System Stability: Chapter Objective: - System Stability - Routh-Hurwitz's Stability Criterion

Chapter 6
System Stability
Chapter Objective:
System stability
Routh-Hurwitzs Stability Criterion
Aug-15
Copyright ME, NUS. All Rights Reserved.
ME2142 Feedback Control Systems
C6.1
Higher-order System Response

Consider a transfer function
With
.
For the case of
2, there will be
Characteristic Equation
0
can also be written as, with
poles of
2
, or
roots of the
Real Roots
Complex roots
2
Aug-15
C6.2

For a unit step input, we cab take from the earlier slide that
2
2
In which we assumed all roots are distinct.
Taking inverse Laplace Transform yields
sin
Where
and
are constants depends on
1
,
and
For a stable response, all of the poles must have negative real parts.
The stable response is a sum of decaying exponential curves and
decaying damped sinusoidal curves together with a term dependent
upon the input.
Aug-15
C6.3

Plot of Poles on the S-plane
Real poles and their effects on the response
Im
p1
p2
Re
Real pole on the S-plane.
Aug-15
Each real pole will contribute a term

to the response.
The more the negative value of the
pole, or the farther to the lef of the
imaginary axis, the more rapidly the
exponential term decays to zero.
In general, if two poles are such
5
, then the response
that
caused by
is dominant and that
can be neglected
caused by
without loss of accuracy.
C6.4

Plot of Poles on the S-plane
1
2
1
Im
1 2 n
Re
cos
Each complex conjugate pair

contributes a decaying
damped sinusoidal term to the
response.
The more the negative value of
the real part
, or the
farther away to the imaginary
axis from the left side, the more
rapidly the term decays to zero.
The angle the poles make
with the Real Axis determines
the damping ratio, the greater
the angle, the less the damping
ratio.
Complex conjugate poles on

the S-plane.
Aug-15
C6.5
Some Typical Responses

Stable systems
n 3, 1 / 3
Aug-15
C6.6

Stable systems
Aug-15
C6.7

Unstable systems
Aug-15
C6.8
Effect of Closed-loop Poles on Response

Matlab program
g2=tf([10], [1 10]);
[y, t] = step(g2);
plot(t,y,blue);
hold on
g1 =tf([1], [1 1]);
[y, t] = step(g1);
plot(t,y,red);
g3 =tf([10], [1 11 10]);
[y, t] = step(g3);
plot(t,y,black);
10
10
1
1
10
1
-10
10
-5
-5
Aug-15
C6.9
Effect of Closed-loop Poles on Response

G1 (s)
10
1
(s 10) (0.1s 1)
5
G3 ( s )
-10
G4 ( s )
-5
-5
Aug-15
G2 ( s )
10( s 1.1)
(0.909s 1)
1.1( s 1)( s 10) ( s 1)(0.1s 1)
10( s 4)
(0.25s 1)
4( s 1)( s 10) ( s 1)(0.1s 1)
10
1
( s 1)( s 10) ( s 1)(0.1s 1)
C6.10
Concepts of System Stability

A system (linear or non-linear) will be BIBO
(bounded input, bounded output) stable if,
for every bounded input, the output is
bounded for all time.
A linear time-invariant system must have all
poles in the left-half of the s-plane (with
negative real parts) to make the system
stable.
Im
Stable Unstable
Re
Region Region
If the poles lie on the imaginary axis, the

system is critically stable.
If any poles have positive real parts, the
system is unstable.
If the system is unstable, even in the absence
of any input, the output will grow without
bounds and becomes infinitely large as time
goes to infinity.
Aug-15
C6.11
Higher-Order System response

For a unit step input, we can re-write
in terms of partial fractions as

2
For simplicity, we assume that all the poles are distinct.

The time response will then be, by using the Inverse Laplace Transform

Where
and
are constants depends on
sin
,
1
and
For a stable response, the poles must all have negative real parts.
The response of a stable higher-order system thus comprises a sum of a
number of decaying exponential curves and decaying damped sinusoidal
curves together with a term dependent upon the input.
Aug-15
C6.12
Rouths Stability Criterion

A system is stable if all the roots of the systems characteristic
equation 1
0 or
0 have negative real parts.
The problem is if the characteristic equation is of an order higher than
two, it is not easy to find the roots. (other than some computational
software like MatLabTM, SciLabTM or OctaveTM.)
There is also a simple criterion, known as Rouths Stability Criterion
(sometimes known as the Routh-Hurwitzs Stability Criterion), which
enables us to find out the number of roots of the characteristic
equation that lie on the right-half of the s-plane and have positive real
parts, without solving the high-order polynomial equations.
Aug-15
C6.13

Procedure
1) Form the characteristic equation
0,
Example:
10
2) If any of the coefficients is negative or zero, the system

is not stable.
3) If all the coefficients are positive, there is still no
guarantee that all the roots have negative real parts. We
then form the Routh Array and use the Routh
Criterion to determine the number of roots with positive
real parts.
Aug-15
C6.14

Characteristic equation
Routh Array
,,
0,
0
.
.
.
Aug-15
C6.15

Routh Array
,,
0,
0
.
.
.
Aug-15
C6.16

Routh Array
,,
0,
0
Rouths Criterion states that the number of roots with positive real parts is
equal to the number of changes in sign of the coefficients in the first
column of the array.
Aug-15
C6.17

Example 1:
Determine the conditions for the following equation to have all the roots
with negative real parts.
0,
, , ,
0
Routh Array
If
0, then there is no sign change and there is no roots with
positive real parts.
If
0, then there are two sign changes. Therefore there are
two roots with positive real parts.
Aug-15
C6.18

Example 2:
Determine the conditions for the following equation to have all the roots
with negative real parts.
4
3
2
4
4 0,
0
Routh Array
1
3 2
2.5
4
2.5
2 4
2
2.5
2.5
2.5
3
2
2.4
4 4
-2.4
2.5
04
2.5
24
-0.267
44
There are 2 sign change, therefore 2 unstable pole.

Aug-15
C6.19

Special case 1
A zero value occurs in the first column of any row while the remaining
terms are not zero, or there is no remaining term.
Solution: The zero term is replaced by a small positive number and
the array is calculated accordingly.
Example
3
s 3 3s 2 s 3 0
Routh Array
A zero value: a pair of imaginary roots

A sign change: a root with a positive real part
s
s2
s1
1
3
s0
1
3
If the sign of the coefficient in the row above is the same as that below (as
in this case), then there are a pair of imaginary roots ( s aj ) .
If the sign of the coefficient in the row above is different from that below,
there are one sign change, which indicates a root with positive real part.
Aug-15
C6.20

Special case 2
If all the coefficients in a derived row are zero, it
means that there are roots of equal magnitude
located symmetrically about the origin. For
example, the characteristic equation have factors
such as ( s )( s ) or ( s j )( s j ) .
Im
Re
For such cases, one may form an auxiliary polynomial to take the place
of the all-zero row. The coefficients of this auxiliary polynomial is
obtained by taking the derivative of the polynomial above the all-zero
row.
Aug-15
C6.21

Special case 2 Example
s 5 2 s 4 24s 3 48s 2 25s 50 0

Note that because not all the coefficients are positive, this indicates
that there is at least one root with a positive real part.
Routh Array
s5
1 24 25
s4
2 48 50
s3
Use this as auxiliary

polynomial
New Routh Array
P ( s ) 2s 4 48s 2 50
P ( s ) 8s 3 96 s
s5
s4
1
2
24
48
s3
96
25
50
50
s2
24
0
s1 112.7
s0
50
There is one change in sign in the first column, which

means that there is one root with a positive real part.
Aug-15
C6.22
The End
Aug-15
C5.23

System Stability: Chapter Objective: - System Stability - Routh-Hurwitz's Stability Criterion

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Chapter 6

ME2142 Feedback Control Systems

Higher-order System Response

can also be written as, with

ME2142 Feedback Control Systems

Higher-order System Response

are constants depends on

ME2142 Feedback Control Systems

Higher-order System Response

Real pole on the S-plane.

Each real pole will contribute a term

ME2142 Feedback Control Systems

Higher-order System Response

Each complex conjugate pair

Complex conjugate poles on

ME2142 Feedback Control Systems

Some Typical Responses

ME2142 Feedback Control Systems

Some Typical Responses

ME2142 Feedback Control Systems

Some Typical Responses

ME2142 Feedback Control Systems

Effect of Closed-loop Poles on Response

ME2142 Feedback Control Systems

Effect of Closed-loop Poles on Response

1.1( s 1)( s 10) ( s 1)(0.1s 1)

4( s 1)( s 10) ( s 1)(0.1s 1)

( s 1)( s 10) ( s 1)(0.1s 1)

ME2142 Feedback Control Systems

Concepts of System Stability

If the poles lie on the imaginary axis, the

ME2142 Feedback Control Systems

Higher-Order System response

in terms of partial fractions as

For simplicity, we assume that all the poles are distinct.

are constants depends on

ME2142 Feedback Control Systems

Rouths Stability Criterion

ME2142 Feedback Control Systems

Rouths Stability Criterion

2) If any of the coefficients is negative or zero, the system

ME2142 Feedback Control Systems

Rouths Stability Criterion

ME2142 Feedback Control Systems

Rouths Stability Criterion

ME2142 Feedback Control Systems

Rouths Stability Criterion

ME2142 Feedback Control Systems

Rouths Stability Criterion

ME2142 Feedback Control Systems

Rouths Stability Criterion

There are 2 sign change, therefore 2 unstable pole.

ME2142 Feedback Control Systems

Rouths Stability Criterion

A zero value: a pair of imaginary roots

ME2142 Feedback Control Systems

Rouths Stability Criterion

ME2142 Feedback Control Systems

Rouths Stability Criterion

s 5 2 s 4 24s 3 48s 2 25s 50 0

Use this as auxiliary

New Routh Array

There is one change in sign in the first column, which