Representation of physical control system elements

• Learn how to
• To understand system stability
• To find system stability using Routh Criterion

EENG 381 Dr. Ayman AL-KHAZRAJI 1

 ZEROS, POLES & STABILITY

Definitions:

 A system is stable if the natural response approaches zero as 𝒕 → ∞.

𝟏
e.g. (roots are located on the LHP)
𝒔+𝟏
 A system is unstable if the natural response approaches infinity as 𝒕 → ∞.
𝟏
e.g. 𝒔−𝟏
 A system is marginally stable if the natural response neither decays nor grows but
𝟏
remains constant or oscillates. e.g. 𝟐
𝒔 +𝟏
𝟏
𝟏 𝟏 TF=
TF= TF= 𝒔𝟐 +𝟏
𝒔+𝟏 𝒔−𝟏
1 150

y(t)=exp(t)
y(t)=sin(t)
y(t)=exp(-t)
0.8
100
0.6

y(t)=exp(-t) y(t)=exp(t)
0.4
50

0.2

0 0
0 1 2 3 4 5 0 1 2 3 4 5

Stable Unstable Marginally stable

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 ZEROS, POLES & STABILITY

Review :
 Zeros: the roots of the numerator in the C.L.T.F.
They are the values of s for which the transfer function is zero.

 Poles: the roots of the denominator in the C.L.T.F.

They are the values of s for which the transfer function is infinity.

Zeros and poles can be real or complex quantities.

Example C(s) 𝒔+𝟓

Find 1. characteristic equation, 2. zeros and 3. poles of R(s) 𝒔𝟐 + 𝟏𝟐𝒔 + 𝟐𝟕
=
Solution
1. characteristic equation = denominator of CLTF =(𝒔𝟐 + 𝟏𝟐𝒔 + 𝟐𝟕)
2. Zeros are roots of numerator, (s+5)=0  s=-5 (zero)
3. Poles are roots of denominator,
(𝒔𝟐 + 𝟏𝟐𝒔 + 𝟐𝟕) = (s+3) (s+9)=0
 s=-3 (pole1)
 s=-9 (pole2)
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 ZEROS, POLES & STABILITY

Ex1: with unit impulse input, find then plot poles for
1. G(s)=1/(s+2)
2. G(s)= 1/(s-2)
3. G(s)=1/(s2+2s+5)
4. G(s)=1/(s2-2s+5)

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 ZEROS, POLES & STABILITY

Solution stable region unstable region

1. (s+2)=0, pole s=-2
2. (s-2)=0, pole s=2
3. (s2+2s+5)=0, Poles are -1±j2
4. (s2-2s+5)=0, poles are 1±j2

Homework: Mark Poles in S-Plane

2, 4, -2, 2+j, 2-j, 3+j5

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 ZEROS, POLES & STABILITY

Using Routh-Hurwitz method, we can determine the number of poles which are in
the left half plane or right half plane and on imaginary axis without the need to
solve for the closed loop system poles.

The method requires two steps:

1. Generate the data table (Routh table).

2. Interpret the Routh table to tell how many closed loop system poles are in the
left half plane (LHP), the right half plane (RHP), and on the jω.

A system is stable if there are no sign changes in the first column of the Routh table
(all poles in the left half of the s-plane).

Number of unstable roots = Number of sign changes in the first column of Routh table

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Initial layout for Routh table
Take characteristic equation
= Denominator of C.L.T.F
= 1+GH

Part to be filled

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Ex2. Make the Routh table for the system shown below and assess the stability.

Note that

Interpretation: these are two sign changes in the first

column [from +1 to -72 and from -72 to +103]
Hence the given system is unstable since two poles
exist in the right half plane.
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Ex 3:
Find the number of poles in the left half-plane, the right half-plane, and as the jw axis for
the system shown below:

200/[S4+6S3+11S2+6S+200]

these are 2 sign changes in the first column & hence the given system is unstable.
It has 2 right half plane poles, 2 left-half plane pole.
The system can’t have jω poles, since a row of zeros did not appear in the Routh table.

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 Routh- Hurwitz with zero in first column:
Ex 4: Find the number of poles in the LH-plane, RH-plane, and the jw axis for system below:

Replace 0 in the 1st column by ε

Let ε be small quantity & positive.

3𝜀−4
as ε approach to 0, 𝒊𝒔 𝒏𝒆𝒈𝒂𝒕𝒊𝒗𝒆 𝐚𝐧𝐝 𝐢𝐬 𝐩𝐨𝐬𝐢𝐭𝐢𝐯𝐞
𝜀

There are 02 sign changes & hence system is completed with 02 poles in the RH-plane. The
remaining poles are in the LH plane. Since no entire row = 0, no pole on jω axis
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Ex.5
A model of s ship’s heading control loop is shown in figure. Find the range of K that will keep the system stable.

The characteristic equation is s3+9s2+13s +5K=0

and form the Routh array

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 ZEROS, POLES & STABILITY

Check your learning

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 Check Your Learning (HW)

Solved Examples from Ref. Book (Control Systems Eng.”, Norman Nise, 6th Edition)
1. example 6.2 (p. 308)
2. example 6.3 and 6.4 (p. 310)
3. example 6.6 and 6.7 (p. 314)
4. example 6.9 (p. 318)

Homework from Ref. Book

1. Exercise 6.1 (p. 307)
2. Exercise 6.2 (p. 313)
3. Exercise 6.3 (p. 320)

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 Summary

1. Generate the data table (Routh table).

2. Interpret the Routh table to tell how many closed loop system poles are in the
left half plane (LHP), the right half plane (RHP), and on the jω.

Number of unstable roots = Number of sign changes in the first column of Routh table

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