Ding

Joel
F44128640
2023/12/02

Linear Continuous System HM2 :

Routh’s Stability Criterion

Summary
Bonus Question :....................................................................................................................................2
1)........................................................................................................................................................2
2)........................................................................................................................................................3
3)........................................................................................................................................................3
4)........................................................................................................................................................4
Question 1 :............................................................................................................................................7
Question 2:.............................................................................................................................................9
Question 3 :..........................................................................................................................................10
a)......................................................................................................................................................11
b)......................................................................................................................................................11
c).......................................................................................................................................................11
Question 4 :..........................................................................................................................................12
a)......................................................................................................................................................13
b)......................................................................................................................................................14
MATLAB codes used :...........................................................................................................................15
Bonus Question :..................................................................................................................................15
Question 1 :..........................................................................................................................................15
Question 2 :..........................................................................................................................................16
Question 3 :..........................................................................................................................................16
Question 4 :..........................................................................................................................................16

1
Bonus Question :

1)
By considering K = 1, the open loop transfer function gives us :

And its poles are:

We know that poles equal to 0 (So, poles on the Imaginary Axis), are critical stable poles.
Which from the step response of this open loop transfer function G(s), gives us the proof of the critical
stability of the open-loop system:

Indeed, we can see a step response increasing proportionally into infinite. So, the system is critically
stable.

2
2)
With K back to a constant, we obtain the following closed-loop TF :

It’s a 5th order system.

3)
The characteristic equation is given by : 1 + G(s) = 0

3
4)

4
Thus, the range of K such that the closed-loop TF Gcl(s) is stable is :
0< K < 6,5918
Which can be proven by these plots :

5
6
Question 1 :

The open-loop transfer function is :

And the closed-loop transfer function is :

The characteristic equation is :

7
So, by using the characteristic equation 1+G ( s )=0 , we have from the routh table:

We can see 2 sign changes, which means there’s 2 poles i n the RHP∧3 poles∈the LHP .

We can also check the poles in MATLAB for the closed-loop TF Gcl (s ) :

8
Question 2:
The closed-loop TF is:

Ans the characteristic equation (CE) is:

We can see that all the coefficients in the s3 row are zero.

Which means that there’s 2 pairs of complex conjugate roots. Placed symmetrically about the origin.

We can also check the poles in MATLAB for the closed-loop TF Gcl (s ) :

9
Question 3 :

The open-loop TF is :

The closed-loop TF is:

And the characteristic equation is :

10
a)

b)

c)

We can also easily see by changing the value of K that the step response of the closed-loop TF is
stable, unstable, or marginally stable on MATLAB.

11
Question 4 :

The open-loop TF is :

The closed-loop TF is :

The characteristic equation is :

12
a)
The system oscillates for the gain K=416,6702 :

13
This is the step response of Gcl(s) with K = 416.6702, where, as we can see, oscillates.

b)

The complex conjugate poles are at 0+6.8840 i and 0−6.8840 i with MATLAB for the closed-loop
TF Gcl (s ) for K=416 , 6702

And, we can rewrite the closed-loop TF as such :

14
MATLAB codes used :
Bonus Question :

clc; clear all; close all;

%% Bonus Question :

num = 10;
den = [1 6 23 42 49 0];

G = tf(num,den)

%{
pole(G)

figure
step(G)
hold on; grid on;
legend('Step Response of Open Loop TF G(s)')
%}

%Test with K1 in the range of stability

%And K2 outside the range of stability
K1 = 6.5917;
K2 = 6.5918;

Gcl1=tf([10*K1],[1 6 23 42 49 10*K1])
Gcl2=tf([10*K2],[1 6 23 42 49 10*K2])

pole(Gcl1)
pole(Gcl2)

figure(1)
step(Gcl1)
title('Stable range of K1=6.5917')
legend('Step Response of Closed-Loop TF Gcl(s) with K1=6.5917')

figure(2)
step(Gcl2,'r')
title('Unstable range of K2=6.5918')
legend('Step Response of Closed-Loop TF Gcl(s) with K2=6.5918')

roots([-100 -16200 111132])

Question 1 :
%% Question 1

G = tf(1,[2 3 2 3 2 0])
pole(G)

Gcl=tf(1,[2 3 2 3 2 1])
pole(Gcl)

15
Question 2 :
%% Question 2

Gcl = tf(10,[1 7 6 42 8 56])

pole(Gcl)

Question 3 :
%% Question 3

K=1;

G = tf(K,[1 18 77 0])
pole(G)

Gcl = tf(K,[1 18 77 K])

pole(Gcl)

step(Gcl)

Question 4 :
%% Question 4

K=416.6702;

G = tf([K 2*K],[1 12 67 152 96])

pole(G)

Gcl = tf([K 2*K],[1 12 67 152+K 96+2*K])

pole(Gcl)

step(Gcl)

%To find the gain K where the system oscillates

roots([-1 212 85280])

16