Routh stability

criterion
Applications
Control Systems UNIT 3 Stability analysis
of Routh
stability
criterion only
for linear
feedback
control
systems
 What is
Concept
Stability?
of
Stability

Routh stability
criterion
Applications
of Routh
stability
criterion only
for linear • A system is said to be stable, if its output is under
feedback
control Otherwise, it is said to be unstable. A stable
control.
systems
system produces a bounded output for a given
bounded input.
 Response of a stable
This is the response of
system
first order control system for
unit
Concept
of step input. This response has the values between 0 and
Stability
Routh stability
criterion
1. So, it is bounded output.
Applications
of Routh
stability
criterion only
for linear
feedback
control
systems

We know that the unit step signal has the value of one
for all positive values of t including zero. So, it is
bounded input.
Therefore, the first order control system is stable since
 Types of Systems based on
Stability

Applications
of Routh
stability
criterion only We can classify the systems based on stability as
for linear
feedback
follows:
control
systems
• Absolutely stable system
• Conditionally stable system
• Marginally stable system
 Absolutely Stable System

Applications • If the system is stable for all the range of

of Routh
stability component values, then it is known as the
system
criterion only absolutely stable system.
for linear
feedback
• The open loop control system is absolutely stable if all
control
systems poles
the of the open loop transfer function present in left
half of s plane.
• Similarly, the closed loop control system is absolutely
stable if all the poles of the closed loop transfer
function present in the left half of the s plane.
 Conditionally Stable
System
Concept
of
Stability

Routh stability
Applications
criterion
of Routh
stability
criterion only
for linear
feedback If the system is stable for a certain range of system
control
systems
component values, then it is known as conditionally stable
system.
 Marginally Stable
Concept
System
of
Stability
Routh stability
criterion
Applications
• If the system is stable by producing an output signal
of Routh constant amplitude and constant frequency of
with
stability
criterion only oscillations for bounded input, then it is known as
for linear marginally stable system.
feedback
control • The open loop control system is marginally stable if
systems
two poles of the open loop transfer function is
any
present on the imaginary axis.
• Similarly, the closed loop control system is marginally
stable if any two poles of the closed loop transfer
function is present on the imaginary axis.
 Routh-Hurwitz Stability
Criterion
Concept
of
Stability

Routh stability
Applications
criterion
of Routh • Routh-Hurwitz stability criterion is having one
stability
criterion only
necessary
condition and one sufficient condition for
for linear stability.
• If any control system doesnt satisfy the
feedback
control necessary then we can say that the control system is
condition,
systems
unstable. But, if the control system satisfies the
necessary condition, then it may or may not be
stable.
• So, the sufficient condition is helpful for knowing
whether the control system is stable or not.
 Necessary Condition for Routh-Hurwitz
Stability
Concept
of
Stability

Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
 Sufficient Condition for Routh-Hurwitz
Stability
Concept
of
Stability

Routh stability
Applications
criterion
of Routh
stability
criterion only
for linear
The sufficient condition is that all the elements of the first
feedback column of the Routh array should have the same sign. This
control
systems means that all the elements of the first column of the
Routh array should be either positive or negative.
 Routh Array
Method
Concept
of
• If all the roots of the characteristic equation exist to
Stability
Routh stability left half of the s plane, then the control system is
the
criterion stable. If at least one root of the characteristic
Applications
of Routh
equation exists to the right half of the s plane, then
stability the control system is unstable. So, we have to find
criterion only
for linear the roots of the characteristic equation to know
feedback
control
whether the control system is stable or unstable. But,
systems it is difficult to find the roots of the characteristic
equation
• So, as orderthis
to overcome increases.
problem there we have the Routh
array method. In this method, there is no need to
calculate the roots of the characteristic equation. First
formulate the Routh table and find the number of the
sign changes in the first column of the Routh table.
The number of sign changes in the first column of the
Routh table gives the number of roots of characteristic
equation that exist in the right half of the s plane and
the control system is unstable.
 Procedur
e
Concept
of
Stability

Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
 Exampl
e
Concept
of
Stability

Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
Concept
of
Stability

Routh stability
criterion
Solution
Applications Example
of Routh
stability
criterion only
for linear
feedback
control
systems
Concept
of
Stability Solution
Routh stability
criterion
Example
Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
 Solution
Example
Concept
of
Stability

Routh stability
Applications
criterion
of Routh
stability
criterion only Step 3 Verify the sufficient condition for the
for linear
feedback
Routh-Hurwitz stability.
control All the elements of the first column of the Routh array
systems
are positive. There is no sign change in the first
column of the Routh array. So, the control system is
stable.
 Exampl
e
Concept
of
Stability

Routh stability
Applications
criterion
of Routh
stability
criterion only
for linear
feedback
control
Examine stability of F (s) = s3 + 6s2 + 11s + 6 =
systems 0
 Solution
Example
Concept
of
Stability

Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
 Exampl
e
Concept
of
Stability

Routh stability
Applications
criterion
of Routh
stability
criterion only
Comment on the stability of a system using Routh’s
for linear stability criteria whose characteristic equation is
feedback
control
systems F (s) = s4 + 2s3 + 4s2 + 6s + 8 = 0

How many poles of systems lie in right half of

s-plane?
Concept
Solution
of
Stability
Example
Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
 Special Cases of Routh
Concept
Array
of
Stability

Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
Concept
First Element of any row of the Routh array is
of
Stability
zero
Routh stability
Applications
criterion
of Routh
stability If any row of the Routh array contains only the first
criterion only
for linear element as zero and at least one of the remaining
feedback
control
elements have non-zero value, then replace the first
systems element with a small positive integer, ϵ. And then continue
the process of completing the Routh table. Now, find the
number of sign changes in the first column of the Routh
table by substituting ϵ tends to zero.
 Exampl
e
Concept
of
Stability

Routh stability
Applications
criterion
of Routh
stability
criterion only Let us find the stability of the control system
for linear
feedback having characteristic equation,
control
systems
F (s) = s4 + 2s3 + s2 + 2s + 1 = 0
Concept
of
Stability
Solution
Routh stability Example
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
Concept Solution
of
Stability Example
Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
Concept
of
Stability

Routh stability
criterion

Applications
Solution
of Routh
stability
Example
criterion only
for linear
feedback
control
systems
 Exampl
e
Concept
of
Stability

Routh stability
Applications
criterion
of Routh
stability
criterion only
Let us find the stability of the control system
for linear having characteristic equation,
feedback
control
systems F (s) = s5 + 2s4 + 3s3 + 4s2 + 5s + 6 = 0

How many poles lie in right half of s-plane?

 Solution
Example
Concept
of
Stability

Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
 All the Elements of any row of the Routh array
are
Concept
of zero
Stability

Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
 Exampl
e
Concept
of
Stability

Routh stability
Applications
criterion
of Routh
stability
criterion only Let us find the stability of the control system
for linear
feedback having characteristic equation,
control
systems
F (s) = s5 + 3s4 + s3 + 3s2 + s + 3 = 0
 Solutio
n
Concept Routh
of
Stability
Routh stability
Array
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
 Solutio
n
Concept
of
Stability
Routh stability
criterion
Applications
Routh
of Routh Array
stability
criterion only
for linear
feedback
control
systems
 Solutio
n
Concept Place these coefficients in row
of
Stability
s3
Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
 18EC45
Solutio
Ripal Patel
n
Concept
of
Stability

Routh stability
Applications
criterion
of Routh
stability
criterion only
for linear
feedback There are two sign changes in the first column of Routh
control
systems
table. Hence, the control system is unstable.
 Exampl
e
Concept
of
Stability

Routh stability
Applications
criterion
of Routh
stability
criterion only Let us find the stability of the control system
for linear
feedback having characteristic equation,
control
systems
F (s) = s6 + 2s5 + 8s4 + 12s3 + 20s2 + 16s + 16 =
0
 Solutio
n
Concept
of
Stability

Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
 Solutio
n
Concept
of
Stability

Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
 Solutio
n
Concept
of
Stability

Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
 Exampl
e
Concept
of
Stability

Routh stability
Applications
criterion
of Routh
stability Determine the range of K for stability for the
criterion only
for linear following closed-loop transfer function
feedback
control
systems
 Solutio
n
Concept
of
Stability

Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
 Solutio
n
Concept
of
Stability

Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems
Concept
of
Stability

Routh stability
criterion

Applications
of Routh
stability
criterion only
for linear
feedback
control
systems