The Routh Hurwitz Stability Criterion

Dr. Sallehuddin Mohamed Haris

March 8, 2010
Consider the following characteristic equation:
an sn + an1 sn1 + an2 sn2 + + a1 s + a0 = 0
We write the coefficients of the characteristic polynomial as follows:
sn
sn2
sn3
..
.

an
an1
bn1
cn1
.
..

s0

hn1

sn1

an2
an3
bn3
cn3
..
.

an4
an5
bn5
cn5
..
.

.
..

where
bn1 =

a{n1}

a{n2} an (an3 )
1
=
an1
an1


 an

bn3 =
an1  an1

1  an1
cn1 =
bn1  bn1
1


an4 
an5 

an3 
bn3 


 an an2

 an1 an3

The Routh Hurwitz criterion states that, for a system to be stable, there
must not be any sign changes in the first column. This condition is both
necessary and sufficient.
The following types of instances must be considered:
1. No element in the 1st column is 0.

Example 1
s2 + 2s + 3 = 0
The Routh array is then
1

1
2
b1

s2
s1
s0

3
0
0

(2 3) (0 1)
 2
1 1 3
= 
2 2 0
= 3

b1 =

The elements of the first column are 1, 2 and 3. There is no sign

change, hence the system is stable.
2. There is a 0 in the 1st column of row i, but some other elements in
row i are 6= 0.
If one element in the array is zero, it may be replaced by a small
positive number  that is allowed to approach zero after the array is
completed.
Example 2
s5 + 2s4 + 2s3 + 4s2 + 11s + 10 = 0
The Routh array is then
s5
s4
s3
s2
s1
s0

c1 =
=
d1 =

1
2

c1
d1
10

2
4
6
10
0
0

11
10
0
0
0
0

4 12

12

6c1 10
6
c1

There are two sign changes i.e.  12

 6. Hence, the system is
unstable with two roots lying on the RHS of the complex plane.
3. There is a 0 in the 1st column of row i, and all other elements in row
i are also 0.
2

Example 3
s3 + 2s2 + 4s + 8 = 0
The Routh array is
1
2
b1
c1

s3
s2
s1
s0

4
8
0
0

88
2
= 0

b1 =

c1 = 0
There are two poles on the imaginary (j) axis. Hence, this system is
marginally stable.