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Stability

The stability of a system can be determined by analyzing the location of the roots of the system's characteristic equation on the s-plane. The Routh-Hurwitz criterion constructs a table to determine the number of sign changes in the first column, which indicates whether the system is stable or unstable. If the first column has any sign changes, then the system is unstable. If the characteristic equation has rows of all zeros, an auxiliary equation is used to complete the Routh table and determine stability.

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42 views

Stability

The stability of a system can be determined by analyzing the location of the roots of the system's characteristic equation on the s-plane. The Routh-Hurwitz criterion constructs a table to determine the number of sign changes in the first column, which indicates whether the system is stable or unstable. If the first column has any sign changes, then the system is unstable. If the characteristic equation has rows of all zeros, an auxiliary equation is used to complete the Routh table and determine stability.

Uploaded by

mamnd taha
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
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Stability of the Systems

The stability of the system is determined by the location of the roots of its characteristic
equation on S-Plane (or their numerical values).
If Q(s) is the characteristic function, when Q(s) is equated to zero (Q(s)=0), it gives the
roots or poles of the system. Any transfer function T(s) is numerator divided by the
denominator, i. e.
𝑃(𝑠)
𝑇 𝑠 =
𝑄(𝑠)
This is correct for any linear time-invariant system, (linear system which has fixed
parameters) whether it is open-loop or closed loop. For closed-loop system, the transfer
function can be determined by:
𝐺(𝑠)
𝑇 𝑠 =
1 + 𝐺 𝑠 𝐻(𝑠)
The characteristic equation is obtained by: 1 + 𝐺 𝑠 𝐻 𝑠 = 0.
𝑁𝐺 𝑁𝐻
Knowing that: [𝐺 𝑠 = ] and [𝐻 𝑠 = ],
𝐷𝐺 𝐷𝐻
The characteristic equation is:
𝐷𝐺 𝐷𝐻 + 𝑁𝐺 𝑁𝐻 = 0

The stability of the system can be determined by using Routh’s Table (Apply Routh
criterion).

Routh’s Criterion:
The criterion can be applied to any characteristic equation. The characteristic function can
be put in the general form as:

𝑏𝑛 𝑆 𝑛 + 𝑏𝑛−1 𝑆 𝑛−1 + 𝑏𝑛−2 𝑆 𝑛−2 + ⋯ + 𝑏2 𝑆 2 + 𝑏𝑆 + 𝑏0 𝑆 0 = 0


The Routh’s table can be constructed as:

Then the sign of the first column of the table is examined, such that, if there is sign changes,
then the system is unstable, otherwise the system is stable.
Example: Check the stability of a system having the following characteristic equation.
𝑆 4 + 3𝑆 3 + 𝑆 2 + 6𝑆 + 2 = 0

Solution:

The system is unstable with two roots in the right half plane (S-Plane) as we have two sign
changes.
Numerical Problems:
Sometimes the first column has a zero, then this problem can be solved by different
procedures. The simplest is to substitute the zero by very small positive value (ԑ) and
proceed in constructing the table.
Examples: Consider the following characteristic function:
𝑆 5 + 2𝑆 4 + 4𝑆 3 + 8𝑆 2 + 10𝑆 1 + 6𝑆 0 = 0
The system is unstable with two sign changes.
Another case can also there, when one or more row is of zero elements, then the table
cannot be completed. But if we use an auxiliary equation A(s), we may complete the table.

A(s) can be obtained by looking to the row above the row of zeros. This function is a part of
the characteristic function. A(s) can factored to find their roots. Then, the rest of roots can be
evaluated long division.

Example: Consider the following characteristic equation:


𝑆 6 + 6𝑆 5 + 10𝑆 4 + 12𝑆 3 + 13𝑆 2 − 18𝑆 − 24 = 0

Solution:
The (𝑆 3 ) row are all zero, therefore we need to obtain the auxiliary equation A(s).
𝐴 𝑠 = 8𝑆 4 + 16𝑆 2 − 24 = 8 𝑆 4 + 2𝑆 − 3
= 8 𝑆2 − 1 𝑆2 + 3

Taking (𝑆 2 − 1) = 0 𝑆1,2 = ∓1

or from (𝑆 2 − 1) = (𝑆 + 1)(𝑆 − 1)
And (𝑆 2 + 3) = 0 𝑆3,4 = ∓𝑗 3
or from (𝑆 2 + 3) = (𝑆 + 𝑗 3)(𝑆 − 𝑗 3
the rest of the poles are obtained by division:
Example 3: Consider the Characteristic equation:
𝑆 6 + 3𝑆 5 + 2𝑆 4 + 4𝑆 2 + 12 𝑆 + 8 = 0
Solution:
The Routh’s array is:

The Auxiliary equation is:


𝐴 𝑠 = 2𝑆 4 + 8 = 2 𝑆 4 + 4
Dividing the characteristic equation by (𝑆 4 + 4) yields:
The factored form for the original characteristic equation is:
𝑆 4 + 4 𝑆 2 + 3𝑆 + 2 = 𝑆 6 + 3𝑆 5 + 2𝑆 4 + 4𝑆 2 + 12 𝑆 + 8 = 0
The roots of 𝑆 4 + 4 = 𝑆 2 + 2𝑆 + 2 𝑆 2 − 2𝑆 + 2 consist of the complex pair located at
(−1 ± 𝑗) and the pair located at (+1 ± 𝑗).
𝑆 2 + 3𝑆 + 2 = 𝑆 + 1 𝑆 + 2

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