0% found this document useful (0 votes)
64 views9 pages

Stability: Oncept OF Tability

The document discusses stability in control systems. It defines a stable system as one that produces bounded output for bounded input. A system is unstable if the output is unbounded over time even with bounded input. Stability can be analyzed using criteria like the position of poles in the s-plane or the Routh stability criterion. The Routh array method involves arranging coefficients of the characteristic equation in a table. If the first column is all positive, the system is stable. Numerical examples demonstrate finding the minimum value of a parameter for stability.

Uploaded by

PATEL KRISHNA
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
64 views9 pages

Stability: Oncept OF Tability

The document discusses stability in control systems. It defines a stable system as one that produces bounded output for bounded input. A system is unstable if the output is unbounded over time even with bounded input. Stability can be analyzed using criteria like the position of poles in the s-plane or the Routh stability criterion. The Routh array method involves arranging coefficients of the characteristic equation in a table. If the first column is all positive, the system is stable. Numerical examples demonstrate finding the minimum value of a parameter for stability.

Uploaded by

PATEL KRISHNA
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 9

STABILITY

Term Paper- Instrumentation and Process Control


Made By – Krishna Patel (18BCH045)

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

Then we give step input response:


1 K c (τ 3 s +1)
C=
s ( τ 1 s+1 ) ( τ 2 s+1 ) ( τ 3 s+1 ) + K c

On Solving using MATLAB and plotting C(t) v/s t

Figure 1: Graph of C(t) v/s t with varying value of Kc


Note: here for Kc = 12, the C(t) is not finite after some time and hence becomes unbounded.
So, it is an unstable system.

2 STABILITY CRITERION AND ANALYSIS:


Before going into this topic, lets first see what is zeros and poles. We will see through example:
(s+3)
Y ( s)=
(s+ 2)( s+6)
Zeros are the roots of the equation of the numerator.
Poles are the roots of the equation of the denominator.
Zeros = -3
Poles = -2, -6
Stability depends on the poles. There are three types of stable systems, they are:
1. Absolutely Stable System:
If the pole/s are on the left side of the S-plane then it is a stable system for both open and
closed systems.

2. Conditionally Stable System:


If the system is stable for a certain range of system component values, then it is known as a
conditionally stable system.
E.g., in the above 3rd order system, the system is stable for Kc ¿ 12.

3. Marginally Stable System:


For an open system, if any of the poles (non-repeated) are on the imaginary axis then it is
called a marginally stable system. For a closed system, if both poles are on the imaginary axis
then it is called a marginally stable system.
 If pole/s are on the right side of the S-plane then the system is unstable. If one pole is on the
left side while the other pole is on the right side of S-plane then also it is an unstable system.

 As poles approach to origin the stability decreases.


 The poles which are close to origin are called dominant poles.
Figure 2: Response of the system based on the position of the pole.

3 ROUTH STABILITY CRITERION:


Routh Test is the algebraic method of finding whether the system is stable or not; it can also predict
how many roots of the characteristic equation are on the right side of the plane i.e. positive real parts.
For applying this criterion, the characteristic equation should be in the form of polynomial i.e. if the
system has transportation lag then the stability of such a system can’t be tested.
This criterion is based on arranging the coefficients of the characteristic equation into an Array called
“Routh Array”.

Q ( s )=a 0 sn + a1 sn−1 +a 2 sn−2 +…+ an=0


a0 should be positive and if it is negative then multiply both sides of equation with ‘-’.
Form Routh Array: -

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

a1 a 2−a3 a0 a1 a4−a5 a0 b1 a3−b2 a1 b1 a5 −b3 a1


b 1= , b 2= , c 1= , c 2=
a1 a1 b1 b1
After finding Routh Array apply the following theorems to determine stability:

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.

Special Cases of Routh Array:


Case 1:
When the first term in any row of Routh Array is zero, while the rest of the row has at least
one non-zero term.
Then,

Method 1: Replaces zero (first column) with ε with lim


ε→0
ε.
Method 2: Substitute s with 1/z and form Routh Array of the newly formed equation.
Example:

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)

The Characteristic Equation is given by:

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.

A ( s )=2 s4 +12 s2 +16=0


dA ( s )
=8 s3 +24 s=0
ds

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.

A ( s )=2 s4 +12 s2 +16=0


On solving,
s1=± j 2∧s2 =± j √ 2
There are four roots which lie on the imaginary axis.

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

You might also like