Chapter 3:Stability of Control System

 The Poles and zeros

 Stability in control system

 Routh’s stability criterion

 Root locus techniques

 What is stability ?

 A system 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.

Cont.
 From the definition of the stability
 The impulse response must tend to zero as time approaches to infinity
 Here is the following conclusion for poles in order to determine the stability .

i. For all the poles located in the left half of s-plane, the impulse response tends to zero and therefore the system
is stable.

ii. For poles on the j𝜔 axis and simple, the system is marginally stable or limitedly stable.

iii. For all poles located in the right half of s-plane ,the impulse response does not tend to zero and it increase with
time. Therefore ,the output becomes unbounded. Hence the system is unstable.

 Therefore ,if the roots of the characteristic equation

i. Have a negative real part, system is stable

ii. Have a zero real part and the pole is not repeated ,the system is marginally or limitedly stable.

iii. Have a positive real part ,the system is unstable.

Cont.
 Response of a stable system

 This response is the response of first order control system for unit step input.

 This response has the value between 0 and 1.so,it is bounded output.

 We know that the unit step signal has the value of one for all positive values of t including zero.so,it is bounded
input.

 Therefore ,the first order control system is stable since both the input and the output are bounded.
Cont.

 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 :

1. The necessary condition is that the coefficient of the characteristics 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-

𝒂𝟎 𝒔𝒏 + 𝒂𝟏 𝒔𝒏−𝟏 + 𝒂𝟐 𝒔𝒏−𝟐 + ⋯ + 𝒂𝒏−𝟏 𝒔𝟏 + 𝒂𝒏 𝒔𝟎 = 𝟎

Note that, there should not be any term missing in the 𝒏𝒕𝒉 order characteristic equation. This means that the 𝒏𝒕𝒉
order characteristic equation should not have any coefficient that is zero value.
Cont.
 Sufficient Condition for Routh –Hurwitz Stability
2.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 the characteristic equation.

 Which means it determines the poles of a characteristic equation with respect to the left and the write half of the s-
plane with out solving the equation.
Cont.
 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 characteristics
equation that exist in the right half of the s plane and the control system is unstable.
𝒂𝟎 𝒔𝒏 + 𝒂𝟏 𝒔𝒏−𝟏 + 𝒂𝟐 𝒔𝒏−𝟐 + ⋯ + 𝒂𝒏−𝟏 𝒔𝟏 + 𝒂𝒏 𝒔𝟎

𝑠𝑛 𝑎0 𝑎2 𝑎4 𝑎6 ⋯ ⋯
𝑠 𝑛−1 𝑎1 𝑎3 𝑎5 𝑎7

𝑠 𝑛−2 𝑎1 𝑎2 − 𝑎3 𝑎0 𝑏2 𝑏3
𝑏1 = 𝑎1 𝑎4 − 𝑎5 𝑎0 𝑎1 𝑎6 − 𝑎7 𝑎0
𝑎1
= =
𝑎1 𝑎1
𝑠 𝑛−3 𝑏1 𝑎3 − 𝑏2 𝑎1 𝑐2 ⋮
𝑐1 = 𝑏1 𝑎5 − 𝑏3 𝑎1
𝑏1
=
𝑏1
⋮ ⋮ ⋮ ⋮

𝑠1 ⋮ ⋮

𝑠0 𝑎𝑛
Cont.

 Example :Let us find the stability of the control system having characteristic equation.

𝑠 4 + 3𝑠 3 + 3𝑠 2 + 2𝑠 + 1 = 0
Step 1:Verify the necessary condition for the Routh –Hurwitz stability

 All the coefficient of the characteristics polynomial , 𝐬𝟒 + 𝟑𝐬𝟑 + 𝟑𝐬𝟐 + 𝟐𝐬 + 𝟏 are positive so, the control system
satisfies the necessary condition.
Cont.
 Solution:
𝑠4 1 3 1

𝑠3 3 2

𝑠2 3∗3 − 2∗1 7
=
3 3

𝑠1 7 3∗1 − 0∗1
3∗2 − 1∗3 =5 3
=1
7 7
3
𝑠0 1

 Step 3:verify the sufficient condition for the Routh –Hurwitz stability. 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.
Cont.
 Comment on the stability of a system using Routh's stability criterion whose characteristic equation is

𝐹 𝑠 = 𝑠 4 + 2𝑠 3 + 4𝑠 2 + 6𝑠 + 8 = 0
How many poles of system lie in right half of s-plane?

𝑠4 1 4 8
𝑠3 2 6 0
𝑠2 +1 8 0
𝑠1 ↓ 0
−10

𝑠0 ↓
+8

 There are two sign changes in the first column hence system is unstable with two poles in right half of s-plane.
 Root locus techniques

 Q1.How Root Locus Techniques determine the stability of a control system ?

 Q2.what procedures that we follow in order to determine Root Locus Techniques ?

 Q3.Determine the movement poles from closed –loop systems when there is parameter change?

 The stability as well as the transient response of any closed loop system depends on the location of the closed-
loop poles in the s-plane.

 If some parameters of the closed –loop system are varied, there is movement of its poles.

 The cognizance of such movement of the poles with small variations of the parameters is remarkably useful in the
design of the closed –loop system
Cont.
 In 1948 W.R .Evans introduced the root locus technique which provides knowledge of such movement of poles
by a graphical method in the s-plane.

 In Root Locus Method, the parameter (K) of the system is varied from 0 to infinity.

 In control theory and stability theory ,root locus analysis is a graphical method for examining how the roots of a
system change with variation of a certain system parameter, commonly a gain with in a feedback system.

 The root locus method allows us to determine the traces of the poles in the s-plane as any one coefficient of the
closed –loop system (for example the controller gain ) is varied.
Cont.
 Fundamentals of root locus
 Fig 3.2 shows a closed loop control system. The characteristic equation of this system is given by

1+𝐺 𝑠 𝐻 𝑠 =0

Fig .3.2 feed back system

 Let the transfer function of the forward path be 𝐾𝐺′ 𝑠 ,where k is the gain of the system and is the variable
parameter. The above equation becomes:
𝟏 + 𝑲𝑮′ 𝒔 𝑯 𝒔 = 𝟎

 Therefore, the closed –loop poles of the system depends on the values of K. varying k from −∞ 𝑡𝑜 + ∞, a
separate set of locations of the roots of the characteristic equation will be obtained.
Cont.
 The root locus can be achieved by joining all such locations.

 Root locus is defined as the locus of the plot of the locus of the closed loop poles as a function of open –loop gain
(K),when K is varied from −∞ 𝒕𝒐 + ∞.

 If K is varied from 0 to +∞, it is known as direct root locus. On the other hand ,if K is varied from −∞ to 𝟎,it is
termed s inverse root locus.

 Usually, the root locus is used for direct root locus .if nothing is specifically mentioned ,the variation of K will be
taken from 0 to +∞ and the plot will be termed as root locus.
Cont.
𝐾
• Example 1:find the root locus of the unity feedback system having 𝐺 𝑠 = as shown in Fig 3.3 below
𝑆+1

Fig.3.3 feedback control system

Solution
The characteristic equation of the system is given by
1+𝐺 𝑠 𝐻 𝑠 =0
𝐻 𝑠 =1
Here
Equation (above) becomes
1+𝐺 𝑠 =0
or
Cont.
𝐾
1+ =0
𝑠+1
Or
𝑠+𝐾+1=0
∴ s= − 𝐾 + 1
For K= 0, s= −1
For K= ∞,S= −∞
 If K is varied from 𝟎 to ∞ ,root locus varies from -1 to −∞ as shown in fig below :

Fig .3.3 (a)

Cont.
 General methods for construction of root locus

 It is very difficult to get K using and analytical method for a higher –order systems. The following steps are very
and are usually applied to obtain the root locus.

 Rule 1:Symmetry : Root locus is always symmetrical about the real axis (x-axis).the roots are either real or
complex conjugates or a combination of both.so the locus is symmetrical about the real axis of the s-plane .

 Rule 2:Number of loci: Let the number of OLTF poles and OLTF zeros be n and m, respectively. If n > m,i.e,the
number of OLTF poles is greater than the number of OLTF zeros,the number of loci is n.the root locus will starts
from an OLTF poles and ends on an OLTF zeros .

 Here (n-m) loci will end at infinity and total loci is n.

 Generally , m> 𝒏 is hardly found practically and it is more academic.

Cont.
 Rule 3:Real axis loci: Some of the loci will lie on the real axis. A point on the real axis will lie on the root locus if
and only if the sum of the OLTF poles and zeros to the right of the point is odd.

 Rule .Angle of asymptotes: Since the number of poles is greater than the number of zeros,i.e.n > 𝑚,n−𝑚 branches
will move to infinity and these branches move along the asymptote.

 Asymptote is defined as a line on which the root locus touches at infinity.

The number of asymptotes = 𝑛 − 𝑚.

The angle of asymptote is given by

2𝑞 +1
𝜃= ∗ 180𝑜 for K> 0
𝑛−𝑚

Where ,𝑞 = 0,1,2, ⋯ 𝑛 − 𝑚 − 1.

2𝑞
And 𝜃 = ∗ 180𝑜 for K< 0
𝑛−𝑚

Where ,q= 0,1,2, ⋯ , 𝑛 − 𝑚 − 1

Cont.
 Rule 5.Centre of asymptotes: Since only the angles of asymptotes are not sufficient ,the locations of asymptotes in
s-plane has equal importance, the point where the asymptotes touch the real axis is called centroid 𝜎𝑐 and it is
given by

𝐫𝐞𝐚𝐥 𝐩𝐚𝐫𝐭𝐬 𝐨𝐟 𝐩𝐨𝐥𝐞𝐬 𝐨𝐟 𝐆 𝐬 𝐇 𝐬 − 𝐫𝐞𝐚𝐥 𝐩𝐚𝐫𝐭𝐬 𝐨𝐟 𝐳𝐞𝐫𝐨𝐬 𝐨𝐟 𝐆 𝐬 𝐇 𝐬

𝛔𝐜 =
𝐧−𝐦

 Rule 6.Break –away /break –in point :break –away point is defined as the point at which root locus comes out of
the real axis and break –in point is defined as a point at which root locus enters the real axis .the break-away or
break –in points are the points on the root locus at which multiple roots of the characteristic equation occur.

180𝑜
 If a is the number of branches ,the locus leaves the root locus at an angle of ± .the general predictions for
𝑎

existence of break – away or break –in points are given below.

Cont.
 Prediction 1:If there are two adjacently placed poles on the real axis and the real axis is a part of the root locus, one

• minimum break-away point exists in between adjacently placed poles as shown inn fig

Fig .break-away point

Cont.
 Prediction 2:if there are two adjacently placed zeros on the real axis and the real axis is a part of the root locus, one
minimum break-in point exists in between adjacently placed zeros.

Fig .break- in point

Cont.

 Prediction 3:if there are no poles and zeros to the left of a zero on the real axis and this portion of the real axis is a
part of the root locus ,there exists minimum one break -in point to the left of that zero.
Cont.

 Steps to determine the break away points

Step 1:Fram the characteristic equation 1 + G s H s = 0 of the system.

Step 2:write K in terms of S,i.e.,K= f s .

dK dK
Step 3:Derive and put =0
ds ds

dK
Step 4:The roots of the equation = 0 are the break –away points.
ds

𝑑𝐾
 If the value of K is positive for any root of = 0,the root(s) is (are ) valid break-away /break-in point(s)
𝑑𝑠
Cont.
 Rule 7.Intersection of root locus with 𝑗𝜔-axis:

 To find the intersection of root locus with the imaginary axis ,the following procedures are followed.

Step 1: Construct the characteristic equation 1 + 𝐺 𝑠 𝐻 𝑠 = 0.

Step 2: Develop Routh’s array in terms of K.

Step 3: Find 𝐾𝑚𝑎𝑥 that creates one of the roots of Routh’s array as row of zeros.

Step 4: Frame auxiliary equation 𝐴 𝑠 = 0 with the help of the coefficient of a row just above the row of zeros.

Step 5: The roots of the auxiliary equation 𝐴 𝑠 = 0 for 𝐾 = 𝐾𝑚𝑎𝑥 give the intersection points of the root locus with
the imaginary axis.

Rule 8.Angle of departure/arrival :The root locus leaves from a complex pole and arrives at a complex zero. These
two Angles are known as angle of departure and angle of arrival ,respectively .
Cont.
 Angle of departure 𝜃𝑑 is given by
𝜃𝑑 = 180𝑜 + 𝑎𝑟𝑔 𝐺 𝑠 𝐻 𝑠

Where arg 𝐺 𝑠 𝐻 𝑠 is the angle of 𝐺 𝑠 𝐻 𝑠 excluding the pole where the angle is to be calculated.

 It is also possible to calculate arg 𝐺 𝑠 𝐻 𝑠 graphically. Similarly ,

 The angle of arrival 𝜃𝑎 is given by

𝜃𝑎 = 180𝑜 − 𝑎𝑟𝑔 𝐺 𝑠 𝐻 𝑠

 Where arg 𝐺 𝑠 𝐻 𝑠 is the angle of 𝐺 𝑠 𝐻 𝑠 excluding the zero where the angle is to be calculated.
Cont.
 Example :Sketch the root locus for the system having

𝑲
𝑮 𝒔 𝑯 𝒔 = ,where 𝑲 > 𝟎
𝒔 𝒔+𝟐 𝒔+𝟑

Solution

 In order to sketch the root locus for the given system ,we have to follow rules :

 Step 1:Symmetry :Root locus is always symmetrical about the real axis(x-axis).so ,the roots are either real or
complex conjugates or a combination of both.

 Step 2: Determine the number of poles and zeros of OLTF.

𝑛𝑝 = 3 and 𝑚𝑧 = 0

Number of loci= 𝑛𝑝 − 𝑚𝑧 = 3 − 0 = 3

The three loci will start from 𝑠 = 0, 𝑠 = −2, 𝑎𝑛𝑑 𝑠 = −3, one loci will end at −2

 Step 3. real axis loci: pole –zero plot of 𝐺 𝑠 𝐻 𝑠 is shown fig.below:

Cont.
 Plot’s of pole's -zeros

 Rule 4.Angle of Asymptotes :

The number of asymptotes = 𝑛 − 𝑚 = 3 − 0 = 3 ,So, the number of angle asymptotes will be three.i.e. ,𝜃0, 𝜃1 ,and 𝜃2

• The angle of asymptote is given by

𝟐𝒒 + 𝟏
𝜽= ∗ 𝟏𝟖𝟎𝒐 𝒇𝒐𝒓 𝑲 > 𝟎
𝒏−𝒎
Cont.

2∗0+1
𝜃0 = *180𝑜 = 60𝑜
3−0
2∗1+1
𝜃1 = *180𝑜 = 180𝑜
3
2∗2+1
𝜃2 = *180𝑜 = 3000
3
Rule 5.Center of asymptote :

𝒓𝒆𝒂𝒍 𝒑𝒂𝒓𝒕𝒔 𝒐𝒇 𝒑𝒐𝒍𝒆𝒔 𝒐𝒇 𝑮 𝒔 𝑯 𝒔 − 𝒓𝒆𝒂𝒍 𝒑𝒂𝒓𝒕𝒔 𝒐𝒇 𝒛𝒆𝒓𝒐𝒔 𝒐𝒇 𝑮 𝒔 𝑯 𝒔

𝝈𝒄 =
𝒏−𝒎

𝟎−𝟐−𝟑− 𝟎 −5
∴ Centroid of asymptote 𝝈𝒄 = = = −1.67
𝟑−𝟎 3
Cont.
 Rule 6.Break-away/Break-in point:
Step 1:

1 + 𝐺 𝑠 𝐻 𝑠 = 0 of the system

Step 2: write K in terms of s,i.e.,𝐾 = 𝑓 𝑠

𝑘
1+ =0
[࢙(࢙+2)(࢙+3)]

𝑠 𝑠+2 𝑠+3 +𝐾=0

𝑠 𝑠 2 + 5𝑠 + 6 + 𝑘 = 0

𝑠 3 + 5𝑠 2 + 6𝑠 +𝑘 = 0
𝑘 = −𝑠 3 − 5𝑠 2 − 6𝑠 = 𝑓 𝑠

 Now, let's apply derivatives of k w,r,t, s

𝑑𝑘 𝑑
Step 3: = −𝑠 3 − 5𝑠 2 − 6𝑠 = − 3𝑠 2 + 10𝑠 + 6
𝑑𝑠 𝑑𝑠
Cont.
dK
 Step 4:The roots of the equation = 0 are the break-away point.
ds

𝑑𝑘
= − 3𝑠 2 + 10𝑠 + 6 = −3𝑠 2 − 10𝑠 − 6 = 0
𝑑𝑠

−𝑏 ± 𝑏2 − 4 ∗ 𝑎 ∗ 𝑐
𝑆1,2 =
2∗𝑎

10 ± 100 − (4 ∗ −3 ∗ −6) 10 ± 28
𝑆1,2 = =
(2 ∗ −3) −6

10 + 28
𝑠1 = = −2.549
−6

10 − 28
𝑠2 = = −0.785
−6

 Now, let's evaluate the value of K for 𝑠1 = −2.549

Cont.

𝑘 = −𝑠 3 − 5𝑠 2 − 6𝑠

 Then ,𝐾 𝑠1 = − −2.5493 − 5 ∗ −2.5492 − 6 ∗ −2.549

 𝐾 𝑠1 = −2.549 = 16.562 −32.487+15.294= −0.631

∴ 𝐾 𝑠1 = −0.631,which has negative real part.

 Again ,𝐾 𝑠2 = −0.785
𝐾 𝑠2 = − −0.7853 − 5 ∗ −0.7852 − 6 ∗ −0.785

𝐾 𝑠2 =0.484−3.08 + 4.71 =2.114

∴ 𝐾 𝑠2 =2.114,which has positive real part.

 Since the value of should be greater than zero,i.e. 𝐾 > 0

 Thus, for 𝑆 = −0.785, 𝐾 𝑖𝑠 𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒 2.114 𝑎𝑛𝑑𝑆 = −2.549, K is negative.

 Therefore , 𝑆 = −0.785 is the valid break-away point for the root locus.
Cont.
• The following fig.Shows the pole –zero plot and break-away point location

 The number of branches approaching the break –away point is 2.thus a= 2.therefore,the loci leaves the root locus at
±180𝑜
an angle of ,i.e.±90𝑜 .
2
Cont.
 Rule 7.Intersection of root locus with 𝑗𝜔 −axis: To find the intersection of root locus with the
imaginary axis ,the following procedures are followed.

 Step 1: Construct the characteristic equation 1 + 𝐺 𝑠 𝐻 𝑠 = 0

𝑘
1+ =0
[࢙(࢙+2)(࢙+3)]

𝑠 3 + 5𝑠 2 + 6𝑠 +𝑘 = 0
Cont.
Step 2:Develop Routh’s array in terms of K.

𝑠3 1 6
𝑠2 5 K

𝑠1 𝑏1 0
5∗6 − 𝐾∗1
=
5
30 − 𝐾
=
5
𝑠0 𝐾
 The maximum value of k can be calculated as follows :

 𝐾𝑚𝑎𝑥 =?

30 − 𝐾
=0
5
∴ 𝐾𝑚𝑎𝑥 = 30
Cont.

 The row corresponding to 𝑠1 becomes a row of zeros.the auxiliary equation with the help of the coefficient
corresponding 𝑠 2 is given by

5𝑠 2 + 𝐾 = 0

5𝑠 2 + 30 = 0

5𝑠 2 = −30
𝑠 2 = −6

𝑠1,2 = ± −6 = ±𝑗 6

𝑠1, = +𝑗 6

𝑠2 = −j 6

 Therefore ,𝑠 = ±𝑗 6 = ±𝑗2.45 are the points of the intersection of root locus with the imaginary axis.
Cont.

 Rule 8.Angle departure /arrival : From the given system there is no angle departure /arrival because there no
complex poles from the system.

𝑲 𝒔+𝟑
 Example :find the angle of departure for 𝐺 𝑠 𝐻 𝑠 = where 𝐾 > 0.
𝒔+𝟐−𝒋 𝒔+𝟐−𝒋

 Solution

i. Analytically :To calculate 𝜃𝑑 analytically for 𝑠 = −2 + 𝑗,the term 𝑠 + 2 − 𝑗 should be excluded from 𝐺 𝑠 𝐻 𝑠 .

1 1
𝐾 +𝑗
𝐾 −2 + 𝑗 + 3 𝐾 1+𝑗 2 2
𝐺 𝑠 𝐻 𝑠 ↓ 𝑠 = −2 + 𝑗 = = =
−2 + 𝑗 + 2 + 𝑗 2𝑗 2 ⎳90𝑜

𝐾⎳45𝑜 𝐾
= = ⎳ − 45𝑜
2⎳90𝑜 2

∴ 𝜃𝑑 = 180𝑜 + 𝑎𝑟𝑔 𝐺 𝑠 𝐻 𝑠 = 180𝑜 + −45𝑜 = 135𝑜

Cont.
 The angle of departure is shown in Fig.below

 Since the poles are complex conjugates to each other, the angle of departure for the poles
𝑠 = −2 − 𝑗 𝜔 be −135𝑜 .
Cont.

 Therefore the angle of departure 𝜃𝑑 at the pole 𝑠 = −2 + 𝑗 is 135𝑜 .Similarly the angle of departure at the pole
𝑠 = −2 + 𝑗 is −135𝑜

 Exercise :Sketch the root locus for the system having ,

𝑠+1 𝑠+1
𝐺 𝑠 = ,𝐻 𝑠 = 1⇒OLTF=
𝑠 𝑠+2 𝑠+3 𝑠 𝑠+2 𝑠+3

Solution
 Executing Rules 1–5Rule:
– np = 3, nz = 1, # of Branches = 3, plot so far:
Cont.
 Hh

 Hence, we have to figure out the shape of only 1 more branch

• Rule 6 Asymptotes angles: RL branches ending at OL zeros at 1 approach the asymptotic lines with angles:

1 + 2q
𝝋𝒒 = ∗ 𝟏𝟖𝟎𝟎 ∀ 𝑞= 0, 1, 2, . . . , np − nz − 1
𝒏𝒑 −𝒏𝒛
Cont.

 Rule 7 Real-axis intercept of asymptotes:

 Solution of Rules 6 and 7:

Cont .
 Rule 8: Break-away & Break-in Points

 Rule 8-1 RL branches intersect the real-axis at points where K is at an extremum for real values of s. We find the
breakaway points by finding solutions (i.e., s solutions) to:

 Rule 8-2 After finding s solutions (you can have a few), check whether the corresponding
Cont.
 Rule 8-3 Breakaway pt.:

 Break-in pt:
𝐾 ∗𝑚𝑖𝑛 +𝑣 𝐾 ′′ 𝑠 ∗
Solution for Rule 8:
−1
Recall that K(s)=
𝐺 𝑠 𝐻 𝑠
For the given G(s),H(s), we get

Recall derivative rule for fractions (quotient rule)

Hence:
Cont.
 Rule 8-1

 (3 solutions, since numerator is 3rd degree polynomial, now we check which s* yields K > 0, next)
 Rule 8-2

 Rule 8-3
Cont.
 The over all root locus plot is shown in fig. below
Cont.
 Exercise :Sketch the root locus for the system having

 Solution :