National Taipei University

College of Electrical Engineering and Computer Science

Department of Electrical Engineering

Control
Hooman Samani

Chapter 6

STABILITY

1
 What is a STABLE SYSTEM?

2
 https://www.youtube.com/watch?v=M7FIvfx5J10

3
 Producing the desired Transient Response
and
Reducing Steady-State Error
are two main goals in design of a control system.

Another important objective is reaching STABILITY

4
 Force

Unstable

Neutral

Stable

5
 Unstable

Neutral

Stable

6
 Unstable

Neutral

Stable

7
Transient response stability
•c(t) = c_forced(t) + c_natural(t)

• Definitions
• stable : natural response 0, t infinity
• unstable : natural response infinity, t infinity
• marginally stable : natural response constant or oscillate
• The definition of stability implies that only the forced response
remains as the natural response approaches zero.
• BIBO definition of stability : a systems is stable if every bounded
input yields a bounded output
• Stable systems have closed-loop transfer functions with poles
only in the left half-plane
Poles

9
Transient response stability

Closed-loop poles
and response:
a. stable system;
b. unstable system
How to check the location of the poles?

Pole tests

Routh-Hurwitz Nyquist Stability

Root-Locus
Criteria Criteria

Chapter 6 Chapter 8 ,9 Chapter 10

11
Poles

Second order P2 ( s )  s 2  a1s  a0  ( s  p1 )( s  p2 )

 s 2  ( p1  p2 ) s  p1 p2

P2 ( s )  s 3  a2 s 2  a1s  a0  ( s  p1 )( s  p2 )( s  p3 )
Third order
 s 3  ( p1  p2  p ) s 2  ( p1 p2  p1 p3  p2 p3 ) s  p1 p2 p3
We see that the coefficients of the polynomial are given by:
an 1  negative of the sum of all roots.
an  2  sum of the products of all possible combinations
of roots taken 2 at a time.
an 3  negative of the sum of the products of all
possible combinations of roots taken 3 at a time.


 • Suppose that all the roots are real and on the left half plane, then all
coefficients of the polynomial are positive.
• If all the roots are real and in the left half plane then no coefficient
can be zero.
• The only case for which a coefficient can be negative is when there
is at least one root in the right half plane.

14
 The above is also true for complex roots.
1) If any coefficient is equal to zero, then not all roots are
in the left half plane.
2) If any coefficient is negative, then at least one root is in
the right half plane.
3) The converse of rule 2) is not always true.

 Example:

P( s )  s 3  s 2  2 s  8  ( s  2)( s 2  s  4)
all coefficients are positive. But two roots
(complex) are in the right half plane.
Routh-Hurwitz criterion

• stability information without the need to solve for the closed-loop

system poles
• can know how many closed-loop system poles are
 in the left half plane
 in the right half plane
 on the imaginary axis
Routh-Hurwitz criterion

• The method requires two steps

1. generate Routh table
2. interpret Routh table
 Routh-Hurwitz criterion

Equivalent closed-loop
transfer function

Initial layout for Routh table

 Routh-Hurwitz criterion

Completed Routh table

Example
Creating a Routh table

Completed Routh table

Special case 1 : Zero only in the first column
Stability via reverse coefficients
Special case 2 : Entire row is zero
Root positions
to generate even
polynomials:
A , B, C,
or any
combination
Pole distribution via Routh table with row of zeros
Pole distribution via Routh table with row of zeros
Summary of pole locations
Example
Routh
Example
Routh table
Alternative Routh table
Example: Feedback control system
Routh table
Summary of pole locations
Design Example: Tracked Vehicle Turning Control
Problem statement: Design the turning control for a tracked vehicle. Select K
and a so that the system is stable. The system is modeled below.
Design Example:Tracked Vehicle Turning Control

The characteristic equation of this system is:

1  Gc G( s ) 0

or
K( s  a)
1 0
s ( s  1) ( s  2) ( s  5)

Thus,
s ( s  1) ( s  2) ( s  5)  K( s  a) 0

or
4 3 2
s  8s  17s  ( K  10)s  Ka 0
To determine a stable region for the system, we establish the Routh array as:
s4 1 17 Ka
s3 8 ( K  10) 0
s2 b3 Ka
s1 c3
s0 Ka
where
126  K b 3( K  10)  8Ka
b3 and c3
8 b3
Design Example:Tracked Vehicle Turning Control

s4 1 17 Ka
s3 8 ( K  10) 0
s2 b3 Ka
s1 c3
s0 Ka

where
126  K b 3( K  10)  8Ka
b3 and c3
8 b3

Therefore,
K  126

K a  0

( K  10) ( 126  K)  64Ka  0

System Stability Using MATLAB
System Stability Using MATLAB
System Stability Using MATLAB
System Stability Using MATLAB
Case study: Antenna

http://www.wiley.com/college/nise/0471794759/swf/AntenaChap6.swf

43