Sistem Kendali Kontinyu

Stability
What is stability?

How we can determine the stability of system?

The stability of system is only influenced by poles system
𝑗𝜔

𝜎
Example

5 5 5 5
𝐺1 𝑠 = 2 = 𝐺4 𝑠 = 2 =
𝑠 + 6𝑠 + 5 𝑠+5 𝑠+1 𝑠 + 2𝑠 + 5 𝑠 + 1 + 2𝑗 𝑠 + 1 − 2𝑗
The poles system are −5 and −1 The poles system are −1 + 2𝑗 and −1 − 2𝑗
The system is stable The system is stable

5 5 5 5
𝐺2 𝑠 = = 𝐺5 𝑠 = =
𝑠 2 − 4𝑠 − 5 𝑠−5 𝑠+1 𝑠 2 − 2𝑠 + 5 𝑠 − 1 + 2𝑗 𝑠 − 1 − 2𝑗
The poles system are +5 and −1 The poles system are 1 + 2𝑗 and 1 − 2𝑗
The system is unstable The system is unstable

5 5
𝐺3 𝑠 = = What about this?
𝑠 2 − 6𝑠 + 5 𝑠−5 𝑠−1 5 5
The poles system are +5 and +1 𝐺6 𝑠 = =
𝑠2 + 4 𝑠 + 2𝑗 𝑠 − 2𝑗
The system is unstable
The poles system are +2𝑗 and −2𝑗
 5 5
𝐺1 𝑠 = 2 =
𝑠 + 6𝑠 + 5 𝑠+5 𝑠+1
The poles system are −5 and −1
The system is stable
 5 5
𝐺2 𝑠 = 2 =
𝑠 − 4𝑠 − 5 𝑠−5 𝑠+1
The poles system are +5 and −1
The system is unstable
 5 5
𝐺3 𝑠 = =
𝑠 2 − 6𝑠 + 5 𝑠−5 𝑠−1
The poles system are +5 and +1
The system is unstable
 5 5
𝐺4 𝑠 = 2 =
𝑠 + 2𝑠 + 5 𝑠 + 1 + 2𝑗 𝑠 + 1 − 2𝑗
The poles system are −1 + 2𝑗 and −1 − 2𝑗
The system is stable
 5 5
𝐺5 𝑠 = 2 =
𝑠 − 2𝑠 + 5 𝑠 − 1 + 2𝑗 𝑠 − 1 − 2𝑗
The poles system are 1 + 2𝑗 and 1 − 2𝑗
The system is unstable
 What about this?
5 5
𝐺6 𝑠 = =
𝑠2 + 4 𝑠 + 2𝑗 𝑠 − 2𝑗
The poles system are +2𝑗 and −2𝑗

The system is marginally stable

What about this?
5 5
𝐺6 𝑠 = =
𝑠 3 + 2𝑠 2 + 5𝑠 𝑠 𝑠 + 1 + 2𝑗 𝑠 + 1 − 2𝑗
The poles system are 𝟎, −𝟏 + 𝟐𝒋 and −𝟏 − 𝟐𝒋
Absolutely Stable
System stable for all the range of system component values
The system has poles in left half “s” plane

Conditionally Stable
System stable for a certain range of system component values

Marginally Stable
System produce an output signal with constant amplitude and constant
frequency of oscillations for bounded input.
How to determine the stability of high order system?
Routh-Hurwitz Stability
Routh-Hurwitz Stability

Characteristic equation of the order ‘n’

𝑎0 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + 𝑎2 𝑠 𝑛−2 + ⋯ + 𝑎𝑛−1 𝑠1 + 𝑎𝑛 𝑠 0 = 0

Example

𝑠 4 + 3𝑠 3 + 3𝑠 2 + 2𝑠 + 1 = 0

Denominator of
Transfer function system
Routh-Hurwitz Stability

𝑎0 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + 𝑎2 𝑠 𝑛−2 + ⋯ + 𝑎𝑛−1 𝑠1 + 𝑎𝑛 𝑠 0 = 0

𝑠𝑛 𝑎0 𝑎2 𝑎4 𝑎6 … …
𝑠 𝑛−1 𝑎1 𝑎3 𝑎5 𝑎7 … …
𝑠 𝑛−2 𝑏1 𝑏2 𝑏3
𝑎1 𝑎2 − 𝑎3 𝑎0 𝑎1 𝑎4 − 𝑎5 𝑎0 𝑎1 𝑎6 − 𝑎7 𝑎0 … … …
= = =
𝑎1 𝑎1 𝑎1
𝑠 𝑛−3 𝑐1 𝑐2
𝑏1 𝑎3 − 𝑏2 𝑎1 𝑏1 𝑎5 − 𝑏3 𝑎1 ⋮
= =
𝑏1 𝑏1
⋮ ⋮ ⋮ ⋮
𝑠1 ⋮ ⋮
𝑠0 𝑎𝑛

If the first column have same sign (+ or -), the system is stable
Routh-Hurwitz Example

𝑠 4 + 3𝑠 3 + 3𝑠 2 + 2𝑠 + 1 = 0

𝑠4 1 3 1
𝑠3 3 2
𝑠2 3×3 − 2×1 3×1 − 0×1
3 3
7 3
= = =1
3 3
𝑠1 7
3×2 − 1×3
7
3
5
=
7
𝑠0 1
Routh-Hurwitz Example

𝑠 4 + 2𝑠 3 + 𝑠 2 + 2𝑠 + 1 = 0

𝑠4 1 1 1 𝑠4 1 1 1
𝑠3 21 21 𝑠3 21 21
𝑠2 1×1 − 1×1 1×1 − 0×1 𝑠2 1×1 − 0×1
1 1 𝜖 1
=0 =1 =1
𝑠1 𝑠1 𝜖×1 − 0×1
𝑠0 1
𝜖−1
=
𝜖
𝑠0 1
Routh-Hurwitz Example

𝑠 4 + 2𝑠 3 + 𝑠 2 + 2𝑠 + 1 = 0

𝑠4 1 1 1
𝑠3 21 21
𝑠2 0 1
𝑠1 −∞
𝑠0 1

Unstable
Routh-Hurwitz Example

𝑠 5 + 3𝑠 4 + 𝑠 3 + 3𝑠 2 + 𝑠 + 3 = 0

𝑠 5 1 1 1
𝐴 𝑠 = 𝑠4 + 𝑠2 + 1
𝑠4 31 31 31
𝑠3 1×1 − 1×1 1×1 − 1×1 𝑑𝐴 𝑠
1 1 = 4𝑠 3 + 2𝑠
=0 =0 𝑑𝑠
𝑠2
𝑠1
𝑠0
Routh-Hurwitz Example

𝑠 5 + 3𝑠 4 + 𝑠 3 + 3𝑠 2 + 𝑠 + 3 = 0

𝑠5 1 1 1
𝑠4 1 1 1
𝒔𝟑 𝟒𝟐 𝟐𝟏
𝑠2 2×1 − 1×1 2×1 − 0×1
2 2
= 0.5 =1
𝑠1 0.5 × 1 − 1 × 2
0.5
−1.5
= = −𝟑
0.5
𝑠0 1
Unstable
Another method to determine stability is bode plot
What is the zero effect on the system?
 𝑠+3 𝑠+3
𝐺4 𝑠 = 2 =
𝑠 + 2𝑠 + 5 𝑠 + 1 + 2𝑗 𝑠 + 1 − 2𝑗
The poles system are −1 + 2𝑗 and −1 − 2𝑗
The zero system is −3
The system is stable
What obout this?

𝑠−3 𝑠−3
𝐺4 𝑠 = 2 =
𝑠 + 2𝑠 + 5 𝑠 + 1 + 2𝑗 𝑠 + 1 − 2𝑗
The poles system are −1 + 2𝑗 and −1 − 2𝑗
The zero system is 3
The system is stable but have undershoot
non-minimum phase system