LAB REPORT 09

Submitted To: MAM MUNEEBA ASHFAQ

Subject: CONTROL SYSTEM
Computer System Engineering
Section: B
Submitted by: ABDUL RAUF
Reg. No.: 15PWCSE1300
LAB TITLE: Stability via Routh Hurwitz
Objectives:
The main objective of this lab is to check and demonstrate the stability of a system using
Routh Hurwitz method.

Finding a range where a system behavior is stable, unstable and marginally stable.

TASK 1 Find the equivalent negative feedback system shown in the figure 1

Let T(s) be the equivalent system then given by

T(s) = k / s(s + 2)2 + k .

TASK 2 Generate the Routh table and find the ranges of K for the system to be stable,
unstable and marginally stable

S3 + 4s2 + 4s + k is the expression for RH method

Routh Hurwitz table for T(s) is given below

S3 1 4
S2 4 K
S1 ((16 - k) / 4) 0
0
S (k) 0

So, from above table it is cleared that

Stable

( 16 – k / 4 ) > 0 k > 0

Or, 16 – k > 0 or, k < 16

Hence

Ranges

STABLE UNSTABLE MARGINALLY STABLE

0 < K < 16 0 > K > 16 K=0

TASK 3 Using Simulink setup the negative feedback system for the system to be stable.
Use five different values from the range of K for stable system and plot all step responses on
one graph showing the response changes with respect to the varying the value of K.

TASK 4 Using Simulink setup the negative feedback system for the system to be
unstable. Use five different values from the range of K for unstable system and plot all step
responses on one graph showing the response changes with respect to the varying the value
of K.
TASK 5 Using Simulink setup the negative feedback system for the system to be
marginally stable. Plot the step response for the value of K so that the system is marginally
stable.
TASK 6 Using Simulink setup the negative feedback system and compare the step response
of the system to be stable, unstable and marginally with only one selected value of K for each
case. Plot the step responses on one graph.

TASK 7 Using MATLAB find the location of poles for each case of the system to be
stable, unstable and marginally stable for all the values of K selected in each case.

MATLAB CODE
clear all st_sys = tf(num,dnum);
close all figure
clc step(st_sys)
title('Unstable (step response)')
k = 15 figure
num = [k]; pzmap(st_sys)
dnum = [1 4 4 k]; title('Unstable (POLES)')
st_sys = tf(num,dnum);
figure k = 0
step(st_sys) num = [k];
title('stable (step response)') dnum = [1 4 4 k];
figure st_sys = tf(num,dnum);
pzmap(st_sys) figure
title('stable (POLES)') step(st_sys)
title('Marginally stable (step
k = 20 response)')
num = [k]; figure
dnum = [1 4 4 k]; pzmap(st_sys)
title('Marginally stable (POLES)')
 stable (step response)
2

1.8 stable (POLES)

2
1.6
1.5
1.4

Imaginary Axis (seconds -1)

1
1.2
Amplitude

0.5
1
0
0.8

0.6 -0.5

0.4 -1

0.2 -1.5

0 -2
0 50 100 150 200 250 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Time (seconds) Real Axis (seconds -1 )

10 28
Unstable (step response) Unstable (POLES)
1 2.5

0.5 1.5

Imaginary Axis (seconds -1)

1

0 0.5
Amplitude

-0.5 -0.5

-1

-1 -1.5

-2

-1.5 -2.5
0 100 200 300 400 500 600 700 -4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Time (seconds) Real Axis (seconds -1)

Marginally stable (step response) Marginally stable (POLES)

2 2

1.8
1.5
1.6
Imaginary Axis (seconds-1)

1
1.4
0.5
1.2
Amplitude

1 0

0.8
-0.5
0.6
-1
0.4
-1.5
0.2

0 -2
0 20 40 60 80 100 120 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Time (seconds) Real Axis (seconds-1 )

CONCLUSION
After performing this lab we got how to find the stability of the system using Rowth Hurwitz
method. By observing the different systems in Simulink we noticed how a system behave stably
unstably and marginally stably.