer function with an input on the splane and can be a contour which is a set of
points that makes a loop and has a specific
direction.
If we take a complex number on the s-plane and
substitute into a function F(s), another complex
number results. e.g. substituting s = 4 + j3 into
F(s) = s2 + 2s + 1 yields 16 + j30.
You can put that contour into a function and you
will get an output which is also a contour that is
# of encircled poles or
zeroes
Z=P
Encirclements of origin
None
Z>P
Z<P
Obtain the
conjugate plot
Z=PN
Where P = number of open-loop poles of G(s)H(s)
located at the right hand plane,
N = number of counter-clockwise revolutions the
diagram makes around -1,
and Z = number of closed-loop poles located at the
right hand plane
Z=PN
Where P = number of open-loop poles of G(s)H(s) located at the right hand
plane,
N = number of counter-clockwise revolutions the diagram makes around
-1,
and Z = number of closed-loop poles located at the right hand plane
A value of Z = 0 indicates that the system is stable
If the open-loop system contains a variable gain, K, set K = 1 and sketch
the Nyquist diagram. Consider the critical point to be at -1/K rather than at
- 1 . Adjust the value of K to yield stability, based upon the Nyquist criterion
Taking G(s)H(s),
Z=P-N
Z=0-0
Z=0
The system is stable.
Gain margin
STABILITY
Phase margin
STABILITY
CONTROL SYSTEMS
10.7 Stability, Gain Margin and Phase Margin via bode plots
Definition of terms
Bode Plot - consists of two graphs: one is a plot of the
logarithm of the magnitude of a transfer function, the
other is a plot of the phase angle and both are plotted
against frequency.
Gain Margin found by using the phase plot to find the
frequency. The amount ofgainincrease or decrease
required to make the loopgainunity at the frequency
Wgm where the phase angle is 180 degrees
Phase Margin Is found by using the magnitude curve
to find the frequency, where the gain is 0dB. On the
phase curve at that frequency, the phase margin is the
difference between the phase of the response and
180 when the loop gain is 1.0
Terms
Slope
Change in slope
T1 = K = 40
T2 =
-20
T1 + T2 = 0 20 = -20
T3 =
-20
T4 =
-20
T3 + T4 = -40 20 = -60
Bode plot
at a frequency, p, of