Professional Documents
Culture Documents
(2024-1학기) Chapter 6 - N Stability
(2024-1학기) Chapter 6 - N Stability
(2024-1학기) Chapter 6 - N Stability
Chapter 6. Stability
Things to know
Chapter 6. Stability
Figure 6.1
Closed-loop
poles
and response:
a. stable system;
b. unstable
system
Antenna (Ch. 6)
http://www.wiley.com/college/nise/
0471794759/swf/AntenaChap6.swf
Figure 6.2
Common cause
of problems in
finding closed-loop
poles:
a. original system;
b. equivalent
system
1.Routh, E. J. (1877). A Treatise on the Stability of a Given State of Motion: Particularly Steady
Motion. Macmillan.
2.Hurwitz, A. (1895). "Ueber die Bedingungen, unter welchen eine Gleichung nur Wurzeln mit
negativen reellen Theilen besitzt". Math. Ann. 46 (2): 273–284. doi:10.1007/BF01446812. (English
translation “On the conditions under which an equation has only roots with negative real parts” by
H. G. Bergmann in Selected Papers on Mathematical Trends in Control Theory R. Bellman and R.
Kalaba Eds. New York: Dover, 1964 pp. 70–82.)
1행 an an − 2 an − 4
2행 an −1 an −3 an − 5
3행 b1 b2 b3
1 an an − 2 an −1an − 2 − an an − 3
b1 = − =
an −1 an −1 an − 3 an −1
1 an an − 4 an −1an − 4 − an an − 5
b2 = − =
an −1 an −1 an − 5 an −1
1 an an − 2 m a a − an an − 2 m −1
bm = − = n −1 n − 2 m
an −1 an −1 an − 2 m −1 an −1
Chapter 6. Stability 6/21
Pusan National University
Measurement & Control Lab.
1 an −1 an − 3 an − 3b1 − an −1b2
c1 = − =
b1 b1 b2 b1
1 an −1 an − 5 an − 5b1 − an −1b3
c2 = − =
b1 b1 b3 b1
s n | an an − 2 a n − 4 a n − 6
Routh 배열 :
s n −1 | an −1 an − 3 an − 5 an − 7
s n − 2 | b1 b2 b3 b4
s n − 3 | c1 c2 c3 c4
|
s 2 | d1 d 2
s1 | e1
s0 | f1
Table 6.2
Completed Routh
table
s 4 + 2s 3 + 3s 2 + 8s + 2 = 0
Routh 배열: s4 | 1 3 2
s3 | 2 8 0
s 2 | −1 2 0
s1 | 12 0
s0 | 2 0
Routh 배열의 첫 번째 열에서 부호의 변화가 두 번 있으므로, 특성방정식에서
두 개의 근이 양의 실수부를 갖게 되어 시스템은 불안정하다.
s + 3s + 2 = 0
3
Routh 배열: s3 | 1 3
s2 | 0 2
2
s | 3−
1
s0 | 2
Routh 배열의 첫 번째 열에서 부호의 변화가 두 번 있음
두 개의 극점이 양의 실수부를 가짐 => 불안정
P( s ) = s 4 − 3s 2 − 4
dP
= 4s 3 − 6s
ds
Sol)
우선 특성방정식에서 s를 z-1로 대치
( z − 1)3 + 4( z − 1)2 + 6( z − 1) + 4 = 0
z3 + z 2 + z + 1 = 0
Routh 배열: z3 | 1 1
z2 | 1 1
z1 | 0
z0 | 1 0
특성방정식의 근의 실수부가 모두 -1보다 작음
즉, 시스템의 시정수는 적어도 1보다 작다.
Chapter 6. Stability 14/21
Pusan National University
Measurement & Control Lab.
Ex. 6.6
Ex. 6.7
Routh table
3K 2 + 6 K − 4
K 0, 0
3K
이어야 한다. 따라서 시스템이 안정하기 위해서는 K > 0.528 이어야 한다.
x1 0 3 1 x1 10
x = 2 8 1 x2 + 0 u (t )
2
x3 − 10 −5 − 2 x3 0
x1
y = 1 0 0 x2
x3
Table 6.18
Routh table for Example 6.11
Since there is one sign change in the first column, the system has one
right half-plan pole and two left-half plane poles
=> Unstable system