4.

3. Ifany coeficienta,
is negative then atleast one root is
is in
in t
the. right half of
Contral fby
It can be concluded that the absence or negativeness of any of the o
s-play
polynomial indicates that
the system is ether unstable or at most mare coefñcients ofî a
conditionfor stability ofthe system is that all the coefficients ofits characterist polynomig
Thus able. Thus tthe ne
Ifany coefficient is zero/negative, we can immediately say that the system is unsto"nial
In order for all the roots to have negative real parts, it is necessary that
characteristic equation be positive, but it is not suftticient, because there mav all
.

plane and/or on the imaginary axis, even when coefficients are

positive.( i.e.. wha
real part, then all the coefficients of characteristic polynomial wil! the ri
will be s have ne
is not true always). positive, but the reve
always true

Roots with negative real part. All coefficients positive.

not always true

Hence, when all the coefficients
may be roots in the right half
are
positive, the
system may or may not be
plane and/or on the imaginary axis.
stable, becauset
For example, consider the
characteristic polynomial with all
positive coefficients,
s+s+2s+8=0.
The characteristic polynomial can be
written as,

s+3+)-(6+2-5-
Now the roots
are,
0

-2
The coefficients of the
lie on on
right half of s-plane,polynomial are all positive, but two roots havepositive real partandso
therefore the system is posiuve
4.3 ROUTH HURWITZ unstable.
The CRITERION
roots of a Routh-Hurwitz stability criterion is an
polynomial have negative all

The first real part or not. analytical procedure for ar

step in
necessary condition for analysing the stability of
coeficients are zero or stability is that all the system is to examine
quation

a
examine its characte Some
o

it coefficients
When all the negative can be concluded that the ihe polyno
of hebe positive.
lynomial
coefficients are
coefficients are positive, syst is not stable.
system
In
of order
some of positive, the Stable. Eventhoup

roots to have the roots may lie onsystem

for all the imaginary3
the
then characteristic
the system mayequation
quation be
negative real
he right half of
parts, it is necessary Duut not
or on tne
s-plasuficient that al
wtinn

of stability. be stable positive. If all

poa
all the are

coeffio cond
7ualion

and one
should coefficients of the charad acteristic

rther chae
proceed further sufficicnt
to
o exarmine
the
 h a p t e r4 -
Stabilin
ability and Compensator Design
ms 4.9
and E.J. Ro Routh independently
A.
urwitz
published the method of
sVstem. The Hurwitz criterion
of ab
stability
ofa
a

formulation. The Routh

is in terms of investigating the sufficient
stic
anditions
farray stability criterion is determinants and Routh criterion
s
presented here.
TheRouth sctohility criterion is based on
ve lo called
called the
ordering the
Routh array as shown below. coeficients of the characteristic
sehedule, equation, into
of ta,s+
a,s+ a.sh+...a_S+a,=0, where a, >0,
half
Ve
S a
10n s-

b b b b
Co C C2

ere
The Routh stability criterion can be stated as follows.
"The necessary and sufficient condition
for stability is that all of the elements in the first column
fthe Routh array be positive. If this condition is not met, the system is unstable and the number of
sign changes in the elements of the first column of the Routh array corresponds to the number of roots
gthe characteristic equation in the right half of the s-plane".
t and +. Then + 1o - is considered
Note:fthe order ofsign offrst column element is +, t,
one sign change and -

1o + as another sign change.

CONSTRUCTION OF ROUTH ARRAY
Let the
characteristic polynomial be,
5a,s- +a,s-2 +a,s- +.+ a,s+a,s
The
COefficients of the polynomial are arranged in two rows as shOwn below

S
a ay as
coefficients of even
When isn of even order
terms (i.e.,
powers of ) and even, the
coefficients
st row is formed by
(i.e., coeficients of odd
powers of s).
s- y 1S Tormed by coeficients of odd order
terms

ofodd powers
s) andWhen
coefficients
en nis odd, the s" row is formed by order terms (i.e.,
coefficients of odd
coefficients of even powers ofs).
S row
st row order terms(i.e.,
cd
by coefficients of e v e n of
The other r procedure. Each row

Routh rows of routh be formed by the following

5 array is loh array upto s° r o w can
uth array roWS.
constru
ed
by using the elements of previous
two

Consider two Onsecutive rows of Routh array as

shown below.
4. 10

s Control Sy
s y, Y, Y, Y, Y, Ys
Let the next row be,
S-x-2

The elements of s* row are given by,

-1X
Zo -

Yo Yo

Z
Yo
YoX-YXo
Yo

Yo
YsYo-Y
Yo
-1oKg
Z Yo YaYoX=Y4Xo
Yo Yo
(-1oXs|

Z4 yo YoYoXs
Yo Yo
Yso and so on.
The elements
z, Z, z,, Zq... are
computed for all possible computations as shown above.
in the
process of a Also, all
clements of any constructing
be row can
Routh array the missing
terms are considered as
multiplied or divided by a positive constant ze ational wor
to simplify the
in the
construction of Routh compa
array one may come across the
Case- Normal Routh following three es ases.

array (Non-zero elements in the

Case-II : Arow of all first column of routn aieay)
zeros.
Use-ill First element of a row is
Case-I: Normal zero but some or other elements are no
routh array
in this
case, there
explained above. The is no
difficulty in forming b e construct

sign changes are noted to find therouth array. The routn a spa
and the of
stability of the system can be number of'roots the right
half

In this case, estimated. roots lying

iy5
on

. If there is no
half of sign change in the first are
lying

s-plane and the colum

imn of Routh
array then all the
roots

2. If
there is system is stable.
sign change in the
u n s t a b l ed

first column
umn of routh array, then the system
of r
 d SYability,and
compensator
Design
stability 4. 11

Iving on the right halt of s-plane is equal to munmder of

mamber of' sign changes. The
roots are ly1ng on the lett halt of s-plane.
remaining r0ots,

zeros
all
ll:A
rowef
row
indicates the existence ot an even polynomal as a factor ot the given characteristie
zero
all
An nalnomial the exponents of S are even integers or zero only. This even polynomial
polynor
even
In an
t. ial. The
called auxiliary polynomial coetticients of the auxiliary polynonmial will abvays be the
above the row ofzeros in the array
row. directly
mets otthe
rots of an even polynon oceur in pairs that are equal in magnitude and opposite in sign.
purely imaginary. purely real or complex. The purely imaginary and purely real
c a n be p
theseroots
sArur
in irs. The complex roots occur in groups of four and the complex roots have qmadrantal
tis the roots are
UeUr), thari
mmetrical with respect to both the real and inmaginary anes. The tig 4.1
roots of an even
polynomial.
as the
A
X X

Fig 4.1: The roots ofan even pohnomial

two methods.
he case-ll polynomial can be analyzed by any one ot the following
ETHOD-1
Determine the auxiliary polynomial, A(s)
Ditrerentiate the auxiliary polynomial with respeet
to s, to get d A(S) ds
of dA(s) ds.
h e row
of zeros is replaced with coeficients manner (as that of
case-l ) and the amay is
in the usual
e the construction of the array
nterpreted as follows. then the system is unstable
of routh amay mamber
in the first column The
If th ere are sign changes
is equal to of sign changes.
on right half of
s-plane polynomual.
m b e r ofroots lying be estimated trom the roots of anxiliary
imaginary axis can
Der ofroots on half of s-plane.
on the left
remaining roots are lying
row
C the all zeros
array then
first column of routh
changes in the is limitedly or mangimally
a r e no sign roots and so the system
mots lies
purely imaginary axis and the remaining
Cate the existence of lies on imagimary
Stable. roots auxiliary equation
of
e
on left half of
ME THOD-2 s-plane.

temine the xiliary polynomial. .

.

Divide the Characteristic

char:
C eguation by
auxiliary polynonmial.
 4.12 coefficients of quotient polynomial
the
Routh array using
Construct
3. follows.
as
interpretted
The array is routh array of quotient polun.
lvina ynomial then
4.
first column of
Ifthere are sign
changes in the
roots of quotient polynomial on
.

system is
unstaðle. The number of
in first column of routh arrau
righthalf a
number of sign changes
s-plane is given by
are directly calculated to
arc whether thethey
find whether
pare
The roots of auxiliary polynomial
or complex.
or purely real
imaginary
The total number of roots on right half of s-plane is given by the sum of number of sia
of roots of auxiliary polynomial with positive real nad1
changes and the number
number ofroots on imaginary
axis can be estimated from the roots of auxiliary nolun
left half of s-plane.
The remaining roots are lying on the
If there is no sign change in the first column of routh array of quotient polynomial then t
b.
or marginally stable. Since there
is no sign change all the roos d
system limitedly
is
quotient polynomial are lying on the left half of s-plane.
The roots of auxiliary polynomial are directly calculated to find whether they are pureh

imaginary purely
or real or complex.The number of roots lying on imaginary axÍs anda
the right half of s-plane can be estimated from the roots of auxiliary polynomial.
remaining roots are lying on the left half of s-plane.

.Case-ll: First element ofa row is zero

While constructing routh array, ifa zero is encountered as first element of a row then all neeement
ofany
of the next
will be infinite. To overcome this problem let 0-e and complete the construction
row

in the usual way (as that of case-I )

Finally let E0 and determine the values of the elements of the array which are
:of
The resultant array is
lu
interpreted as follows.
Note:
f al the elements of a row are zeros then the solution is attemplea uy edasan
polynomial as case-Ul polynomial. Even if there is a single element zero on s' row, il o
of all zeros.
wil.
a. f there is no
sign change in first column of routh array and T re is no
row

zeros, then all the roots o

b. f
are
lyingon left half of and the system is
s-plane allze
there are
sign changes in first column of row
with a
:TR

then some routh array and n S no

of the roots are lying on the Changes3

number of roots right half of s-plane ana u
lying on the right half of
the
remaining roots are lying on s-plane is equal o
the left half of
C. If there is a
row of all
s-plane. T o o s

o
imaginary axis. Determinezeros after letting E0, possibility egualn

the
e0, then there is a S t c

7avi sconstru
by auxiliary auxiliary polynomial
auxiliary charactern
polynomial and divide
polynomial to eliminate the maginary roots. The routharray
using the coefficients
and the

as of
quotient imaginary roots. is
inte

equatio
n

explained in method-2 of polynomialnomial and the charact equatio cteristic

case-Il cna
polynomial.
 r 4 - 4
tability and Compensator Design
4. 13
APLE
4.1
uth
n
criterion, determine
determine the stability ot the system
Comment on the location of the roots of represented by the
characteristic equation,
6s5 0. characteristic equation.
U T O N

"e characteristic equation of the sysiem is, s+8s +18s?+16s +5 = 0

chaacteristic equation is 4 order equation and so t has 4 roots. Since the

s the first fow of routh array using tne coemicients of even powers of s and
highest power of s is even
form the second row using the
powers of s.
oets dfodd
18 . Row-1 s2: 1x18-2x1 1x5-0x1
8 16 . . Row-2 s2 16 5
The lements of s' row can be divided by 8 to simplify the
s: 16x2-5x1
Toations 16

s: 1.6875 1.7
18 5 . Row-1
s: 1/x5-0x 16
2 .Row-2 1.7
16 5 .Row-3 s: 5

1.7 Row-4

. Row-5

Column-1
On e that all the elements are positive and

s
g the elemnts offirst column of routh array it is observed
no sign change. Hence all the oots are lying on the left half of s-plane and the system is stable

RESULT
Stable system
Ait the four roots are
lying on the left half of s-plane.
LAMPLE 4.2 is
characterisitc equation
whose
nstruct Routh array and determine the stability
of the system left half of s-plane
y on right
half of s-plane,
12s3420a2 of roots lying
n imacinary axis.2+16s+16-0. Also deter
ermine the
number

AUTION
* 0.
hecharacteristic equation s42s +8s'+ 12'+ 20s+
16s +16
of s is
cuation of the system is, it has 6 roots.
Since the highest power

gven characteristic is 6h order equation

and so
and torm the
second row using

ter, form the firstrow ofolynomial coefficlents

of even powers
of s

t s f odd routh array using the array

powers of s.
Row
1 8 20 16
Row2
2 12 16
he eterre calculaltions

Thents of s' row can be divided by 2 to simplity

the
 Control dy
4. 14

1 8 20
16 Row-1 s1x8-6x1
1 1x20-8x1 1x16-0
s .Row-2
2
6 8 s 12
S ....Row-3
8 divide by 2
5
.Row-4
s 1 6
...Row-4
s 31x6-6x1 1x8-8x1
Row-5
1

S
...Row-6 s: 0 0

S 0.33
Row-7 The auxiliary equation is, A =s +6s
S differentiating A with respect to swege

elements of 1st
Column-1
column of routh array
it dA
ds -4s+12s
the
The row with all
z e r o s
On examining
there is no sign change. The coefficients of are used to form s
is observed that axis. Hence the system ds
of roots on imaginary
indicatethe possibility
stable. 4 12
is limitedly or marginally
divide by 4
The auxiliary polynomial is,
s: 1 3
s+ 6s2+8 0
s3: 1x63x1 1x8-Ox1
Let, s2 x
x + 6 x +8 = 0 3 8

X=-6ty6-4x8
The roots of quadratic are, s':3x38x1
=-3t 1=-2 or -4
s': 0.33

The roots of auxiliary polynomial

is, so: 0 . 3 3 X 8 - 0 x 3
0.33
t/-4
S-t/X=tv-2 and
8
s
=+j/2,-jv2, +j2 and-j2 on imaginaryaxisae
on
characteristic equation. Hence 4 roots
are lying oy
are also roots of
The roots of auxiliary polynomial
two roots are lying on the left half of s-plane.
remaining
RESULT
limitedly or marginally stable.
olane.
1. The system is
2. Four roots are lying on imaginary axis and remaining two roots are lying on iet

characteristicegua
EXAMPLE 4.3
Dy
Construct Routh array and determine the of the system represented tion.
stability
s$+s+2s' + 2s? + 3s + 5-0. Comment on the location of the roots of characteristic equau

SOLUTION
highest power

The characteristicequation ofthesystem is, s+ st+ 2s+ 2s2+3s + 5 . row

thethe
second

Since
roots.
The given characteristic polynomial is 5h order equation so it has 5 and
form

odd number, form the first row of routh array using the coefficients of odd powers oof s
the coefficients of even powers of s.

1 2 3 . Row-1
1 2 5 ..Row-2
 tability and Compensator Design
pter4
ema
2 Row-3 4. 15
s
2Et2 5
Row-4 s:
1x2 2x1 1x3-5x1
-(5E4E+4) 0
2
2E+2 Row-5
Replace 0 by e
5 s
s Row-66 2
Onletting E>0, we get
. EX2-(-2x1) Ex5-0x1
s 2 3 Row-1 E

s2 2E+2
2 5 . Row-2

s 0 -2 Row-3
EX-2)-(5xe)
E
5 Row-4 2E2 E
. Row-5
Ow 1. -(5E-+4 E+4)
Row-6 2E+2
-Column-1
s:
-(5e4E+4)
2Et2
,5-0x2E+2
On observing the elements of first column of
tat there are two sign changes. Hence two
routh array, it is found -(52+4 E+4)
roots are lying on the right 2E+2
aiof s-plane and the
system is unstable. The remaining three roots are s 5
ng on the left half of s-plane.
RESULT
la). The system is unstable.
T o S are lying on right half of s-plane and three roots are lying on left half of s-plane

EXAMPLE 4.4
stability criterion determine the stability of the system represented by the characteristic equation

d the 0S-s-9s -10 0. Comment on the location ofroots of characteristic equation.

SOILUTION
The
characteristic olynomial of the system is, 9s5-20s
On examining the
ative and So characteristic polynomial, it
-10 0
is found that +10s3-s2-9s some of the coefficients are
so
Kted to findsome
e
coefficien
coefficients of the
O S Will lie on the right half of s-plane. Hence
the system is unstable. The routh array can be

the umber of roots lying on right half o s-plane.

The characteristic i 5th order equation
and so it has 5
roots. Since the highest power
of s is

to f o r m the polynomial
stic polynomial is
the coefficients of odd powers
of s and form the
second row using

"lents of even Or routh array using

powers of s.

10 9 Row-1
-20x(-9)-(-10) x9
-20 20x 10-(-1) x9 20
-1 -10 . Row-2
s -20
9.55 9.55 -13.5
-13.5 ..Row-3

29.3 x(-10)
1)-(-13.5) x(-20) 9.55955
-10 Row-4
9.55x( 9.55
s
16.8 Row-5
-10
29.3
10 Row-6

Column-1
4. 16
Cont
elements of s column of routh array it
By examining the and so three roots s:29.3
is observed that
there are three sign changes
are lying on the right
half of s-plane and the remaining two roots
s16
arelying on the left half of s-plane.

RESULT s -162(-1
(a). The system is unstable. s-10
(b). Three roots are lying on right half of s-plane and two roots are lying on left haif of s e
-Dare
EXAMPLE 4.5
The characteristic polynomial of a system is, s'+9s*+24s*+24s*+24s+24s-23s+15= Deta
of roots on s-plane and hence the stability of the system.

SOLUTION

METHOD-I
The characteristic equation is, s+9s+24s+ 24s+24s 24s+23s 15 = 0
The given characteristic polynomial is 7th order equation and so it has 7 roots. Sinoe the
hignes 1wa Jss
number, form the first row of array using the coefficients of odd powers of s and form the second row
of even powers of s as shown below.
usin; the a

S 24 24 23 . Row-1
9 24 24 1 5 .Row-2
Divide s row by 3 to simplify the computations.
24 24 23 Row-1
8 8 .Row-2 ss324-81 3-S
Row-3 s 21.33
Row-4 Divide by 21.33
Row-5

Row-5 s
0.5 1 Row-6
3
Row-7
Divide by 5
Row-8
Column-1
On examining the first
found column elements of routh amay tis
that there are two
on the right half of
sign changes. Hence two roots are lying
s-plane and so the system is unstable
The row of all zeros The auxilikay polynoe
imaginary axis. This can beindicates the tested by
possibility of roots on As*
auxiliary polynomial. evaluating the roots of ret*'
DttrentateAwith
Theauxiliary equation is, s' s* 1 0
Put, sx in the
auxiliary equation,
ss+1 =x +x1 0 Dviety
 f
adratic are,
x
1t14 1i s:
2111
2 21 201
1120" or 1120 .5

S fVx tV1/120 or tV1/120" 0.51-1 2

BulS X ,
0,5

tV1/120/2 or
tV1-120 /2
s 3x1
160" or
1/-60
1
=t(0.5+ j0.866) or :(0.5-j0.866)
wo s0ots of auxiliary polynomial are lying on the right half of s-plane and the remaining two on the left half of
The roots of auxiliary equation are also the roots of characteristic polynomial. The two roots lying on the
right
Md enlane are indicated by two sign changes in the first column of routh array. The remaining five roots are lying
nbe let half of s-plane. No roots are lying on imaginary axis.

RESULT
1. The system is unstable.
2 Two roots are lying on right half of s-plane and five roots are lying on left half of s-plane.
IETHOD-I
The characteristic s 3x24 8x1 3x24 8x1 323-51
equation is, 3 3 3
S19s+ 24s+ 24s + 24s + 24s2 23s 15= 0
+ +
s: 21.33 21.33 21.33
he given characteristic polynomial is 7th order equation and Divide by 21.33
a s 7 roots. Since the highest power of s is odd number, form
s: 1
S TOW of
array using the coefficients of odd
im he second row powers of s and
oan below. using the coefficients of even powers of s as s 1x81x3 1x8 1 1x3 1x5 10x3
5 5 5
24 24 23 Row-1
Divide by 5
9 24 24 1
15 ... Row-2 s: 1
Divide s" row
by 3 to
simplify the s 1x11x1 1x1-1x1
computations. 1
1 24 24 23 Row-1
S 0
3 8 8 Row-2

S
1 1 . . Row-3

1
S . Row-4

ynromiSil.nce we get
Row-5

a row polynomial is nothing but, the auxiliary

of eros,
zeros, there exists an even polynomial, the even

The
auxiliary polynomial is,
Dvide s+s+1 =0
the charact
Thee characteris
e ttcequation by auxiliary polynomial to get the quotient
polynomial.
ristic ynomial
polynomia can be expressed as a product of quotient polynomial and auxiliary polynomial.
4. 18
e

15 0
24 s2+ 23 s +
24s+ 24st + 24s +
s + 9s +

23s+ 15) =0 N
(s+s+ 1) (s*+9s2 +
Quotient
Even
polynomial polynomial
as
constructed for quotient polynomial
The routh array is
shown below.

S 1 23
L
9 15

Divide s? row by 3, s:3x23-5x1 T

1 23 V

s: 21.33
35
S 21.33 S0:21.33x5-0x3
21.33
S
s: 5
Column-1

The elements of column-1 of quotient polynomial and there is

are all positive
roots of quotient polynomial are lying on the., left half of s-plane. To determine the stability, the roois5 u
no sign change. el

polynomial should be evaluated.

The auxiliary
equation is, s+s2+1 =
0.
Put, s2= x in the auxiliary equation. st+s2+1 +x+1= 0
The roots of quadratic are, x
=111-4-+j3-14120" or 14-120
But s x,S =t/x =t/12120 or t1L1200

t/12120°/2 or t/12-120°/2
t160 or 1L-60°

The roots of
t(0.5+jo.866) or t(0.5-j0.866)
auxiliary equation are a u x i l i a r ye q u a

lying on the right half of s-plane complex and

and the other two on thehas quadrantal symmetry.
left half of s-plane.
The roots of
polynomial. characteristic equation are
Hence we can
conclude given by the root
ots of auxiliary polynomial and alf ofs
halfor
so
system is unstable. The remaining that two roots of
five roots are characteristic equation are iyu ng
the right

lying on left half of s-plane.

EXAMPLE 4.6
36= Detemn
The characteristic
location of roots on the polynomial of a system is s+5s +9s5+9st +
s-plane and hence the 4s +205 7

stability of the
SOLUTION system.
The characteristic equation DOHere
The given characteristic is, s +5s5
polynomial is 7h+9s5+9st+4s+20s2+36s +36=
highest po
odd
the number, form the first order equation and so it has 7 roots. Since C o n dr o wo4
a n

coefficients of even powersofofarray

row
s as
using the coefficients
of odd roorm the se
shown below. powers ot s a
EXAMPLE 4.7
to determine the location of roots on the s-plar
lane and hence
Use the routh stability criterion
+ 4sf +
8s + 8s2 +7s+4 =0

system represented bythe characteristicequations

sOLUTION
is, s* + 4s +8s*+ 8s2+ 7s+4 =0.
Thecharacteristic equation ofthe system
is 5h order equation and so it has 5 roots, Since tthe
The given characteristic polynomial h
.

odd number, form the first row of routh array using the coefficients of odd powers of
of ss and
and for form the
ses ,"
the coeficients of even powers of s.

s 18 7 . Row-1
s1/8-2
4 8 4 .Row-2
s s
Divide s row by 4 to simpify the calculations.
Divide by 6
s 187 .Row-1
S

S 1 2 1 .ROw-2
s: 12-1/
s 1 1 .Row-3

S 1 1 .. Row-4 s

.Row-5 s': 11-1

s 1 .Row-6
s

Let 0
When E>0, there is no sign change in the first column
of routh array. But we have a row of all zeros
(s' row or row-5)
and so there is a possibility of roots on
imaginary axis. This can s10
be found from the roots of auxiliary
polynomial.
Here the auxiliary
polynomial is given by s? row. s 1

The auxiliary polynomial is, s? + 1 0; .s=-1 or $=t-1=+j1

The roots of auxiliary polynomial are +jland-j1, ying on imaginary axis. The roots of auxiliary po
roots of characteristic equation. Hence two roots axis.ands:
of characteristic equation are lying on imaglinaiy
is imitedly or marginally stable. The
remaining three roots of characteristic equation are lying ot u
RESULT

(a) The system is limitedly or marginaly stable.

(b) Two roots are lying on imaginary axis and three roots are
lying on left half of s-piai
EXAMPLE 4.8
hence thest3
Use the routh
stability criterion to determine the location of roots on the s-plane
a
system represented by the characteristic equation, sf+ sS+ 3st +3s+3s? +2s +10.
SOLUTION

The characteristic polynomial of the system is, s+ s5+ 3s+ 3s3+ 3s2 +2S *
 Stability and Compensator Design

aracteristic polynomial is 6"h order equation

Thegiven c h a r a
4.21
Since the highest power of s is even
6 roots. number, s 1x33x1
1x3-2x1 1x1-0x1
thas

sdso

m thefist
using the coeficients of even
row of routh array 1
sofsandformthesecond row using the coefficients s 0
of odd 1
below.
as
shown
let 0> E
nesofs
1 3 3 1 . .Row-1 s
1 1
3 2 . Row-2 s3: Ex3-1x1 ex2-1x1
E 11 Row-3
s
3 1 21 ..Row-4
3 2E-1
E

24E-1
3E121xe 3-x1-0xe
3E-1 Row-5
3E-1
s 4Ei-E
S9E2-4E+1 Row-6 2 1

S 1 . Row-7

Onletting e>0, we get,

s'
-241y
3-1- 2e-131x1
3 3
1 . Row-1 -24-1
3 2 Row-2
1 1
s': (-2e44E-1)(2E-1)-(3E-1)(3E-1)
Row-3 E-2E+4 E-1)
-00 Row-44 s' -4eE2 4E-E
.Row-5
e-2E+4 E-1) 2E2-4E+1
s : 4 e 2 - 4E + 1 X 1 - 0 x = 2 g + 4 E - 1

. Row-6
3E-1
Row-7
(4e2-E)/(4 e-4 E+ 1)
Sinceimagthere is arrow of all zeros
roots son s: 1
row)t(s'
is s?possibility
there is a
naginary axis. The auxiliary polynomial + 1 =0.
The roots of
The roots
auxiliary polynomial are, =t-1=+j1 s

y polynomial are also roots of characteristic equation. Hence two roots are lying on imaginary
efore divide the characteristicpo and construct the routh array for quotient
ind the polynomial by auxiliary equation
roots lying on of s-plane.
The haracteristic right half
ynomial can be expressed as aproduct of auxiliary polynomial and quotient polynomial.
s+3s +3s* +3s2+2s+1 = 0 (s?+ 1)(s +s?+2s +2s+ 1) 0| s2 1x2-2x1 1x1-0x1
1 1
Even Quotient s2 0
polynomial polynomial let 0 e
ne
routh array shown below.
for 1
quotient
u o t i e n t polynomial is constructed as

2 1 Row-1 s Ex2-1x1

2 Row-2 s 2E-1
E
1 Row-3 2E-1x1 -0xE
2.1 Row-44
s
2E-1E
Row-5 s 1
4. 22
Cont Syste
On letting e>0, we get

s4 1 2 Row-11
s?+1 s+$2s 2s1
s+s$+3s* -3s
s3 2 .Row-2 -3s-
0 Row-3
s$+2s-3s -3s-
.Row-4
2s 2s 3s -2s-
. Row-5 - ) 2s (-
2s
Column-1 2s-s-s-
On examining the first column of the routh array of quotient
2s 2
polynomial, we found that there are two sign changes. Hence two s
roots are lying on the right half of s-plane and other two roots of S 1
quotient polynomial are lying on the left half of s-plane. 0
The roots of characteristic equation are given by roots of
auxiliary polynomial and quotient polynomial. Hence two roots are
lying on imaginary axis, two roots are lying on right half of s-plane
and the remaining two roots are lying on left half of
s-plane. Hence
the system is unstable.

RESULT
(a) The system is unstable.
(6) Two roots are lying on imaginary axis, two roots are lying on right half of s-plane and two roots are
lying on left half of s-plane.

EXAMPLE 4.9
Determine the range of K for stability of unity feedback system whose open loop transfer tunee
G(s) = K
s(S+1)+2)
SOLUTION
K_
The closed transferfunctior, G(S) s(s+1)(s+2)
+G$) 1s(S+1)S- +2) s(s 1)(s+2)-K

The characteristic equation is, s(s+1) (s +2) +K = 0

.s(s+3s +2) +K =0 s +3s2+ 2s +K =0
The routh array is constructed as shown below. first rov USe

The
coefficients
highest power of s in the characteristic polynomial is odd number. Hence form
of odd powers of s and form the second row
tne
the coefficients of even
using powi 32
s 2

S K

6K K3

S
s
Column-1
 hopter
4-3 Stability and Compensator Design
table 23
there should not be any
to be stable
the
system

sign change in the

For
FKSO that the first column elements are positive. elements of first column. Hence
tevalve
choose
the system to be stable, K> 0
From
se row, for

s' row, for thee system to be stable, -K >0

0, the value of K should be less than 6,
Car

The range of Kfor the system to be stable is 0 <K<6.

RESULT

The value of K is in the range 0<K<6 for the system to be stable.

EXAMPLE 4.10

The open loop transfer function of a unity feedback control system is given by,

K
G(s) (s+2)(s+4)(s + 6s +25)

By applying the routh criterion, discuss the stability of the closed-Hoop system as a function of K. Delermine the
sie dl Kwhich will cause sustained oscillations in the closed-loop system. What are the corresponding oscillting
equencies?

SOLUTION
K
The closed loop
C(s)G 1+GS)
transferfunction R(S)
G(s) (s+2)(s+4)s+ 6s+25) (s+2)s+ 4)64)(s+
1+ (s+2)(s+ 6s + 25) +K
(s+2)(s+4)(s+6s+25)
on is function.
transfer
eristic equation is given by the denominator polynomial of closed loop

+K=0.
Caracteristic equation is, (s + 2)(s + 4)(s2 +6s +25)
198s+200+ K =0
s+ 12s+ 69s2 +
(+6s+8) (s2+6s+25) + K=0
in the
characteristic equation is even
power of s coefficlents
amber he routh the second row using the
The highest
shown below.
He ce array n sconstructed
is t r u c t e d a s
form the first coefficients of even
powers ofs and form
o3d powers of s.
OW row
Ususing
i n g the
t

Row-1 K)
1 69 200+K 1x69-16.5
x1 1x(200
s2:
.... Row-2
12 198 200+K
i n gt h e

Diwvide srow
row by 12 to
simpliífy the calculations
s?
52.5
16.5-(200 K)x1
52.5x 52.5
Row-1 s'
200+K
69 666.25 K
. . Row-2

1 16.5 s 52.5
K)
666.25 K x (200 +
. Row-3

200+K
52.5 52.5
- O x 3

(666.25 K)/52.5
Row-4 s
K)/3
666.25-K
52.5 Row-5
200+K

200tK
Column-1
 4. 24 Control Sy
not be any sign change in the elements of
of 6 .
first
stable there should
For the system to be
elements are positive.
column.n. HerHense tb
value of K so
that the first column
the
K)> 0.
for the system to be stable, (666.25
-

From s' row,

Since (666.25-K)> 0, Kshold be less than 666.25.

0
for the system to be stable, (200 +K)
>
From s row,
Since (200+K)> 0, K should be greater than-200, but practical values of K starts from 0, Henea e
greater than zero.

<K< 666.25.
The range of Kfor the system to be stable is 0

When K 666.25 the s' row becomes zero, which indicates the possibility of roots on imaginary axis Aoel
Asysa
will oscillateif it has roots on imaginary axis and no roots on right half of s-plane.

When K= 666.25, the coefficients of auxiliary equation are given by the s? row.

The auxiliary equation is, 52.5s +200+K =

0
52.5s2 +200+666.25 = 0

s2-200-666.25
52.5
16.5
s=t-16.5 =tj/16.5 =tj4.06
When K =
666.25, the system has roots on imaginary axis and so it oscillates. The frequency of oScilaii
given by the value of root on irnaginary axis.

..The frequency of oscillation, o =4.06 rad/sec.

RESULT
(a) The range of Kfor stability is 0<K< 666.25
(b) The system oscillates when K 666.25
(c) The frequency of oscillation, o 4.06 rad/sec.
=

Y
(When K 666.25).