控制工程基础（双语） (44).pdfVIP

Unit 27 Stability Margin (part 1) Figure (a): When open loop Nyquist diagram surrounds the point (-1, j 0 ), N≠0, but P=0. So, the closed loop is unstable. The unit step response diagram of its closed loop system is not convergent. Figure (b): When open loop Nyquist diagram crosses the point (-1, j 0 ), the system is in a critical state. The unit step response diagram of its closed loop system is an oscillation curve with constant amplitude. Figure (c) (d): When open loop Nyquist diagram does not surround the point (-1, j 0 ), N=0. So, the closed loop is stable. The unit step response diagram of its closed loop system is convergent. Im P=0 -1 ，j 0 Re 0 unstable stable When open loop Nyquist diagram crosses the real axis on the left side of the point (-1, j 0 ), N≠0, the closed loop system is unstable. Meanwhile, more far its open loop Nyquist diagram from point (-1, j 0), more unstable its closed loop system. Im P=0 -1 ，j 0 Re 0 unstable stable When open loop Nyquist diagram crosses the real axis on the left side of the point (-1, j 0 ), N≠0, the closed loop system is unstable. Meanwhile, more far its open loop Nyquist diagram from point (-1, j 0), more unstable its closed loop system. When open loop Nyquist diagram crosses the real axis on the right side of t