Stability Analysis

Concept of stability

Absolutely stable system Unstable system

Marginally stable
system
Stability of control system

Find the value of transient term for

increasing -> t
Stability of control system
Relative Stability
Routh-Hurwitz Criterion
 Hurwitz Criterion

The order of the matrix is n x n where n For the system to be stable, all the
is the order of characteristic equation above determinants must be positive
 Routh’s Stability Criterion
It is also called as routh array method or Routh- Hurwitz method
Routh’s Criterion
 Special Case 1

First Method : to substitute a small number ‘ε’ in place of the zero

There are two sign

changes hence the
system is unstable
Second Method : Replace the ‘s’ by 1/z in the original equation . Taking the LCM ,
rearrange the characteristic equation in the descending powers of Z. then
complete the Routh’s array with this above equation.

There are two sign changes hence the system is unstable

Special Case 2 : All the elements in a
Routh’s array is zero
 Importance of Auxillary equation
• Auxillary equation is always a part of the original characteristic equation,
hence its roots are part of the C.E.
• Roots of the auxillary equation are the most dominant roots of the original
characteristic equation, form the stability point of view
Marginal K and Frequency of Sustained
oscillations
•