Stability: Oncept OF Tability
Stability: Oncept OF Tability
1 CONCEPT OF STABILITY:
A stable system is defined as the system which produces bounded output for bounded input.
It is also called BIBO (bounded input produces bounded output). In simple words, we get
finite output for finite input.
Bounded input ¿) can be step input, sinusoidal input, etc.
While unbounded input (lim f ( t )=∞ ; x ∈(0 , ∞)) can be f(t) = t, tan(t), cosec(t), etc.
t→ x
For example, if we give step input (e.g. 50 ℃ ) of temperature to the thermometer, then the
mercury will reach some level and then stop.
But if we give ramp input of temperature (constantly increasing temperature), then the
mercury will not stop at any level and will rise constantly and may explode.
Take another example of a valve - when the valve is wide open, further change in pressure to
the diaphragm will not increase the flow. Such limitation is described by the term saturation.
A system is said to be asymptotically stable if in the absence of input, the output tends to zero
irrespective of the initial conditions.
Let’s see an unstable system (From Coughanowr). We have transfer function for the third-
order system:
C K c (τ 3 s+1)
=
R ( τ 1 s +1 ) ( τ 2 s +1 ) ( τ 3 s +1 ) + K c
sn a0 a2 a4 a 6 …
sn−1
sn−2
sn−3
⋮
s0
Where,
| |
a1
b1
c1
⋮
an
a3
b2
c2
⋮
0
a5 …
b3 ⋯
c3 …
⋮ ⋮
0 0
…
…
…
⋮
0
Theorem 1:
If all the elements of the first column in the Routh Array are positive and non-zero, then the
system is stable.
E.g.,
s4 1 18 5
s3
s2
s1
s0
| |
8
16
5
16 0
5 0
13.5 0 0
0 0
Here, the first column is positive and non-zero, so the system is stable.
Theorem 2:
If some of the elements of the first column are negative then the system is unstable and the
number of the poles that are on the right side of the S-Plane is equal to the number of the sign
changes.
E.g.,
s3 1 31 0
s2 1
|
s0 103
103 0
s1 −72 0 0
0 0
|
Here, one element is negative, so the sign changes (+ve to -ve) from 1 to -72 and also sign
changes (-ve to +ve) from -72 to 103.
So, there are 2 poles on the right side of S-Plane.
Theorem 3:
If one pair of roots is on the imaginary axis, equidistant from the origin, and all other roots are
in the left half-plane, then all the elements of the nth row will vanish and none of the elements
of the preceding row will vanish. The location of the pair of imaginary roots can be found by
solving the equation
C s2 + D=0
where the coefficients C and D are the elements of the Array in the (n – 1) st row as read
from left to right, respectively.
Q ( s )=s 4+ s 3+ 2 s2 +2 s +5=0
Forming Routh Array:
s4 1 2 5
| |
s3 1 2 0
s2 0 5 0
Method 1:
So, we now replace 0 with ε.
s4 1 2 5
s
3
| | 1
ε
s2 2 ε −5
s
s0 5
ε
2 0
5 0
0 0
0 0
2 ε −5
Now, lim =−∞
ε→ 0 ε
As one of the elements is negative, the system is unstable.
Method 2:
s = 1/z;
Q ( z ) =5 z 4 +2 z 3 +2 z2 + z +1=0
z4 5 2 1
| |
z3 2
z 2 −0.5
z 5
z0 1
1
1
0
0
0
0
0
0
So, the system is unstable with 2 poles on the right side of S-Plane.
Case 2:
When all the elements in any one row of the Routh Array are zero,
Then, the polynomial whose coefficients are the elements of the row just above the rows of
zeros in the Routh Array is called auxiliary polynomial.
The power of auxiliary polynomial is always even.
Example:
Q ( s )=s6 + s5 +5 s4 + 3 s 3+2 s2−4 s−8=0
Routh Array:
s6 1 5 2 −8
s5
s4
s3
|
1
2
0
3 −4 0
6 −8 0
0 0 0
|
A ( s )=2 s4 + 6 s 2−8=0
dA ( s )
=8 s3 +12 s=0
ds
s6 1 5 2 −8
| |
s5 1 3 −4 0
s4 2 6 −8 0
s3 8 12 0 0
s
2 3 −8 0 0
s 33.3 0 0 0
s0 −8 0 0 0
Here, the system is unstable and the one pole is on the right side of S-Plane.
4 NUMERICAL:
1.) For the given system, it is desired that the system be stable. The minimum value of α for this
condition is____ (GATE 2014 IIT Kharagpur)
R(s) C(s
( s+ α )
3 2 )
s + ( 1+ α ) s + ( α −1 ) s+(1−α)
1+G ( s ) H ( s )=0
(s+ α )
1+ 3 2
=0
s + ( 1+ α ) s + ( α −1 ) s+(1−α )
s3 + ( 1+α ) s2 +αs+1=0
Routh Array:
1 α
s3
| |
s2 2
s0
1+ α
s α +α −1
1+ α
1
1
0
0
For the system to be stable, all the elements of the first column of the Routh Array should be
positive.
So,
1+α >0
α >−1
Now,
α 2 +α −1
>0
1+ α
α =0.618 ,−1.618
Hence, the value of α is 0.618.
2.) The characteristic equation of a control system is given by
s6 +2 s 5 +8 s 4 +12 s 3 +20 s 2+ 16 s+ 16=0. The number of the roots of the equation which lie
on the imaginary axis of s-plane is ____. (IES 2003)
Solution:
Q ( s )=s6 +2 s 5 +8 s 4 +12 s3 +20 s 2 +16 s +16=0
Routh Array:
s6 1 8 20 16
s5
s
4
s3
|
2 12 16 0
2 12 16 0
0 0 0 0
|
Here all the elements of the row are zero, so it is the special case 2 of Routh Array.
s6 1 8 20 16
| |
s5 2 12 16 0
s4 2 12 16 0
s3 8 24 0 0
s2 6 16 0 0
s 2.67 0 0 0
s0 16 0 0 0
There is no negative element in the first column of the Routh Array so, the system is
marginally stable.
The roots which are on the imaginary axis can be determined by the roots of the auxiliary
equation.
5 REFERENCES:
https://instrumentationtools.com/tag/process-control-gate-questions/
https://www.tutorialspoint.com/control_systems/control_systems_stability_analysi
s.htm
http://engineering.nyu.edu/mechatronics/Control_Lab/Criag/Craig_RPI/2001/Contr
ols_Intro_Stab_Perf_Modes.pdf
https://web.mit.edu/2.14/www/Handouts/PoleZero.pdf
Process Control Analysis and Control – Coughanowr
Thank You