FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

CHAPTER 6 : STABILITY Objectives Generate a Routh table Interpret the Routh table to tell how many closed-loop system poles are in the left half-plane, right half-plane and on the jw-axis. Determine the stability of a system represented as a transfer function 6.1 INTRODUCTION The next requirement that will be discussed in designing a control system is stability. The total response of a system is the sum of the forced and natural responses or:
c (t ) = c forced (t ) + cnatural (t )

Students should be able to:

Using these concepts, we present the following definitions of stability, instability and marginal stability: A linear, time-invariant system is stable if natural response approaches zero as time approaches infinity. A linear, time-invariant system is unstable if natural response grows without bound as time approaches infinity. A linear, time-invariant system is marginal stable if natural response neither decays nor grows, but remains constant or oscillates as time approaches infinity.
Go to example of stable and unstable system

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

Thus the definition of stability implies that only the forced response remains constant as the natural response approaches zero. The stable systems have closed-loop transfer functions with poles only in the left half plane. The unstable systems have closed-loop transfer functions with at least one pole in the right half-plane and/or poles multiplicity greater than one on the imaginary axis. The marginally stable systems have closed-loop transfer functions with only imaginary axis poles of multiplicity 1 and poles in the left half-plane. 6.2 ROUTH-HURWITZ CRITERION In this section, we learn a method that yields stability information without the need to solve for the closed-loop system poles. Using this method (Routh-Hurwitz criterion), we know how many closed-loop system poles are in the left half-plane, in the right halfplane and on the jw-axis. The method requires two step: Generate a data table called Routh-table Interpret the Routh table to tell how many closed-loop system poles are in the left half-plane, in the right half-plane and on the jw-axis. Generating a Basic Routh Table The equivalent closed-loop transfer function shown in Figure 6.1.

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

Figure 6.1 We first create the initial layout for Routh table shown in Table 6.1 Table 6.1

Table 6.2 is the completed Routh table. Table 6.2

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

Ex 6.1 Make the Routh table for the system shown in Figure 6.2(a).

Figure 6.2 Solution: First, we have to find the equivalent closed-loop system because we want to test the denominator of this function. Using feedback formula, we obtain the equivalent system in Figure 6.2(b). Then we create the initial layout Routh table and Table 6.3 is the completed Routh table. Table 6.3

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

Interpreting the Basic Routh Table Simply stated, the Routh-Hurwitz criterion declares that the number of roots of the polynomial that are in the right half-plane is equal to the number of sign changes in the first column. If the closed-loop transfer function has all poles in the left half of the s-plane, the system is stable. Thus, a system is stable if there are no sign changes in the first column of the Routh table. For example, Table 6.3 has two sign changes in the first column. The first sign change occurs from 1 in the s2 row to 72 in the s1 row. The second occurs from 72 in the s1 row to 103 in the s0 row. Thus, the system of Figure 6.4 is unstable since two poles exist in the right halfplane. Exercise Make a Routh table and tell how many roots of the following polynomial are in the right half-plane and in the left half-plane.
P ( s ) = 3s 7 + 9 s 6 + 6 s 5 + 4 s 4 + 7 s 3 + 8 s 2 + 2 s + 6

Answer: Four in the right half-plane (rhp); three in the left half-plane (lhp). 6.3 ROUTH-HURWITZ CRITERION: SPECIAL CASES Two special cases can occur:

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

1. The Routh table sometimes will have a zero only in the first column of a row. 2. The Routh table sometimes will have an entire row that consists of zeros. Zero Only in the First Column If the first element of a row is zero, division by zero would be required to form the next row. To avoid this phenomenon, an epsilon, , is assigned to replace the zero in the first column. The value is then allowed to approach zero from either the positive or negative side, after which the signs of the entries in the first column can be determined. Ex 6.2 Determine the stability of the closed-loop transfer function,
T ( s) = 10 s + 2s + 3s 3 + 6s 2 + 5s + 3
5 4

Solution: The completed Routh table is shown in Table 6.4. Table 6.4

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

Table 6.5 shows the first column of Table 6.4, along with the resulting signs for a choice of positive and negative. Table 6.5

We can see, if we choose positive or negative, Table 6.5 will show two sign changes for both conditions. Hence, the system is unstable and has two poles in the right half-plane. Entire Row Is Zero Sometimes while making a Routh table, we find that an entire row consists of zeros because there is an even polynomial that is a factor of the original polynomial. Example 6.4

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

Determine the number of right-half-plane poles in the closed-loop transfer function,

Solution: Form the Routh table as shown in Table 6.6. Table 6.6

At the second row, we multiply through by 1/7 for convenience. At third row, we can see that the entire row consists of zeros, so we use the following procedure:
1.

Return to the row above the row of zeros, form the auxiliary polynomial using the entries in that row as coefficients. The polynomial will start with the power of s in the label column and continue by skipping every other power of s. Thus the polynomial formed for this example is obtain
dP( s ) = 4 s 3 + 12 s + 0 ds
P( s) = s 4 + 6s 2 + 8 .

2. Next, we differentiate the polynomial with respect to s and

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

3. Finally, we use the coefficients of this differentiate equation to replace the row of zeros. 4. For convenience, we multiplied the third row by 1/4. There are no right-half-plane poles. For the case of zeros row, some of the roots could be on the jw-axis. If we do not have a row of zeros, we cannot possibly have jw roots. Example 6.5 For the transfer function,
T (s) = 20 s + s + 12s + 22s + 39s 4 + 59s 3 + 48s 2 + 38s + 20
8 7 6 5

Tell how many poles are in the right half-plane, the left half-plane, and on the jw-axis. Solution: Form the Routh table as shown in Table 6.7. Table 6.7

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

The results are summarized in Table 6.8.

Table 6.8

6.4

ROUTH-HURWITZ CRITERION: ADDITIONAL EXAMPLES Now we need to demonstrate the methods application to a number of analysis and design problems. Example 6.6 (Standard Routh-Hurwitz) Find the number of poles in the left half-plane, the right half-plane, and on the jw-axis for the system of Figure 6.3.

Figure 6.3 Solution:

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

First, find the closed-loop transfer function.

Then, form the Routh table as shown in Table 6.9. Table 6.9

The system is unstable, since it has two rhp and 2 lhp poles. The system cannot have jw poles since a row of zeros did not appear in the Routh table. Example 6.7 (Routh-Hurwitz with zero in first column) Find the number of poles in the lhp, the rhp and on the jw-axis for the system in Figure 6.4.

Figure 6.4 Solution: First, find the closed loop transfer function.

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES

BEKG 2323

Next, form the Routh table as shown in Table 6.10.

Table 6.10

Permitting to be small, positive quantity, we find that the first term of the s2 row is negative. Thus, there are two sign changes, and the system is unstable, with two poles in the rhp. The remaining poles are in the lhp. Example 6.9 (Routh-Hurwitz with row of zeros) Find the number of poles in the lhp, rhp and on the jw-axis for the system of Figure 6.5. Draw the conclusions about the stability of the closed-loop system.

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

Figure 6.5 Solution: The closed-loop transfer function for the system is: Then, form the Routh table using the procedure of the entire row is zero (Table 6.11). Table 6.11

The summary of pole locations is shown Table 6.12. The system is unstable because of the rhp. Table 6.12

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

Example 6.9 (Stability design via Routh-Hurwitz) Find the range of gain, K, for the system of Figure 6.6 that will cause the system to be stable, unstable, and marginally stable. Assume K > 0.

Figure 6.6 Solutions: First, find the closed-loop transfer function,

Next, form the Routh table, as shown in Table 6.13. Table 6.13

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

Since K is assumed positive, we see that all elements of the first column in the Routh table are always positive except the s1 row. This entry can be positive, zero or negative depending upon the value of K. If K < 1386, all terms in the first column will be positive, and since there are no sign changes, the system will have three poles in the lhp and be stable. If K > 1386, the s1 term in the first column is negative. There are two sign changes, indicating that the system has two rhp poles and 1 lhp pole, which make the system is unstable. If K = 1368, we have an entire row of zeros, which could signify jw poles. Returning to the s2 row and replacing K with 1386, we form the even polynomial: Differentiating with respect to s, we have Replacing the row of zeros with the coefficients of the differentiate equation, w e obtain the Routh-table shown in Table 6.14 for the case of K = 1386. Table 6.14

Since there are no sign changes from the even polynomial (s2 row) down to the bottom of the table, the even polynomial has its two roots on the jw-axis. Since there are no sign changes above the even

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FAKULTI KEJURUTERAAN ELEKTRONIK & KEJURUTERAAN KOMPUTER SUBJECT : CONTROL PRINCIPLES BEKG 2323

polynomial, the remaining root is in the lhp. Therefore the system is marginally stable.

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