Control Systems

Lecture 13 - Nyquist Diagrams with Non-linear Systems

Conditional Stability of Closed Loop Linear Systems
From Rule 6 of Root Locus drawing,

Conditional Stability of Non-Linear Closed Loop Systems

In a Non-Linear system there is a variable gain, N, as well as
the controller gain, K.

1 + KG o ( j) = 0

1 + K.N.G o ( j) = 0

i.e. The closed loop characteristic equation with s = j

where N is a complex function of X, the input amplitude. (see lecture 16)

Hence, to be conditionally stable,

Therefore to be conditionally stable,

KG o ( j) = 1

KG o ( j) =

The same as Nyquist Stability Criterion.

1
N

KG o ( j) = ( 1, 0 j) = 1e j = 1 180 D

So Nyquist Stability Point is replaced by a locus, -1/N, formed

by varying X from 0 to .

Nyquist Stability Criterion for

Non-Linear Systems

Example Find the Limit Cycle!

A Non-Linear closed loop system is only stable if the open loop

frequency response locus does not intercept the 1/N locus.

x = -5

10

s+4
s(s + 0.5)(s + 1)

Im

x
-10

Re

-1/N

x=5

KGo(j)

Nyquist Diagram

Open Loop Frequency Response

1.00

G ( s) =

s+ 4
1 1 1
= 8 (1 + 0.25s)

s 1 + 2 s 1 + s
s( s + 0.5)(s + 1)
-6.00

1
1+0.25s
2
1/s
3
1/(1+2s)
4
1/(1+s)
Total
System

Real
Imag

rad/s
deg
deg
deg
deg
deg

0.2
1.00
2.9
5.00
-90
0.93
-21.8
0.98
-11.3
36.5
-120.2
-18.38
-31.49

0.5
1.01
7.1
2.00
-90
0.71
-45.0
0.89
-26.6
10.2
-154.4
-9.20
-4.40

0.7
1.02
9.9
1.43
-90
0.58
-54.5
0.82
-35.0
5.5
-169.5
-5.43
-1.00

0.8
1.02
11.3
1.25
-90
0.53
-58.0
0.78
-38.7
4.2
-175.3
-4.21
-0.34

1
1.03
14.0
1.00
-90
0.45
-63.4
0.71
-45.0
2.6
-184.4
-2.60
0.20

2.0rad/s

1.0rad/s

2
1.12
26.6
0.50
-90
0.24
-76.0
0.45
-63.4
0.5
-202.8
-0.45
0.19

-5.00

-4.00

-3.00

-2.00

-1.00

0.00
0.00

0.8rad/s
0.7rad/s

-1.00

-2.00

-3.00

-4.00

-5.00

-6.00

D.A.Germany - Aerospace, Automotive and Design Engineering

1.00

Control Systems
Lecture 13 - Nyquist Diagrams with Non-linear Systems

Relay with Hysteresis

y

x = -5

40
1
25
1 2 e sin ( 5 / X ) j
N=
X

10

x
-10

X
N
1/ N

(N )
( 1 / N )
Re( 1 / N )
Im( 1 / N )

NB

1 1
1
=
=
N
N
N

Nyquist Diagram
-6.00

-5.00

70

-4.00

0.8rad/s

2.0rad/s

1.0rad/s

50

-3.00

40

-2.00

30

-1.00

20

0.00
0.00

20
0.6
1.6
-14.5
-166
-1.57
-0.41

30
0.4
2.4
-9.6
-170
-2.36
-0.40

40
0.3
3.2
-7.2
-173
-3.14
-0.40

50
0.3
3.9
-5.7
-174
-3.93
-0.39

60
0.2
4.7
-4.8
-175
-4.71
-0.39

70
0.2
5.5
-4.1
-176
-5.50
-0.39

80
0.2
6.3
-3.6
-176
-6.28
-0.39

1
= ( 1) ( N ) = 180 ( N )
N

Nyquist Diagram

1.00

60

deg
deg

10
1.1
0.9
-30.0
-150
-0.79
-0.45

(N )

x=5

1.00

10
-1.00

0.7rad/s
-2.00

-3.00

-4.00

-5.00

If X < 55 G(j) is left of the

Nyquist Stability Point, and the
Closed Loop system will be
unstable. Therefore oscillations will
increase in amplitude.
If X > 55 G(j) is right of the
Nyquist Stability Point, and the
Closed Loop system will be stable.
Therefore oscillations will decrease
in amplitude.
Hence there is a limit cycle with an
amplitude of 55.
This is called a stable limit cycle as
it doesnt matter what X you start
with you will end up with X=55.

-6.00

Summary of Lecture 13

82 sec for 10 cycles

A Non-Linear closed loop system is only stable if the

open loop frequency response locus does not intercept
the 1/N locus.
Any intercept point may indicate a Limit Cycle.
Determine if intercept point is a limit cycle by argument.
Amplitude of the limit cycle is given by the X value on
the 1/N curve
The frequency of the limit cycle is given by the value
on the open loop frequency response locus.

D.A.Germany - Aerospace, Automotive and Design Engineering