LINEAR CONTROL SYSTEMS

SEM III – SEC II

Prepared & Presented by

Dr U. Aswani
Unit-3 Syllabus

Time Response and Stability Analysis

Standard test signals, Time response of first and second order systems for standard
test inputs, Application of initial and final value theorem, Design specifications for
second-order systems based on the time-response, Steady state error, Static and
generalized error constants. Concept of stability, Absolute and Relative Stability
analysis, Routh-Hurwitz Criteria, Root-Locus technique, Construction of Root-loci
problems
Stability
• It is a very important characteristic of control system
• It can be decided by time response curve
• For a stable system, oscillations must die as early as possible and
steady state must be reached fast
• BIBO (Bounded Input Bounded Output)

Definition:

A system is said to be stable if for a bounded input signal, the output

vanishes as t → infinity

A system is said to be unstable if for a bounded input signal, the

output is of infinite amplitude or oscillatory
Controllable response and
hence the system is stable

Uncontrollable response
and hence the system is
unstable
Types of Stability
Critically/Marginally stable: For a bounded
input, output oscillates with frequency and
amplitude (damped oscillations)

Conditionally stable: Output is bounded only for certain condition

(limited range of variations of its parameters)

Absolutely stable: Output is stable for all variation of its parameters

Stability of a control system

‘n’ is order of the system and n ≥ m

By partial fraction expansion

Stability of a control system
• The poles and zeros of the system are plotted in s-plane to check
the stability of the system

• S = σ +jw

• LHP = Left Half of Plane

• RHP = Right Half of Plane

• Poles are denoted by ‘x’

• Zeros are denoted by ‘o’ in s-plane
SUMMARY

1. If all the roots of characteristic equation has negative real parts, then the system is
stable
2. If any root of the characteristic equation has a positive real part, then the system
is unstable
3. If there is one or more non repeated roots on the imaginary axis, then the system
is marginally stable
4. If there are repeated roots on the imaginary axis, then the system is unstable
Consider nth order differential equation,
a0sn+a1sn-1+a2sn-2+…………..an-1s+an = 0
• If roots are real and in LHP of s-plane, then all roots are real and negative and
hence the polynomial coefficients are positive
• Presence of negative coefficient implies atleast one root in RHP of s-plane
• Zero coefficient in polunomial equation implies a complex conjugate root on
imaginary axis or roots on RHP
Construction of Routh array
a0sn+a1sn-1+a2sn-2+…………..an-1s+an = 0
Case 1: Normal Routh array

Example 1: Determine the stability of the system with the characteristic equation,
s4+8s3+18s2+16s+5=0. Comment on location of roots
Case 1: Normal Routh array

Example 2: Determine the stability of the system with the characteristic equation,
9s5-20s4+10s3-s2-9s-10=0. Comment on location of roots
Case 2: A row of all zeros (Indicates possibility of roots on imaginary axis)

Example 1: Determine the stability of the system with the characteristic equation,
s6+2s5+8s4+12s3+20s2+16s+16=0. Comment on location of roots
Case 3: First element of a row is zero (Indicates possibility of roots on imaginary
axis)

Example 1: Determine the stability of the system with the characteristic equation,
s5+s4+2s3+2s2+3s+5=0. Comment on location of roots
Introduction - Root Locus Technique
• Root locus technique evaluates the position of roots. This information is helpful to know the
performance of the system
•The location of poles and zeros are crucial keeping view stability, relative stability, transient response
and error analysis
• Any physical system is represented by a transfer function in the form of
𝑁(𝑠)
Open loop TF, 𝐺(𝑠) = 𝐾 K = Open loop gain
𝐷(𝑠)
𝐺(𝑠) 𝐾𝑁(𝑠)
𝐶𝐿𝑇𝐹 = =
1 + 𝐺(𝑠) 𝐷 𝑠 + 𝐾𝑁(𝑠)

• Characteristic equation, D(s) + K N(s) = 0 => Roots of characteristic equation is a function of ‘K’
• The Root locus is the locus of the roots or path of the roots of the characteristic equation by
varying system gain ‘K’ from zero to infinity
• When K = 0, the roots are given by open loop poles
• When K = ∞, the roots are given by open loop zeros
How does Root Locus graph look like:
For the given system, the location of closed loop poles for different values of ‘K’ is,
Root Locus Technique
• Finding the roots of the characteristic equation is tedious for order greater than ‘3’
• A technique is developed by W.R.Evans, popularly known as root locus technique in which the roots
of the characteristic equation are plotted for all values of system parameters
• Angle & Magnitude conditions are important in construction of root locus
Characteristic equation of closed loop TF is
1+G(s)H(s) = 0 ➔ G(s)H(s) = -1
Since G(s)H(s) is a complex quantity, it consists of magnitude and angle
Angle of G(s)H(s) = -1 is
< G(s)H(s) = < -1
< G(s)H(s) = ±180o(2q+1) where q=1,2,3….
Magnitude of G(s)H(s)= -1 is |G(s)H(s)| = 1
Rules for Construction of Root Locus
Rule 1: The root locus is symmetrical about real axis
Rule 2: Each branch of root locus originates from open loop pole and terminates at open loop zero.
No.of branches = P (If P > Z)
= Z (If Z > P)
Rule 3: Identify and draw the real axis root locus branches. Segments of the real axis having an odd
number of real axis open loop poles and zeros to their right are part of root locus.
Rules for Construction of Root Locus
Rule 4: Asymptotes: The branches which are approached to ∞ are called asymptotes.
No. of asymptotes, N = P – Z
2𝑞+1 1800
Angle of asymptotes, 𝜃 = q=0,1….
𝑃−𝑍

Rule 5: Centroid: All the asymptotes intersect the real axis at a common point known as centroid
Centroid is always real, it may be located on –ve or +ve real axis. It may or may not be part of
root locus

σ 𝑅𝑒𝑎𝑙 𝑝𝑎𝑟𝑡𝑠 𝑜𝑓 𝑝𝑜𝑙𝑒𝑠 𝑜𝑓 𝐺 𝑠 𝐻 𝑠 − σ 𝑅𝑒𝑎𝑙 𝑝𝑎𝑟𝑡𝑠 𝑜𝑓 𝑧𝑒𝑟𝑜𝑠 𝑜𝑓 𝐺 𝑠 𝐻 𝑠

𝜎=
𝑃−𝑍
Rules for Construction of Root Locus
Rule 6: Breakaway Point/Breakin point
It is a point on the root locus where multiple roots of the characteristic equation occur
At a particular ‘K’, multiple roots take same value and then breakaway
It is always on Root Locus (RL)
Branches always leave breakaway point at an angle of ±180o/n where ‘n’=no.of branches
approaching breakaway point.
Rules for Construction of Root Locus
Rule 7: Intersection of root locus with imaginary axis
1. Consider CE 1+G(s)H(s) = 0
2. Construct routh array interms of ‘K’
3. Determine ‘K’ by constructing auxiliary equation A(s)=0
4. Roots of A(s) are the intersecting points of the root locus with imaginary axis
Rule 8: Angle of departure at complex conjugate poles & Angle of arrival at complex conjugate zeros
Steps for Construction of Root Locus
Step 1: Location of poles and zeros
Step 2: Root locus on real axis. To determine part of RL on real axis, take test point on real axis. If the
total no.of poles and zeros on the real axis to the right of this test point is odd number, then the test
point lies on RL. If it is even then the test point does not lie on the RL
Step 3: Angle of asymptotes and centroid

Step 4: Breakaway and Breakin points

Step 5: Angle of departure and Angle of arrival
Step 6: Point of intersection of RL with imaginary axis
Step 7: Draw the RL
Ex 1: Draw root locus for the given TF,