Lecture5 Stabilitycriterion Routh Hurwitztest20oct08

EES42042
Fundamental of Control Systems
Stability Criterion Routh Hurwitz

DR. Ir. Wahidin Wahab M.Sc.
Ir. Aries Subiantoro M.Sc.
Stability
A
system is stable if for a finite input the

output is similarly finite
A system which is stable must have ALL its
poles in the left half of the s-plane
Figure 6.1
Closed-loop poles
and response:
a. stable system;
b. unstable system
Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright 2004 by John Wiley & Sons. All rights reserved.
Figure 6.2
Common cause
of problems in
finding closed-loop
poles:
a. original system;
b. equivalent
system

Figure 6.3
Equivalent closedloop
transfer function

Routh-Hurwitz Stability
Criterion
This
is a means of detecting unstable poles

from the denominator polynomial of a t.f.
without actually calculating the roots.
Write the denominator polynomial in the following
form and equate to zero This is the characteristic equation.
a 0 s n + a1s n 1 + a 2 s n 2 +.....+ a n 1s + a n = 0
Note that a n 0
i.e. remove any zero root
Criterion
If any of the coefficients is zero or negative in the
presence of at least one positive coefficient there
are imaginary roots or roots in the right half plane
i.e. unstable roots
Criterion
if all coefficients are + ve form the Routh Array
sn
a0
a2
a4
sn 1
a1
a3
a5 a 7 .....
sn 1
b1
b2
b3 b4 .....
sn 2
.
c1
c2
c3 c4 .....
.
s2
e1 e2
s1
f1
s0
g1
a 6 .....
Criterion
a1a 2 a 0 a 3
b1 =
a1
a1a 4 a 0 a5
b2 =
a1
a1a 6 a 0 a 7
b3 =
a1
Criterion
b1a 3 a1b2
c1 =
b1
b1a5 a1b3
c2 =
b1
b1a 7 a1b4
c3 =
b1
10
Criterion
11
This process is continued until the nth row is completed

The number of roots of the characteristic lying in the
right half of the s - plane (unstable roots) is equal to the
numbe rof sign changes in the first column of the Routh
array.
Table 6.1
Initial layout for Routh table
Table 6.2
Completed Routh table
Figure 6.4
a. Feedback
system for
Example 6.1;
b. equivalent
closed-loop
system

Table 6.3
Completed Routh table for Example 6.1

16
Example 2
Determine if the following polynomial has roots in the
right half of the s - plane
s 4 + 2s 3 + 3s 2 + 4s + 5 = 0
First two rows of Routh array formed from coefficients
s4 1
s3 2
17
Example 2
Form next row
s4 1
s
s2 1
2 3 1 4
1=
2
2 5 1 0
5=
2
18
Example 2
Form next row
s4 1
s3 2
s2 1
s1 6
5
1 4 2 5
6=
1
19
Example 2
Form next row
s4 1
s
s2 1
6 5 1 0
5=
6
s1 6
s0 5
Note two sign changes therefore two roots in RHP
20
Example 3
Apply Routh' s criterion to the following polynomial
to determine the condition for the existence of stable
roots
a 0 s 3 + a1s 2 + a 2 s + a 3 = 0
21
Example 3
a0 s 3 + a1s 2 + a2 s + a3 = 0
Routh Array
s 3 a0 a 2
2
s a1 a3
a1a2 a0 a3
s
a1
1
s a3
22
Example 3
assuming all coefficients are positive the condition
for stable roots is that
a1a 2 > a 0 a 3
23
Routh Array - Special Cases

Case
of a zero in the 1st column
For example
s 3 + 2s 2 + s + 2 = 0
Routh Array
This presents a problem
s3 1 1
s2 2
s 0
when we come to obtain the

4th row - divide by zero
24

Case
of a zero in the 1st column
Define a small + ve number and evaluate whole array

Routh Array
s3 1 1
s2 2
s
1 2
Note no sign change indicating roots on imaginary axis
25

Case of a zero in the
Consider the polynomial
1st column
s 3 3s + 2
Routh array
3
s31
s 0
2
s 3
1
s0 2
2
2
Two sign changes therefore two

RHP roots
Table 6.4
Completed Routh table for Example 6.2
Table 6.5
Determining signs in first column of a Routh table with
zero as first element in a row
Table 6.6
Routh table for Example 6.3
29

Case
of a row of zeros
roots of equal magnitude but opposite signs or

two conjugate imaginary roots
s5 + 2s 4 + 24s 3 + 48s 2 25s 50 = 0
Auxiliary eqn.
5
24
25
s4
48
50
s3
2s 4 + 48s 2 50 = 0
30

Case
of a row of zeros
P( s) = 2s 4 + 48s 2 50 = 0
3
(
)
P s = 8s + 96s
replace row with coeficients of P ( s)
31

Case
of a row of zeros
s5 + 2s4 + 24s3 + 48s 2 25s 50 = 0

s5
24
25
s4
48
50
s3
96
s2
24
50
s1
112.7
s0 50
One sign change one root with +ve

real part
Table 6.7

Figure 6.5
Root positions
to generate even
polynomials:
A , B, C,
or any combination

Table 6.8
Table 6.9
Summary of pole locations for Example 6.5

Figure 6.8
Feedback
control system
for Example 6.8

Table 6.13

Table 6.14
Summary of pole locations for Example 6.5

39
Use of Routh Test

Routh
test only tells us whether or not a

system is stable
does not give the DEGREE of stability
need to have closed loop characteristic
equation
would be more convenient to work from open
loop t.f.

Lecture5 Stabilitycriterion Routh Hurwitztest20oct08

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EES42042

Fundamental of Control Systems

Stability Criterion Routh Hurwitz

system is stable if for a finite input the

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

is a means of detecting unstable poles

This process is continued until the nth row is completed

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Note two sign changes therefore two roots in RHP

Routh Array - Special Cases

of a zero in the 1st column

when we come to obtain the

Routh Array - Special Cases

of a zero in the 1st column

Define a small + ve number and evaluate whole array

Note no sign change indicating roots on imaginary axis

Routh Array - Special Cases

Two sign changes therefore two

Routh Array - Special Cases

roots of equal magnitude but opposite signs or

Routh Array - Special Cases

replace row with coeficients of P ( s)

Routh Array - Special Cases

s5 + 2s4 + 24s3 + 48s 2 25s 50 = 0

One sign change one root with +ve

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Use of Routh Test

test only tells us whether or not a

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