Estabilidade no Domnio da Frequ

encia

1. Exemplos de Tracado de Diagrama de Nyquist

1.1 Sistema com dois p

olos reais

1.2 Sistema com um p

olo na origem

1.3 Sistema com tres p

olos

1.4 Sistema com dois p

olos na origem

1.5 Sistema com um p

olo no semi-plano direito

pag.1 Controle de Sistemas Lineares Aula 17

c Reinaldo M. Palhares

 jv jn
Negative frequency
2v 5 20.76
j50 GH(s)-plane
Copyright 1998 by Addison Wesley Longman. All rights reserved.

Radius s-plane 2v 5 23.2

r` j25
v5` v50

s 21
u
21 21 v 5 10 25 50 75 100
t2 t1
2j25
v 5 3.2
Nyquist Positive
contour 2j50 frequency
Gs v 5 0.76
2j v
(a) (b)

MASTER 121
Figure 9.9 Nyquist contour and mapping for GH(s) = 100/(s + 1)(s /10 + 1)
 MASTER 122
jv jn
v 5 02
A
Copyright 1998 by Addison Wesley Longman. All rights reserved.

s-plane Radius 5 `

Radius e v 5 2`
C
B B
s u
21 v 5 1`
A 21 458
t 1
Radius v5
t
r`
Nyquist contour

Gs C
v 5 01

(a) (b)

Figure 9.10 Nyquist contour and mapping for GH (s) + K /s (ts + 1)

 1.5 1.5 1.5
Copyright 1998 by Addison Wesley Longman. All rights reserved.

GH-plane GH-plane GH-plane

1 1 1

0.5 0.5 0.5 (21, 0)

Imaginary axis

Imaginary axis

Imaginary axis
(21, 0) (21, 0)
0 0 0

K 5 1, K 5 2, K 5 3,
20.5 20.5 20.5
stable marginally unstable
system stable system system
21 21 21

21.5 21.5 21.5

22 21.5 21 20.5 0 0.5 1 22 21.5 21 20.5 0 0.5 1 22 21.5 21 20.5 0 0.5 1
Real axis Real axis Real axis

(a) (b) (c)

MASTER 123
Figure 9.12 Nyquist plot for G (s)H (s) = K /s(s + 1)2 when (a) K = 1, (b) K = 2, and (c) K = 3