控制工程（周川）ac201511.pptVIP

Ch8 Stability in the Frequency Domain Main content Mapping contours in the s-plane The Nyquist Criterion Relative Stability and Nyquist Criterion Closed-loop frequency response System Bandwidth Examples and Simulation Summary Introduction How to determine the stability ? 8.1 Mapping contours in the s-plane Contour map Conformal mapping Principle of the argument If a contour in the s-plane encircles Z zeros and P poles of F(s) and does not pass through any poles or zeros of F(s) and the traversal is in the clockwise direction along the contour, the corresponding contour in F(s)-plane encircles the origin of F(s)-plane N=Z-P times in the clockwise direction. The rules of contour Clockwise traversal of a contour is assumed to be positive. Encirclement is defined by the rule : “ Clockwise and eyes right ” or “ Counterclockwise and eyes left ” 8.2 The Nyquist Criterion Nyquist stability criterion A feedback system is stable if and only if the contour in the L(s)-plane does not encircle the (-1,0) point when the number of poles of L(s) in the right-hand s-plane is zero (P=0) A feedback system is stable if and only if ,for the contour , the number of counterclockwise encirclements of the (-1,0) point is equal to the number of poles of L(s) in the right-hand s-plane. Application of Nyquist criterion Example 1: system with 2 real poles Example 2: system with a pole at origin Example 3: system with 3 poles Example 4: system with 2 poles at origin Example 5: system with a pole in RHP Example 6: system with a zero in RHP Assignment E9.7 E9.24 P9.2 (resort to MATLAB) P9.4 * Feedback Control System Roots evaluation Routh-Hurwitz criterion (absolute/relative stability) Root locus Nyquist criterion ( absolute/relative stability) s-plane F(s)-plane A contour mapping that retains the angles on the s-plane on the F(s)-plane Figure 1 mapping F(s)=2s+1 Figure 2 Mappi