2nd Lecture Automatic Control II Dr.

Qasim Abbas

Routh-Hurwitz Criterion: Special Cases:

1) Zero Only in the First Column:
If the first element of a row is zero, but the remaining terms are not zero or there
is no remaining term, division by zero would be required in order to find the next
row. To avoid this phenomenon, a very small positive number, epsilon 𝝐, is
assigned to replace the zero and then the rest of the array is calculated. To
illustrate this let us consider the following example.
Example 1: Determine the stability of the closed-loop transfer function

Solution:
𝑠 5 + 2𝑠 4 + 3𝑠 3 + 6𝑠 2 + 5𝑠 + 3 = 0

1 3 1 5
−| | −| |
𝑏1 = 2 6 = 0 = 𝜖 ; 𝑏2 = 2 3 =7
2 2 2
2 6
−| 7| 2 3
𝜖 2 −(7 − 6𝜖) 6𝜖 − 7 −| |
𝑐1 = = = ; 𝑐2 = 𝜖 0 =3
𝜖 𝜖 𝜖 𝜖
7
𝜖
−| 2|
6𝜖 − 7 7 6𝜖 − 7
3 −(3𝜖 − 2 ∗ ( 𝜖 )) 42𝜖 − 49 − 6𝜖 2
𝑑1 = 𝜖 = =
6𝜖 − 7 6𝜖 − 7 12𝜖 − 14
𝜖 𝜖
When 𝜖 is positive, the above will show a sign change from the 𝑠 3 row to the 𝑠 2
row, and there will be another sign change from the 𝑠 2 row to the 𝑠1 row. Hence,
the system is unstable and has two poles in the right half-plane.

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Example 2: The characteristic equation of a system as shown below:

𝑠 5 + 𝑠 4 + 2𝑠 3 + 2𝑠 2 + 3𝑠 + 15 = 0
Examine the stability of this system by using Routh's Criterion.

2) Entire Row is Zero:

Sometimes while making a Routh table, we find that an entire row consists of
zeros. This case must be handled differently from the case A. Let us look at an
example that demonstrates how to construct and interpret the Routh table when
an entire row of zeros is present.
Example 3: Examine whether the following system is stable or not

Solution:
𝑠5 1 24 -25
𝑠4 2 48 -50 Auxiliary polynomial
P(s)
𝑠3 0 0

The auxiliary polynomial P(s) is

The derivative of P(s) with respect to s is

The terms in the 𝑠 3 row are replaced by the coefficients of the last equation, that
is, 8 and 96. The table then becomes

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It can be seen that the system is unstable, since there is one change in sign in the
first column of the new array. Thus, the original equation has one root in right
half-plane.
Now, we have to find the roots of the auxiliary polynomial equation.
2𝑠 4 + 48𝑠 2 − 50 = 0 ÷2
𝑠 4 + 24𝑠 2 − 25 = 0
(𝑠 2 + 25)(𝑠 2 − 1) = 0
𝑠1,2 = ±1; 𝑠3,4 = ±5𝑗

Example 4: Determine the number of right-half-plane poles in the closed-loop

transfer function

Example 5: The characteristic equation for a feedback control system is

𝑃(𝑠) = 𝑠 6 + 8𝑠 5 + 18𝑠 4 + 24𝑠 3 + 41𝑠 2 − 32𝑠 − 60
By using Routh criterion discuss the stability of the system and comment on the
root values.
Solution:
𝑠 6 + 8𝑠 5 + 18𝑠 4 + 24𝑠 3 + 41𝑠 2 − 32𝑠 − 60 = 0
𝑠6 1 18 41 -60
𝑠5 8 24 -32 0
𝑠4 15 45 -60 0
𝑠3 0 0 0 0

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2nd Lecture Automatic Control II Dr. Qasim Abbas

Since the cells in the last row are all zeros, thus, it is special case 2. So, we need
to establish an auxiliary equation from the above row as in the following.
𝐴(𝑠) = 15𝑠 4 + 45𝑠 2 − 60
𝑑𝐴(𝑠)
= 60𝑠 3 + 90𝑠
𝑑𝑠
𝑠6 1 18 41 -60
𝑠5 8 24 -32 0
𝑠4 15 45 -60 0
𝑠3 60 90 0
𝑠2 22.5 -60
𝑠1 250
𝑠0 -60

∴ The system is unstable and there is one root on the right-half plane.
Now, we need to find the roots of the characteristic equation; firstly, will find the
roots of the auxiliary equation
15𝑠 4 + 45𝑠 2 − 60 = 0 → 𝑠 4 + 3𝑠 2 − 4 = 0
(𝑠 2 + 4)(𝑠 2 − 1) = 0
𝑠 2 = −4 , 𝑠1,2 = ±2𝑗
𝑠2 = 1 , 𝑠3,4 = ±1
𝑠 2 + 8𝑠 + 15
𝑠 4 + 3𝑠 2 − 4 𝑠 6 + 8𝑠 5 + 18𝑠 4 + 24𝑠 3 + 41𝑠 2 − 32𝑠
− 60
∓𝑠 6 ∓ 3𝑠 4 ± 4𝑠 2
8𝑠 5 + 15𝑠 4 + 24𝑠 3 + 45𝑠 2 − 32𝑠 − 60
∓8𝑠 5 ∓ 24𝑠 3 ± 32𝑠
15𝑠 4 + 45𝑠 2 − 60
∓15𝑠 4 ∓ 45𝑠 2 ± 60
0 0 0

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2nd Lecture Automatic Control II Dr. Qasim Abbas

𝑠 2 + 8𝑠 + 15 = 0
(𝑠 + 3)(𝑠 + 5) = 0
∴ 𝑠5 = −3 & 𝑠6 = −5

Example 6: The characteristic equation for a feedback control system is

𝑃(𝑠) = 𝑠 7 + 2𝑠 6 + 𝑠 5 + 2𝑠 4 − 𝑠 3 − 2𝑠 2 − 𝑠 − 2
By using Routh criterion discuss the stability of the system and comment on the
root values.
Solution: 𝑠 7 + 2𝑠 6 + 𝑠 5 + 2𝑠 4 − 𝑠 3 − 2𝑠 2 − 𝑠 − 2 = 0
𝑠7 1 1 -1 -1
𝑠6 2 2 -2 -2
𝑠5 0 0 0 0
As in the previous example, we need to establish an auxiliary equation from the
above row as in the following.
𝐴(𝑠) = 2𝑠 6 + 2𝑠 4 − 2𝑠 2 − 2
𝑑𝐴(𝑠)
= 12𝑠 5 + 8𝑠 3 − 4𝑠
𝑑𝑠
𝑠7 1 1 -1 -1
𝑠6 2 2 -2 -2
𝑠5 12 8 -4 0

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2nd Lecture Automatic Control II Dr. Qasim Abbas

𝑠4 0.666 -1.33 -2
𝑠3 32 32 0
𝑠2 -2 -2 0
𝑠1 0 0
Also, since the last row is zeros it is needed to establish another auxiliary equation
from the above row.
𝐵(𝑠) = −2𝑠 2 − 2
𝑑𝐵(𝑠)
= −4𝑠
𝑑𝑠
𝑠7 1 1 -1 -1
𝑠6 2 2 -2 -2
𝑠5 12 8 -4 0
𝑠4 0.666 -1.33 -2
𝑠3 32 32 0
𝑠2 -2 -2 0
𝑠1 -4 0
𝑠0 -2
The system is unstable and there is one root on the right-half plane.
Now, we have to find the roots of the characteristic equation; from the second
auxiliary equation we can get two roots:
−2𝑠 2 − 2 = 0 ÷ −2
𝑠2 + 1 = 0 → 𝑠1,2 = ∓𝑗
Divide 𝐴(𝑠) over 𝐵(𝑠)
𝑠4 − 1
𝑠2 + 1 𝑠6 + 𝑠4 − 𝑠2 − 1
∓𝑠 6 ∓ 𝑠 4

−𝑠 2 − 1
±𝑠 2 ± 1
0 0

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𝑠4 − 1 = 0 → (𝑠 2 − 1)(𝑠 2 + 1) = 0
∴ 𝑠3,4 = ∓1 ; 𝑠5,6 = ∓𝑗

There is one more root we to find, as follow:

𝑠+2
𝑠6 + 𝑠4 − 𝑠2 𝑠 7 + 2𝑠 6 + 𝑠 5 + 2𝑠 4 − 𝑠 3 − 2𝑠 2 − 𝑠 − 2
−1 ∓𝑠 7 ∓ 𝑠 5 ± 𝑠 3 ± 𝑠

2𝑠 6 + 2𝑠 4 − 𝑠 2 − 2
∓2𝑠 6 ∓ 2𝑠 4 ± 𝑠 2 ± 2
0 0 0
∴ 𝑠+2=0 → 𝑠7 = −2

Relative Stability Analysis:

Routh’s stability criterion provides the answer to the question of absolute
stability. This, in many practical cases, is not sufficient. We usually require
information about the relative stability of the system. In this case it is required to
find the relative stability of a system about a line 𝑠 = −𝜎. To achieve this, the
imaginary axis of the s-plane has to be shifted by substituting 𝑠 = 𝑠1 − 𝜎, where
𝜎 is constant, in the characteristic equation. After the substation step the
polynomial will be written in term of 𝑠1 . Then, the Routh's will be completed
depending on the new equation; the number of sign changes in the first column is

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equal to number of roots that are located to the right of the vertical line 𝑠 = −𝜎.
This is illustrated in the following example.

Example 7: A stable system has

𝑃(𝑠) = 𝑠 3 − 7𝑠 2 + 25𝑠 + 39
Find if any of the roots lies to the right of a vertical line where 𝜎 = −1.

Solution:
Substitute 𝑠 = 𝑠1 − 1 in the characteristic equation will get
(𝑠1 − 1)3 − 7(𝑠1 − 1)2 + 25(𝑠1 − 1) + 39 = 0

𝑠13 + 4𝑠12 + 14𝑠1 + 20 = 0

𝑠13 1 14
𝑠12 4 20
𝑠11 9 0
𝑠10 20

As the elements in the first column are all positive, therefore all the roots are
located to the left of 𝑠 < −1. The system is stable about the vertical line 𝜎 = −1.

Application of Routh’s Stability in Control System Design:

The main limitation of Routh’s stability criterion is that it does not suggest how
to improve relative stability or how to stabilize an unstable system. However, by
using it will be able to determine the effects of changing one or two parameters
of a system by examining the values that cause the instability. Shall we consider
the following problem to show how to determine the stability range of a parameter
value.

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Example 8: For the system shown in figure below determine the range of K for
stability.

Solution:
From the above figure we can establish the closed-loop transfer function is
𝐶(𝑠) 𝐾
=
𝑅(𝑠) 𝑠(𝑠 2 + 𝑠 + 1)(𝑠 + 2) + 𝐾
From the above transfer function, we can establish the characteristic equation:
𝑠 4 + 3𝑠 3 + 3𝑠 2 + 2𝑠 + 𝐾 = 0
Thus, the Routh's table becomes
𝑠4 1 3 K
𝑠3 3 2 0
𝑠2 7 K
3
𝑠1 9 0 0
2− 𝐾
7
𝑠0 K
Notices:
1. K is a positive, more than zero value.
2. Number of stability conditions depends on the number of times that
K appears in the first column.
3. However, if K appears in a row many times that means one
condition.
Thus, from the constructed table and depending on the stated notices we can say
that there are two conditions for the system to be stable (K appears twice tin the
first column).

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First condition:
9 9 14
2− 𝐾 >0 → 2> 𝐾 → >𝐾
7 7 9
Second condition:
𝐾>0
14
Hence, the system is stable when K is in the range 0 < 𝐾 <
9
14
If 𝐾 = → 𝑐1 = 0 and the system will be critical
9

Also, we learned that when there is a row of zeros we need to find an auxiliary
equation from the above row. So, in this problem the auxiliary equation becomes
7 2 14 2
𝑠 + =0 → 𝑠2 + =0
3 9 3
∴ 𝑠1,2 = ∓ 0.816 𝑗 these are the roots when the system is critical.

Example 9: The characteristic equation for a particular system is

𝑠(𝑠 3 + 4𝑠 2 + 2𝑠 + 3) + 𝐾(𝑠 + 1) = 0
Use Routh's criterion technique to find the range of the gain K for which the
system is stable.
Solution:
Simplifying the given equation, it becomes
𝑠 4 + 4𝑠 3 + 2𝑠 2 + (𝐾 + 3)𝑠 + 𝐾 = 0
𝑠4 1 2 K
𝑠3 4 (𝐾 + 3) 0
𝑠2 5−𝐾 K
4
𝑠1 −(𝐾 2 + 14𝐾 − 15)
5−𝐾
𝑠0 K

4 𝐾+3
− |5 − 𝐾 |
𝐾 5−𝐾 4
𝑑1 = 4 = − (4𝐾 − (𝐾 + 3) ( )) ∗
5−𝐾 4 5−𝐾
4

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5𝐾 − 𝐾 2 + 15 − 3𝐾 − 16𝐾 4 −𝐾 2 − 14𝐾 + 15
𝑑1 = ∗ =
4 5−𝐾 5−𝐾
−(𝐾 2 + 14𝐾 − 15)
=
5−𝐾
There are three conditions for the system to be stable.
First condition:
𝐾>0
Second condition:
5−𝐾
>0 → 5−𝐾 >0 → 5>𝐾
4
This condition is neglected, as the system will be unstable.
Third condition:
−(𝐾 2 + 14𝐾 − 15)
>0 → 𝐾 2 + 14𝐾 − 15 > 0
5−𝐾
→ (𝐾 + 15)(𝐾 − 1) > 0
(𝐾 + 15) > 0 → 15 > −𝐾 → 𝐾 < −15 (Neglected)
𝐎𝐑 (𝐾 − 1) > 0 → −1 > −𝐾 → 𝐾<1
∴ Range of K for stable system is 0<𝐾<1
The system will be unstable if 𝐾 > 1
For 𝐾 = 1 the system is critical
5−𝐾 2
𝐴(𝑠) = 𝑠 +𝐾 → 𝑠2 + 1 = 0 → 𝑠1,2 = ∓𝑗
4

Home work:
1): Examine the stability of the system having equations shown below by using
the Routh's criterion for stability
𝑆 5 + 2𝑆 4 + 3𝑆 3 + 4𝑆 2 + 11𝑆 + 10 = 0

2): For a system with the characteristics equation:

𝑃(𝑆) = 𝑆 6 + 3𝑆 5 + 4𝑆 4 + 6𝑆 3 + 5𝑆 2 + 3𝑆 + 2
1. Examine the stability by using Routh's criterion.
2. Find the roots of this equation.

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3): Examine the stability of the system shown below by using Routh Criterion,
draw all roots on S-plan diagram?
𝑃(𝑆) = 𝑆 7 + 2𝑆 6 + 𝑆 5 + 2𝑆 4 − 𝑆 3 − 2𝑆 2 − 𝑆 − 2

4): For a system having the characteristic equation shown below find the range
of K that makes the system to be stable.
𝑆(𝑆 2 + 2𝑆 + 5) + 𝐾(𝑆 + 4) = 0

5): The characteristic equation for a system is shown below:

(𝑆 + 4)3 + 𝐾 = 0
Find the range of K that makes the system is stable.

6): Determine the range of Gain (K) that make the system having equation shown
below will be stable by using the Routh's criterion for stability:
𝑆 4 + 2𝑆 3 + (3 + 𝐾)𝑆 2 + (1 + 𝐾)𝑆 + (1 + 𝐾) = 0

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