ME211 Control System Engineering

Dr Syed Irtiza Ali Shah

Stability
REF: TEXTBOOK CHAPTER 6 (TCH6)

Lecture notes by Dr Syed Irtiza Ali Shah

Where we are
Last time
◦ Chapter 5: Reduction of multiple subsystems
◦ Block diagrams
◦ Block Diagram Reduction
◦ Equivalent transfer functions
◦ Reduction of State Space Systems
◦ Signal flow graphs
◦ Mason’s rule
Now
◦ Chapter 6: Stability
◦ Introduction, Definitions
◦ Creating a Routh table
◦ Stability via reverse coefficients
◦ Stability via Routh table with row of zeros
◦ Stability design via Routh Hurwitz

Lecture notes by Dr Syed Irtiza Ali Shah

 Introduction, Definitions
Stability (Recall Chapter 1: Lecture 2)
◦ Total response= natural + forced response; natural response must diminish to
almost zero with time
◦ A system must be stable in order to produce proper transient and steady state
response

Another definition: A system is stable if every bounded input yields a

bounded output
A stable system has closed-loop transfer function poles in left half
plane only
◦ Unstable system has at least one pole in right half or more than one pole on
imaginary axis
◦ A marginally stable system has one pole on imaginary axis and other poles in left
half

Lecture notes by Dr Syed Irtiza Ali Shah

 Response of stable/unstable systems

First find closed loop Transfer function

(Recall lecture 17)
C = G E (1) and E = R – C H (2)
(2) In (1) => C = G (R – C H)
=> C (1+GH) = G R
=> C/R = G / (1+GH)
For fig 6.1(a) C/R = 3 / (s3+3s2+2s+3)
Solve denominator using Matlab to get poles

Lecture notes by Dr Syed Irtiza Ali Shah

 Creating a Routh Table
Alternate technique to Matlab/Numerical/Factorization, finding closed loop poles to
check stability, is called Routh- Hurwitz criterion
Step 3
We first set up a Routh Table as follows
Step 1

Step 2

Routh Hurwitz Criteria of knowing Stability from

Routh Table:
No. of sign changes in 1st column = No. of poles
in right half plane

Lecture notes by Dr Syed Irtiza Ali Shah

Routh Table Example
Step 2

Note: You can divide any full row by any number e.g R2 was divided by 10

Step 3

Step 1 1

Routh Hurwitz Criteria =>2 poles in rt half =>unstable system

Reading Assignment
Skill Assessment Exercise 6.1

Lecture notes by Dr Syed Irtiza Ali Shah

Summary
We covered today:
◦ Chapter 6: Stability
◦ Introduction, Definitions
◦ Creating a Routh table

Next Time:
◦ Stability via reverse coefficients
◦ Stability via Routh table with row of zeros
◦ Stability design via Routh Hurwitz

Lecture notes by Dr Syed Irtiza Ali Shah