Nyquist’s stability criterion

A.K. Tangirala, IIT Madras Process Dynamics and Control 8

Nyquist’s stability criterion

The closed-loop characteristic equation is given by

1 + G̃OL (s) = 1 + L(s) = 0, L(s) , G̃OL (s) (9)

Define F (s) = 1 + L(s).

Objective: To determine if F (s) has roots (zeros) in the RHP for a chosen value of .

For a general F (s), there exists a result which relates the number of zeros and poles in
a closed-contour of the s-plane and the encirclements of F (s) around the origin

A.K. Tangirala, IIT Madras Process Dynamics and Control 9

Two results

1 A closed-contour in the s-plane results in a closed contour of the F (s) plane.

2 The number of encirclements of F (s) around the origin is related to the number of
zeros and poles contained in the s-plane contour
Cauchy’s theorem
If a contour s in the s-plane encircles Z zeros and P poles of F (s) and does not pass through
any of the poles or zeros of F (s), and the traversal is the clockwise direction along the
contour, the corresponding contour F in the F (s)-plane encircles the origin of the F (s)-plane

N =Z P (10)

times in the clockwise direction.

A.K. Tangirala, IIT Madras Process Dynamics and Control 10

Example 1
2
Consider a function F (s) = that has a single pole at s = 0.2.
5s + 1

1
I Tracing out F (s) on a square-shaped 0.5

closed contour in the s-plane in the

Im(s)

clockwise direction yields a closed -0.5

-1
contour in the F (s)-plane as well, but in -1 -0.8 -0.6 -0.4 -0.2 0
Re(s)
0.2 0.4 0.6 0.8 1

the counter-clockwise direction. 0.4

I
0.2
Contour in s-plane contains one pole of
Im(F(s))

F (s) while contour in F (s)-plane has one -0.2

encirclement around the origin. -0.4

-0.5 -0.4 -0.3 -0.2 -0.1 0 0.1 0.2 0.3 0.4
Re(F(s))

A.K. Tangirala, IIT Madras Process Dynamics and Control 11

Example 1 . . . contd.

Continuing with the previous example, trace a closed contour but excluding the pole.

0.5
I As earlier, closed contour in the s-plane

Im(s)
0

in the clockwise direction yields a closed -0.5

contour in the F (s)-plane in the -1

-1 -0.8 -0.6 -0.4 -0.2 0

counter-clockwise direction. Re(s)

2
I However, the contour in F (s)-plane does 1

Im(F(s))
not have any encirclement around the 0

origin. -1

-2
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Re(F(s))

A.K. Tangirala, IIT Madras Process Dynamics and Control 12

Example 2
Consider a function F (s) = 5(s + 1) that has a single zero at s = 1. Tracing out two
di↵erent contours clockwise in the s-plane, one that includes and the other that excludes
the zero, results in one or no clockwise encirclement of F (s) around the origin.

2 2

1 1
Im(s)

Im(s)

0 0

-1 -1

-2 -2
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2 -1.5 -1 -0.5 0 0.5 1 1.5 2 2.5
Re(s) Re(s)

10 10

5 5
Im(F(s))
Im(F(s))

0 0

-5 -5

-10 -10
-4 -2 0 2 4 6 8 10 12 14 16 0 2 4 6 8 10 12 14 16
Re(F(s)) Re(F(s))

A.K. Tangirala, IIT Madras Process Dynamics and Control 13

Applying the result

1 Set F (s) = 1 + L(s) (for a chosen value of ).

2 Choose the entire RHP and the IA as the contour s = rej✓ , where r varies from 0 to 1.
3 Count the number of encirclements of F (s) around the origin N .
4 Determine the number of RHP roots of F (s) as Z = N + P , where P is the number of
RHP poles of F (s).

However, observe

1 Number of encirclements of F (s) around the origin =

Number of encirclements of L(s) around the point (-1,0)
2 Number of open-loop poles P for F (s) and L(s) are identical.

A.K. Tangirala, IIT Madras Process Dynamics and Control 14

Main result

Nyquist’s stability criterion

If L(s) does not have any unstable poles, then stability is guaranteed if and only if L(s) does
not have any encirclements around (-1,0) for a closed-contour in the s-plane.

Procedure
1 Choose the closed-contour s that encloses the RHP and IA (excluding any zeros and
poles on the contour).
2 Trace L(s) on s in a clockwise direction (mapping from s to L ).
3 Count the number of encirclements N of L around (-1,0) (positive count for clockwise)
4 RHP zeros of L(s) = N + P , where P : open-loop RHP poles of L(s).
Closed-loop system is stable if and only if Z = 0.

A.K. Tangirala, IIT Madras Process Dynamics and Control 15

Nyquist’s stability criterion: Example 1
2
Consider a first-order process Gp (s) = with a P -controller Gc (s) = Kc . Determine the
5s + 1
values of Kc for closed-loop stability. For this example, L(s) = Kc Gp (s). Set Kc = 1.
I Segment 1: s = j!, ! 2 [0, 1] (the upper Nyquist Diagram

IA). |L(j!)| runs from 2 to 0 and \L(j!)

1
4 dB 2 dB 0 dB -2 dB -4 dB

0.8

runs from 0 to -90 (i.e., clockwise). 0.6

6 dB -6 dB

I Segment 2: s = rej , = 90 to = 90 0.4 10 dB -10 dB

Imaginary Axis
0.2
and r ! 1 (semi-circular arc). |L(s)| ! 0. 20 dB -20 dB

I Segment 3: s = j!, ! 2 [ 1, 0) (the lower -0.2

IA). Same as upper IA but with phase flipped. -0.4

-0.6 System: Gs

I
Phase Margin (deg): 120

N = 0, P = 0, =) Z = 0, stable CL system. -0.8

Delay Margin (sec): 6.05
At frequency (rad/s): 0.346
Closed loop stable? Yes

Gain margin is infinity =) any Kc > 0 can be -1

-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Real Axis
used (verify with hand calculations).
A.K. Tangirala, IIT Madras Process Dynamics and Control 16

Nyquist’s stability criterion: Example 1 . . . contd.

The phase margin for the earlier example is 120 . If the only scope for uncertainty is in the
delay, then the maximum delay that can be handled is 6.05 units. Nyquist plots for D = 5 and
D = 7 are shown below. The closed-loop system is clearly unstable when D = 7.

Nyquist Diagram Nyquist Diagram

2 2
2 dB 0 dB -2 dB
2 dB 0 dB -2 dB

1.5 1.5

4 dB -4 dB 4 dB -4 dB
1 1

6 dB -6 dB 6 dB -6 dB

0.5 0.5
Imaginary Axis

10 dB -10 dB 10 dB -10 dB
Imaginary Axis

20 dB -20 dB 20 dB -20 dB

0 0

-0.5 -0.5

-1 -1

-1.5 -1.5

-2 -2
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Real Axis Real Axis

A.K. Tangirala, IIT Madras Process Dynamics and Control 17

Nyquist’s stability criterion: Example 2
2
Consider a first-order unstable process Gp (s) = with a P -controller Gc (s) = Kc .
5s 1
Determine the values of Kc that stabilize Gc . As earlier, L(s) = Kc Gp (s). Set Kc = 1.

I Segment 1: s = j!, ! 2 [0, 1] (the upper Nyquist Diagram

1

IA). |L(j!)| runs from -2 to 0 and \L(j!)

4 dB 2 dB 0 dB -2 dB -4 dB

0.8

runs from -180 to 0 (counter clockwise). 0.6

6 dB -6 dB

I Segment 2: s = rej , = 90 to = 90 0.4 10 dB -10 dB

0.2

Imaginary Axis
System: Gs

and r ! 1 (semi-circular arc). |L(s)| ! 0. Gain Margin (dB): -6.02

At frequency (rad/s): 0
Closed loop stable? Yes
20 dB -20 dB

I Segment 3: s = j!, ! 2 [ 1, 0) (the lower -0.2

IA). Same as upper IA but with phase flipped. -0.4

-0.6
I
System: Gs

N = 1, P = 1, =) Z = 0 =) stable CL Phase Margin (deg): 60

Delay Margin (sec): 3.02
At frequency (rad/s): 0.346
-0.8 Closed loop stable? Yes

system. GM = -6.02 dB < 0 =) Kc > 0.5 -1

-2 -1.5 -1 -0.5 0 0.5
for stability (verify with hand calculations). Real Axis

A.K. Tangirala, IIT Madras Process Dynamics and Control 18

Nyquist’s stability criterion: Example 3

3
Consider a second-order process Gp (s) = with a P -controller Gc (s) = Kc .
s(2s + 1)
Determine the values of Kc that stabilize Gc . As earlier, L(s) = Kc Gp (s). Set Kc = 1.

I
Nyquist Diagram
L(s) has a pole at the origin. Therefore, the 6
0 dB

standard contour has to be modified such that 4

it takes a detour around s = 0.

2 dB
2

I Five segments are to be considered. S1: -2 dB

Imaginary Axis

4 dB System: Gs
-4 dB
Phase Margin (deg): 23.1
6 dB -6 dB
10 dB Delay Margin (sec): 0.343
-10 dB
At frequency (rad/s): 1.17

Upper half semicircle of shrinking radius, S2: 0 Closed loop stable? Yes

Upper IA, S3: Semicircle of increasing radius, -2

S4: Lower IA and S5: Lower half semicircle of

shrinking radius -4

I MATLAB’s plot is misleading! -6

-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis

A.K. Tangirala, IIT Madras Process Dynamics and Control 19

Comparison of stability criteria
Root Locus
Brute force method; traces the
locus for all values of
Highly limited - cannot handle
delays in L(s)
Test based on presence of loci
on IA / RHP
Examines plot of root locii
Relative stability is measure of
robustness; difficult to relate to
uncertainties in L(s)
A.K. Tangirala, IIT Madras
Bode’s test
Elegant; Fixes value of and
traces L(s) on IA (no compu-
tation of roots)
Can handle delays in L(s) but
only stable L(s)
Test based on phase crossover
frequency !c and AR at !c
Uses magnitude and phase
plots
Phase and gain margins are
measures of robustness - can be
easily related to uncertainties in
gain, time-constants and delays
Process Dynamics and Control
Nyquist’s test
Elegant; Fixes value of and
traces L(s) on a contour con-
taining IA and the RHP
Can handle all forms of L(s)
(delays, instabilities, etc.)
Test based on encirclements of
L(s) around (-1,0)
Examines plot of =(L(s)) vs.
<(L(s))
Phase and gain margins are
measures of robustness - can be
easily related to uncertainties in
gain, time-constants and delays
20