Laboratory Exercise No.

8
Stability Analysis of Dynamic Systems

1. Objective:
The activity aims to analyze the stability of a dynamic system.

2. Intended Learning Outcomes (ILOs):

The students shall be able to:
2.1 analyze the stability of a dynamic system.

3. Discussion:
When a system is unstable, the output of the system may be infinite even though the input to the
system was finite. This causes a number of practical problems. For instance, a robot arm controller that is
unstable may cause the robot to move dangerously. Also, systems that are unstable often incur a certain
amount of physical damage, which can become costly. Nonetheless, many systems are inherently unstable
- a fighter jet, for instance, or a rocket at liftoff, are examples of naturally unstable systems. Although we
can design controllers that stabilize the system, it is first important to understand what stability is, how it is
determined, and why it matters.
The system is assumed to be linear, and can be represented either by a set of transfer functions.
Linear systems have an associated characteristic polynomial, and this polynomial tells us a great deal
about the stability of the system. Negativeness of any coefficient of a characteristic polynomial indicates
that the system is either unstable or at most marginally stable. If any coefficient is zero/negative then we
can say that the system is unstable. It is important to note, though, that even if all of the coefficients of the
characteristic polynomial are positive the system may still be unstable.
When the poles of the closed-loop transfer function of a given system are located in the right-half of
the S-plane (RHP), the system becomes unstable. When the poles of the system are located in the left-half
plane (LHP) and the system is not improper, the system is shown to be stable. A number of tests deal with
this particular facet of stability: The Routh-Hurwitz Criteria, the Root-Locus, and the Nyquist Stability
Criteria all test whether there are poles of the transfer function in the RHP.

A dynamic system has one of the following stability properties:

• Asymptotically stable system. The behavior after an impulse is shown below:

• Marginally stable system. The behavior after an impulse is shown below:

 • Unstable system. The behavior after an impulse is shown below.

The poles is important when analysis the stability of a system. The figure below gives an overview of the
poles impact on the stability of a system:

Thus, we have the following:

Asymptotically stable system:

Each of the poles of the transfer function lies strictly in the left half
plane (has strictly negative real part).

Marginally stable system:

 One or more poles lies on the imaginary axis (have real part equal
zero), and all these poles are distinct. Besides, no poles lie in the right
half plane.

Unstable system:

At least one pole lies in the righthalf plane (has real part greater than
zero).

Or: There are multiple and coincident poles on the imaginary axis.

4. Resources:
Matlab

5. Procedure:
1. For the transfer functions as shown below, determine its poles, pzplot and stability properties as
asymptotically stable system, marginally stable system and unstable system.

a
 b

2. Given the following feedback system:

The transfer function of the process is :

The transfer function for the measurement/sensor is:

The transfer function for the controller is:

Use three (3) different values for Kp

Determine poles , pzplot, and step response for the feeback system. Is the system asymptotically
stable, marginally stable system or unstable (for the 3 different values of Kp) ?

3. Given the following control system:

The transfer function for the process (including measurement) is:

The transfer function for the controller is:

Use three (3) different values for Kp

Define the stability properties of this process (is the process stable or not?).
4. Determine the stability properties of each of the following system
4a

4b
4c

4d

4e

4f Consider the ff. feedback control system:

Where : H1 =
H2 =
H3 =
G1 =
G2 =
G3 =
 G4 =
Hint:

4g Consider the ff. feedback control system:

where :
H2 = 2
H3 = 3
G1 =
G2 =
G3 =

4h Given the block diagram:

where: b1 = 1
b2 = 2
b3 = 3
a1 = 3
a2 = 2
a3 = 1
Course: ECE 006 Laboratory Exercise No.: 8
Group No.: Section: CH42FB1
Group Members: Date Performed: March 02, 2020
ALFARO, CLARISSA S. Date Submitted: March 09, 2020
Instructor: Engr. Crispulo G. Maranan

6. Data and Results:

Procedure 1a

Transfer Function

Poles p = -1

pzplot

Stability Properties Asymptotically stable

Procedure 1b

Transfer Function

Poles p = 0x1 empty double column vector

 pzplot

Stability Properties Unstable

Procedure 1c

Transfer Function

Poles p = 0x1 empty double column vector

pzplot

Stability Properties Unstable

 Procedure 1d

Transfer Function

Poles p=1
pzplot

Stability Properties Unstable

Procedure 2 for Kp= 1

Transfer function of the feedback system

Poles p=
-1.7549 + 0.0000i
-0.1226 + 0.7449i
-0.1226 – 0.7449i
 Pzplot

Step Response

Stability Properties Asymptotically stable

Procedure 2 for Kp= 2

Transfer function of the feedback system

Poles
p=
-2.0000 + 0.0000i
0.0000 + 1.0000i
0.0000 – 1.0000i
 Pzplot

Step Response

Stability Properties Asymptotically stable

Procedure 2 for Kp= 4

Transfer function of the feedback system

Poles
p=
-2.3146 + 0.0000i
0.1573 + 1.3052i
0.1573 – 1.3052i
 Pzplot

Step Response
 Stability Properties Asymptotically stable

Procedure 3 for Kp= 1

Transfer function of the feedback system

Poles
p=
-2

Pzplot

Step Response

Stability Properties Asymptotically stable

Procedure 3 for Kp= 2

Transfer function of the feedback system

Poles
p=
-4

Pzplot
 Step Response

Stability Properties Asymptotically stable

Procedure 3 for Kp= 4

Transfer function of the feedback system

Poles
p=
-8

Pzplot

Step Response
 Stability Properties Asymptotically stable

Procedure 4a

Transfer function of the overall system

Poles
p=
-1.0000 + 0.0000i
-0.5000 + 0.8660i
-0.5000 – 0.8660i

Pzplot

Step Response

Stability Properties Asymptotically stable

Procedure 4b
Transfer function of the overall system

Poles
p=
-1.5437 + 0.0000i
-0.2282 + 1.1151i
-0.2282 – 1.1151i
Pzplot

Step Response

Stability Properties Asymptotically stable

Procedure 4c
Transfer function of the overall system

Poles
p=
0.3333
-0.3333
Pzplot
 Step Response

Stability Properties Asymptotically stable

Procedure 4d

Transfer function of the overall system

Poles
p=

-0.8702
-0.2298

Pzplot

Step Response
 Stability Properties Asymptotically stable

Procedure 4e

Transfer function of the overall system

Poles
p=
-0.2000

Pzplot

Step Response

Stability Properties Asymptotically stable

Procedure 4f

Transfer function of the overall system

 Poles p=
4.1425
-3.0012
-2.0473
-0.9530
2.5534
2.2648
1.0408
Pzplot

Step Response

Stability Properties Asymptotically stable

Procedure 4g
Transfer function of the overall system

Poles p=
5.6920
5.3569
0.9511
Pzplot

Step Response

Stability Properties Stable

Procedure 4h

Transfer function of the overall system

Poles
Pzplot
Step Response
Stability Properties
7. Conclusion:

I therefore conclude that Stability Analysis and Dynamic Systems helps me to understand how things work
in matlab. Also, stability theory addresses the stability of solutions of differential equations and of
trajectories of dynamical systems under small perturbations of initial conditions. With this exercise I am able
to know and to learn how thus dynamic system go.

8. Assessment (Rubric for Laboratory Performance):

TECHNOLOGICAL INSTITUTE OF THE PHILIPPINES
RUBRIC FOR MODERN TOOL USAGE
(Engineering Programs)
Student Outcome (e): Use the techniques, skills, and modern engineering tools necessary for engineering
practice in complex engineering activities.
Program: Chemical Engineering Course: ECE 006 Section: CH42FB1 2nd Sem SY: 2019 – 2020
 Performance Unsatisfactory Developing Satisfactory Very Satisfactory Score
Indicators 1 2 3 4
1. Apply Fails to identify Identifies Identifies modern Recognizes the
appropriate any modern modern techniques and is benefits and
techniques, techniques to techniques but able to apply constraints of
skills, and perform fails to apply these in modern
modern discipline- these in performing engineering tools
tools to specific performing discipline-specific and shows
perform a engineering discipline- engineering task. intention to apply
discipline- task. specific them for
specific engineering engineering
engineering task. practice.
task.
2. Demonstrat Fails to apply Attempts to Shows ability to Shows ability to
e skills in any modern apply modern apply fundamental apply the most
applying tools to solve tools but has procedures in appropriate and
different engineering difficulties to using modern effective modern
techniques problems. solve tools when solving tools to solve
and modern engineering engineering engineering
tools to problems. problems. problems.
solve
engineering
problems.
3. Recognize Does not Recognizes Recognizes the Recognizes the
the benefits recognize the some benefits benefits and need for benefits
and benefits and and constraints of and constraints of
constraints constraints of constraints of modern modern
of modern modern modern engineering tools engineering tools
engineering engineering engineering and shows and makes good
tools. tools. tools. intention to apply use of them for
them for engineering
engineering practice.
practice.
Total Score
Mean Score = (Total Score / 3)
Percentage Rating = (Total Score / 12) x 100%
Evaluated by:
Engr. Crispulo G. Maranan March 09, 2020
Printed Name and Signature of Faculty Member Date