UEEA 3423 Control Systems

Chap 5 - Routh Hurwitz

stability criterion
Dr. Pei Song Chee
Email: cheeps@utar.edu.my
Room Location: KB Block, Level 3, GE37
FACULTY OF ENGINEERING AND SCIENCE
 UEEA 3423 Control Systems

Course Syllabus
1. Modeling a dynamic system
Covered
2. Calculating output as function of time
week 1−week 7
3. Transient Response of a system
4. Steady-state errors
5. Routh Hurwitz stability criterion
week 8−week 14
6. Root locus Part 2 (2 Questions) in
7. Frequency response (Nyquist and bode plot) Final Examination
8. State space

2
Chapter 5 Routh Hurwitz

Transient Response
Steady-state error
Stability
 Outline

1.0 Introduction of RH Table

2.0 How to construct a RH Table
3.0 Case study
3.1 Stable system
3.2 Unstable system
3.3 System with K variable
3.4 System with block diagram
3.5 Special Case (Zero)
4.0 Summary
 1.0 Introduction

j
stable unstable

Stable system have the poles are in the

left half of s plane, negative real part.
1.0 Introduction
 1.0 Introduction

Quadratic equation
1.0 Introduction
 2.0 Procedure for R-H Table

(take the denominator of closed loop transfer function)

Vertically
Label the row with power of s
from highest power until S0
2.0 Procedure for R-H Table
2.0 Procedure for R-H Table
 Example 3.1

Based on what you learn, try with the example below:

(closed loop)

Since we are interested in the system poles, hence

only focus on denominator
Example 3.1
Example 3.1
Example 3.1

R-H Table

28 80
Example 3.1

R-H Table

28 80
73.14
Example 3.1
 Example 3.2

(closed loop)

Now, do it yourself, what is the first step you

should do?
Example 3.2
Example 3.2
Example 3.2
 Example 3.3

Construct R-H Table yourself!!!

Example 3.3
 Example 3.3

Verification

Positive pole
Example 3.4
 Example 3.4

Construct your RH Table

 Example 3.4

Verification using Matlab

 R-H Criterion: Special case

For example:

R-H Table
S5 1 6 8
S4 7 42 56
S3 0 0 0

S2
 R-H Criterion: Special case

Two special cases can occur:

1. First column zero.
2. Entire row of zero.

For the case: First column zero

Determine the number of poles of the closed loop transfer function, T (S).

(s+2) (s-3)

S5 + 2S4 + 3S3 +6S2 +5S+3

 R-H Criterion: Special case

(s+2) (s-3)

S5 + 2S4 + 3S3 +6S2 +5S+3

Replace the
zero by a small
R-H Table number, a

S5 1 3 5
S4 2 6 3
S3 a 0 7/2 0
S2 6a-7 3 0
a
S1 42a-49-6a2 0 0
12a-14
S0 3 0 0
 R-H Criterion: Special case

Evaluate the sign change, by making “a” as positive or negative.

S5 1 + +
S4 2 + +
S3 a + -
S2 6a-7 - +
a
S1 42a-49-6a2 + +
12a-14
S0 3 + +

For +ve/-ve, sign changes from S3 to S2 and, S2 to S1.

Conclusion: Hence, system unstable with two poles in the right hand plane.
 R-H Criterion: Special case

Case 2. Entire row of zero.

Determine the number of right-half-plane poles in a close loop
transfer function.

S5 1 6 8
S4 7 42 56
S3 0 0 0
S2
S1
S0
 R-H Criterion: Special case

S5 1 6 8
S4 7 42 56
S3 40 120 0
S2 21 56 0
S1 28/21 0 0
S0 56

What you should do? P(s) =s4 + 6s2 +8

1. Return to the row above the row of zero.
2. Take the polynomial form. dP(s) 3
3. Differentiate the polynominal with respect to s. ds =4s + 12s
4. We use coefficient to replace row of zero.
Hence, no right-half poles.
 Summary

What you have learn in this chapter:

1. How to construct a R-H Table.
2. Example on:
Unstable system
System with K variable
System with block diagram
Special Case (Zero)
3. R-H Table is to access the stability without telling you the exact location of
the poles.

How about in examination? Which part it will be covered?

It will be covered in both Q1 and Q2 for part B, couple with Root Locus (next
chapter).
End