Lecture5 Stabilitycriterion Routh Hurwitztest20oct08

EES42042
Fundamental of Control Systems

Stability Criterion – Routh Hurwitz
DR. Ir. Wahidin Wahab M.Sc.

Ir. Aries Subiantoro M.Sc.
2
Stability
A system is stable if for a finite input the
output is similarly finite
A system which is stable must have ALL its
poles in the left half of the s-plane
Figure 6.1
Closed-loop poles
and response:
a. stable system;
b. unstable system
Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 6.2
Common cause
of problems in
finding closed-loop
poles:
a. original system;
b. equivalent
system

Figure 6.3
Equivalent closed-
loop
transfer function

Routh-Hurwitz Stability 6
Criterion
This
is a means of detecting unstable poles
from the denominator polynomial of a t.f.
without actually calculating the roots.
Write the denominator polynomial in the following
form and equate to zero -
This is the characteristic equation.
a 0 s n + a1s n − 1 + a 2 s n − 2 +.....+ a n − 1s + a n = 0
Note that a n ≠ 0
i.e. remove any zero root
Criterion
If any of the coefficients is zero or negative in the

presence of at least one positive coefficient there
are imaginary roots or roots in the right half plane
i.e. unstable roots
Criterion
if all coefficients are + ve form the Routh Array
sn a0 a2 a4 a 6 .....
sn − 1 a1 a3 a5 a 7 .....
sn − 1 b1 b2 b3 b4 .....
sn − 2 c1 c2 c3 c4 .....
.
.
s2 e1 e2
s1 f1
s0 g1
Criterion
a1a 2 − a 0 a 3
b1 =
a1
a1a 4 − a 0 a5
b2 =
a1
a1a 6 − a 0 a 7
b3 =
a1
Criterion
b1a 3 − a1b2
c1 =
b1
b1a5 − a1b3
c2 =
b1
b1a 7 − a1b4
c3 =
b1
Criterion
This process is continued until the nth row is completed

The number of roots of the characteristic lying in the
right half of the s - plane (unstable roots) is equal to the
numbe rof sign changes in the first column of the Routh
array.
Table 6.1
Initial layout for Routh table
Table 6.2
Completed Routh table
Figure 6.4
a. Feedback
system for
Example 6.1;
b. equivalent
closed-loop
system

Table 6.3
Completed Routh table for Example 6.1

16
Example 2
Determine if the following polynomial has roots in the
right half of the s - plane
s 4 + 2s 3 + 3s 2 + 4s + 5 = 0
First two rows of Routh array formed from coefficients
s4 1 3 5
s3 2 4
17
Example 2
Form next row 2 × 3− 1× 4
1=
s4 1 3 5 2
3
s 2 4
s2 1 5
2 × 5− 1× 0
5=
2
18
Example 2
Form next row
s4 1 3 5
s3 2 4
1× 4 − 2 × 5
s2 1 5 −6=
1
s1 − 6
19
Example 2
Form next row
s4 1 3 5
− 6 × 5− 1× 0
s 3
2 4 5=
−6
s2 1 5
s1 − 6
s0 5
Note two sign changes therefore two roots in RHP

20
Example 3
Apply Routh' s criterion to the following polynomial

to determine the condition for the existence of stable
roots
a 0 s 3 + a1s 2 + a 2 s + a 3 = 0
21
Example 3
a0 s 3 + a1s 2 + a2 s + a3 = 0
→ Routh Array
s 3 a0 a 2
2
s a1 a3
1a1a2 − a0 a3
s
a1
0
s a3
22
Example 3
assuming all coefficients are positive the condition

for stable roots is that
a1a 2 > a 0 a 3
23
Routh Array - Special Cases

Case of a zero in the 1st column
For example
s 3 + 2s 2 + s + 2 = 0
Routh Array
s3 1 1 This presents a problem
s2 2 2 when we come to obtain the

s 0 4th row - divide by zero
24

Define a small + ve number ε and evaluate whole array
Routh Array
s3 1 1
s2 2 2
s ε
1 2
Note no sign change indicating roots on imaginary axis
25

Consider the polynomial
s 3 − 3s + 2
Routh array
s31 −3
Two sign changes therefore two
s 0≈ε
2
2
2 RHP roots
s −3−
1
ε
s0 2
Table 6.4
Completed Routh table for Example 6.2
Table 6.5
Determining signs in first column of a Routh table with
zero as first element in a row
Table 6.6
Routh table for Example 6.3
29

Case of a row of zeros
– roots of equal magnitude but opposite signs or
two conjugate imaginary roots
s5 + 2s 4 + 24s 3 + 48s 2 − 25s − 50 = 0
Auxiliary eqn.
s5
1 24 − 25 2s 4 + 48s 2 − 50 = 0
s4 2 48 − 50
s3 0 0
30

P( s) = 2s 4 + 48s 2 − 50 = 0
P ′ s = 8s + 96s
( ) 3
replace row with coeficients of P ′ ( s)

31

s5 + 2s4 + 24s3 + 48s 2 − 25s − 50 = 0
s5 1 24 − 25
s4 2 48 − 50
s3 8 96
s2 24 − 50 One sign change one root with +ve
s1 112.7 0 real part
s0 − 50
Table 6.7

Figure 6.5
Root positions
to generate even
polynomials:
A , B, C,
or any combination

Table 6.8
Table 6.9
Summary of pole locations for Example 6.5

Figure 6.8
Feedback
control system
for Example 6.8

Table 6.13

Table 6.14
Summary of pole locations for Example 6.5

39
Use of Routh Test

Routh test only tells us whether or not a
system is stable
does not give the DEGREE of stability
need to have closed loop characteristic
equation
– would be more convenient to work from open
loop t.f.

Lecture5 Stabilitycriterion Routh Hurwitztest20oct08

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EES42042

Fundamental of Control Systems

DR. Ir. Wahidin Wahab M.Sc.

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

If any of the coefficients is zero or negative in the

This process is continued until the nth row is completed

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Note two sign changes therefore two roots in RHP

Apply Routh' s criterion to the following polynomial

assuming all coefficients are positive the condition

Routh Array - Special Cases

s2 2 2 when we come to obtain the

Routh Array - Special Cases

Routh Array - Special Cases

Routh Array - Special Cases

Routh Array - Special Cases

replace row with coeficients of P ′ ( s)

Routh Array - Special Cases

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Use of Routh Test

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