04 Automatic Control Rouths Stability Criterion

Automatic Control
Routh’s Stability Criterion
29‐Nov‐23
1 ccpeng@mail.ncku.edu.tw
Aims for this chapter
 Stability of closed‐loop feedback systems is essential to control
system design and performance evaluation.
 A stable system should exhibit a bounded output if the applied input
is bounded.  called bounded‐input‐bounded‐output (BIBO).
 The stability of a feedback system is directly related to the location of
the roots of the characteristic equation (CE) of the system TF.
 The roots of the CE are also the locations of the eigenvalues.
 The Routh‐Hurwitz method (or Routh Table) is introduced as a useful
tool for assessing system stability.
 The technique allows us to compute the NUMBER (not the value) of
roots of the CE in the right half plane (RHP) without actually
computing the values of the roots.  only absolute stability is known
 but has NO idea about the relative stability..
Equilibrium state or point :
Ifthe equilibrium state or point is said to be stable, it implies that system
state does not go far from the equilibrium state under small disturbance.
There are three conditions for the equilibrium state
(a). stable equilibrium state
(b). conditional stable equilibrium state
(c). unstable equilibrium state
For a given system
N UE SE
how to determine the stability?
derive the time domain solution?
complicated & time exhausted CS
especially for high order TF!

 Firstly, lets consider the simple (open‐loop) transfer function, where
the input is an impulse S-domain Stable roots
s = -1, s = -2
 The partial‐fraction expansion of F(s) is
 where a1 and a2 are found as Time-domain
 Taking inverse Laplace transform gives

Stable time
response
 By examining this system in s‐domain
 and the corresponding time‐domain
 We can find that the poles of the characteristic equation dominate

the stability of the (open‐loop & closed‐loop) system.
 If we can solve the roots/poles, the stability can be done.
 But….. What if…..
N (s )
F (s ) =
a 0s n + a1s n -1 + an -1s + an
 For a High Order linear system, it is NOT easy to find out all the
roots by solving the polynomial (by hands).
 Of course, with computer, you can use MATLAB ‘roots’ to solve it!
 As a result, in this chapter, we are going to introduce the so‐called
Routh’s stability criterion.
 The Routh’s stability criterion is able to determine the stability of
linear systems in s‐domain.  without the use of computer!
 Moreover, Routh’s stability criterion tells us whether or not there
are unstable roots in a polynomial equation without actually solving
for them.
 When the criterion is applied to a control system, information about
absolute stability can be obtained directly from the coefficients of
the characteristic equation.
 An easy rule of thumb for “absolute stability”:
“all the coefficients must be positive”
 This is a necessary condition but NOT a sufficient condition.

 In other words, once any one coefficient of the polynomial changes
sign, there must be at least one pole at the right‐hand side 
unstable.
s  a s  b   s 2  a  b s  ab s1,2   a, b
s  a s  b   s 2  a  b s  ab s1,2   a, b
ab0
Routh’s Stability Criterion (ex.)
 Consider the following TF, where U(s) = 1/s (step input)
Y s ab ab
 F s  2 
U s s   s  b  s  ab  s  a  s  b 
 The output is
1 ab 1 b /  a  b a / b  a 
Y s  U s  F s     
s  s  a  s  b  s  s  a   s  b
 Taking the inverse Laplace gives
y  t   L1 Y  s    1 
b a
e  at  e  bt
a  b b  a 
 Since a  b  0 , one has
y  t   1 as t 
Routh’s Stability Criterion (ex.)
 Consider the following TF, where U(s) = 1/s (step input)
Y s ab ab
 F s  2 
U s s   a  b  s  ab  s  a  s  b 
 The output is
1 ab 1 b /  a  b  a /  a  b 
Y s  U s  F s     
s  s  a  s  b  s  s  a   s  b
 Taking the inverse Laplace gives
y  t   L1 Y  s    1 
b a
e  at  ebt
a  b a  b
 Since a  b  0 , one has
y t    as t 
 The Routh’s table is able to determine the location of the roots (or
poles) w.r.t LHP & RHP, but not for the absolute stability!!
 Left‐Half Plane(LHP)stable poles exact pole positions are NOT known
 Right‐Half Plane(RHP) unstable poles when using the Routh’s criteria
 Imaginary Axis critical stable poles
Im
LHP RHP
Re
stable poles unstable poles
 The procedure in Routh’s stability criterion is as follows (3 Steps):
 Step. 1 Write the polynomial in “s” in the following form:
 Step. 2 If ANY of the coefficients are zero or negative in the presence of

at least one positive coefficient, a root or roots exist that are imaginary
or that have positive real parts  unstable system
 Note that in the step.2, even all the coefficients are positive, there is
NO guarantee for the stability must go for next step!!
 Step. 3 If all coefficients are positive, arrange the coefficients of the
polynomial in rows and columns according to the following pattern
 This process is continued until the nth row has been completed. The
complete array of coefficients is triangular.
 Pole determination via Routh’s criterion
 Routh’s stability criterion states that the number of roots of the
polynomial with positive real parts is equal to the number of changes in
sign of the coefficients of the first column of the array.
check changes of sign!! determine # of poles at RHP
The necessary & sufficient condition

for all roots lie in the left-half s-plane (stable)
A. all the polynomial coeff. must be positive.
B. all terms in the first column have positive signs.
Note that A & B must be guaranteed at the same time!!!
 Example of Routh’s Table Configuration for
Initial layout for Routh table
0
0
Finish the triangular array
Routh’s Stability Criterion(ex.)
 Consider the following 3rd‐order polynomial:
 where all the coefficients are positive numbers.

 Necessary Condition  stability remains not guaranteed!
 So far we are NOT able to say that the system is stable.
 Build‐up the triangular array further, i.e., Routh Table.
a1a2  a0 a3
a3   a1  0
a1
0
a1a2  a0 a3
a1
 The condition that all roots have negative real parts if
1
 Consider the following two 3rd order CE: F (s ) = , where
D (s )
s3 5 3 0
D (s ) = 5s + 4s + 3s + 1
3 2
s2 4 1 0
-0.1741 + 0.6422i 3´ 4 - 5´1 7 0´ 4 - 0´5
s1 = =0
-0.1741 - 0.6422i 4 4 4
-0.4518 s 0 1´7 / 4 - 4 ´ 0
=1 0
7/4
all the poles are negative  stable!
s3 24 9 0
D (s ) = 24s + 26s + 9s + 1
3 2
s2 26 1 0
-0.5000 9´26 - 24 ´1 105 0´26 - 0´24
s1 = =0
-0.3333 26 13 26
0
-0.2500 s 1´105 / 13 - 0´26 420
= 0
7/4 91
all the poles are negative  stable!
1
 Consider the following two 3rd order CE: F (s ) = , where
D (s )
D1 (s ) = 5s 3 + 4s 2 + 3s + 1 slower & oscillated
-0.1741 + 0.6422i
Poles: -0.1741 - 0.6422i
-0.4518
faster convergence speed

D2 (s ) = 24s + 26s + 9s + 1
3 2
-0.5000
Poles: -0.3333
-0.2500
 Routh table can tell us the stability, but not the performance!
1
 Consider the following specific 3rd order CE: F (s ) = , where
D (s )
D3 (s ) = 5s 3 + 1s 2 + 3s + 1 s3 5 3 0
s2 1 1 0
All the coefficients are positive. 3´1 - 5´1 0´1 - 0´5
s1 = -2 =0
However, the stability are NOT 1 1
guaranteed yet!! s0 1´-2 - 0´1
=1 0
-2
0.0572 + 0.7954i
Poles: 0.0572 - 0.7954i
-0.3145 + 0.0000i
As mentioned before, even all the

coefficients are positive, there is NO
guarantee for the stability must go for
next step!! checking the Routh Table
roots([1 2 3 4 5])
ans =
Routh’s Stability Criterion(ex.) 0.2878 + 1.4161i
0.2878 ‐ 1.4161i
‐1.2878 + 0.8579i
 Consider the 4th‐order polynomial: ‐1.2878 ‐ 0.8579i
 All the coefficients are positive. (stability NOT guaranteed yet!!)

 Construct the array further
Method-1 Method-2
The second row is divided

by the common factor 2.
(it doesn’t change the
final result)
 Note that the number of changes in sign of the coefficients in the

first column is 2. One can conclude that there are two roots with
positive real parts (that is, in the RHP). an unstable system!!
 Recall that if ANY of the coefficients are zero or negative in the presence of
at least one positive coefficient, a root or roots exist that are imaginary or
that have positive real parts  unstable system
 Consider the following F (s ) = 1 , where the CEs are presented as
D (s )
D1unstable (s ) = 5s - 9 D2unstable (s ) = s 2 - 3s + 5 D3unstable (s ) = 5s 3 - 1s 2 + 3s + 1
ans =
ans = ans =
0.2370 + 0.8208i
1.8000 1.5000 + 1.6583i
0.2370 - 0.8208i
1.5000 - 1.6583i
-0.2740 + 0.0000i
D4unstable (s ) = s 4 + 5s 3 + 1s 2 + 3s - 1 D5unstable (s ) = s 5 - 2s 4 + 5s 3 + 1s 2 + 3s - 1
ans = 0.2728 + 0.0000i ans = 0.2762 + 0.0000i

-4.9290 + 0.0000i UNSTABLE 1.2075 + 2.0202i
-0.1719 + 0.8450i Systems 1.2075 - 2.0202i
-0.1719 - 0.8450i -0.3455 + 0.7310i
-0.3455 - 0.7310i
 So far, we introduced the most commonly seen situation.
 Unfortunately, there always exist special cases!
Special Cases A: If a first-column term in any row is zero…….
Special Cases B: If all the coefficients in any derived row are zero…….
Routh’s Stability Criterion : Special Cases
 Special Cases A: If a first‐column term in any row is zero…….
 If a first‐column term in any row is zero, but the remaining terms are not
zero or there is no remaining term, then the zero term is replaced by a
very small positive number  and the rest of the array is evaluated
accordingly.
 For the determination of pole locations, further check:
 Check. 1 : If the sign of the coefficient above  is the same as that below it, it
indicates that there is a pair of imaginary roots.
 Check. 2 : If, however, the sign of the coefficient above  is opposite that
below it, it indicates that there is one sign change.
 For example:
roots([1 2 1 2])
ans =
 All the coefficients are positive. ‐2.0000
‐0.0000 + 1.0000i
 Construct the array
‐0.0000 ‐ 1.0000i
special case occurs
 Check. 1 : If the sign of the coefficient above  is the same as that below
it, it indicates that there exits a pair of imaginary roots.
 Check. 2 : If, however, the sign of the coefficient above  is opposite
that below it, it indicates that there is one sign change.
 For example:
roots([1 0 ‐3 2])
ans =
‐2.0000
 Not all the coefficients are positive (unstable). 1.0000
 Construct the array (for roots location determination) 1.0000
special case occurs
<0
 Check. 1 : If the sign of the coefficient above  is the same as that below
it, it indicates that there are a pair of imaginary roots.
 Check. 2 : If, however, the sign of the coefficient above  is opposite as
that below it, it indicates that there is one sign change.
 Consider the following feedback system
GP  s   ?
 Please find Gp(s); that is, open‐loop TF.

 Apply Routh table to evaluate the stability of Gp(s) & T(s)
 Special Cases B: If all the coefficients in any derived row are zero…….
 If all the coefficients in any derived row are zero, it indicates that there
are roots of equal magnitude lying radially opposite in the s‐plane; that
is: Im
 (a). two real roots with equal magnitudes but opposite signs. Re
 (b). two conjugate imaginary roots.
 (c). pairs of complex conjugate roots. Im
placed symmetrically about the origin. Re
 In such a case, the evaluation of the rest of the array can be

continued by forming an auxiliary polynomial with the coefficients
of the last row and by using the coefficients of the derivative of this
polynomial in the next row. Im
 Moreover, part of the position of the poles can be Re
directly determined by solving the auxiliary equation.
 For example:
 Not all the coefficients are positive (unstable).

 Construct the array (for roots location determination)
special case occurs : entire row consists of zeros!!
 Taking the derivative w.r.t the auxiliary polynomial P(s) yields
and then replace the zero row by the above auxiliary polynomial.
 For example: roots([1 2 24 48 ‐25 ‐50])
ans =
0.0000 + 5.0000i
0.0000 ‐ 5.0000i
 Not all the coefficients are positive (unstable). 1.0000
‐2.0000
 Construct the array (for roots location determination) ‐1.0000
 The number of sign changes is “1”one root with a positive real part
 Solve the auxiliary poly. P(s), one has s1,2,3,4 = ‐1,+1, ‐5i, +5i, respectively.
 For the 5th order polynomial, it contains:
 1 unstable pole, 2 conjugate imaginary poles, two stable poles.
 When an entire row of zeros occur, it means the poles are
 (a). symmetrical and real Im
 (b). Symmetrical and imaginary Re

 (c). symmetrical w.r.t the origin
 Let’s discuss the following two scenario
Im
 Case.A : a purely odd polynomial
Re
 Case.B : a purely even polynomial
s8  s 6  s 4  s 2  s 0  0
s8 Im
s7
s 7  s 5  s 3  s1  0 Re

s0
 When an entire row of zeros occur, it means the poles are
 (a). symmetrical and real Im
 (b). Symmetrical and imaginary Re

 (c). symmetrical w.r.t the origin
 Let’s discuss the following two scenario
Im
 Case.A : a purely odd polynomial
Re
 Case.B : a purely even polynomial
 s8  s 6  s 4  s 2  s 0  0
s8 Im
s7  s 9  s 7  s 5  s 3  s1  0 Re
  s  s8  s 6  s 4  s 2  s 0   0
s0
Routh’s Stability Criterion: Applications
 Consider the following feedback system
 Note that the open‐loop system is stable.

 The corresponding CL transfer function is
 Check the stability of the CL by using Routh’s stability criterion.
 The characteristic equation is roots([1 10 31 1030])
ans =
s 3  10 s 2  31s  1030  0 ‐13.4136
1.7068 + 8.5950i
 All the coefficients are positive. 1.7068 ‐ 8.5950i
 Routh Table
s3 1 31 0
s2 10 1030 0
310  1030
s1  72 0
10
s0 103
 The number of change sign is “2” two poles at RHP.

 The closed‐loop system is unstable!
 How to stabilize the system via K ? K
 The system unstable.
 How to stabilize the system via K ?

K
 The C.E. is s 3 + 10s 2 + 31s + 1000K + 30 = 0

 The Routh table is s3 1 31 0
10 1000K + 30 0
s2
K < 0.28 310 - (1000K + 30)
s 1 >0 0
10
s0 1000K + 30 > 0
R s  Gc s  G p s  Y s 
G p (s )Gc (s )
Gcl (s ) =
1 +G p (s )Gc (s )
Routh’s
CE : 1 +G p (s )Gc (s )
Stability
 Consider the closed‐loop (CL) system
R s  Gc s  G p s  C s 
 Try to find the range of K for a stable CL system.

 The corresponding CL transfer function is
CE : 1  G p s Gc s 
 To guarantee the CL stability, the control gain K must be selected

properly such that all the roots are in the LHP!
 For the given CL transfer
 The characteristic equation is
 Based on the Routh’s stability criterion

 All the coefficients must be positive  K>0
 The coefficients in the 1st column of the array are all positive as well
 Let’s realize the CL in MATLAB Simulink
system is stable if K<14/9 =1.5556
stable : 0 < K < 14 / 9

unstable : 14 / 9 £ K
 Clearly, position of roots varies as K increases.

 Change of K  change of roots (CL‐poles)  change of the CL responses.
 Therefore, from the control design point of view, selection of a
proper gain value is important.
Routh table is used to evaluate a feasible range that makes the CL stable
 For the system shown in the following
10 K
s  s 2  3s  7 
2
 1. Please evaluate the stability of the open‐loop system

 2. Please find the closed‐loop TF & system order
 3. Please find the characteristic equation.
 4. Please find the range of K such that the closed‐loop system is
stable.
Conclusion
 Routh table can help use to determine the stability of the system
without actually solve the roots of the characteristic equation.
 Routh table can also guide us to determine a proper gain for
feedback control design.
 Routh‐Hurwitz criterion can be applied only when the coefficients
are real (not complex).
 Routh Table Remarks:

 For a given characteristic equation, even if all the coefficients are
positive, there is no guarantee the system is stable.
 For a given characteristic equation, if any one of the coefficients is
negative, then the system is unstable.
Homework
 Q.1 Find the number of poles in the LHP, the RHP, and on the j‐axis
for the system by using Routh’s stability criterion.
 Q.2 Determine the number of right‐half‐plane poles in the closed‐

loop transfer function
Homework
 Q.3 Discuss the range of gain, K, for the following control system
that will cause the system to be
 (A). stable
 (B). unstable
 (C). marginally stable.
 Note that K > 0.
 Also complete the Routh table for each case.
Homework
 Q4. Consider an open‐loop transfer function
R s  s  2 Y s 
s  1s  3s 2  8s  32
 (a). Determine the gain K that makes the system oscillate. That is,
the closed‐loop poles are located at imaginary axis.
 (b). Also find the position of the complex conjugate poles.
 PS: in the later chapter (root‐locus), the above condition is known as

a crossing point.

04 Automatic Control Rouths Stability Criterion

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04 Automatic Control Rouths Stability Criterion

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Automatic Control

Routh’s Stability Criterion

complicated & time exhausted CS

especially for high order TF!

 where a1 and a2 are found as Time-domain

 Taking inverse Laplace transform gives

 and the corresponding time‐domain

 We can find that the poles of the characteristic equation dominate

“all the coefficients must be positive”

 This is a necessary condition but NOT a sufficient condition.

 Step. 1 Write the polynomial in “s” in the following form:

 Step. 2 If ANY of the coefficients are zero or negative in the presence of

check changes of sign!! determine # of poles at RHP

The necessary & sufficient condition

Initial layout for Routh table

Finish the triangular array

 where all the coefficients are positive numbers.

D1 (s ) = 5s 3 + 4s 2 + 3s + 1 slower & oscillated

faster convergence speed

As mentioned before, even all the

 All the coefficients are positive. (stability NOT guaranteed yet!!)

The second row is divided

 Note that the number of changes in sign of the coefficients in the

ans = 0.2728 + 0.0000i ans = 0.2762 + 0.0000i

Special Cases A: If a first-column term in any row is zero…….

special case occurs

special case occurs

 Please find Gp(s); that is, open‐loop TF.

placed symmetrically about the origin. Re

 In such a case, the evaluation of the rest of the array can be

 Not all the coefficients are positive (unstable).

special case occurs : entire row consists of zeros!!

 Taking the derivative w.r.t the auxiliary polynomial P(s) yields

 (b). Symmetrical and imaginary Re

 (b). Symmetrical and imaginary Re

 Note that the open‐loop system is stable.

 Check the stability of the CL by using Routh’s stability criterion.

 The number of change sign is “2” two poles at RHP.

 How to stabilize the system via K ?

 The C.E. is s 3 + 10s 2 + 31s + 1000K + 30 = 0

 Try to find the range of K for a stable CL system.

 To guarantee the CL stability, the control gain K must be selected

 The characteristic equation is

 Based on the Routh’s stability criterion

system is stable if K<14/9 =1.5556

stable : 0 < K < 14 / 9

 Clearly, position of roots varies as K increases.

 1. Please evaluate the stability of the open‐loop system

 Routh Table Remarks:

 Q.2 Determine the number of right‐half‐plane poles in the closed‐

 PS: in the later chapter (root‐locus), the above condition is known as

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