EE 312/ lecture no.

6/ System stability verification, Routh-Hurwitz criterion

University of Benghazi
Faculty of Engineering
Electrical and Electronic Engineering Department
----------------------------------------------------------------------------------------------------------------------------
Control systems EE312 Fall 2011/2012
Course Format and Assessment
The course will be delivered in 56 hours, with 4 home works. Final exam will be in Feb 2012.
Course material will include handouts.
----------------------------------------------------------------------------------------------------------------------------
Instructor:
Dr. Awad Shamekh
----------------------------------------------------------------------------------------------------------------------------

Lecture no. (6) Date: 1/1/2012

Learning Outcomes of this lecture

Students will understand:
• System stability verification.
• Routh-Hurwitz criterion.
----------------------------------------------------------------------------------------------------------------------------
References:
- Modern control systems, R.C. Dorf
- Control systems Engineering, Norman Nise
- Linear control systems engineering, Morris Driels
----------------------------------------------------------------------------------------------------------------------------

Stability and Routh­Hurwitz criterion

A stable system is defined as a system with a bounded (limited) system response. That
is, if the system is subjected to a bounded input or disturbance and the response is
bounded in magnitude, the system is said to be stable.

In terms of linear system, the stibility requierment may be defined in terms of the
location of the poles of the closed loop transfer function. A system is stable if all the
poles of the transfer function are in the left hand s-plane. A system is not stable if not
all the roots are in the left –hand plane. The characteristic equation in the laplace
variable can be written as:

Δ( s) = q( s) = an s n + an −1 s n−1 + ....... + a1 s1 + ao = 0 (1)

In order to ascertain the stability of the system, it is necessary to determine if any of

the roots of q(s) lie in the right half of the s-plane. If equation (1) is written in
factored form the resultant equation is:

a n ( s − r1 )( s − r2 ).......( s − rn ) = 0 (2)
Multipluing the factors togother gives:

1
 EE 312/ lecture no. 6/ System stability verification, Routh-Hurwitz criterion

q ( s ) = a n s n − a n (r1 + r2 + ... + rn ) s n −1
+ a n (r1 r2 + r2 r3 + r1 r3 + .....) s n − 2
(3)
− a n (r1 r2 r3 + r1 r2 r4 + .....) s n −3 + ........
− a n (−1) r1 r2 r3 ......rn = 0

In other words, for an n th degree equation the characteristic equation can be

expressed as:

q ( s ) = a n s n − a n ( sum of all roots ) s n −1

+ a n ( sum of all of the roots taken 2 at a time) s n −2
(4)
− a n ( sum of all of the roots taken 3 at a time) s n −3 + ........
− a n (−1) products of all n roots = 0

Examining equation (3), all the coefficients of the polynomial must have the same
sign if all the roots are in the left hand plane. Also, it is necessary for a stable system
that all the coefficient be nonzero. However, although these requirements are
necessary, they are not sufficient; that is if they are not satisfed immediately one can
conclude that the system is unstable. For example, when the characteristic equation is

q ( s ) = ( s + 2)( s 2 − s + 4) = s 3 + s 2 + 2 s + 8

The system is unstable and yet the polynomial possesses all positive coefficents.

The Routh­Hurwitz criterion is a necessery and sufficent criterion for the

stability of linear systems. The method was originaly developed in terms of
determinants but for more convenient , array formulation will be utlized. The Routh-
Hurwitz criterion is based on ordring the coefficients of the characteristic equation as:

a n s n + a n −1 s n −1 + a n − 2 s n − 2 + .... + a1 s + a o = 0

Into an array as follows:

sn an an −2 an − 4 .......... ..........
s n −1 an −1 an − 3 an − 5 .......... ..........

The further rows of the schedule are computed as follows:

sn an an−2 an−4 ......

s n−1 a n −1 a n −3 a n −5 ......

s n−2 bn −1 bn − 3 bn − 5 ......

s n −3 c n −1 c n −3 c n −5 .....
....... ...... ...... ...... ......
s 0
hn −1 0 0 ......

2
 EE 312/ lecture no. 6/ System stability verification, Routh-Hurwitz criterion

Where
a n −1 a n − 2 − a n a n −3 − 1 an an−2
bn −1 = =
a n −1 a n −1 a n −1 a n −3

− 1 an an−4
bn −3 =
a n −1 a n −1 a n −5

− 1 a n −1 a n −3
c n −1 =
bn −1 bn −1 bn −3
And so on.

Example:

For the system given in figure (1) construct the Routh­Hurwitz table.

Figure (1)

Solution
Table (1) show the Routh­Hurwitz array:

3
 EE 312/ lecture no. 6/ System stability verification, Routh-Hurwitz criterion

The Routh-Hurwitz criterion states that the number of roots of q(s) with positive
real parts is equal to the number of changes in sign of the first column of the Routh
array. This criterion requires that there be no changes in sign in the first column for a
stable systrm.

There are three different cases that must be treated separately, requiring suitable
modifications of the array calculation procedure. The three cases are:
(1) No element in the first column is zero.
(2) There is a zero in the first column but some other elements of the row
containing the zero in the first column are nonzero.
(3) There is a zero in the first column and the other elements of the row
containing the zero are also zero.

Case (1) No element in the first column is zero.

Example:
The characteristic equation of a second order system is:

q( s) = a2 s 2 + a1 s1 + ao
Using Routh-Hurwitz criterion to check the system stability.

Solution
s 2
a2 a0
s1 a1 0
s0 b1 0

4
 EE 312/ lecture no. 6/ System stability verification, Routh-Hurwitz criterion

where
a1 a0 − (0)a 2 − 1 a 2 a0
b1 = = = a0
a1 a1 a1 0
Therefore, the requirement for a stable second order system is simply that all the
coefficients be positive.

Example:

Consider the stability of the following third order system characteristic equation:

q( s) = a3 s 3 + a2 s 2 + a1 s + a0

Solution
s 3
a3 a1
s2 a2 a0
s1 b1 0
s0 c1 0
Where
a 2 a1 − a 0 a3 b1 a 0
b1 = & c1 = = a0
a2 b1
For this third order system to be stable, it is necessary and sufficient that the
coefficients to be positive and a 2 a1 ≥ a0 a3 . The condition when a 2 a1 = a0 a3 results
in a borderline stability case (case no. 3), and one pair of roots lies on the imaginary
axis in the s-plane.

Example:
For the given characteristic equation verify the system stability
q( s ) = ( s − 1 + j 7 )( s − 1 − j 7 )( s + 3) or
q( s ) = s 3 + s 2 + 2s + 24

Solution

By the first inspection the polynomial satisfies all the necessary conditions because all
the coefficients exist and are positive. Therefore, the Routh-Hurwitz array must be
used to make the final confirmation about the system stability.

s3 1 2
s2 1 24
s1 -22 0
s0 24 0

Because two changes in sign appear in the first column, then there are two roots of
q(s) lie in the RHP and the system is unstable.

5
 EE 312/ lecture no. 6/ System stability verification, Routh-Hurwitz criterion

Case (2) There is a zero in the first column but some other elements of
the row containing the zero in the first column are nonzero.
If only one element in the array is zero, it may be replaced with a small positive
number, ε ,which allowed to approach zero after completing the array.

Example:

Apply the Routh-Hurwitz method to verify the following system stability.

q( s) = s 5 + 2s 4 + 2s 3 + 4s 2 + 11s + 10

Solution

s5 1 2 11
s4 2 4 10
s3 ε 6 0
s2 c1 10 0
s1 d1 0 0
s0 10 0 0
where

4ε − 12 − 12 6c1 − 10ε
c1 = ≈ and d1 = →6
ε ε c1
There are two sign changes due to the large negative number in the first column,
− 12
c1 ≈ . Therefore, the system is unstable and two roots lie in the RHP.
ε
Example:

Using the Routh-Hurwitz principle consider the stability of the system described by:

q( s) = s 4 + s 3 + s 2 + s + k

Solution

s4 1 1 k
s3 1 1 0
s2 ε k 0
s1 c1 0 0
s0 k 0 0

6
 EE 312/ lecture no. 6/ System stability verification, Routh-Hurwitz criterion

where
ε −k −k
c1 = →
ε ε
Therefore, for any value of k greater than zero, the system is unstable. Also because
the last term in the first the column is equal to k, a negative value of k will result in an
unstable system. Therefore the system is unstable for all values of gain k.

(3) There is a zero in the first column and the other elements of the
row containing the zero are also zero.

This case occurs when all the elements in one row are zero or when the row consists
of a single element which is zero. This condition happens when the polynomial
contains singularities that are symmetrical located about the origin of the s-plane. In
this situation the auxiliary equation is used. The order of the auxiliary equation is
always even and indicates the number of symmetrical root pairs. To illustrate this
approach consider the following example.

Example:
Assess the stability of the system that has the characteristic equation shown below. In
the assessment implement the Routh-Hurwitz rule.

q( s) = s 3 + 2s 2 + 4s + k
Here k is an adjustable loop gain

Solution
s 3 1 4
s2 2 k
s1 8−k 0
2
s0 k 0

Therefore, the system to be stable, it is required that:

0≤k ≤8
When k = 8 , there are two roots on the jω -axis and a borderline case (the system is
marginal stable). When k = 8 , the auxiliary equation, P(s) , is the equation of the row
preceding the row of zeros. Then P(s) is given as:
P(s) = 2s 2 + ks 0
P(s) is indeed a factor of q(s) and this can be easily shown as:

7
 EE 312/ lecture no. 6/ System stability verification, Routh-Hurwitz criterion

1
s +1
2
2 s 2 + 8s 0 s 3 + 2s 2 + 4s + 8
s + 4s
2s 2
+8
2s 2 +8
0 0

Therefore, when k = 8 , the factors of the characteristic equation are:

q( s) = ( s + 2)(s + j 2)(s − j 2)

Example:
Find the range of gain, K, for the system of figure (2) that will cause the system to be
stable, unstable, and marginally stable assuming K > 0 .

Figure (2)

Solution
First find the closed loop transfer function as:

K
T (s) =
s 3 + 18s 2 + 77s + K
Next form the Routh table as follows:

s3 1 77
s2 18 K
1386 − K
s1 0
18
s0 K 0

Since K is assumed positive, it is clear that all elements in the first column are always
positive except the s1 row. This entry can be positive, zero, or negative, depending
upon the value of K. If K < 1386 all the terms in the first column will be positive,
and since there are no sign changes, the system will have three poles in the LHP and
be stable.

8
 EE 312/ lecture no. 6/ System stability verification, Routh-Hurwitz criterion

If K > 1386 , the s1 term in the first column is negative. There are two sign changes,
indicating that the system has two RHP poles and one LHP pole, which makes the
system unstable.

If K = 1386 , then an entire row of zeros, which signify jω poles. Returning to the
s 2 row and replacing K with 1386, then the even polynomial is formed as:

P(s) = 18s 2 + 1386

To fill up the table, differentiate P(s) with respect to s, this yields:

dP(s)
= 36s + 0
ds
Now replace the row of zeros with the coefficients of the first derivative equation that
leads to:
s3 1 77
s2 18 1386
s1 36 0
s0 1386 0

Since there are no sign changes from the even polynomial s 2 row down to the bottom
of the array, the even polynomial has its two roots on the jω -axis. Since there are no
sign changes above the even polynomial, the remaining root is in the LHP. Therefore
the system is marginally stable.

Sample problem
( this example is taken from Control System Engineering, Book by N. Nise )
Find the number of poles in the LHP, the RHP, and the jω -axis for the system of
figure (3). Make conclusions about the closed system stability.

Figure (3)