Control Systems

Lecture 8 - Nichols Charts and Closed Loop Performance

Lecture 8 Nichols Charts &

Closed Loop Performance
M & N Circles
Nichols Chart
More closed loop performance parameters

Radius

M Circles
M = 1.2

Center

Closed Loop Frequency Response

The classic frequency response approach to controller
design is to use the open loop frequency response to
predict the closed loop frequency response using the M
and N circles or the Nichols Chart.
Note A stable open loop system does not necessarily imply a
stable closed loop.
Note it does not matter whether the system is a unity feedback or
non-unity feedback so long as the open loop transfer function
includes the feedback term.

M
1 M2

N Circles

M2

, 0
2
1 M

= 30

Im

If N = tan () lines of constant

form circles with a radius

M = 0.0

M = 1.0

M = 1.3

M = 1.4
M = 1.6

-2

= 40

N2 + 1
N

= 60

= 80

M = 0.4

M = 3.0
-3

0.5

M = 0.6

M = 2.0

-4

Im
= 20

and center

-1

0.5

0.5,

Re

-3

-1

-2

1
= -80
= -60

-1

= -40
= -30

-2

See page 19 for proof

See page 18 for proof

The Hall Chart

M = 1.0

M = 1.2

M = 0.0
2

M = 1.3

= 40

M = 1.4

= 60

M = 0.6

M = 1.6

M = 0.4
-4

-3

-2

-1

= -60

-1

= -40
= -30

-2

-3

Nichols Chart

Im
= 20

Re

-2

= -20

This is a plot of the open loop

frequency response data with
gain in decibels on the vertical
axis versus phase shift on the
horizontal axis.
To get the closed loop
frequency response we map
the M & N circles from the
Hall Chart onto the Nichols
Chart. However note they are
no longer circles!

= -20

D.A.Germany - Aerospace, Automotive & Design Engineering

Re

Control Systems
Lecture 8 - Nichols Charts and Closed Loop Performance

Example of closed loop frequency

response prediction
Suppose the input to the system is:
u = 2sin(0.2t) + 0.4sin(t)
Using the Nichols Chart the closed loop
response would be:

Nichols Chart
Nyquist Stability Criterion is:
A closed loop system is only
stable if the open loop gain is
less than 1 (i.e. 0dB) when the
phase shift is 180 degrees.
Therefore the open loop
frequency response locus must
pass to the right of the Nyquist
Stability Point for the closed
loop system to be stable

Gain Margin

Closed Loop Bandwidth

How much open loop gain can

be introduced before the closed
loop system becomes unstable?
If stable the gain margin will be
positive

Phase Margin
How much open loop phase
shift can be introduced before
the closed loop system
becomes unstable?
If stable the phase margin will
be positive.

The range of frequencies for which the closed loop gain is

greater than -3dB (assuming the dc gain = 0dB)

20log10 M

(dB)

gm

gr
0

-3
g
(dB)

Mr

Mr
gr

r r

(rad/s)

bw

Summary of Lecture 8

The frequency, r that gives the maximum closed loop gain, Mr

(dB)

If low frequency gain is less than 3dB it is better to give the

upper and lower frequency limits for range.

Resonant Closed Loop Gain and Frequency

20log10 M

-3dB

(rad/s)

g
(dB)

r
CLOSED loop Bode Plot

Predict closed loop frequency response data from the Nichols Chart by
using M & N Contours.
To Nyquist Stability Criterion states A closed loop system is only
stable if the open loop gain is less than 1 (i.e. 0dB) when the phase shift
is 180 degrees.
The Gain margin is the amount of open loop gain that could be
introduced before the closed loop system becomes unstable
The Phase Margin is the amount of phase shift that could be introduced
to the open loop system before the closed loop system becomes unstable.
Resonant Closed Loop frequency is the frequency that gives the peak
gain in closed loop. (i.e the closed loop resonant gain.)
Closed Loop Bandwidth is the range of frequencies that will give gains
greater than 3dB.

NB Closed Loop resonance does not always exist!

D.A.Germany - Aerospace, Automotive & Design Engineering

rad/s

0.1

0.2

0.5

1.0

dB

21.8

9.2

-2.7

-16

deg

-95

-104

-133

-183

dB

deg