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Chapter-8-Stability Analysis

Unit in circuit analysis

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112 views48 pages

Chapter-8-Stability Analysis

Unit in circuit analysis

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samuel nderi
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© © All Rights Reserved
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Stability Analysis 8.1 Background ‘As we have seen earlier that every system, for small amount of time has to pass through a transient period. Now whether system will reach to its intended steady state after passing through transients or not? The answer to this question means to define whether system is stable or unstable. This is stability analysis. For example, a meter is connected in a system to measure a particular parameter. Before showing the final reading, the pointer of meter will pass through the transients. The final reading is the steady state of the pointer. But during transients, it is possible that the pointer may become stationary due to certain problems in the moving system of that meter. So to achieve steady state, the system must pass through the transient period successfully. Key Point : The analysis of whether the given system can reach steady stale; passing through the transients successfully is called Stability Analysis of the system. 8.2 Concept of Stability Consider a system ie. a deep container with an object placed inside it as shown in the Fig. 8.1. Force (2) ) Fig. 8.1 (8 - 1) Control System Engineering 8-2 ,_ Stability Analysis, Now if we apply a force to take out the object, as the depth of the container js more, it will oscillate and will settle down again at its original position. If we assume that the force required to take out the object tends to infinity rt ie. always object will oscillate when fy \\ force is applied and will settle down but ? \ will not come out, such a system is i i fa) (b) called absolutely stable system. No change in parameters, disturbances, changes the output. As against this, consider a container which is pointed one, on which we try to keep a circular objects shown in the Fig. 8.2. Fig. 8.2 In this case object will fall down without any external application of force. So if we try to keep the circular object, we will always fail to do so. Such system is called unstable system. While in certain cases the container is shallow then there exists a critical value of force for which object will come out of container. F Festicat Fig. 8.3 As long as F < Faia, object regains its original position but if F > Fru, object will come out. Stability depends on certain conditions of the system hence system is called conditionally stable system. 1 There are few systems eg. : Pendulum where system keeps on oscillating when certain force is applied. Such systems are neither stable nor unstable and hence called critically stable or marginally stable systems. Now let us see on which factors exactly the stability depends in a control system. Control System Engineering 8-3 Stability Analysis 8.3 Stability of Control Systems The stability of a linear closed loop system can be determined from the locations of closed, loop poles in the s-plane. For example : If system has closed loop T-F. cs) 10 Re ~ GOGH Let us find out, output response for unit step input. Ris) = 1/s cs) = wena Prag Cs) = of2 El .. Finding the partial fractions cy = 12825 , 125 3S st2 s+4 c(t) = 125 - 25e%+1 Bet =Cy +e(t) Steadystate Transient As closed loop poles are located in left half of s-plane, in output response there are exponential terms with negative indices ile. e! and e*. Now as t — « both exponential terms will approach to zero and output will be steady state output. teas toe, c(t) = 0 Transient output = 0 Such systems are called absolutely stable systems. Now transient terms are exponential terms with negative index because closed loop poles are located in left half of s-plane. For the above system under consideration, the closed loop poles are s = ~ 2 and s = ~ 4 and the negative indices of exponential terms are also ~ 2 and - 4. Key Point : Thus if closed loop poles are located in left half, exponential indices in output are negative. And if indices are negative, exponential transient terms will vanish when t >. Now let us have a system with one closed loop pole located in right half of s-plane. cw _ __10 R@ ~ COerH Find out unit step response of above system. 10 A c 36-2) 6+4), {E25} Cs) = Control System Engineering 8-4 Stability Analysis _—aae—eeseeeeee 712, 0.833 | 0.416 Cb) = s-2 std c(t) = - 1.25 + 0833 et + 0.416 e-# Now due to pole located in right half, there is one exponential term with positive index in transient output. while Coo(t) = = 1.25 t c(t) 0 ° 1 +491 2 + 44.23 4 + 2481.88 As it is clear from the table that instead of approaching to steady state value as t >, due to exponential term with positive index, transients go on increasing in amplitude. So such system is said to be unstable. Key Point : So it is clear that if any of the closed loop poles lie in right half of s-plane, then it gives the exponential term of positive index and due to that, transient response of increasing amplitude, making system unstable. In such systems output is uncontrollable and unbounded one. Output response of such systems is as shown in the Fig. 8.4. aw D Steady state output ~~ {a) Increasing exponentially (b) Increasing amplitude oscillations Fig. 8.4 Uncontrollable response For such unstable systems, if input is removed output may not return to zero. And as soon as input power is turned on, output tends to ©». If no saturation takes place in system and no mechanical stop is provided then system may get damaged and failed. Remember that the stability depends on locations of closed loop poles. And the closed loop poles are the roots of the characteristic equation of the system. So, [ Closed loop poles = Roots of the characteristic equation Control System Engineering 8-5 ‘Stability Analysis If all the closed loop poles or roots of characteristic equation lies in left half of s-plane then in the output response there will be exponential terms with negative indices along with steady state terms. Such transient terms approach to zero as time advances. Eventually output reaches to equilibrium and attains steady state value. So transient terms in such systems may give oscillations but the amplitudes of such oscillations will be decreasing wrt. time and finally will vanish. So output response of such system can be shown as in the Fig. 8.5 (a) and (b). Damped oscillations Steady state output (a) {b) Fig. 8.5 Stable response Definition of BIBO Stability : This is Bounded Input Bounded Output stability (BIB). A linear time invariant system is said to be stable if following conditions are satisfied : i) When the system is excited by a bounded input, output is also bounded and controllable. ii) In the absence of the input, output must tend to zero irrespective of the initial conditions. Unstable System : A linear time invariant system is said to be unstable if, i) Fora bounded input it produces unbounded output. ii) In absence of the input, output may not return to zero. It shows certain output without input. Besides these two cases, if one or more pairs of simple nonrepeated roots of characteristic equation are located on the imaginary axis of the s-plane, but there are no roots in the right half of s-plane, the output response will be undamped sinusoidal oscillations of constant frequency and amplitude. Such systems are said to be critically or marginally stable systems. Critically or Marginally Stable System : A linear time invariant system is said to be critically or marginally stable if for a bounded input its output oscillates with constant frequency and amplitude. Such oscillations of output are called undamped oscillations or sustained oscillations. For such systems, one or more pairs of nonrepeated roots are located on imaginary axis as shown in the Fig. 8.6 (b). Output response of such systems is as shown in the Fig. 8.6 (a). Key Point : The stability or instability is a property of the system itself i.e. closed loop poles of the system and does not depend on input or driving function. The poles of input do not affect stability of system, they affect only steady state output. Control System Engineering 8-6 Stability Analysis f(t), Constant amplitude end frequency oscillations Steady state output ~jo, in RHS wy s-plane nonrepeated poles on jo axis (®) (@) Fig. 8.6 Critically or marginally stable Special Case : If there are repeated roots located purely on imaginary axis, system is said to be unstable. Repeated poles aa YF mjoraris Steady state ‘output s-plane {a) Location of poles (b) Unstable system Conditionally Stable System : A sw Axis linear time invariant system is said to be conditionally stable if for a certain condition of a particular parameter of the system, its output is bounded one. Otherwise if that condition is violated output becomes unbounded Real and system becomes unstable ie. stability of system depends on condition of parameter of the system. Such system is called conditionally stable system. (Repeated } So splane can be divided into Urstaie 4h three distinct zones from stability. (Nove point of view as shown in the Marginally stable Fig, 88. Fig. 8.8 Division of s-plane from stability point view Control System Engineering 8-7 Locations of closed ‘Step response Stability Analysis Stability sr. | Nature of closed No. loop poles loop poles in s-plane condition Real, negative i.e. in io LHS. of s-plane. 73; 8; |O uJ Absolutely stable Pure exponential 2. | Complex conjugate with ew negative real part ie. in LHS. of s-plane. Oamped oscillations Absolutely stable Real, positive ie. in © RS. of s-plane (Any je cit) ‘one closed loop pole in right half irrespective of te Unstable number of poles in left 1 t half of s-plane). ee 4. | Complex conjugate with ott) positive real part i. in RS. of s-plane. a ‘Oseilaions with mereasing ampitude 5. | Nonrepeated pair on jo imaginary axis without % any pole in RH.S. of va s-plane 6 “ite Marginally or critically stable or Frequency of oscillations = w paneees : Marginally or ip a critically stable t Two nonrepeated pairs | Sustained oscillations on imaginary with two frequency components w and w2, 6. | Repeated pair on ; : imaginary axis without ai be any pole in RWS. of 1 s-plane. 6 Jo ‘Oscillations of Unstable increasing ampttude Table 8.1 Closed loop poles and stability Control System Engineering 8-8 Stability Analysis 8.4 Zero Input and Asymptotic Stability Some systems in practice may get driven by the initial conditions, without any input applied to it. For example a series RC circuit with capacitor initially charged to some voltage. This initial voltage is enough to start the operation of the system. This initial voltage, without any external input, drives the current till capacitor gets fully discharged. The stability related to such a system which is under zero input condition but operated under initial condition is called zero input stability of the system. The current through RC circuit reduces to zero as capacitor gets fully discharged. The current in such a case is called zero input response of the system, which is only due to the initial conditions, From this, zero input stability can be defined as : If the zero input response of the system subjected to the finite initial conditions, reaches to zero as time t approaches infinity, the system is said to be zero input stable otherwise it is called zero input unstable. Mathematically if c(t) is the zero input response of the system then for zero input stability there exists a positive number M, which depends on set of finite initial conditions such that, le()| ©, the zero input stability is also called the asymptotic stability. 8.4.1 Remarks about Asymptotic Stability Following are the important remarks about zero input or asymptotic stability, 1. The zero input or asymptotic stability depends on the roots of the characteristic equation ie. closed loop poles of the systems. 2. All the requirements about the locations of roots of the characteristic equation related to BIBO stability are applicable to zero input or asymptotic stability. For zero input or asymptotic stability also, all the roots of the characteristic equation must be located in left half of s-plane. 3. Ifa system is BIBO stable, then it must be zero input or asymptotically stable. Thus hereafter the system is said to be just stable, unstable or marginally stable, for all practical purposes. Note that for nonrepeated pair of roots of the characteristic equation on jw axis, system is marginally stable. But an integrator having transfer function 1/s ie. root located at origin is treated to be stable for all practical purposes as an exception. Control System Engineering 8-9 Stability Analysis 8.5 Relative Stability The system is said to be relatively more stable or unstable on the basis of settling time. System is said to be relatively more stable if settling time for that system is less than that of the other system. The settling time of the root or pair of complex conjugate roots is inversely proportional to the real part of the roots. So for the roots located near the jw axis, settling time will be large. As roots or pair of complex conjugate roots moves away from ja - axis ie. towards. left half of s-plane, settling time becomes lesser or smaller and system becomes more and more stable. So relative stability of the system improves, as the closed loop poles move away from the imaginary axis in left half of s-plane. eft) P,P Relatively more Pa | stable for P, ik t (a) (b) {e) jw Axis — Relative stability improves = splane Fig. 8.9 Concept of relative stability 8.6 Routh-Hurwitz Criterion _ This represents a method of determining the location of poles of a characteristic equation with respect to the left half and right half of the s-plane without actually solving the equation. The TF. of any linear closed loop system can be represented as, CO) _ bos™ +b +bm _ Bl) Ris) ~ “aos? ais" +..4an FOS) where *a’ and “b’ are constants. To find closed loop poles we equate F(s) = 0. This equation is called characteristic Control System Engineering 8-10 Stability Analysis equation of the system. ie. F(s) = ans" +ays™) + azs"2+.WW.tan = 0 Thus the roots of the characteristic equation are the closed loop poles of the system which decide the stability of the system. 8.6.1 Necessary Conditions In order that the above characteristic equation has no root in right of s-plane, it is necessary but not sufficient that, 1) All the coefficients of the polynomial have the same sign. 2) None of the coefficient vanishes ie. all powers of *s’ must be present in descending order from ‘n’ to zero. These conditions are not sufficient. 8.6.2 Hurwitz’s Criterion The sufficient condition for having all the roots of characteristic equation in left half of s-plane is given by Hurwitz. It is referred as Hurwitz criterion. It states that : The necessary and sufficient condition to have all roots of characteristic equation in left half of s-plane is that the sub-determinants Dx , K = 1, 2, ......n obtained from Hurwitz’s determinant “H’ must all be positive. Method of forming Hurwitz determinant : ay as as ane ao az ag Aan? 0 a as arma He]? 2 2 arms “10 0 a Ans 0 an The order is n x n where n = order of characteristic equation. In Hurwitz determinant all coefficients with suffices greater than ‘n’ or negative suffices must all be replaced by zeros. From Hurwitz determinant subdeterminants Dx, K= 1, 2, ..... n must be formed as follows : a a jar as as * 1 asi Dz lal De= Ds=lao a2 asl Dx= |H] 40 a2] 0 a as For the system to be stable, all the above determinants must be positive. Control System Engineering 8-13 Stability Analysis 8.8 Special Cases of Routh's Criterion 8.8.1 Special Case 1 First element of any of the rows of Routh’s array is zero and the same remaining row contains at least one non-zero element. Effect : The terms in the new row become infinite and Routh’s test fails. eg.: 53 +2s4 +353 46s? +25+1=0 sf 1 3 2 st 2 6 1 co o 15 ° Special case 1 st ° v» Routh’ array failed Following two methods are used to remove above said difficulty. First method : Substitute a small positive number *e’ in place of a zero occurred as a frst element in a row. Complete the array with this number ‘¢. Then examine the sign change by taking . Consider above example. ss 1 3 2 st 2 6 1 8 € 15 oO s? 1 oO ss? 1 To examine sign change, Lim (6-3) _ ,_ Lim 3 er0l € “e308 = 6-0 = — eo sign is negative. Lim 15(6€-3)-e? Lim 9 e-45-e? 290” 66-3 = +15 sign is positive. Control! System Engineering 8-14 Stability Analysis Routh’s array is, sé 1 3 2 st 2 6 1 ry te 15 0 st << 1 0 st +45 0 o 3? 1 0 0 As there are two sign changes, system is unstable. Second method : To solve the above difficulty one more method can be used. In this, replace ‘s’ by “1/z’ in original equation. Taking L.C.M., rearrange characteristic equation in descending powers of *2’. Then complete the Routh’s array with this new equation in “z’ and examine the stability with this array. Consider Fs) = 93 +2s4 +359 46s? +2s+1=0 Put et tte leds 254224 4 623432242241 =0 2 1 6 2 az 2 3 1 2 45 415 o 2 233 1 o z - 0.429 0 2 1 As there are two sign changes, system is unstable. The result is same. In this book, the method 1 is used to solve the special case 1 of the Routh’s array. In method 1, it is not always necessary to find limits of the terms consisting of ¢ in the first column of Routh's array. Just by mere inspection of such terms, remembering €-»0, the signs of such terms can be predicted. 8.8.2 Special Case 2 Alll the elements of a row in a Routh’s array are zero. Effect : The terms of the next row cannot be determined and Routh’s test fails 3° 0 0 0 Row of zeros, Special case 2 This indicates non-availablility of coefficient in that row. Control System Engineering 8-11 Stability Analysis wm} Example 8.1: Determine the stability of the given characteristic cquation by Hurwitz's method. Fis) = s3 +s? +1 +4 = 0 is characteristic equation. Solution: ao =1, a; =1, az=1, a3 =4, n=3 jar a3 as| 140 H = fay az aa] = {1 1 0 O a ag o14 Do= [tai 14 m= |r [2 140 Ds = {1 1 0|=4-16=-12 014 As D2 and Ds are negative, given system is unstable. 8.6.3 Disadvantages of Hurwitz’s Method i) For higher order systems, to solve the determinants of higher order is very complicated and time consuming. ii) Number of roots located in right half of s-plane for unstable system cannot be judged by this method. iii) Difficult to predict marginal stability of the system. Due to these limitations, a new method is suggested by the scientist Routh called Routh’s method. It is also called Routh-Hurwitz method. 8.7 Routh’s Stability Criterion It is also called Routh’s array method or Routh-Hurwitz’s method. Routh suggested a method of tabulating the coefficients of characteristic equation in a particular way. Tabulation of coefficients gives an array called Routh’s array. Consider the general characteristic equation as, Fs) = aos" +a; s™!+azs"2+, Method of forming an array : se ao a2 ae as Cia a a3 ‘as ar sre b be by ot o c 3. 30 an Coefficients for first two rows are written directly from characteristic equation. Controt System Engineering +12 Stability Analysis From these two, rows next rows can be obtained as follows. by = 21827 aca | by = 22847 a0a5 bs = 21868087 ar ar ay From 2" and 3 row, 4" row can be obtained as oy = Pasa arb | ae Pras 21s 1 This process is to be continued till the coefficient for s° is obtained which will be an. From this array stability of system can be predicted. . 8.7.1 Routh’s Criterion The necessary and sufficient condition for system to be stable is “All the terms in the first column of Routh's array must have same sign. There should not be any sign change in the first column of Routh’s array. If there are any sign changes existing then, a) System is unstable. b) The number of sign changes equals the number of roots lying in the right half of the s-plane. Examine the stability of given equations using Routh's method : > Example 8.2: s*+6s?+1ls+6=0 Solution: = ao 6, a2=11, a3=6, n=3 st 1 " st 6 6 s! 11x 6-6 _ ° 18-8 - 10 s° 6 As there is no sign change in first column, system is stable. ‘=> Example 8.3: s3+4s?+5+16=0 Solution: ag=1, a) =4, a2=1, a3 216 8 1 1 st +4 16 st 4-16 “, o aoe st +16 As there are two sign changes, system is unstable. Number of roots located in the right half of s-plane = Number of sign changes = 2. Control System Engineering 8-15 Stability Analysis 8.8.2.1 Procedure to Eliminate this Difficulty i) Form an equation by using the coefficients of a row which is just above the row of zeros. Such an equation is called an Auxiliary Equation denoted as A(s). For above case such an equation is, A() = dst +es?+F Key Point : The coefficients of any row are corresponding to alternate powers of °s" starting from the power indicated against it. So ‘a’ is coefficient corresponding to s* so first term is ds‘ of A(s). Next coefficient ‘e’ is corresponding to alternate power of 's' from 4 ie. s? hence the term es? and so on. ii) Take the derivative of an auxiliary equation with respect to ‘s’ dA(s) _ ie. ae = dds? +2es iii) Replace row of zeros by the coefficients of a ss a b c st d e f 4d 2e 0 iv) Complete the array interms of these new coefficients. 8.8.2.2 Importance of an Auxiliary Equation Auxiliary equation is always the part of the original characteristic equation. This means the roots of the auxiliary equation are some of the roots of original characteristic equation. Not only this but the roots of auxiliary equation are the most dominant roots of the original characteristic equation, from the stability point of view. Key Point : The stability can be predicted from the roots of A(s) = 0 rather than the roots of characteristic equation as the roots of A(s) = 0 are the most dominant from the stability point of view. The remaining roots of the characteristic equation are always in the left half and they do not play any significant role in the stability analysis. eg. Let F(s) = 0 is the original characteristic equation of say order n = 5. Let A(s) = 0 be the auxiliary equation for the system due to occurrence of special case 2 of the order m = 2. Then out of 5 roots of F(s) = 0, the 2 roots which are most dominant (Dominant means very close to imaginary axis or on the imaginary axis or in the right half of s-plane) from the stability point of view are the 2 roots of A(s) = 0. The remaining 5 - 2 = 3 roots are not significant from stability point of view as they will be far away from the imaginary axis in the left half of s-plane. Control System Engineering 8-16 ___ Stability Analysis The roots of auxiliary equation may be, i) A pair of real roots of opposite sign i.e. as shown in the Fig. 8.10 (a). “jE @) Fig. 8.10 ii) A pair of roots located on the imaginary axis as shown in the Fig. 8.10 (b). iii) The nonrepeated pairs of roots located on the imaginary axis as shown in the Fig. 8.10 (c). - = Repeated Fig. 8.10 iv) The repeated pairs of roots located on the imaginary axis as shown in the Fig. 8.10 (d). Hence total stability can be determined from the roots of A(s) = 0, which can be out of four types shown above. 8.8.2.3 Change in Criterion of Stabil After replacing a row of zeros by the coefficients of in Special Case 2 ah complete the Routh’s array. But now, the criterion that, no sign change in 1 column of array for stability, no longer remains sufficient but becomes a necessary. This is because though A\s) is a part of orginial characteristic equation, £44) is not, which is infact used to complete the array. So if sign change occurs in first column, system is unstable with number of sign changes equal to number of roots of characteristic equation located in right half of s-plane. Control System Engineering 8-17 Stability Analysis Key Point ; But if there is no sign change, system cannot be predicted as stable. And in such case stability is to be determined by actually solving A(s) = 0 for its roots. And fror: the locations of roots of A(s) = 0 in the s-plane the system stability must be determined, because roots A(s) = 0 are always dominant roots of characteristic equation. 8.9 Applications of Routh’s Criterion 8.9.1 Relative Stability Analysis If it is required to find relative stability of system about a line s = ~ 0. ie. how many roots eater are located in right half of this line s = - 0, the ie Routh’s method can be used effectively. To determine this from Routh's array, shift the axis of splane and then apply Routh array ie. substitute s = s'-0, (0 = constant) in =a characteristic equation. Write polynomial in terms of s’. Complete array from this new arene) equation. The number of sign changes in first column is equal to number of roots those are located to right of the vertical line s o. Key Point ; Instead of variable s’, any other Fig. 8.14 variable may be used. Thus if z is new variable then s must be replaced by z - 6 in the equation. 8.9.2 Determining Range of Values of K In practical system, an amplifier of variable gain K is introduced as shown in the Fig. 8.12. The closed loop transfer function is Cs) _ __ KCI) R@) ~ TFKG@)HE) Fig. 8.12 Hence the characteristic equation is Fis) = 1+ KG(s)H(s) = 0 So the locations of roots of the above equation are dependent on the proper selection of value of *K’. So unknown °K’ appears in the characteristic equation. In such case Routh’s array is to be constructed in terms of K and then the range of values of K can be obtained in such a way that it will not produce any sign change in the first column of the Routh’s array. Hence it is possible to obtain the range of values of K for absolute stability of the system using Routh’s criterion, Such a system where stability depends on the condition of parameter K, is called conditionally stable system. Control System Engineering 8-18 ‘Stability Analysis 8.10 Advantages of Routh’s Criterion Advantages of Routh’s array method are : i) Stability of the system can be judged without actually solving the characteristic equation. ii) No evaluation of determinants, which saves calculation time. iii) For unstable system it gives number of roots of characteristic equation having positive real part. iv) Relative stability of the system can be easily judged. v) By using this criterion, critical value of system gain can be determined hence frequency of sustained oscillations can be determined. vi) It helps in finding out range of values of K for system stability. vii) It helps in finding out intersection points of root locus with imaginary axis. 8.11 Limitations of Routh’s Criterion i) It is valid only for real coefficients of the characteristic equation. ii) It does not provide exact locations of the closed loop poles in left or right half of s-plane. iii) It does not suggest methods of stabilising an unstable system. iv) Applicable only to linear systems. im=> Example 8.4: s5 +54 + 253425? +3s+15=0 Solution : ss 1 2 3 s 1 2 15 ss oO -12 o Replace 0 by small positive number & ss 1 2 3 st 1 2 15 FS e +2 0 8? 15 0 st oO co) Control System Engineering 8-19 Stability Analysis Lim _ 2e+12_ 912 eso ete te (2e+12) Lim (12) -15€ Lim ~24e-144-15e? e+0 (erly e410 ~devi2 = 8 1 2 3 s 1 2 15 ? & 12 o 2 +0 15 0 There are two sign changes, so system is s! 12 o unstable. so 15 wm Example 8.5 : 6 +4s5 + 354 ~1os? - 645-48 = 0. Find the number of roots of this equation with positive real part, zero real part and negative real part. Solution : sé 1 3 -16 -48 ss 4 ° -64 ° s 3 ° ~ 48 ° 8 ° ° 0 dA = 3st-48= SAL 1953 AG) = 3s4-48=0 qe 12s sé 1 3-16-48 ss 0 -64 ° s 3 0 48 ° 8 12 ° ° ° st [elo -48 0 ° st 576 0 ° e 3° Lim 576 e>0 € Control System Engineering 8-20 Stability Analysis 2 One sign change and system is unstable . Thus there is one root in RS. of s-plane ie. with positive real part. Now solve A(s) = 0 for the dominant roots. A(s) = 384-48 = 0 Put stay By? = 48 - oy? = 16 a y= tvi6 = 44 sta +4 st=-4 e242 s= 43) So s = + 2j are the two roots on imaginary axis i.e. with zero real part. Root in RHS. indicated by a sign change is s = + 2 as obtained by solving A(s) = 0. Total there are 6 roots as n= 6. Roots with positive real part Roots with zero real part = 2 Roots with negative real part = 6-2-1=3. 8.12 Marginal K and Frequency of Sustained Oscillations Marginal value of °K’ is that value of *K’ for which system becomes marginally stable. For a marginally stable system there must be a row of zeros occurring in Routh's array. So value of “K’ which makes any row of Routh array as row of zeros is called marginal value of K. Now K = 0 makes row of s° as row of zeros but K = 0 can not be marginal value, because for K = 0, constant term in the characteristic equation becomes zero ie. one coefficient for s° vanishes which makes system unstable instead of marginally stable. Key Point : Hence marginal value of °K’ is a value which makes any row other than s° as row of zeros. To obtain the frequency of oscillations, solve the auxiliary equation A(s) = 0 for K = Krar- The magnitude of imaginary roots of A(s) = 0 obtained for marginal value of K (Kor) indicates the frequency of sustained oscillations, which system is going to produce. ump Example 8.6 : For unity feedback system, K a Gs) = aeoas ozs + find range of values of K, marginal value of K and frequency of sustained oscillations. Solution : Characteristic equation, 1 + G(s)H(s) = 0 and His) = 1 K 1+ GF 0ds) 0a) = ° s [1+ 0.65s + 0.1s?7]+K =0 0.1s3 + 0.65s?+s+K = 0 Control System Engineering 8-21 Stability Analysis cS 01 1 From s°, K>0O s? K From s', s' 0 0.65 - 0.1K >0 . 0.65 >01K 8? K 65>K Range of values of K, 0 < K < 65. The marginal value of *K’ is a value which makes any row other than s° as row of zeros. 0.65-0.1 Kmar = 0 Kmar_ = 65 To find frequency, find out roots of auxiliary equation at marginal value of *K’. A(s) = 0.65s?+K=0; 0.65s? + 65 = 0 Krar = 65 s? = -10 s = £) 3.162 Comparing with tio Frequency of oscillations 3.162 radisec. Examples with Solutions im Example 8.7 : Solution : s 1 10 s 22 1 s? 9.95 e 9.95- 2K ° 5 sf kK For system s4 +223 + 10s? +s+K=0, find Kwa and © at Kou. ° Marginal value of “K’ which makes row of s! as row of zeros. 9.95 ~ 22 Kmar Kar 0 0 0.4524 Control System Engineering 8-22 Stability Analysis Hence A(s) = 9.95s?+K=0 9.95s? + 0.4524 = 0 s? = - 0.04546 s = £j 0.2132 Hence frequency of oscillations = 0.2132 rad/sec. wa) Example 8.8 : For a system with characteristic equation F(s) = s6 + 355 + 4s4 + 689 + 5s? + 3s+ 2 = 0, examine stability. Solution : sf 1 4 5 2 sé 3 6 3 oO s 2 4 2 oO eS 0 0 0 0 Row of zeros A(s) = 2st445?42=0 ie. st+20741=0 pos = 433 44s sf 1 4 5 2 6 3 6 3 ° s 2 4 2 ° 3 4 4 0 ° 3 2 2 ° ° ss | o 0 ° o Row of zeros again AS) = da’) _ a sé 1 4 5 2 st 3 6 3 oO sf 2 4 2 0 s 4 4 0 0 s 2 2 0 0 3! 4 0 0 0 so 2 oO 0 oO Control System Engineering 8-23 Stability Analysis No sign change, hence no root is located in RHS. of s-plane. As _ Imaginary row of zeros occur, system may be marginally stable or unstable. To examine that find the roots of first auxiliary equation. “ A(s) = s# +2s?+1=0 ae ° st?=-1, st=-1, 31,2 = 4), saa=tj J The roots of As) = 0 are the roots of A(s) = 0. So do not solve second auxiliary equation. Predict the stability from the nature of roots of first auxiliary equation. As there are repeated roots on imaginary axis, system is unstable. map Example 8.9: s*+ 255+ 854+ 12s) + 20s? + 16s+ 16 = 0. Check the stability of given characteristic equation using Routh’s method. (M.U, : May-1996) Solution : sf 1 8 20 16 5 2 12 16 oO s [2 2 168 «(O 8 oO oO 0 0 <= Special case 2 Row of zeros A(s) = 2s4+12s?+16=0 8394 24s = 0 sey 4 8 20 16 8] 2 12 16 0 ss] 2 12 16 0 3} 8 24 0 0 ele 16 ° s' | 267 0 so} 16 No sign change, so system may be stable. But as there is row of zero, system will be (i) marginally stable or (ji) unstable. To examine this solve A(s) = 0. 2s4 412s? +16 = 0 st+6s74+8 Put st= y?46y+8 = 0 ° ye Control System Engineering 8-24 Stability Analysis = -341=-2,-4 st = -2 ands? s = tj2 and s= +j2 es roots on imaginary axis. Hence system is marginally stable. -4 um Example 8.10 : A given system oscillates with frequency 2 rad/sec. Find values of “Knar’ and *p’. No poles are in R.H.S. (MU. : May-1996) Solution : As system oscillates, it is marginally stable and value of *K’ at this situation is marginal value of “K’. As system is marginally stable there must be row of zeros occurring in Routh’s array. Characteristic equation is given by, KG+) | s?+ps?+2st1 s+ ps? + (2+ K)s+ (1+K) = 0 s 1 2+K s? Pp 4+K st @tWp-(4K) oo Pp ‘so 1+K At marginal value of “K’ @+K)p-(1+K)=0 @+k)p=K+ K+ P= = Now at this value, AG) = ps?+K+1=0 ” se - P Compare with s= + jwand frequency wis given as 2. K+1 =2 Control System Engineering 8-25 Stability Analysis K+ p- & @) KH _ K+ K+2~ @ 4=K42 o p= Sutl.3 2075 imp Example 8.11: The open loop transfer function of a feedback system is K(s+5) + Ts) (1+ 2s) Gl(s)H(s) = Parameters K and T are represented on a plane with K on x axis and T on y axis. Determine region in which a closed loop system is stable. (MLU. : Now-1996) Solution : The characteristic equation of the system is 1+ G(s)H(s) = 0 1+ area °° s(1 + Ts) (1 + 2s) + Kis +5) = 0 s(2Ts? + (T+ 2)s+ 1) + K(s +5) = 0 27s? + (T+2) s? + s(K +1) +5K = 0 Routh’s array is * a Ket 2 (T+2) 5K s! (T+ 2) (K+ 1)- 27x 5K 0 T+ ° 5k From last row 5K > 0 K must be positive. From row of s! (T + 2) (K + 1) -10KT > 0 KT + 2K +T+2-10KT > 0 2K +T+2-9KT >0 Control System Engineering Stability Analysis Limiting value is 2K+T+2-9KT > 0 24+T ie. K< «+ Region in which a closed loop system is stable. Considering positive values of K and T Unstable Unstable wm) Example 8.12: The open loop transfer function of a unity feedback system is given by, K+ ean W+sh) @ Derive an expression for gain K interms of T, and Tz for the stability of the system. Solution : The characteristic equation is, 1 + G(s)H(s) = 0 K a \+cagshyaesty = ° TiTes3 + 9°(T +Ta)+s+K = 0 The Routh's array is s We 1 s? Ty4T2 K st |(h+T)-KTT 0 (hh + Te! ° kK From s°, K>0 From s!, (+T)-KTiT > 0 Control System Engineering — 8-27 - Stability Analysis a T+h >Kih Bth 2 1,1 Kscrn * BTR | is the range of K for stability. So o0 K>0 3K (K+2)-4 > 0 3K(K +2) > 4 3K2+6K-4 > 0 K+ 2K-133 > 0 2K = 0.5275) (K + 2.5275) > 0 K > 0.5275 and K > - 2.5275 Control System Engineering 8-28 Stability Analysis Ultimate range of K is 0.5275 < K < «, to have roots more negative than s = -1 ie. ! located to the left of s = -1. imp Example 8.14 : Solution : I s I OU s ° AG) “ds 6 ss s 8 my 3 so Lim 576 290 € $54 455 + 3s4— 16s? 645-48 = 0. Check the stability of given characteristic equation using Routh’s method. 1 3 -16 4 ° -64 3 ° - 48 ° ° ° = 3s'-48=0 = 1253 1 3 -16 4 0 -64 3 0 ~48 12 o ° [e]0 -48 0 876 ° ° € -48 «. One sign change and system is unstable . A(s) Put s? By? 3? s? = 3st-48=0 y = 48 y? = +i6 3 = st = 42 s -48 ° 0 = Special case 2 -48 ° ° ° 0 = Special case 1 16, - vI6 -4 Control System Engineering “66 B.29% Lehi bo Stability Analysis Roots with positive real part > One Roots with negative real part + Three Roots with zero real part -» Two imp Example 8.15 : For a system G(s)H(s) = stable. Solution : Characteristic equation : 1+ G()H(s) = 0 1414Kts® s34K[s?+2s+1] =0 83+ Ks? +2Ks+K = 0 ss 1 2K s? K K s! 2K 0 ac 0 K Range of values of K is K > 0.5 and < KQ+s)? {find range of “K’ for system to be ss” from s? and s?, K > 0 wm) Example 8.16 : For unity feedback system, system is marginally stable and oscillates with frequency 4 rad/sec. Find Knar and “q'. 4 G9) = (s? + qs+ 2K)s Solution : Characteristic equation 1+G@) = 0 4 Gita) a s3+qs?+2Ks+4 = 0 s 1 a q st 2kq-4 ~a s° 4 (M.U. : Dec-2007) Control System Engineering 8-30 Stability Analysis For marginal value of K, 2Kq-4= 0 2Kq = 4 4 * a= =) Now for this value of K, AG) = gs?+4=0 2 ya q = $2025 mo ‘ K = ggexpt8 Kmorginat = 8, q = 0.25 ‘=> Example 8.17 : Determine the stability of the system having characteristic equation, 3545442834 25? +3545 =0 (M.U. : May-1996) Solution: Routh’s Array es [4 2 5 Occurrence of special case 1, replacing °0' by ‘+ € Control System Engineering Stability Analysis ss 1 3 st 1 5 st +e 0 — «Special case 1 # eens € Ge4}2- Se € Der U , ° 5 As’ is positive 2e+2 € > +ve 26+2 ( e Jes (ve) + (-ve) C2) 7 ee) and ve € 2. There are two sign changes in the first column sc system is unstable with two roots in the right half of s-plane. ‘mp Example 8.18 : The characteristic equation of a system is, 544 3Ks? + (K+ 2s+4=0 Determine range of K for stability. (MU. : Nov.-1994) Solution : 834 3Ks? +(K+2)s+4=0 Routh’s Array s 1 K+2 st 3k 4 st 3Ke + 6K 4 ° aK ° 4 For stability 3K? + 6K-4>0 (K - 0.5275) (K + 2.5275) > 0 K > 0.5275, K>-25275 From row of s?, 3K >0 K>0 Range of K is 0.5275 < K Example 8.19 : The output c(t) of a control system is related to its input r(t) by {s4+ 283 + 2s? + (3+ K) s+ K] C(s) = K(s + 1) R(s) where K is positive gain of an amplifier. i) With K = 6, will the output response by stable ii) Determine limiting positive values of K for stability (MU. : May-1996, Dec.-1998) Solution : The closed loop transfer function is Cts) _ K(s+1) RG) (s+ 283 + 2s? + (3+ K)s+ K) = The characteristic equation is st +253 +25? + 3+ K)s+K = 0 i) ForK=6itis, s4+2s3+2s?+9s+6=0 Routh’s array s 1 2 6 s 2 9 0 s? “25 6 st 138 o s? 6 ‘There are two sign changes in the first column, so for K = 6 output will not remain stable. ii) Routh’s array in terms of *K’ is s 1 2 K 3 2 3+K oO ? 1-K K = es COW 3+ W)-K a ea) ° From last row, K>0 From row of s?, 1-K>0 « K<1 From row of s!, UE @+K-2K>0 Q-K)G+K)-4K>0 3-2K-K?-4K >0 Control System Engineering. + '+"41418-33 Stability Analysis -K?-6K+3>0 ie K2+6K-3<0 (K - 0.464) (K + 6.464) < 0 K < 0.464, K< - 6464 Considering the three conditions range of positive values of K is 0 < K < 0.464. im Example 8.20 : For the system shown i) Find Cyy when r(t) = 0 and n(t) is unit step. ii) Find the requirement of °K’ and ‘a’ so that system is stable. iti) Show stable region on a plane with K on y axis and ‘a’ on x axis. (M.U. : May-1996) , Cs) | __SP=T using —S_y * NG) ~ Kei) aera] “8 Ge els | Cte) _ Kis-2)s NG ~ ss? +1) + K(s+ 2) (6+a) Z sK(s+2) = S34 Ks? K+ aK~ ist 2aK i) For N@) = 2 as unit step a eae s(6-+2)K ‘S534 Ks? + (2K+ aK— 1)s+ 2aK Control System Engineering 8-34" ___ Stability Analysis, lim 5 298) = 0 But for unit ramp input Cuy= ii) The characteristic equation is, s+ Ks? + (2K+aK-~ 1)s+ 2aK = 0 Routh’s array is 8 1 2K + ak 1 st kK 20K st (K) (2K+ ak. ° 3° 2aKk From the last row, 2aK > 0 From the row of s!, 2K? + aK? - K-2aK > 0 ie. 2K + aK -1-2a >0 ie. 142a Ko a ity kK = Approaches 2 as ‘a’ ee Unstable us} Example 8.21: Determine the number of roots on the imaginary axis for the characteristic equation given below., 35+ 684+ 1553 + 30s? + 44s+ 24 = 0 (MU. : May-1998, Dec.-1996) Control System Engineering 8-35 Stability Analysis Solution : . Routh’s array ss 1 1544 st 6 30 2% 2 1040 ° st 6 24 ° s! ° ° 0 = Special case 2 3? Since we have a row of all zeros we take the row above this take it as auxiliary equation and differentiate. 6s? +24 = 0 Awiliary equation. differentiating 2s = 0 Now replace row of zeros with coefficient of the above equation. ss 1 15 44 s 6 30 24 st 10 40 o s? 6 24 0 st 12 0 0 so 24 ‘There is no sign change ie. no root is in right half. Now roots can be found out taking roots of auxiliary equation. 6s? +24 = 0 S s?4+4 = 0 st = -4 * s= +3 ‘Two roots on imaginary axis at imp Example 8.22 : The characteris $3 + 10s? + 50s+ 500 = 0 42 j and -2j ic equation of a system is Determine absolute stability using Routh’s array (MU. : Nov-1994) Solution : s 1+ 50 2 10500 ‘ st 0 0 _| eSpecial case 2 We have row of zeros therefore we can’t find out stability. Control System Engineering He B= 36 We are te Stability Analysis «Take auxiliary equation of the row just above row of zeros. 10s? +500 = 0 Take diff ential w. . 8 ie. 208 Replace row of zeros with this equation (2) and solve further s° 1 60 st 10 500 st 20 0 3? 500 No sign change in first column, system may be stable. As sufficient condition does not remain sufficient due to occurrence of special case 2. So stability is to be predicted by the nature of the roots of A(s) = 0 ie. roots of 10s? + 500 = 0 s = +jv50 Roots = £7071 s 0 + j 7.071 and -j 7.071 As these roots are purely imaginary, system is marginally stable. -ta> Example 8.23: The open loop transfer function of a unity feedback control system is given by - Kis+ 5) (s+ 40) 33 (6+ 200) (s+ 1000) Discuss the stability of the closed loop system as a function of K. Determine the value of K that will cause sustained oscillation in the closed loop system. What is the frequency oscillation? (MU. : Nov.-1993) Solution: Take equation 1 + G(s) H(s) H() = 1 as it is unity feedback system 4 {_Kie+ 506+ 40)_) 53(s+ 200) (s+ 1000) __ 3 (s+ 200) (s+ 1000) + K(s+ 5) (s+ 40) ~ 85(+ 200) (5+ 1000) Gs) = 1+ G(s) Hs) Now equate 1+ G(s) Hs) = 6 3 (s+ 200) (s+ 1000)+ K(s+ 5) (s+ 40) $3(s+ 200) (s+ 1000) ° Control System Engineering 8-37 Stability Analysis s3 (s+ 200) (s+ 1000)+ K(s+ 5) (s+ 40) = 0 83 (6? + 1200s + 200000) + K(s? + 45s+ 200) = 0 8 + 1200s4 + 20000053 + Ks? + 45Ks+ 200K = 0 Routh’s Array is ° 4 200000 48K s! 4200 kK 200K 2 24x 10°- K 44.833K 0 7200 2 o 200K after simplification i ~ 1209 $2000K-2008) 4x 1 A 200k For stability From s? row, K < 24x 108 From s? row, L7544x 10° KK? > 0 ie. K > 0, K< 1754 x10* From s! row, ~54000K? + 9.534% 10% K?~ 11.52% 10" K > 0 ie. 54000K? ~ 9.534% 10" K+ 11.52x10" < 0 ie. (K- 0.01214 x 10") (K- 1.7535x 10) < 0 ‘Thus range of K i K > 1214%10° and K > 1.7535 x10 x " For 1.214 106 , © = 16.55 rad/sec K 379 rad/sec. 1.7535 x10°, wm Example 8.24 : Using Routh criterion, investigate the stability of a unity feedback system whose open loop transfer function is (M.U. : Dec.-1998) Solution : The characteristic equation is 1+ G(s)H(s) = 0 Control Systam Engineering Stability Analysis : ens = - s(s+1) ~ : st+stet = 0 Now eT can be expressed in the series from as = s?T? oF = (EE + ce) Trancating the series and considering only first two terms we get et = 1-sT s?+s+1-sT = 0 2 st4s(1-T)+1 = 0 So Routh’s Array is 1-T > 0 for stability T 0 for which system is stable, ii) The acceptable value of steady state error is 1°C for the step input of 10°C. Find the value of Ky that meets this specification on static accuracy. (M.U. : May-2003) Amplifier Control System Engineering 6-39 Stability Analysis, Solution : i) Find the transfer function of the system given. Ky x0.1x50 29 _ gag @st i? 0.8K, (10s+1) BS) Ka x0. 150, 0.16 (@s+1)*(10s+1)+0. 8Kq @s+ij? (0s+i) U.8K, (10s +1) 90s? + 69s? +16s+1+0.8Ky From the characteristics equation Routh's array is, s 90 16 s 69 1+ 0.8 Ky i) 3 1408 Ky For K,>0, 1104-90-72 Ka>0 1014-72 Ka > 0 1014 > 72 Ka Ka < 14.0833 So range of values of K, for system to be stable is 0 < K, < 14.0833 ii) For steady state error find G(s)H(s). 0.1xK, x50 0.16 (s+? G0s+1) G()H@) s Kp = Lim G(s)H(6) = 08 Ka where A = Magnitude of step input fe = rk P But here step of 10°C is modified by 0.16 while applying to the system. A-= 10x0.16 = 16 = T40.8K Ka = 0.75 Control System Engi ring 8-40 Stability Analysis ‘mp Example 8.26: Determine whether the largest time constant of the roots of the characteristics equation given below is greater than, less than or equal to 1.0 sec. 84457 4+654+4=0, (M.U. : May-2003) Solution: The time constant is the reciprocal of the actual values of the roots of characteristic equation. Hence check whether roots are located to the right or left of s = - 1, for the given characteristic equation. Replace s = s'-1 a(s’- 19 + 4 (s’- 17 + 6(s’- 1) +4=0 + (P+ P46) +120 33 1 1 s? 1 1 s 0 0 = Row of zeros ° AG) = @P+1=0 dAG) _ 4. ds a Replacing row of zeros by dA(s)/ds, there is no sign change in the first column. Roots of A(s) = 0 are, s’ = tj purely imaginary So two roots are having real part s = ~ 1 and other locating to the left of s = - 1 hence largest time constant is 1.0 sec. ‘=> Example 8.27 : The open loop transfer function of a unity feedback system is given by, K OO) = Seas Determine the value of K that will cause sustained oscillations in the closed loop system. Also find the oscillation frequency. (MLU. : Dec.-2003, Dec.-2005) Solution : The characteristic equation is 1 + G(s)H(s) = 0 K 14+ —__ = 0 ite. s#+4s3 +45? K=0 +See DG? see) O ie st+4s3 +4574 354 The Routh's array is, Control System Engineering 8-41 Stability Analysis st 1 4 K s 4 3 0 st 3.25 K ° s 9.75- 4k ° “325 3° K For marginal value of K, row of s! must be row of zeros. 975-4 Kms = Oie. Kiar = 24375 For this value of K, the auxiliary equation is, A(s) = 3.25 s? + Kar = O ie. s' s = 440.866 Thus the frequency of oscillations is 0.866 rad/sec. wap Example 8.28: Check for stability and mention how many roots lie in the right hand side of s-plane for a control system represented by a characteristic equation, 36455 435443834257 4st +59 = 0. (M.U. : May- 2004) Solution : The characteristic equation is , s° +55 +35! 4353425? The Routh's array is , s'+1=0 sf 1 3 2 1 s q 3 1 0 s [o]+e 1 1 & Special case 1 ° 3e-1 e-1 ° € - @e)-e-9 2 Ge=ay 1 = Control System Engineering 8-42 Stability Analysis — - (e~1) 2} 2) For s!, Lim s+“ > Negative For s?, Lim + Positive i.e. X positive Thus there are four sign changes in the first column of the Routh's array. Hence the system is unstable with four roots lying in the right hand side of s - plane. um) Example 8.29 : Find K marginal and frequency of oscillations for, K 145——__K ____ * SAD FI) (MU. : Dec-2004) Solution : The characteristic equation is, : s(s? +2542) (s? +6s+10) + K = 0 ie. s5+8s! +2459 + 32s? +20s+K = 0 Routh's array is, 3 1 24 20 st 8 32 kK st 20 160-K ° 8 480+ K st =a" kK For marginal Ky, row of s! must be row of zeros. 480+ K)/160- . (SSCS 4)-208 - 0 3520K + 76800 = 0 76800+ 160K ~ 480 K- K? — 3200 K = Oie. (K+ 3541.6845) (K- 21.6845) = 0 Km = + 21.6845. For this value, AG) = (@5™" 20 Control System Engineering 8-43 Stability Analysis 206845 (480+ 21.6845) ~ 20 — 0.8644 s = £j0.9297 = tjo Hence the frequency of oscillations is 0.9297 rad/sec. ms Example 8.30: Consider a third order system with the characteristic equation s*+10.1s?+21s+2 = 0. Is the system stable ? If we shift joo axis to the left by 0.2 units, analyse the relative stability. (MU. : May-2006) Solution : For the given equation, Routh's array is, s 1 a As there are no sign changes in the first s? 10.1 2 column, the system is stable in nature. Now it is required to investigate relative stability C ae © about s = - 0.2. Thus replace s by s'~ 02 in s° 2 the characteristic equation. s(8’-0.2)3 + 10.1 (s’-0.2)? + 21 (s’-0.2)+2 = 0 eB (s')3 + 9.5 (s’)? + 17.08s' - 1.804 = 0 sp 1 17.08 As there is one sign change in the first (s? 95 1.804 column, there is one root located to the right side of s = - 0.2. Hence about s = - 0.2, (sv 17.2698 o system is unstable. (sp = 1.804 Review Questions 1. Define the following terms 1) Stable system (ii) Unstable system (iii) Critically stable system (é0) Conditionally stable system. 2. State and explain Hurwite's criterion. 3. State and explain Routh’s criterion. . What are the necessary conditions to have all the roots of a characteristic equation in the left half of splane ? Write a note on special cases of Routh’s criterion. Explain the significance of an Auxiliary equation. How Routh’s criterion can be used to study the relative stability? State the advantages and limitation of Routh's method. ~ SNan Control System Engineering 8-44 Stability Anatysis 9. nM. The characteristic polynomial of a system is P(s) = s + 6s + 15s3 + 30s? + 44+ 24. (MU. : Nov.-1994 and 1995) (Ans. : Marginally stable, «= 2 rad/sec) . Determine the stability of a system with characteristic equation. $+ dst + 259 + Bs? + 54+ 4=0 (MU. : May-1996) (Ans. : Unstable, Multiple roots on imaginary axis at + j) Determine the range of K for stability of the following system. (MU. : May-1996) (Ans.:00 ea May 2098 0,K= 500+ 10Aand stable) Unst2ble Stobie “Control System Engineering 8-45 Stability Analysis 18. 19. 2. Open loop transfer function of a unity feedback system is K Ses s+ (st 2) Find the range of K for stability. For what value of K system will oscillate and what is frequency of oscillations ? (M.U. : Nov.-1993) (Ans. :0 0) such that the characteristic equation, 59+ 3(K+l)s? + (7K +5)s+(4K+7) =O has roots more negative that s = ~1. (M.U.: Dec.-1998) (Ans ).5275 < K

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