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Lecture15-15 14704 Lecture14-14 17822 RH Error PDF
Lecture15-15 14704 Lecture14-14 17822 RH Error PDF
As gain is increased
from 3 to 7, the
system becomes
unstable
• Methodology
o Construct a Routh table
o Interpret the Routh table: The sign of the entries of the
first column imbeds the information about the stability
of the closed loop system.
• it has two sign changes ( from 1 to -72 and from -72 to 103).
half plane .
H ( s) = 1
ADVANCED CONTROL SYSTEM DESIGN 24
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Stability analysis via Routh-
Hurwitz criterion
Closed loop transfer function:
C (s) G ( s) K
T ( s) = = = 3
R( s ) 1 + G ( s ) H ( s ) s + 18s 2 + 77 s + K
Routh Table:
Figure :
Steady-state error: a. step input b. ramp input
a. General Representation
E ( s) = R( s) − C ( s)
C ( s ) = R( s )T ( s )
E ( s ) = R( s )[1 − T ( s )]
E ( s) = R( s) − C ( s)
C ( s ) = E ( s )G ( s )
E ( s ) = R( s ) / (1 + G ( s ) )
5 5
e(∞) = eramp (∞) = = =∞
lim sG ( s ) 0
s →0
10 10
e(∞) = e parabola (∞) = 2
= = ∞.
lim s G ( s ) 0
s →0
ΔF / F
= lim
ΔP → 0 ΔP / P
P ⎛ ΔF ⎞ P ⎛ ∂F ⎞
= lim ⎜ ⎟ = ⎜ ⎟
ΔP → 0 F
⎝ ΔP ⎠ F ⎝ ∂P ⎠
Ramp input: R ( s ) = 1/ s 2
K a ⎛ ∂e ⎞ a ⎛1⎞
K v = lim sG ( s ) = Se:a = ⎜ ⎟ = ⎜ ⎟ =1
s →0 a e ⎝ ∂a ⎠ a / K ⎝ K ⎠
1 a K ⎛ ∂e ⎞ K ⎛ −a ⎞
e∞ ramp = = Se:K = ⎜ ⎟= ⎜ 2 ⎟ = −1
Kv K e ⎝ ∂K ⎠ a / K ⎝ K ⎠