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    Chap 5 - Routh Hurwitz Stability Criterion: UEEA 3423 Control Systems

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    Yap Win Ian
    This document provides an overview of the UEEA 3423 Control Systems course syllabus and Chapter 5 on the Routh-Hurwitz stability criterion. The syllabus covers modeling dynamic systems, transient response, steady-state errors, and tools for analyzing stability including Routh-Hurwitz, root locus, and frequency response. Chapter 5 introduces the Routh-Hurwitz stability criterion and shows how to construct the Routh-Hurwitz table to determine stability. It includes examples of stable, unstable, and special cases like systems with parameters or rows of zeros. The Routh-Hurwitz criterion and root locus will be covered in the final exam.

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    Chap 5 - Routh Hurwitz Stability Criterion: UEEA 3423 Control Systems

    Uploaded by

    Yap Win Ian
    41 views35 pages
    This document provides an overview of the UEEA 3423 Control Systems course syllabus and Chapter 5 on the Routh-Hurwitz stability criterion. The syllabus covers modeling dynamic systems, transient response, steady-state errors, and tools for analyzing stability including Routh-Hurwitz, root locus, and frequency response. Chapter 5 introduces the Routh-Hurwitz stability criterion and shows how to construct the Routh-Hurwitz table to determine stability. It includes examples of stable, unstable, and special cases like systems with parameters or rows of zeros. The Routh-Hurwitz criterion and root locus will be covered in the final exam.

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    This document provides an overview of the UEEA 3423 Control Systems course syllabus and Chapter 5 on the Routh-Hurwitz stability criterion. The syllabus covers modeling dynamic systems, transient response, steady-state errors, and tools for analyzing stability including Routh-Hurwitz, root locus, and frequency response. Chapter 5 introduces the Routh-Hurwitz stability criterion and shows how to construct the Routh-Hurwitz table to determine stability. It includes examples of stable, unstable, and special cases like systems with parameters or rows of zeros. The Routh-Hurwitz criterion and root locus will be covered in the final exam.

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    41 views35 pages

    Chap 5 - Routh Hurwitz Stability Criterion: UEEA 3423 Control Systems

    Uploaded by

    Yap Win Ian
    This document provides an overview of the UEEA 3423 Control Systems course syllabus and Chapter 5 on the Routh-Hurwitz stability criterion. The syllabus covers modeling dynamic systems, transient response, steady-state errors, and tools for analyzing stability including Routh-Hurwitz, root locus, and frequency response. Chapter 5 introduces the Routh-Hurwitz stability criterion and shows how to construct the Routh-Hurwitz table to determine stability. It includes examples of stable, unstable, and special cases like systems with parameters or rows of zeros. The Routh-Hurwitz criterion and root locus will be covered in the final exam.

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    © All Rights Reserved
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    of 35

    UEEA 3423 Control Systems

    Chap 5 - Routh Hurwitz


    stability criterion
    Dr. Pei Song Chee
    Email: [email protected]
    Room Location: KB Block, Level 3, GE37
    FACULTY OF ENGINEERING AND SCIENCE
    UEEA 3423 Control Systems

    Course Syllabus
    1. Modeling a dynamic system
    Covered
    2. Calculating output as function of time
    week 1−week 7
    3. Transient Response of a system
    4. Steady-state errors
    5. Routh Hurwitz stability criterion
    week 8−week 14
    6. Root locus Part 2 (2 Questions) in
    7. Frequency response (Nyquist and bode plot) Final Examination
    8. State space

    2
    Chapter 5 Routh Hurwitz

    Transient Response
    Steady-state error
    Stability
    Outline

    1.0 Introduction of RH Table


    2.0 How to construct a RH Table
    3.0 Case study
    3.1 Stable system
    3.2 Unstable system
    3.3 System with K variable
    3.4 System with block diagram
    3.5 Special Case (Zero)
    4.0 Summary
    1.0 Introduction

    j
    stable unstable

    Stable system have the poles are in the


    left half of s plane, negative real part.
    1.0 Introduction
    1.0 Introduction

    Quadratic equation
    1.0 Introduction
    2.0 Procedure for R-H Table

    (take the denominator of closed loop transfer function)

    Vertically
    Label the row with power of s
    from highest power until S0
    2.0 Procedure for R-H Table
    2.0 Procedure for R-H Table
    Example 3.1

    Based on what you learn, try with the example below:

    (closed loop)

    Since we are interested in the system poles, hence


    only focus on denominator
    Example 3.1
    Example 3.1
    Example 3.1

    R-H Table

    28 80
    Example 3.1

    R-H Table

    28 80
    73.14
    Example 3.1
    Example 3.2

    (closed loop)

    Now, do it yourself, what is the first step you


    should do?
    Example 3.2
    Example 3.2
    Example 3.2
    Example 3.3

    Construct R-H Table yourself!!!


    Example 3.3
    Example 3.3

    Verification

    Positive pole
    Example 3.4
    Example 3.4

    Construct your RH Table


    Example 3.4

    Verification using Matlab


    R-H Criterion: Special case

    For example:

    R-H Table
    S5 1 6 8
    S4 7 42 56
    S3 0 0 0

    S2
    R-H Criterion: Special case

    Two special cases can occur:


    1. First column zero.
    2. Entire row of zero.

    For the case: First column zero

    Determine the number of poles of the closed loop transfer function, T (S).

    (s+2) (s-3)

    S5 + 2S4 + 3S3 +6S2 +5S+3


    R-H Criterion: Special case

    (s+2) (s-3)

    S5 + 2S4 + 3S3 +6S2 +5S+3


    Replace the
    zero by a small
    R-H Table number, a

    S5 1 3 5
    S4 2 6 3
    S3 a 0 7/2 0
    S2 6a-7 3 0
    a
    S1 42a-49-6a2 0 0
    12a-14
    S0 3 0 0
    R-H Criterion: Special case

    Evaluate the sign change, by making “a” as positive or negative.

    S5 1 + +
    S4 2 + +
    S3 a + -
    S2 6a-7 - +
    a
    S1 42a-49-6a2 + +
    12a-14
    S0 3 + +

    For +ve/-ve, sign changes from S3 to S2 and, S2 to S1.


    Conclusion: Hence, system unstable with two poles in the right hand plane.
    R-H Criterion: Special case

    Case 2. Entire row of zero.


    Determine the number of right-half-plane poles in a close loop
    transfer function.

    S5 1 6 8
    S4 7 42 56
    S3 0 0 0
    S2
    S1
    S0
    R-H Criterion: Special case

    S5 1 6 8
    S4 7 42 56
    S3 40 120 0
    S2 21 56 0
    S1 28/21 0 0
    S0 56

    What you should do? P(s) =s4 + 6s2 +8


    1. Return to the row above the row of zero.
    2. Take the polynomial form. dP(s) 3
    3. Differentiate the polynominal with respect to s. ds =4s + 12s
    4. We use coefficient to replace row of zero.
    Hence, no right-half poles.
    Summary

    What you have learn in this chapter:


    1. How to construct a R-H Table.
    2. Example on:
    Unstable system
    System with K variable
    System with block diagram
    Special Case (Zero)
    3. R-H Table is to access the stability without telling you the exact location of
    the poles.

    How about in examination? Which part it will be covered?

    It will be covered in both Q1 and Q2 for part B, couple with Root Locus (next
    chapter).
    End

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