Instrumentation and Drives:

Control
Lecture 4
Nyquist 2: Stability Margins
using the Bode Diagram

Recap on the Argand Diagram (Polar Plot)

Stable system with
transfer function T(s), input

i(s)

T(s)

o(s)

will settle down eventually to a

steady state o

o = i modified by T(s)
gain Ao/Ai
phase angle

In filters, this is called the

attenuation because
Ao/Ai < 1 (<0dB)

i(t)

Ai

Both are functions of frequency

o(t)

Ao

Bode Plot

Recap on the Argand Diagram (Polar Plot )

To determine the steady

response o(), to the

state

i(s)

T(s)

o(s)

sinusoidal input i():

replace all s in T(s) with j
rearrange into the form Rl + j Im

calculate gain and phase (functions of )

This can be plotted on the complex plane for 0 < <

Im
This is the Argand diagram or polar plot
Rl

Bode Plot

Return to the Nyquist Stability Criterion

Check that the open loop system
is stable

i(s)

+
F(s)

G(s)

o(s)

H(s)

How?
Calculate the OL poles.
Check that they all have negative real parts.

Stability Margins

Return to the Nyquist Stability Criterion

Check that the open loop system
is stable
Then calculate the open loop gain
at = 180
If it is >1 (i.e.>0dB)
unstable closed loop

i(s)

+
F(s)

G(s)

o(s)

H(s)

Im
Rl
-1

open loop Argand diagram

Stability Margins

So we have a test for instability.

But how stable/unstable?
Introduce a gain k and

reduce it.

i(s)

+
F(s)

G(s)

o(s)

H(s)

Im
Rl
-1

open loop Argand diagram

Stability Margins

So we have a test for instability.

But how stable/unstable?
Introduce a gain k and

reduce it.

i(s)

+
F(s)

G(s)

o(s)

H(s)

The OL Argand diagram shrinks

just stable
At some value, say k ,
the OL gain = 1 at = 180

Im
Rl
-1

open loop Argand diagram

Stability Margins

So we have a test for instability.

But how stable/unstable?
Introduce a gain k and

reduce it.

i(s)

+
F(s)

G(s)

o(s)

H(s)

The OL Argand diagram shrinks

just stable
unstable

Im

safely
stable
Rl

-1

At some value, say k ,

the OL gain = 1 at = 180
We say that

k
k

is the gain margin

For stable systems, gain margin is >1

reducing gain k

For unstable systems, it is <1

open loop Argand diagram

Stability Margins

So we have a test for instability.

But how stable/unstable?
gain margin =

i(s)

+
F(s)

G(s)

o(s)

H(s)

Alternatively, find the phase

angle at which OL gain = 1
Im

By what angle must it be

changed to bring it to 180?

Rl

This is the phase margin

-1

open loop Argand diagram

Stability Margins

So we have a test for instability.

But how stable/unstable?
gain margin =

i(s)

F(s)

G(s)

o(s)

H(s)

phase
increased lag from
margin = unity gain to -180

Exercise
G s

Im
Rl
-1

3
s2 s 2

H s

1
s 1

k=1

1. Check that the open loop system is stable.

2. Plot the OL Argand diagram (Nyquist diagram).
3. Will the CL system be stable or unstable?
4. Calculate the gain and phase margins.

open loop Argand diagram

Stability Margins

So we have a test for instability.

But how stable/unstable?

i(s)

F(s)

G(s)

o(s)

H(s)

Problems with the Argand diagram

1. You cannot tell the frequency of any point.

Im

2. It is difficult to use.
Rl
-1

open loop Argand diagram

Stability Margins

Alternative to the Argand diagram:

Plot the same steady

state

response o(), to the

i(s)

the Bode Plot

T(s)

o(s)

sinusoidal input i():

the gain and phase (functions of )

plotted separately versus frequency

typical bode plot

typical Argand diagram

Im
Rl

Bode Plot

Alternative to the Argand diagram:

Plot the same steady

state

response o(), to the

the Bode Plot

i(s)

T(s)

o(s)

sinusoidal input i():

the gain and phase (functions of )

typical bode plot

plotted separately versus frequency

typical Argand diagram

log
scale

Im
Rl

logarithmic scale

Bode Plot

Digression on dB - what does it mean?

Its a ratio: in this case a ratio of amplitudes B/A
It is convenient to think logarithmically
so define a ratio in Bels as log10(B/A)
This unit is too big for most practical purposes
so define the deciBel as
Bel:
i.e. ratio = 10log10(B/A)

i(s)
Asint

T(s)

o(s)
Bsin(t+)

Bode Plot

Digression on dB - what does it mean?

Its a ratio: in this case a ratio of amplitudes B/A
It is convenient to think logarithmically
so define a ratio in Bels as log10(B/A)

i(s)

This unit is too big for most practical purposes

so define the deciBel as
Bel:
i.e. ratio = 10log10(B/A)

T(s)

Asint

o(s)
Bsin(t+)

A complication
Power V2
So the ratio of powers = (B/A)2

or in logarithmic terms log10((B/A)2) = 2log10(B/A) Bels

in dB, gain becomes 20log10(B/A) dB
This is the form always
Some useful
values:
system
gains

used for control

20dB = 10 -20dB = 10
6dB 2 -6dB 2
Bode Plot

Alternative to the Argand diagram:

Plot the same steady

state

response o(), to the

i(s)

the Bode Plot

T(s)

o(s)

sinusoidal input i():

the gain and phase (functions of )

typical bode plot

plotted separately versus frequency

typical Argand diagram

Im

gain

Rl

0.2 rad/s

Bode Plot

Alternative to the Argand diagram:

Plot the same steady

state

response o(), to the

i(s)

the Bode Plot

T(s)

o(s)

sinusoidal input i():

the gain and phase (functions of )

plotted separately versus frequency

typical bode plot

typical Argand diagram

Im
Rl

0.8 rad/s

gain

Bode Plot

Alternative to the Argand diagram:

Plot the same steady

state

response o(), to the

i(s)

the Bode Plot

T(s)

o(s)

sinusoidal input i():

the gain and phase (functions of )

plotted separately versus frequency

typical bode plot

typical Argand diagram

Im
Rl
gain

6 rad/s

Bode Plot

Return to the Nyquist Stability Criterion

For a control system which is

stable in the open loop

if the open loop gain >1
(i.e.>0dB) at = 180

i(s)

+
F(s)

G(s)

o(s)

H(s)

closed loop will be

unstable
then the

Bode Plot

Return to the Nyquist Stability Criterion

For a control system which is

stable in the open loop

if the open loop gain >1
(i.e.>0dB) at = 180

i(s)

+
F(s)

G(s)

o(s)

H(s)

closed loop will be

unstable
unstab
Im
le
then the

Rl
-1

open loop Argand diagram

Bode Plot

Return to the Nyquist Stability Criterion

For a control system which is

i(s)

stable in the open loop

If the open loop gain >1
(i.e.>0dB) at = 180

G(s)

H(s)

F(s)

closed loop will be

unstable
unstab
Im
le

o(s)

then the

gain (dB)

20

10
0

-10

10

20 30

50 100

500 1000

phase

Rl
-1

200

frequency (Hz)

-20

-90

10

20 30

50 100

200

500 1000

frequency (Hz)

-180

open loop Argand diagram

-270

open loop bode plot

Bode Plot

Return to the Nyquist Stability Criterion

For a control system which is

i(s)

stable in the open loop

If the open loop gain >1
(i.e.>0dB) at = 180

G(s)

H(s)

F(s)

closed loop will be

unstable
unstabl
unstab
Im
e
le

o(s)

then the

gain (dB)

20

10
0

-10

10

20 30

50 100

500 1000

phase

Rl
-1

200

frequency (Hz)

-20

-90

10

20 30

50 100

200

500 1000

frequency (Hz)

-180

-270

open loop bode plot

Bode Plot

Stability Margins from the Bode plot

i(s)

Gain margin
Find the frequency where = 180

G(s)

o(s)

H(s)

F(s)

6dB
gain (dB)

20
10
0
-10

10

20 30

50 100

200

500 1000

frequency (Hz)

-20
0

phase

Measure the gain in dB at

that frequency.

-90

10

20 30

50 100

200

500 1000

frequency (Hz)

-180

-270

open loop bode plot

Bode Plot

Stability Margins from the Bode plot

i(s)

Gain margin
Find the frequency where = 180

Gain margin is the change

needed to bring it to 0 dB.

gain margin = -6dB

G(s)

o(s)

H(s)

F(s)

6dB
20

gain (dB)

Measure the gain in dB at

that frequency.

10
0
-10

10

20 30

50 100

200

500 1000

frequency (Hz)

-20

Notice that the change

in OL gain had no effect
on OL phase angle.

phase

-90

10

20 30

50 100

200

500 1000

frequency (Hz)

-180

-270

open loop bode plot

Bode Plot

Stability Margins from the Bode plot

i(s)

Gain margin

Phase margin

o(s)

H(s)

F(s)

Find the frequency where gain = 0dB

Measure the phase angle
at that frequency.

G(s)

gain (dB)

20
10
0
-10

10

20 30

50 100

200

500 1000

frequency (Hz)

-20

phase

-90

10

20 30

50 100

200

500 1000

frequency (Hz)

-180

205

-270

open loop bode plot

Bode Plot

Stability Margins from the Bode plot

i(s)

Gain margin

Phase margin

H(s)

10
0
-10

10

20 30

50 100

phase margin = -25

200

500 1000

frequency (Hz)

-20
0

phase

(negative because it
refers to lag)

o(s)

20

gain (dB)

Phase margin is the change

needed to bring it to -180.

F(s)

Find the frequency where gain = 0dB

Measure the phase angle
at that frequency.

G(s)

-90

10

20 30

50 100

200

500 1000

frequency (Hz)

-180

205

-270

open loop bode plot

Bode Plot

Stability Margins from the Bode plot

i(s)

To plot Argand and Bode

diagrams, use MatLab
functions:
bode(sys)

G(s)

o(s)

H(s)

F(s)

nyquist(sys)
sys = OLTF(s)
gain (dB)

20

Im

10
0
-10

10

20 30

50 100

500 1000

phase

Rl
-1

200

frequency (Hz)

-20

-90

10

20 30

50 100

200

500 1000

frequency (Hz)

-180

-270

open loop bode plot

Bode Plot

Summary
The Nyquist stability criterion
will tell you if a closed loop
system will be stable
provided the open loop system
is stable (it almost certainly will
not be if the OL is unstable).

i(s)

F(s)

G(s)

o(s)

H(s)

You can investigate Nyquist stability using either:

Argand diagram
Bode plot

convenient because gain and phase

information are displayed on one graph,
but gives no information on frequency
shows frequency information,
but requires two graphs
Bode Plotend