Automa c Control Routh’s Stability Criterion

Bonus
(1)
 3  19 
2 2

 s   s s  3s  7   s s      0
2 2

 2 4 

3 19 3 19
 s  0,   i,  i
2 2 2 2
Here is a special case with the root placed at 0; we can interpret it as having an
integrator in a physical sense. Therefore, the open-loop system is stable.

(2)
Cs 10k 10k
  ,
R s s  s 2  3s  7   10 k
2
s  6 s  23s  42 s 2  49 s  10k
5 4 3

It’s a 5th order system.

(3)

 s   s 5  6s 4  23s 3  42s 2  49s  10k

(4)
s5 1 23 49
s4 6 42 10k
294  10k
s3 16
6
378  10k
s2 10k
16
25k  4050k  27783
2

s1
15k  567
s 0
10k

10k  0 k  0

 k  37.8
378  10k  0
  
294  10k  0 k  29.4
 
25k 2  4050k  27783  0 168.592  k  6.592

 0  k  6.592 , stable.
1.

Cs 1

R s 2 s  3s  2 s 3  3 s 2  2 s  1
5 4

 s   2s 5  3s 4  2s 3  3s 2  2s  1

Special case A: mul ply s  a  to the original polynomial a  0

Select a=1  s  1  s   2s 6  5s 5  5s 4  5s 3  5s 2  3s  1

s6 2 5 5 1
s 5
5 5 3
19
s4 3 1
5
4 4
s3
3 3
34
s2 1
5
26
s1
17
s0 1

 s  1 s  : 2 poles in RHP, 4 poles in LHP, 0 on the j -axis

Delete the root we selected a=1,

  s  : 2 poles in RHP, 3 poles in LHP, 0 on the j -axis.

2.

C s 10

R s s  7 s  6 s  42 s 2  8s  56
5 4 3

 s   s 5  7s 4  6s 3  42s 2  8s  56

Special case B: form an auxiliary polynomial with the coefficients of the last row
 
As   7s 4  42s 2  56


Auxiliary polynomial  d

 As   28s 3  84s


ds

s5 1 6 8
s 4
7 42 56
s 3
28 84
s2 21 56
28
s1
3
s0 56

  s  : 0 poles at RHP.

3.

Cs k k
  3
R s s  s  7  s  11  k s  18 s  77 s  k
2

 s   s 3  18s 2  77s  k

(A) stable

s3 1 77
s2 18 k
k
s 1 77 
18
s0 k

 k
77   0
 18

k  0
 0  k  1386 , stable.

(B) unstable
Using the table from (A), if k 1387
s3 1 77
s2 18 1387
1
s1 
18
s0 1387

 k  0 , k  1386 , unstable.
(C) marginally stable, k=1386
Special case B: form an auxiliary polynomial with the coefficients of the last row


As   18s 2  1386


Auxiliary polynomial  d

 As   36s

ds


Using the table from (A), k  1386

s3 1 77
s2 18 1386
s1 36
s0 1386

 k  1386 , marginally stable.

4.

Y s  k s  2

R s  s  1s  3s 2  8s  32  k s  2

 s   s 4  12s 3  67s 2  152  k s  96  2k

s4 1 67 96  2k
s3 12 152  k
652  k
s2 96  2k
12
k 2  212k  85280
s1
652  k
s 0
96  2k

(A)
k 2  212k  85280  0

k  416.67, 204.67 

 
As   19.611s 2  929.34


Auxiliary polynomial  d

 As   39.222s

ds


k  416.67 will make the system oscillate.

(B)

As   19.611s 2  929.34  0

 As   6.844i