Control Systems

Dr.D.Subbulekshmi
 Outline
Routh method
Routh table
Special cases
 Routh method
Step 1: Write the polynomial as
n −1
d(s) = a n s + a n −1s
n
+ a1s + a 0

Step 2: Write the coefficients in two rows

▪ First row starts with an
▪ Second row starts with an-1
▪ Other coefficients alternate between rows
▪ an and an-1 should be same length
➢Continue until no coefficients are left
➢Add zero as last coefficient if necessary
 Routh table
Ex: for 4th order polynominal,
It is a method for determining continuous
system stability.
Number of roots in the right half S plane is equal
to the number of sign changes in the first
column of routh array.
A system is stable if there are no sign changes in
the first column of the Routh table
 Special cases
Case-1: Zero in the firs
If first element of a row is zero, division by zero
would be required to form the next rowt column

To avoid this phenomenon, zero is replaced by a

very small number (say є).
Case-II: Entire Row is Zero.
Sometimes while making a Routh table, we find
that an entire row consists of zeros.
This happen because there is an even
polynomial that is a factor of the original
polynomial.
This case must be handled differently from the
case of a zero in only the first column of a row
 Example 1
Determine the stability of a system whose
characteristic equation is
s 4 + 5s 3 + 20s 2 + 40s + 50 = 0
s4 1 20 50
s3 5 40
s2 2 50
s1 115/6
s0 50

No sign change in first column. So system is stable