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GEE338 LCS Chapter - 3 Stability of Control Systems
GEE338 LCS Chapter - 3 Stability of Control Systems
Chapter 3
Stability of Control Systems in Laplace
Doman
Prof. Fawzy Ibrahim and Eng. Medhat Toubar
Electronics and Communication Department
Misr International University (MIU)
G ( s ) R ( s )T ( s )
5 5
G ( s ) R ( s )T ( s ) 1x
s 2 s 6 ( s 3)( s 2)
5 of 40 GEE338 Ch.3 Stability Prof Fawzy Ibrahim
3.1 Stability Concept
• Impulse response function g(t) is the inverse Laplace transform of T(s), using
partial fraction, we get:
5 5 A B
G (s) 2
s s 6 ( s 3)( s 2) ( s 3) ( s 2)
5 5
A ( s 3)T ( s) s 3 1
( s 2) s 3
5
5 5
B ( s 2)T ( s) s 2 1
( s 3) s 2
5
1 1
G (s) g (t ) (e 2t e 3t )u (t )
( s 2) ( s 3)
( s 2)( s 3)( s 5)
Therefore, the characteristic equation is given by:
Q ( s ) ( s ) s 3 10 s 2 31s 1030
(a) (b)
Fig. 3.1 (a) Feedback system for; (b) equivalent closed loop system.
11 of 40 GEE338 Ch.3 Stability Prof Fawzy Ibrahim
3.2 Stability Analysis Using Routh-Hurwitz Criterion
Example 3.3 Solution: ( s ) s 10s
3 2
31s 1030
Step #1: Generate the Routh table as follows:
Table 3.3 The Completed Routh table for Example 3.3
Divide by 10
Note: Any row of the Routh table can be multiplied by a positive constant without
changing the values of the rows below.
Step #2: Interpret the Routh table: Since there are two sign changes in the left
column (+ + - +). Therefore, the system is unstable because the characteristic
equation, (s) has two roots in the right half plane so two poles of T(s) are in
the right half plane.
12 of 40 GEE338 Ch.3 Stability Prof Fawzy Ibrahim
3.2 Stability Analysis Using Routh-Hurwitz Criterion
Example 3.4 Apply the Routh-Hurwitz Method to determine the stability of a the
closed loop system whose transfer function is given by:
Solution Q ( s ) ( s ) 3s 5
5 s 4
6 s 3
3s 2
2s 1 T (s) 5
10
Step #1: Generate the Routh table as follows: 3s 5s 4 6s 3 3s 2 2s 1
Table 3.4 The Completed Routh table
Step #2: Interpret the Routh table: Since there are two sign changes in the left
column (+ + - +). Therefore, the system is unstable because the characteristic
equation, (s) has two roots in the right half plane so two poles of T(s) are in
the right half plane.
13 of 40 GEE338 Ch.3 Stability Prof Fawzy Ibrahim
3.2 Stability Analysis Using Routh-Hurwitz Criterion
Example 3.5 Apply the Routh-Hurwitz Method to check the stability of a system
whose characteristic equation is given by:
Q ( s ) ( s ) s 5 2 s 4 3s 3 6 s 2 5s 3
Solution
Step #1: Generate the Routh table as follows:
Table 3.5 (a) The Completed Routh table for Example 3.5
Note:
To avoid the division by zero,
an epsilon () is assigned to
replace the zero in the first
column.
• Since, there are two sign changes in the left column (+ + - +); Therefore, the
system is unstable because the characteristic equation, (s) has two roots in
the right half plane so two poles of T(s) are in the right half plane.
15 of 40 GEE338 Ch.3 Stability Prof Fawzy Ibrahim
3.2 Stability Analysis Using Routh-Hurwitz Criterion
Example 3.5 Apply the Routh-Hurwitz Method to determine the values of K that
make the system stable whose characteristic equation is given by.
s 5 13s 4 54s 3 82s 2 (60 K ) s 3K 0
Solution
Step #1: Generate the Routh table as follows:
Table 3.5(b) The Completed Routh table for Example 3.5
Step #2: Interpret the Routh table. Then the values of k that makes the system
stable are: 0 K 35
16 of 40 GEE338 Ch.3 Stability Prof Fawzy Ibrahim
3.3 Root Locus Techniques
3.3.1 Definition of Root Locus
• Consider the feedback control system shown in Fig. 3.2, the closed loop
transfer function is given by:
C (s) K G (s)
T (s)
R( s) 1 K G ( s) H ( s)
• Where k is a constant gain parameter. The poles of the transfer function are
the roots of the characteristic equation given by:
1 K G (s) H (s) 0
• The root locus is the locus of the characteristic equation of the closed-loop
system as a specific parameter (usually, gain K) is varied from zero to infinity.
For 0 ≤ K < ∞.
A
pole values of GH zero values of GH
nm
0 1 2 4 ( 3)
1.33
3
R(s ) k ( s 3)( s 5) C (s )
( s 1)( s 2)
R(s ) K ( s 2) C (s )
( s 3)( s 2 2 s 2)
Fig. 3.9
Step 2. Real Axis Segments: Draw the pole zero plot of KG(s)H(s), then
locate the segments of real axis that are root loci. The root locus on the real
axis always lies in a section of real axis to the left of an odd number of poles
and zeros as shown in Fig. 3.10
37 of 40 GEE338 Ch.3 Stability Prof Fawzy Ibrahim
Root locus segments exists after the zero at
3.3 Root Locus Techniques -2. The are two complex poles -1± j1
3.3.2 Root Locus Construction Procedure
Example 3.9 Solution