42.1 THE ROUTH-HURWITZ STABILITY CRITERION MEE 512.2022/2023 Let the characte polynomial of the system with T-F, = 10) n- GS) = Fey ACS) = aqy5" + ay 18" | + ones + ag We define a table known as the Routh-array and having the form shown below. sm ‘ Gy Gn-2 On-4 se Qy-y Gn-3 Ons She by by by Shee Giucy st y s z ‘The Routh-aray is produced by using the following rules: RULE 1: The first two roles are produced ftom the coefficient of A(s). When n is even the S” row contains coefficient of the even powers of s. including a. while the S”~' row contains the coefficients of odd powers of s. The situation is reversed when n is odd. RULE2: The entries in the third and subsequent rows are computed as follows: 4 = 4n—-19n-2~4n 9n-3 Gy —1 an -1 4; Gn Op Peele nen-5 oie Oy -1 ee 4-3 ~ 4n-12 : 4 Cae: bans — 4n—163 La Meee by - 5 Peeler, 4 Note that: (i) The strow has +entries when k is even and 4(&-+1) when k is odd so that the S' and $" rows each has only one entry. i.) Multiplication of all the entries in any row by the same +ve real number is allowed. This point is especially useful in manual computation when itis mote convenient to avoid fraction and decimals. (iii.) If the first entry in any row is zero, then the subsequent rows cannot be completed. There are two possibilities as follows.i <&'S MEE 512 2022/2023 CASE 1: a Feulty of producing When the first entry is zero but there is atleast one none zero entry, the difficulty of P' Routh array can be avoided by using the polynomial x AZ) = a sq2t-lq n-2 +a ) ae. a, 7 +4, For which a Routh array can be produced without difficulty. lynomial Example : If, A(s) = 5° 45445? 4.45? 4.2541. Then, the Routh array for this poly cannot be produced beyond the Sn row as shown below 5 fled 2 sf 4) 1 2 C1 2 0 However for the polynomial AG) = 2542244473 4472 4241 The array is oe arse Baa ee 4 2 ai z AD “Wy 4 Ze ws 4 1 sl a VA Z 2 CASE 2: When all the entries in a row are zero this is an indication that the s system has complex conjugate Toots of either of the types indicated in the diagram below. iw, ™, Fig. Type 1 purely imaginary roots at a,2 = Ijwo ar ' (etree Oy Hl ea - 4OC MEE 512 2022/2023 Fig. Type 2, 2 pairs of complex conjugate roots are Sia = -ootjwe. and S34 = oot jn een Ae in such Cases in which the system has roots of type 1 are of interest in application to F.B.C system 1 : : Wo. cases the entry in the §* row is zero and the system exhibits substained oscillation of frequency This frequency can be determined from the formula 3 2 is where y and y, are the entries of the Ss? row ie the S* row is 2 Se tel DETERMINATION OF STABILITY FROM ROUTH ARRAY Having produced the Routh array, the stability of the system can be determined by using the Routh soy. criterion which states that Zc = NR, where NR denotes the number of changes of sign in the first column o! the Routh array. In the example given in previously, NR = 2. This system is unstable, since Zc is not zero but if Zc = 0, the system is stable. Examples Qn 1. Consider a system with open-loop T.F Gs)iess ia ts hs (s4 +1053 +3552 +505 +24) Solution: Characteristic equation 544105343582 +50S+24 =0 The Routh array become st 135 24 Sion, |s0 24 st With no sign changes in the first column which indicates that the system is stable.(Re eee MEE 512 2022/2023 Qn 2. Consider a fifth order system Gs) = (4s? +11S+ 9485 +254 +257 +45? +135+10) The characteristic equations sh +254 +253 4482 4135 +10=0 Therefore the Routh array will be e 2 We replace the zero in row 3 by 4-16 8-102 Now when a-> 0, the term ~ oc approaches large —ve number, while “4-16 Therefore it indicates that the system has 2 changes in sign from + —»; and from- —> +. Hence it has 2 poles in r-h.p. Therefore it is unstable. > +8. ASSIGNMENT te 50 : 3 42.1 Givena FBC system with CLTF ‘gi¢gy =‘ S(sSeMl+05a)+50 - Determine the maximum value of r for stability, 0s) Re ‘Oxeeck 2 (s) 50 Gs) > SCSrL+055)+50 Fa Qs+r 50 The characteristic equation A(s) is 3! Satie As) =0.52 5" +(0.5+1)52 +5450 9 50 Routh Array is For stability a D5e 200547 > 0 eo 50 OS+r =>1>0,and 0.5-247>0 0.5 .5 > 24 05 0.5>24¢ or t< 74 Ele O 1, the closed-loop root becomes complex and diserge to become infinite as K > 5Se MEE 512 2022/2023 Singular Point: Point at which two or more poles coalese are called singular point. If singular point occurs in the real axis itis also known as break points. 43 THE ROOT LOCUS METHOD (INTRODUCED BY EVANS) The location of SISO system’s close-loop poles have an important effect on the relative stability and the transient response of the system. The system’s open-loop gain is often subject to drift and variation. Therefore it is important for a designer to have an exact understanding of the location of the root of the characteristic equation as the open-loop gain varies. The root locus method is the scheme to do this. The root locus is a graphical description of the sensitivity of system,s poles with Tespect to a parameter, be it open loop gain or any other one. Consider the simple case Ris) kee} (2 H(s) Assuming that the T.Fs Gp(s) and H(s) are known, K is the loop gain, unknown, and can be manipulated. | The roots (i.¢ clos-loop poles) of this system are given by the solutions to the equation 1+k Gp(s) H(s)=0 a) The root-locus is the path traced out by these roots as the loop gain (or the parameter under consideration) varies from 0 to infinite Example 1. Consider a system for which G,($)= say, H(s)=1. The characteristic equation for the roots isk a S(s+2) fs +25+k=0 The roots are then given by Sy elt vee Sy =-1-Vi-k Generally, $=8+ jw = for k=0, 5,9 =0-2,k=1,513 = k=2,S,9=-1+ jl,-1- jl K=5,8) 9 =-1+ j2,-1- j2 4.3.1 RULES FOR ROOT LOCUS SKETCHING 1, Symmetry of Root-locus: Since the complex roots comes in conjugate pairs, the root-locus is Symmetrical with respect to the real axis. 1, Number of Branches: If the order of the system is N, the root-locus has N branches. Each branch start at the open loop- gain (1c when K ~ 0), The branches are normally symmetrical about the real axis as mention above ice for any known real axis branch, there is another which is a mirrior image of the first one about the axis. 2, Real axis sub-branch (or segment) ‘Any portion of the real axis is part of the locus ifthe total number of poles and zeros to its right is an odd integer. 3. Asymplotic BehaviourWhen s = MEE 512.2022/2023 en some branches goes to infinity, the approach along a symplotic centered. E.g branches terminates at the M zeros (open loop) where N>m, the remaining n —m branches goes off to infinity either along or asymplotic to a family of n —m straight lines which radiates from the point. Ss =o, = 1 poles of G(s)-—> zeros of G(s)}/n-m _ (2) -P) n-m at angle given by 7,=QL- ye L=1,2,3 to the real axis. Determination of break points(Break-in or away) A break point is a point where 2 or more branches of the root locus intersects Break-in Point Break-away Point Le itis location of multiple roots, all break points are given by N(D'G)-N') D)=0. Where the prime denotes differential w.r.t the complex variable S. Note however that every solution of the break point equation does correspond to a break point. The break points are the solutions of the above equation which lie on the real axis, Segment of the root locus joining two adjacent poles or 2 adjacent zero Imaginary axis crossing: ‘There are two methods that can be used to locate these crossings. The first method is the solution of the polynomial equation obtained by substituting S = jw into the equation D(s) + KN(s) = 0. ‘The second method uses the Routh-array to determine the value of K for marginal stability and the corresponding angular velocity w of sustained oscillation, Angle of Departure or Entry: Defn: The angle of departure (Entry) from (to) is the angle which the tangent to the root-locus branch of the pole (zero) makes with the positive real axis. The angle of departure f from a simple pole located at S=-P is given by 8 = 180 - (0+ ) Where @ is the sum of the angles of the vector drawn from all the other poles to the point, S =is MEE 512 2022/2023 is the 3 8 sum of the angles of the vectors drawn from all the zeros to the same point. 0=0,+ 0, +0; Similarly, the angle of entry % is a simple zero located at S = 2 and is given by «=0-$-180° f Where @ is the sum of angles ofthe vectors drawn from all the poles to the point $ =-Z | the vectors drawn from all other zeros to the same point. @ is the sum of the angles 0 Example 2: Consider the open-loop T.F _KN(s) _ (+1) _ K+) DS) 52425 5642) for H =1, the CLTF ip A) — Ro 524.254 k(S+) By factorization ofthe denominator, we get the close-loop poles to be EY le S= atk) + lthtC MEE 512 2022/2023 xo Ne 3: 3: The fig. Below shows the block diagram representation of a temp. control loop for an isothermal al ation Process. Sketch the root locus for the system indicating clearly the important feature of the plot. | peste flly what the plot shows about the stability and transient Behaviour ofthe system. And determine appr X the value of the controller gain Ke for which the damping ratio of the dominant pole is 0.6 Heater Process Controller 25 08 ee z 25+1 55-1 al | St+1 Transducer 3 Solution: The OLTF is , KN(s) _ 2Ke D(s) (25+1)(5s—1)(s +1) =, Ok ae | (s+ 1)(s +0.5)(s—0.2) => Ms)=1 D(s) =(S +1)(S +0.5)(S — 0.2) ..M =0,n=3 and k =0.2ke pole located at s=-p,, ,=1,2,3 Since poles are located at S = -Pi => P,=-0.2, P2.=05, P3=1 Plotting 1 05 02 (i) Real axis segments are from S = 0.2 to -0.5 and from § =-1 to S = 00Asymtotes : The center is at S=—2,3-=—3 Sa (i) 180 , 180 ._ 180 eta 1805, be 3 3 3 60°, 180°, 300. The angles are (iii). Break point location. One break point is expected at S =o, between S = 0.2 and § = -0.5 The break po int equation is N(s) D'(s)—N'(s) D(s) =0 D'(s) =30; + 2.60,+0.2=0 o, = —0.085 K at break point magnitude criterion to get the value of D(@,) m=. (ee Apply N(os) 0.915 x 0.415 x 0.285 K = 0.108 K = 0.2ke 0108 «9.56, paca 2 0.2 But——a ary axis crossing a hi isti E 51> > characteristic polynomial for the roots is 5122027995 1.35? +0.25+k-0.1=0 Jmagin' er D(s)+ KN(s)=5° The Routh array Sa 0.2 Fi k-01l ¥ Sy iam For marginal _ stability At the imaginary axis crossing {0.36- { 13 k=036 ie ke=18. Put value of K in S? term or expression to obtain the point imaginary axis crossing ie 1.38? +(K-0.1)S =0. 13S? +0.26S =0. The crossings are at S,.=V-02 S\. =+/0.45 Discussion of Stability and Transient Ressponse For 0 < Ke <0.5 one root lies in the RHP and system is them unstable. For 0.5 < Ke < 0.54 all roots are real and in the LHP> Therefore the system is stable and the step response is over damped. For 0.54 < Ke < 1.8 two of the roots are complex conjugates, the third root is real. All roots are in the LHP and step response is underdamped. For Ke > 1.8, the two complex roots are in the RHP and the system is unstable. Now the dampin ratio & = 0.6 = $=Cos !e=53° Then we draw a line to meet the loci at $3 degree and substitute the value of S at the point intersection in the characteristic equation to obtain the value of K.