Unit-4

Concept of Stability
part-1
Priya Mohad
Assistant Professor
BIHER, Chennai
Content
• What is stability?
• Root Locus construction
• Routh Hurwitz stability criteria
Stability
Link
• https://www.youtube.com/watch?v=t1BrHAYhvog
• For better understanding click above link
Classification of system based on stability
• Absolutely stable system
• Unstable system
• Conditionally stable system

Techniques to solve stability of system-

• Routh’s array criteria
• Root locus method
• Bode plot
• Nyquist plot
• Nicholas chart

• https://www.youtube.com/watch?v=keQsnToCoP4
Stability criteria
•  For a system to be stable it is necessary and sufficient that each term
of first column of Routh array must be positive,

• If this condition is not met then the system is unstable and the
number of sign changes in the first column corresponds to the
number of roots of the characteristic equation in the right half of the
s-plane.
Q-1
•  Using Routh array determine the stability of the system whose
characteristic equation is :
Solution
 
q(s)= ……………………………+
q(s)=
=1,
Solution

Result – System is stable, all the four roots are lying in left half of s-plane
https://www.youtube.com/watch?v=BApzhX2WBe0
Q-2
•  Using Routh array determine the stability of the system whose
characteristic equation is :
Solution
 Special cases of Routh Array
Case 1. when the first term in any row of the Routh array is zero, while
rest of the row has at least one non-zero term.

Case 2. When all the elements in any one row of the Routh array is
zero.
 Case 1. when the first term in any row of the Routh array is zero, while rest of the row has at
least one non-zero term.

•  Ex- , method- substitute “0”with ϵ

1 2 0 Result:- system is unstable as there is

two times of sign change in the first
ϵ 5 0 column of the array, so two poles are
located in the right side of s-plane.
lt[
5
Case 1. when the first term in any row of the Routh array is zero, while rest of the
row has at least one non-zero term.

•  Ex- , method- substitute “s” with 1/z

0 

Result:- system is unstable as there is

two times of sign change in the first
column of the array, so two poles are
located in the right side of s-plane.

https://www.youtube.com/watch?v=fe
XrzFUbeKw
Case 2. When all the elements in any one row of the Routh
array is zero
Result:- system is unstable as there is
one times of sign change in the first
column of the array, so one pole are
located in the right side of s-plane.

https://www.youtube.com/watch?v=G
5uRpuIa3Ls
Assignment
•  Check the stability and the location of the poles of the system using
Routh stability array whose characteristic equations are-
Next session…
• Continue with Concept of Stability….