ASSIGNMENT ON

STABILITY
(ROUTH-HURWITZ
CRITERION)

TO,
NAME: REDWANUL ISLAM MD. AKRAMUL ALIM
DEPARTMENT: EEE ASSISTANT PROFESSOR
ROLL NO: 1610574108 DEPARTMENT OF EEE
BATCH-2
UNIVERSITY OF RAJSHAHI
UNIVERSITY OF RAJSHAHI
Skill- assessment exercise 6.1: Make a Routh table and tell how many roots
of the following polynomials are in the right half plane and in the left half
plane.
𝑷(𝒔) = 𝟑𝒔𝟕 + 𝟗𝒔𝟔 + 𝟔𝒔𝟓 + 𝟒𝒔𝟒 + 𝟕𝒔𝟑 + 𝟖𝒔𝟐 + 𝟐𝒔 + 𝟔
Solve- Make a Routh table,
𝑠7 3 6 7 2
6 9 4 8
𝑠 6
𝑠 5 (9 × 6) − (4 × 3) (9 × 7) − (8 × 3) (9 × 2) − (6 × 3) 0
= 4.6667 = 4.333
9 9 9
=0
𝑠4 (4.6667 × 4) − (4.333 × 9) 8 6 0
4.6667
= −𝟒. 𝟑𝟓𝟕
𝑠3 (−4.357 × 4.333) − (4.6667 × 8) (−4.357 × 0) − (4.6667 × 6) 0 0
−4.357 −4.357
= 12.90 = 6.44
𝑠2 (12.90 × 8) − (−4.357 × 6.44) 6 0 0
12.90
= 10.17
𝑠1 (10.17 × 6.44) − (6 × 12.90) 0 0 0
10.17
= −𝟏. 𝟏𝟕
𝑠0 6 0 0 0
Since there are four sign changes, so there are four right half-plane poles and three
left half-plane poles.

Skill- assessment exercise 6.2: Use the Routh-Hurwitz criterion to find how
many poles of the following closed-loop system, T(s), are in the right half
plane, in the left half plane, and on the 𝒋𝝎 − 𝒂𝒙𝒊𝒔.
𝑠 3 + 7𝑠 2 + 21𝑠 + 10
𝑇(𝑠) = 6
𝑠 + 𝑠 5 − 6𝑠 4 + 0𝑠 3 − 𝑠 2 − 𝑠 + 6
Solve- Make a Routh table,
𝑠6 1 -6 -1 6
5 1 0 -1
𝑠 0
4 (−6 × 1) − (0 × 1) (−1 × 1) − (−1 × 1)
𝑠 = −𝟔 =𝟎
6 0
1 1
𝑠3 (−6 × 0) − (0 × 1)
=0
(−6 × (−1)) − (1 × 6)
=0
0 0
−6 −6
Row of zeros.
We encounter a row of zeros on the s3 row. The even polynomial is contained in
the previous row as −6s4 + 0s2 + 6. Taking the derivative
𝑃(𝑠) = −6𝑠 4 + 0𝑠 2 + 6
𝑑𝑃(𝑠)
= −24𝑠 3 + 0
𝑑𝑠

Page 1 of 13
Replacing the row of zeros with the coefficients of the derivative yields the s3
row. We also encounter a zero in the first column at the s2 row. We replace the
zero with ε and continue the table. The final result is shown now as,

𝑠6 1 -6 -1 6
𝑠5 1 0 -1 0
𝑠4 -6 0 6 0
𝑠3 -24 0 0 0
𝑠2 0 ∈ 6 0 0
𝑠1 144 0 0 0
∈
𝑠0 6 0 0 0

There is one sign change below the even polynomial. Thus the even polynomial
(4th order) has one right half-plane pole, one left half-plane pole, and 2 imaginary
axis poles.
From the top of the table down to the even polynomial yields one sign change.
Thus, the rest of the polynomial has one right half-plane root, and one left half-
plane root. The total for the system is two right half-plane poles, two left half-
plane poles, and 2 imaginary poles.

Skill- assessment exercise 6.3: For a unity feedback system with the forward
𝑲(𝒔+𝟐𝟎)
transfer function 𝑮(𝒔) = find the range of K to make the system
𝒔(𝒔+𝟐)(𝒔+𝟑)
stable.
𝑲(𝒔+𝟐𝟎)
Solve: Since 𝑮(𝒔) =
𝒔(𝒔+𝟐)(𝒔+𝟑)
𝐺(𝑠)
∴ 𝑇(𝑠) =
1 + 𝐺(𝑠)
𝑲(𝒔 + 𝟐𝟎)
𝒔(𝒔 + 𝟐)(𝒔 + 𝟑)
≫ 𝑇(𝑠) =
𝑲(𝒔 + 𝟐𝟎)
1+
𝒔(𝒔 + 𝟐)(𝒔 + 𝟑)
𝑲(𝒔 + 𝟐𝟎)
≫ 𝑇(𝑠) =
𝒔(𝒔 + 𝟐)(𝒔 + 𝟑) + 𝑲(𝒔 + 𝟐𝟎)
𝑲(𝒔 + 𝟐𝟎)
≫ 𝑇(𝑠) = 3
𝑠 + 5𝑠 2 + (6 + 𝐾)𝑠 + 20𝐾
The characteristic equation of the system is,
𝑠 3 + 5𝑠 2 + (6 + 𝐾)𝑠 + 20𝐾

Page 2 of 13
To make a Routh table,
𝑠3 1 6+K
𝑠2 5 20K
𝑠1 30 + 5𝐾 − 20𝐾 0
5
𝑠0 20K 0

K must be positive. From row of s1,

30 − 15𝐾
>0
5
Or 30 > 15𝐾
Or 𝐾 < 2
0
From row of s , 20K>0
Or K>0
Thus, for stability, 0 < K < 2.

Skill- assessment exercise 6.4: For the following system represented in state
space, find out how many poles are in the left half plane, in the right half
plane, and on the 𝒋𝝎-axis.
2 1 1 0
𝑥̇ =[ 1 7 1 ] 𝑥 + [0] 𝑟
−3 4 −5 1
𝑦 = [0 1 0]𝑥

Solve: first find,

𝑠 0 0 2 1 1
(𝑠𝐼 − 𝐴) = [0 𝑠 0] − [ 1 7 1 ]
0 0 𝑠 −3 4 −5
(𝑠 − 2) −1 −1
= [ −1 (𝑠 − 7) −1 ]
3 −4 (𝑠 + 5)
= (𝑠 − 2){(𝑠 − 7)(𝑠 + 5) − 4} − (−1){−1(𝑠 + 5) − (−1) × 3}
+ (−1){4 − 3(𝑠 − 7)}
= 𝑠 3 − 4𝑠 2 − 33𝑠 + 51
Now form the Routh table,
𝑠3 1 -33
2
𝑠 -4 51
𝑠1 -20.25 0
𝑠0 51 0
There are two sign changes. Thus, there are two rhp poles and one lhp pole.

Page 3 of 13
 Exercise Problem solution
Problem-1: Tell how many roots of the following polynomials are in the right
half plane, in the right half plane, and on the 𝒋𝝎-axis.
𝑃(𝑠) = 𝑠 5 + 3𝑠 4 + 5𝑠 3 + 4𝑠 2 + 𝑠 + 3
Solve: To make a Routh table,
𝑠5 1 5 1
4
𝑠 3 4 3
3
𝑠 3.667 0 0
𝑠2 4 3 0
1
𝑠 -2.75 0 0
0
𝑠 3 0 0

There are two sign changes. Thus, there are two rhp poles and three lhp poles.

Problem-2: Tell how many roots of the following polynomials are in the right
half plane, in the right half plane, and on the 𝒋𝝎-axis.
𝑃(𝑠) = 𝑠 5 + 0𝑠 4 + 6𝑠 3 + 5𝑠 2 + 8𝑠 + 20
Solve: To make a Routh table,
𝑠5 1 6 8
4 0𝜖
𝑠 5 20
𝑠 3 6𝜖 − 5 5 8𝜖 − 20 20 0
=− =−
𝜖 𝜖 𝜖 𝜖
𝑠 2 5×5 20 20 0
− 𝜖 − (− 𝜖 × 𝜖) = 5
5
−𝜖
𝑠1 20 5
5 × (− 𝜖 ) − (− 𝜖 × 20) 0 0 ROZ→
5 𝑆𝑃𝐸𝐶𝐼𝐴𝐿 𝐶𝐴𝑆𝐸
= 0 10

𝑠0 20 0 0

5×5 20
− −(− ×𝜖)
2 𝜖 𝜖
From row of s , lim 5
𝜀→0 −
𝜖
−25 + 20𝜖
lim =5
𝜀→0 −5

The auxiliary polynomial for row s1 is, 𝐴(𝑠) = 5𝑠 2 + 20, 𝑤𝑖𝑡ℎ 𝐴′ (𝑆) = 10𝑠
So there are two roots on the jω -axis. The first column shows two sign changes
so there are two roots on the right half-plane. The balance, one root must be in
the left half-plane.

Page 4 of 13
Problem-3: using the Routh table, Tell how many roots of the following
function are in the right half plane, in the right half plane, and on the 𝒋𝝎-
axis.
𝒔+𝟖
𝑻(𝒔) = 𝟓
𝒔 − 𝒔𝟒 + 𝟒𝒔𝟑 − 𝟒𝒔𝟐 + 𝟑𝒔 − 𝟐
Solve: To make a Routh table,
𝑠5 1 4 3
4
𝑠 -1 -4 -2
3 0𝜖
𝑠 1 0
𝑠2 −4𝜖 + 1 -2 0
𝜖
1
𝑠 1 − 4𝜖 + 2𝜖 2 0 0
1 − 4𝜖
0
𝑠 -2 0 0

As ' 𝜖’ is positive. From row of s2,

1 − 4𝜖
lim
𝜖→0 𝜖
1
−4
𝑙𝑖𝑚 𝜖 = ∞ − 4 = +∞
𝜖→0 1

And
1 − 4𝜖 + 2𝜖 2
→ +𝑣𝑒
1 − 4𝜖
There are three sign changes. Thus, there are three rhp poles and two lhp poles.

Problem-4: The closed-loop transfer function of a system is,

𝒔𝟑 + 𝟐𝒔𝟐 + 𝟕𝒔 + 𝟐𝟏
𝑻(𝒔) = 𝟓
𝒔 − 𝟐𝒔𝟒 + 𝟑𝒔𝟑 − 𝟔𝒔𝟐 + 𝟐𝒔 − 𝟒
Determine how many roots of the following function are in the right half
plane, in the right half plane, and on the 𝒋𝝎-axis.

Solve: To make a Routh table,

𝑠5 1 3 2
𝑠4 -2 -1 -6 -3 -4 -2
3
𝑠 0 0 0 ROZ

Row of zeros.

Page 5 of 13
We encounter a row of zeros on the s3 row. The even polynomial is contained in
the previous row as −s4-3s2-2. Taking the derivative
4 2
𝑃(𝑠) = −𝑠 − 3𝑠 − 2
𝑑𝑃(𝑠)
= −4𝑠 3 − 6𝑆
𝑑𝑠

𝑠5 1 3 2
𝑠4 -1 -3 -2
𝑠3 -2 -3 0
𝑠2 3 -2 0
−
2
𝑠1 1 0 0
−
3
𝑠0 -2 0 0

So there are FOUR roots on the jω -axis. The first column shows ONE sign
changes so there are ONE root on the right half-plane. The balance, there is no
root in the left half-plane.

Problem-5: using the Routh table, Tell how many poles are in the right half
plane, in the right half plane, and on the 𝒋𝝎-axis for the open-loop system of
fig- P6.1.

Solve: To make a Routh table,

𝑠4 1 8 15
3
𝑠 4 20 0
𝑠2 32 − 20 15 0
=3
4
𝑠1 0 0 0

Row of zeros.
We encounter a row of zeros on the s1 row. The even polynomial is contained in
the previous row as 3s2+15. Taking the derivative
2
𝑃(𝑠) = 3𝑠 + 15
𝑑𝑃(𝑠)
= 6𝑠
𝑑𝑠
Page 6 of 13
 𝑠4 1 8 15
𝑠3 4 20 0
𝑠2 32 − 20 15 0
=3
4
𝑠1 0 6 0 0
𝑠0 15 0 0

So there are TWO roots on the jω -axis. The first column shows NO sign changes
so there are TWO root on the left half-plane.

Problem-6: using the Routh table, Tell how many poles are in the right half
plane, in the right half plane, and on the 𝒋𝝎-axis for the open-loop system of
fig- P6.2.

Solve: To make a Routh table,

𝑠6 1 -6 1 -6
5
𝑠 1 0 1 0
4
𝑠 -6 0 -6 0
3
𝑠 0 0 0 0

Row of zeros.
We encounter a row of zeros on the s3 row. The even polynomial is contained in
the previous row as −6𝑠 4 + 0𝑠 2 − 6. Taking the derivative

𝑃(𝑠) = −6𝑠 4 + 0𝑠 2 − 6
𝑑𝑃(𝑠)
= −24𝑠 3
𝑑𝑠

𝑠6 1 -6 1 -6
𝑠5 1 0 1 0
𝑠4 -6 0 -6 0
𝑠3 -24 0 0 0 ROZ
𝑠2 0 𝜖 -6 0 0
𝑠1 −144 0 0 0
𝜖
𝑠0 -6 0 0 0

Page 7 of 13
So there are TWO roots on the rhp and TWO roots on the lhp. The rest of the
TWO roots are: 1 rhp and 1 lhp. So total 3 roots are rhp and 3 roots are lhp.

Problem-9: Determine whether the unity feedback system of the fig-P6.3 is

stable if-

Solve: we know the transfer function of the unity system is,

𝐺(𝑠)
𝑇(𝑠) =
1 + 𝐺(𝑠)
240
(𝑠 + 1)(𝑠 + 2)(𝑠 + 3)(𝑠 + 4)
𝑇(𝑠) =
240
1+
(𝑠 + 1)(𝑠 + 2)(𝑠 + 3)(𝑠 + 4)
240
𝑇(𝑠) =
(𝑠 + 1)(𝑠 + 2)(𝑠 + 3)(𝑠 + 4) + 240
240
𝑇(𝑠) = 4
𝑠 + 10𝑠 3 + 35𝑠 2 + 50𝑠 + 264
To make a Routh table,
𝑠4 1 35 264
3
𝑠 10 50 0
2
𝑠 30 264 0
𝑠1 -38 0 0
𝑠0 264 0 0

The first column of Routh table shows TWO sign changes so there are TWO roots
on the right half-plane and two roots on the left half plane.

Problem-11: Consider the unity feedback system of fig-P6.3 with

Using the Routh-Hurwitz criterion, find the

region of s-plane where the pools of the closed-
loop system are located.

Page 8 of 13
Solve: we know the transfer function of the unity feedback system is,
𝐺(𝑠)
𝑇(𝑠) =
1 + 𝐺(𝑠)
1
4𝑠 (𝑠 2 + 1)
2
𝑇(𝑠) =
1
1+
4𝑠 (𝑠 2 + 1)
2
1
𝑇(𝑠) =
4𝑠 2 (𝑠 2 + 1) + 1
1 1
𝑇 (𝑠 ) = 4 =
4𝑠 + 4𝑠 2 + 1 4𝑠 4 + 0𝑠 3 + 4𝑠 2 + 0𝑠 + 1
To make a Routh table,
𝑠4 4 4 1
3
𝑠 0 0 0
Row of zeros.
We encounter a row of zeros on the s3 row. The even polynomial is contained in
the previous row as 4𝑠 4 + 4𝑠 2 + 1. Taking the derivative

𝑃(𝑠) = 4𝑠 4 + 4𝑠 2 + 1
𝑑𝑃(𝑠)
= 16𝑠 3 + 8𝑠
𝑑𝑠

𝑠4 4 4 1
𝑠3 16 8 0
2
𝑠 2 1 0
𝑠1 0 0 0
Row of zeros.
We encounter a row of zeros on the s1 row. The even polynomial is contained in
the previous row as 2𝑠 2 + 1. Taking the derivative

𝑃(𝑠) = 2𝑠 2 + 1
𝑑𝑃(𝑠)
= 4𝑠
𝑑𝑠
𝑠4 4 4 1
𝑠3 16 8 0 ROZ
𝑠2 2 1 0
𝑠1 4 0 0 ROZ
𝑠0 1 0 0

So there are FOUR roots on the jω -axis.

Page 9 of 13
Problem-12: In the system of fig- P6.3, let

Find the range of K for closed-loop stability.

Solve: we know the transfer function of the system is,
𝐺(𝑠)
𝑇(𝑠) =
1 + 𝐺(𝑠)
The characteristic equation is: 1 + 𝐺(𝑠) = 0
𝐾(𝑠 + 2)
≫1+ =0
𝑠(𝑠 − 1)(𝑠 + 3)
≫ 𝑠(𝑠 − 1)(𝑠 + 3) + 𝐾(𝑠 + 2) = 0
≫ 𝑠 3 + 2𝑠 2 + (𝐾 − 3)𝑠 + 2𝐾 = 0
To make a Routh table,
𝑠3 1 K-3 0
2
𝑠 2 2K 0
𝑠1 2𝐾 − 6 − 2𝐾 0 0
= −3
2
𝑠0 2K 0 0

The first column will always have a sign change regardless of the value of K.
There is no value of K that will stabilize this system.

Problem-13: Given the unity feedback system of fig-P6.3 with

Tell how many pools of the closed-loop transfer function lie in the right half
plane, in the left half plane, and on the jω -axis.

Solve: we know the transfer function of the unity feedback system is,
𝐺(𝑠)
𝑇(𝑠) =
1 + 𝐺(𝑠)
Page 10 of 13
 84
𝑠(𝑠 7
+ 5𝑠 6
+ 12𝑠 5
+ 25𝑠 4
+ 45𝑠 3 + 50𝑠 2 + 82𝑠 + 60)
𝑇(𝑠) =
84
1+
𝑠(𝑠 + 5𝑠 + 12𝑠 + 25𝑠 + 45𝑠 3 + 50𝑠 2 + 82𝑠 + 60)
7 6 5 4
84
≫ 𝑇(𝑠) =
𝑠(𝑠 7 + 5𝑠 6 + 12𝑠 5 + 25𝑠 4 + 45𝑠 3 + 50𝑠 2 + 82𝑠 + 60) + 84
84
≫ 𝑇(𝑠) = 8
(𝑠 + 5𝑠 + 12𝑠 + 25𝑠 + 45𝑠 4 + 50𝑠 3 + 82𝑠 2 + 60𝑠 + 84)
7 6 5

To make a Routh table,

𝑠8 1 12 45 82 84
7
𝑠 5 1 25 5 50 10 60 12 0
6
𝑠 7 1 35 5 70 10 84 12 0
𝑠5 0 0 0 0 0
Row of zeros.
We encounter a row of zeros on the s5 row. The even polynomial is contained in
the previous row as 𝑠 6 + 5𝑆 4 + 10𝑆 2 + 12. Taking the derivative

𝑃(𝑠) = 𝑠 6 + 5𝑆 4 + 10𝑆 2 + 12
𝑑𝑃(𝑠)
= 6𝑆 5 + 20𝑆 3 + 20𝑆
𝑑𝑠
𝑠8 1 12 45 82 84
𝑠7 1 5 10 12 0
𝑠6 1 5 10 12 0
𝑠5 3 10 10 0 0 ROZ
𝑠4 5 20 12 0 0
3 3
𝑠3 -2 -11.5 0 0 0
𝑠2 -2.92 12 0 0 0
𝑠1 -19.72 0 0 0 0
𝑠0 12 0 0 0 0

Even (6): 2 rhp, 2 lhp and 2 jω axis; Rest (2): 0 rhp, 2 lhp, and 0 jω axis.
So total roots: 2 rhp, 4 lhp and 2 jω axis.

Problem-14: Using the Routh-Hurwitz criterion and the unity feedback

system of fig-P6.3

Page 11 of 13
Tell whether or not the closed-loop system is stable.
Solve: we know the transfer function of the unity feedback system is,
𝐺(𝑠)
𝑇(𝑠) =
1 + 𝐺(𝑠)
1
𝑇(𝑠) = 4
2𝑠 + 5𝑠 3 + 𝑠 2 + 2𝑠 + 1
To make a Routh table,
𝑠4 2 1 1
3
𝑠 5 2 0
𝑠2 1 1 0
5
𝑠1 -23 0 0
𝑠0 1 0 0

The first column of Routh table shows TWO sign changes so there are TWO roots
on the right half-plane and two roots on the left half plane. And the system is
unstable.

Problem-15: Given the unity feedback system of fig-P6.3 with

Tell how many pools of the closed-loop transfer function lie in the right half
plane, in the left half plane, and on the jω -axis.

Solve: we know the transfer function of the unity feedback system is,
𝐺(𝑠)
𝑇(𝑠) =
1 + 𝐺(𝑠)

Page 12 of 13
 8
𝑇(𝑠) =
𝑠 7 − 2𝑠 6 − 𝑠 5 + 2𝑠 4 + 4𝑠 3 − 8𝑠 2 − 4𝑠 + 8

To make a Routh table,

𝑠7 1 -1 4 -4 0
6
𝑠 -2 2 -8 8 0
𝑠5 0 0 0 0 0
Row of zeros.
We encounter a row of zeros on the s5 row. The even polynomial is contained in
the previous row as−2𝑠 6 + 2𝑆 4 − 8𝑆 2 + 8. Taking the derivative

𝑃(𝑠) = −2𝑠 6 + 2𝑆 4 − 8𝑆 2 + 8
𝑑𝑃(𝑠)
= −12𝑆 5 + 8𝑆 3 − 16𝑆
𝑑𝑠
𝑠7 1 -1 4 -4
𝑠6 -2 2 -8 8
𝑠5 -12 8 -16 0 ROZ
𝑠4 0.667 -5.333 8 0
𝑠3 -88 128 0 0
𝑠2 -4.364 8 0 0
𝑠1 -33.33 0 0 0
𝑠0 8 0 0 0

Even (6 roots): 3 rhp, 3 lhp and 0 jω axis; Rest (1 root): 1 rhp, 0 lhp, and 0 jω
axis.
So total roots: 4 rhp, 3 lhp and 0 jω axis.

Page 13 of 13