UNIT-3 (Module 3)

TME RESPONSE CoN TROL SYSTEMS

Tlae kesfose Vaiiatio of the cnt olled oolpe

hee to
tts cysteau ia sujtcted has
e
The

tots tie tiaienit etoe oiel teaoly

Total aesponse ,c tt)

The tasieit Aesfoie'. amia hee
Åspese tat enins

thet ae ed
The diteuent test
test o contral

3) Dualoie

A umit
olefined
u lt)

we)

tho amplibuale o the step

said t be á
 S(t) A,

A = A

e
A u tle

tatu t <.
) Ranp &iqmel
thew Rakd tto be
A l

A s the tle

slope =A
At
t
rct = LAt A
t

Panabolle defined
At , o

Sisoilal
4C¬) > A sin(wt)

A
 A

REM EMBER
o
e

A A A ule) A, t o

4) LA t A

LAe t A.

tat.
LAe
A Cg ta)

A b
g2 b 2

LA
Ces (bt) = A

Genera I o1der Cotial &yste

Bider cotiol sslen

R(s)

The wal c(s)

 whee T t i e coue out ot the ys

the stan
<tgnal, bine comita
is
dufomed upontialy
os tlhe tine takeh the olp to attaiw
63"ao ef the finel steady batt vale:the time cout
then
olifimed tle ine
e the nttial als

t 63 2
o3 6

R(s)

dt
)The -lo
Fmd tthe t i e Resposd

tee tbiue ostat

RC)
c(s) = 1te+4).s)
R) t|pto tte talt
Gren ReE) c t t

(s)
 detsmi eeitatn,
vale
os the inndiate to Li
wni a
ttheowete glass
ttieinAOneles
seeonds
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t
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cle)
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0 t At
state
e
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aiet
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-4t
Repone
is tune +3)
<) c
Ki .
Ke k+ (t4) = 1
)
 A A

cle) K

A.

Ki

Reutome
Bien at
-6o A
e-ó0 A

natuSal

dingan

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slst 1fwm)
 2
W

tthe natta
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the Ratio
te
|+6Has)
(hanais tie equnt ef lthe &ysta
ase K o n . tae
Denimato

cls)

cle)
2

be
then the ysten
is saiLo to be
ttew

maeolanged olanpe
thew the syst e
then the sys en
the TF
thn the tols ot
the
complea
Aiyst
wtically elaed, poles of
ale
 the kysten thew the
Aeal ensl olstion et
oles

daapirg ate of tho

Aupoye
dapd
ef the thaeut
Rspone
contipl
Lelo-
Cuopla).

(r eal)

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atlo &
to wiit atep' z|p fr eitteet olay ing
 c(t)'
9

>t

ch cemt tep p The aenall T- F f a I 1dee

Gnn Rs) nit

2

Put

cls)

cls)

twmll-e2)
 cls)

g+6 w)+ o

-e -imolat)- wg
2

e(t)= |- e
(od)

fw

+ hon

e :Swn t

l~ewnt
Sin (odt o) Renb.

tte
A. wntt, thew lts t e Respone
A

wmit atep
Deteumine () tho led llop T- F G)
matal Qatio

T'
 idei Aesponse
a4 The
tineLeting Rise a
tinetime ay
oot Peat 5
apeatiow donaiw line The
spaifiatioe dowain Time
6).+o)(e4 (s
St4os
oD 6 t
oep clxc TF
R':)
4tep wnit to die èsCt+)
6). (g4 (os(st
)
600
=
 AUowable toles,
bond
Max
les pone
Q5

ie TA is tte tiv
5p-·
attaiwI tinie the finel t ab
eteady tate valuf
vale
the

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the st tie.
Binat stey stat value tse
the o/p to
J Pek tine - It b tho tine taken
atuw he na
Aespoe (firat peae)
eme takeu ttie o(P
hthn the áþeeipcd. toleanee lineite .

tho Mae &eiati

5 Peak slhoot
statt Value .
tho fimal
Peakoshoot (Mp) lt=tp)- clt )
c(t tp) - clt )
"" pat oynerdhoet, t?

|. Rise tme

2.
peak time tp Sec

3 Mar ONeshoopMp =

tne ts =
2

5. Delat time tË .
 I+ K,s. Deteiw the Vae
kht thc

Gfuen Mp wnit step ilp ad

R():
c(s)

| :e

-l· 36 =

2.

(13e:) 2

L386
2

Peak k e
wd

Ji-(o-484),
 2

kË ka =

A
is appd to ts edb ac
dletewine ttie vale
A an and the
os illatie & Kad hat tho
L

es ale
cts)
A

A
=

&(e+K),
A
( ) A

R2+ s+ A

A= Wn

8 Aade-!:

i-s
= hn 1-(0-6)
Kle.
1-o
A
 K

k= |2
the dslenu
to
o teeytlu B wnilz
MA

te Co)
Cmax (t)
 T" F

qinent
coutt sytem
facta
nld the aniiea aai be aedwed
nueased
to o (1) what faets heulol K be lti
so twat tho eytenw 'oueskoot wit tep

eae

K
klt..

K= kI
Let =
nshen k= k
ad

K T

and
2
k, = 1 k

the intial gaiw has to be Ridieed

to

anene ase deng y atis. ho

 w e k= k

Mp= - 6r\rça
Mp
f2 2

= 2 2

0-4 S9,

k has to be
The shol
Rede the
a de indlee

nity FB syten dho w

2ult). Dutiine Vand cledp
the
 cl)

om the ibove teak. oes host

Gihen
-s amel peak tine t = 2 kesr
MP
Ae
Ginen A =2
MP
e

(e o&s)
2+ (e os)

at tine

/(o- 4o3)

TF
 J1
(1"H)

&

Rls) (+GEDH(e)
eCs)
3-44

cCs)

|+ GH.

= G(s)
 Stability of Linear Control s
Systems
R(s) Gs) +C(s)

HS)
Fig. 4.3 Simplifled system block diagram.

The closed-loop transfer function of the system is

C(s) G(s)
R(s) 1+G(s) H(s)
The characteristic equation of the system is 1 + Gs)H(s) = 0. The
characteristic equation are called the zeros of 1 + G(s)H(s). roots of the
The procedure for investigating the
plane for zeros of 1+G(s)H(s). If there arestability of a system is to search the
no zeros of 1+G(s)H(s)in the right-ha:
then there are no roots of the right-half plane
the system is stable. characteristic equation in the right-half of the s-plane, ani
point on the right-half Obviously, it is impractical, if not
of the s-plane and so it is impossible, to inyestigate ever
Methods like Routh-Hurwitz criterion, Nyquist necessary to
devise some shorter methods
for determining the stability of linear criterion and Bode criterion are well knom
systems without involving root solving.
A.6 ROUTH-HURWITZ CRITERION
In 1887, Routh
roots with positivedeveloped
a method for
real parts without determining whether or not an equation ha
used with the
characteristic actually solving the equation for the
for detectingequation roots. WheL
a simple means of a feedback
control system, Rouths
indicate transients which grow,system instability, because roots with criterion ofer
The usual rather than decay, with time. positive real pai
characteristic equation,can be written in
general form as
ags +
in which the
coefficients
with marginal stability (simple
ajstta1s
are
t
typicallyroot's positive numbers.an.=0
An unstable
is eithet zero or
'negative. on jw-axis), is system a systen
or coefficien
The first step in
applying
immediately indicated if any
of illustration, a
characteristic Routh' s
equationcriterion is to form
with =5is the Routh array. For the sak
n
ao4a1s +ags° t+ taken.
ags + a4s + a5 =0
 234 Control Engineering
The Routh's array is

()

a3

b1 bs
g2
C1 Cg

dË

The first two rows are nothing but the coefficients of the characteristic equation. The
remaining entries are entered by computation with the following pattern.

bË =

b
Similarly,
aj b3
C1
bË
C3 =
b
Entries d, and e1 are obtained in a similar manner.
Routh's criterion states that the number of sign changes in the elements of the first
column equals the number of roots with positive real parts.
Limitations

1. The Routh's criterion does not give the location of the roots that lie to right-half of
the s-plane and also does not tell whether these roots are real or comp<ex.
2. The Routh's criterion cannot be applied to any other stability boun :aries in a complex
plane, such as the unit circle in the z-plane which is the stability otudary of digital
control systems.
4.6.1 Relative Stability Analysis
The question of absolute stability is answered by the Routh's criterion. However, in, many
practical cases, information about the relative stability is required. A useful way for
 Stabilityof Linear Control.

checking relative stability n system is to shift the s-plane axis and

then
Systems88
riterion. That is to put of apply Routh's
S = S1- 0 (a= a constant)
into the
characteristicequation of the system. Now write the polynomial in
and apply Routh's criterion to the new polynomial in S1. The number of terrns of 8,
the first column of the sign changes in
Routh's array using the new polynomial is equal to the
of roots that are situated to
the right of the vertical line s = - a. Thus, the nunberof
roots that lie to the right of the vertical ine is revealed by this test. number
Example 41, Investigate the stability of a closed-loop system whose
characteristic
equation is given by
s +3s4+ 7s+ 20s +6s +15 = 0

Solution
The Routh's array is

.20 15

11 15

There are no sign changes in the first column of the Routh's array, and so there are
no roots with positive real parts. Hence, the system under investigation is stable.

Exanple 42 Investigate the stability of a closed-loop system whose characteristic

equation is given by
s+2s +3s +8s+2=0
gs6. ControlEngineering

Solution
is
The Routh'sarray

1 3 2

2 8

12

column of the Routh's

There are two sign- changes (+ to - and - to +) in the first
Hence, the system
array. This implies that there are two roots with positive, real parts.
in question is unstable.

Important note:
a positive
It can be shown that the entries in any row can be multiplied or divided by
can be used
constant without affecting sign changes in the first column. This procedure
to reduce the mathematical labour involved in forming the array.

4.6.2 Difficulties Encountered in Routh's Criterion

Two difficulties arise that are worthy to note:
not.
1. The first element in any one row is zero, but the others are
2. All the elements in one row of Routh's array are zero.

"EXample A (Difficulty-1) Investigate the stability of a closed-loop system whose

characteristic equation is given by
s+s+ 2s +2s+3s + 5=0
 Stability of.f Linear Control,.
Systems
Solution
The Routh's array is

2 5

-2

Difhculty-1 is being addressd as the first element in a row being zero. To overco
this difficulty, put s = in the given characteristic equation. Accordingly, we get
5 3 2

+)+2() +*()) +5= 0

Multiplying throughout by zº and rearranging, we get

52 +3z +22+ 22+z +1=0
The Routh's array is

5 2 1

2 1

z3
-
1

z0 1

There are two sign changes in the first column showing that there are two roots with
positive real parts. Therefore, the system is unstable.
Sometimes the above described method of overcoming difficulty-1 may not work. In
Rouths
that case, multiply the given characteristic
gquation by (s+1) and the
then repeat
criterion.
R Control Engineering

In the present context, we have

(s + 1)(s+s+28°+28+3s + 5) = 0
s+2s°+384+48 +58+ 8s +5=0
The Routh's array is

3 5

2 4

1 1 5

2 -2

-7

Again, we see that there are two sign changes in the frst column showing that there
are two roots with positive real parts. Therefore, the system is unstable.

Example (Difficulty-2) Consider the characteristic equation s + 2s +8s+

126°+ 2082 + 16s + 16 = 0. Using Routh's criterion, investigate the stability of the
closed-loop system.
Solution
The Routh's array is

1 20 16

12 16

25 125 165
 Stability of Linear Control,
ÍSystems
Since, a row of zeros appears prematurely (dificulty-2) we form an
mial using the
coeficients of s row. auxiliary polym,
A(s) = 2s + 12s + 16
dA(s)
ds
= 8s +24s

From the above equation, the coefficients 8and 24 replace the zeros of g
original tabulation, Thus, the Routh's array row of the
becomes:
1 8 20 16

2 12 16

2 12 16

8 24. Ecoefficients of dA(s)

ds
6 16

16

Since, there are no sign changes in the first column of the

entire Rouths array, the
given characteristic equation has no roots with positive real parts. Solving the auxiliary
equation, A(s) = 0, we get s =i2 and ±jv2, Thus, the characteristic equation has
four nonrepeated roots` on the ju-axis, and no roots with positive real parts and hence
the system is marginally stable. These roots on the jw-axis are
responsible for the row
of zeros in the s row. Also, these roots on the ju-axis indicate that
the system has two
frequencies of sustained oscillations of y2, rad/sec and 2 rad/sec.

EXample Refer the characteristic equation given by

dothr
s+ 25s + 15s + 20s + K =0

Determine:

A. the range of value of K s9 that the system is asymptotically stable and

b. the value of K so that the system is marginally stable and th frequencies of sustained
oscillations, if applicable.
 Theoscillations,
any. if Determine:
b. a. this K>
stability:
i . 0 i. For
Solution
marginally
rad/sec. The
Routh's
the the 20
value range equation Thus, - Routh'Sols ution
1.76K Engineering
Control
array of of stable. the
K gives system >,0
array
is so K
so,that Refer >K< is
that sThe
=10.894. is
the the the auxiliarystable
s+ 11.36
systemsystem characteristic
Ks for
-9K?-1
equation
Hence, 0_< -IN7 20
R
K-1 K-l K +
10 1
is is
K 14.2 25
K. marginallystable 2s 1
+
equation the is K
K+1 (K <L.6
and A(s)
frequency 11,36,
10 2 + 20
K 15
stable 1)s given = k
+ 2s
14.When
10 of K
2
10 by
and = o
sustained +
the 0 11.36 K
frequencies =(1136)
=0.
oscillations
The
the
of
solution
system
sustained
is
0.894
of is
 Stability of Linear Control.
For stability: Systems
i. K>0
ii, K-1
KS0 ’K >1
iii. -9K² -1
K->0
For a linear
System, Kis always real and hence, the last condition Cannot
any real value of K. Thus, the system is
always unstaþle. be rnet ty
EXample 47 Refer the negative feedback control system shown in Fig.
Ex.4.7.
Using Routh's criterion determine the stability of the
of K. closed-loop system as a functie,
K(s + 4) (s + 20)
R(S) s(s + 10) (s + 500) C(s)

Fig. Ex.4.7
Find the value of K that will cause sustained oscillations in the system. Also, find the
frequency of oscillations.
Solution
Thecharacteristic equation of the system is given by
1+ G(s)H(s) = 0
1+
K(s +4) (s + 20) =0
s°(s + 100) (s + 500)
s+ 600s + 50000s+ Ks + 24Ks + 80K = 0
The Routh's array is
1 50000 24K

600 K 80K
3X10-K(
600
14320K
600

2.1408x 107 K- 2
3×107-K I 80K
-5× 101+2.1607x10 K-7?
0.041662.1408% 10-K))
80K
 Control Engincering
For stability:

3x 10 -K
i. >0
600 ’K<3x 107
2.1408 x 10 K K2
ii. >0 ’K< 2.1408 x 10
3x 107- K
-5 x 10 + 2.1607 × 10" K K?
ii.
0.04166(2.1408 x 107 K) >0 ’K 2.1607 x 10'K +5x 10!2 <0
J

The roots of the equation

K- 2.1607 x 107 K+5x 10" =0
are K=2.34 x 10 and K = 2.1373 x 10
Hence, (K- 2.34 × 10°)(K 2.1373 × 10") <0
Thus, 2.34 x 10 <K < 2.1373 x 10
iv. 80K>0 ’ K>0
Thus, for stability:
2.34 x 10 <K < 2.1373x10
When K= 2.34 x 10,the s row beconmes zero.
2.1408 x 10" K - K?]
Then, A) - 3 x 107 -K +sox K=2.34x105
=0

s= ±j10.6 rad/sec.

w= 10.6 rad/sec
when K=2.1373 × 10, the s row again becomes zero.

2.1408 >x 10" K - K'] $'+ 80K =0

Then, 3 x 107 -K JK-2.1373x107
s=j140.42
gives
w= 140.42 rad/sec

Reinforcement Problems

characterized by an open-loop transfer function

RP-4.1 A DOsitional servomechanism is
K(s + 2)
Gis) H(s)=ss - 1)