控制工程基础（双语） (43).pdfVIP

Unit 26 Nyquist Stability Criterion Nyquist stability criterion is a kind of geometric criterion and a graphical method in frequency domain, which use open loop Nyquist diagram to judge the stability of the closed loop system. The closed loop system is shown as the below figure, and its TF is: X (s) + G(s) Y(s) - H(s) The closed loop system is shown as the below figure, and its TF is: X (s) + G(s) Y(s) - H(s) Nyquist Stability Criterion: ① In the open loop frequency characteristic G(j )H(j ), the closed-Nyquist diagram surrounds the point (-1, j 0) with anticlockwise when changes in the range of -∞ to +∞. The number of surrounding is N. The closed loop system is shown as the below figure, and its TF is: X (s) + G(s) Y(s) - H(s) Nyquist Stability Criterion: ① In the open loop frequency characteristic G(j )H(j ), the closed-Nyquist diagram surrounds the point (-1, j 0) with anticlockwise when changes in the range of -∞ to +∞. The number of surrounding is N. ②The number of the open loop poles in the RHS of s-plane is P. If N P, the closed loop system is stable. The closed loop system is shown as the below figure, and its TF is: X (s) + G(s) Y(s) - H(s) Nyquist Stability Criterion: ① In the open loop frequency characteristic G(j )H(j ), the closed-Nyquist diagram surrounds the point (-1, j