What is Stability Asystem is said to be stable, if its output is under control. Otherwise, it is said to be unstable. A stable system produces a bounded output for a given bounded input. The following figure shows the response of a stable system. e(t) Types of Systems based on Stability We can classify the systems based on stability as follows. 1- Absolutely stable system 2- Conditionally stable system 3- Marginally stable system Absolutely Stable System If the system is stable for all the range of system component values, then it is known as the absolutely stable system. The open loop control system is absolutely stable if all the poles of the open loop transfer function present in left half of ‘s’ plane. Similarly, the closed loop control system is absolutely stable if all the poles of the closed loop transfer function present in the left half of the ‘s’ plane.Conditionally Stable System If the system is stable for a certain range of system component values, then it is known as conditionally stable system. Marginally Stable System f the system is stable by producing an output signal with constant amplitude and constant frequency of oscillations for bounded input, then it is known as marginally stable system. The open loop control system is marginally stable if any two poles of the open loop transfer function is present on the imaginary axis. Similarly, the closed loop control system is marginally stable if any two poles of the closed loop transfer function is present on the imaginary axis. Routh-Hurwitz Stability Criterion Routh-Hurwitz stability criterion is having one necessary condition and one sufficient condition for stability. If any control system doesn’t satisfy the necessary condition, then we can say that the control system is unstable. But, if the control system satisfies the necessary condition, then it may or may not be stable. So, the sufficient condition is helpful for knowing whether the control system is stable or not.Necessary Condition for Routh-Hurwitz Stability The necessary condition is that the coefficients of the characteristic polynomial should be positive. This implies that all the roots of the characteristic equation should have negative real parts. Consider the characteristic equation of the order ‘n’ is ags" +18"! +98"? +... +an_18! +an8° =0 Note that, there should not be any term missing in the n‘* order characteristic equation. This means that the n‘* order characteristic equation should not have any coefficient that is of zero value. Sufficient Condition for Routh-Hurwitz Stability The sufficient condition is that all the elements of the first column of the Routh array should have the same sign. This means that all the elements of the first column of the Routh array should be either positive or negative Routh Array Method If all the roots of the characteristic equation exist to the left half of the ‘s’ plane, then the control system is stable. If at least one root of the characteristic equation exists to the right half of the ‘s’ plane, then the control system is unstable. So, we have to find the roots of the characteristic equation to know whether the control system is stable or unstable. But, it is difficult to find the roots of the characteristic equation as order increases. So, to overcome this problem there we have the Routh array method. In this method, there is no need to calculate the roots of the characteristic equation. First formulate the Routh table and find the number of the sign changes in the first column of the Routh table. The number of sign changes in the first column of the Routh table gives the number of roots of characteristic equation that exist in the right half of the ‘s’ plane and the control system is unstable.Follow this procedure for forming the Routh table. Follow this procedure for forming the Routh table. © Fill the first two rows of the Routh array with the coefficients of the characteristic polynomial as mentioned in the table below. Start with the coefficient of 3" and continue up to the coefficient of 3 © Fill the remaining rows of the Routh array with the elements as mentioned in the table below. Continue this process tll you get the first column element of row 5° 1S Gy Here, Gy isthe coefficient of #° in the characteristic polynomial Note — If any row elements of the Routh table have some common factor, then you can divide the row elements with that factor for the simplification will be easy. The following table shows the Routh array of the n® order characteristic polynomial ags” + a8"! + aps" 24... +0n-18! + ans! ” oy Example Let us find the stability of the control system having characteristic equation, 44353 + 3074 2841=0 “ 1 3 1 All the elements of the first column of the Routh array are positive. There is no sign . ’ * change in the first column of the Routh array. So, the control system is stable. e anon _ 7 ayo 3 eae ay eweExample find the stability of the control system having characteristic equation st +259 + 357+ 4545 =0 : “ 5 7 ; 7 < . 1 f _____ There are two changes in sign of the second row is divided coefficients in the first: ‘column, This means . 1 2 0) by2. that there are two positive real roots .So, 2 15 is the system is unstable s -6 ' -3 ° 5 ° . Special Cases | Zero in the first column © —If first element of a row is zero, division by zero would be required to form the next row. © - To avoid this phenomenon, zero is replaced by a very small number (say €). Example: Make the Routh table for the system 03) ——— (9) = 8° + 284 + 305 + 6s? + 58 +3 s 13 5 ‘There are two changes in sign of the sf 2 6 3 rari ne tt co, means that there are two positive real 3s 6 z 0 roots .So, the system is unstable g 2 3 0 € 49-62 si ter O s° 3Special Cases || Entire Row is Zero. © All the elements of row are equal zero © Drive the above equation with respect tos Example: consider the following equation 8° + 2s' + 24s? + 48s? — 25s - 50 =0 sso 24 -25 “The terms in the s° row are all zero. (Note that such a case occurs only in an odd numbered row.) The auxiary polynomials then formed from the coefficients of the # 4 . tow: The auxary polynomial Ps) Ss 2 48 50 P(s) = 2st + 485? ~ 50 hich ican tat thre re to pi of root of an pai and opi S308 096 0 (that ix two real roots withthe same magnitude but oppose signs or two complex. . . conjugate rootson the imaginary axis) These pairs are obtained by solving the auxliary polypomial equation P(s) = 0 The derivative of Ps) with respect os i Ss? 24 -50 wl “eee eee St 112.7 0 There are One change in sign of the coefficient in s° -50 the first column, This means that there are one positive real root .So, the system is unstable