AUTOMATIC

CONTROL
(Y3)

Dr. Sherif Alhosary

LEARNING OUTCOMES
After completing this chapter the student will be able to:

• Make and interpret a basic Routh table to determine the stability of a

system.
• Make and interpret a Routh table where either the first element of a row
is zero or an entire row is zero.
 STABILITY
• A linear, time-invariant system is stable if the natural response
approaches zero as time approaches infinity.

• A linear, time-invariant system is unstable if the natural

response grows without bound as time approaches infinity.

• A linear, time-invariant system is marginally stable if the

natural response neither decays nor grows but remains
constant or oscillates as time approaches infinity.
HOW TO DETERMINE SYSTEM STABILITY?

Let us focus on the natural response definitions of stability

• Stable systems have closed-loop transfer functions with poles

only on the left half-plane.

• If the closed-loop system poles are on the right half of the s-

plane and hence have a positive real part, the system is
unstable.
STABILITY DETERMINED BY TF POLES
ROUTH-HURWITZ STABILITY
CRITERION
• It is a method for determining continuous system stability.

• The Routh-Hurwitz criterion states that “the number of

roots of the characteristic equation with positive real parts

is equal to the number of changes in sign of the first

column of the Routh array”.

 ROUTH-HURWITZ STABILITY
CRITERION
 This method yields stability information without the need to
solve for the closed-loop system poles.
 Using this method, we can tell how many closed-loop system
poles are in the left half-plane, in the right half-plane, and on
the jw-axis. (Notice that we say how many, not where.)

 The method requires two steps:

1. Generate a data table called a Routh table.
2. interpret the Routh table to tell how many closed-loop system
poles are in the LHP, the RHP, and on the jw-axis.
 ROUTH-HURWITZ STABILITY
CRITERION
• The characteristic equation of the nth order continuous system can be write as:

• The stability criterion is applied using a Routh table which is defined as;

• Where are coefficients of the characteristic equation.

 GENERATING A BASIC ROUTH TABLE

• First label the rows with powers of s from highest power of s down to lowest
power of s in a vertical column.
• Next form the first row of the Routh table, using the coefficients of the
denominator of the closed-loop transfer function (characteristic equation).
• Start with the coefficient of the highest power and skip every other power
of s.
• Now form the second row with the coefficients of the denominator skipped
in the previous step.
• The table is continued horizontally and vertically until zeros are obtained.
• For convenience, any row can be multiplied or divide by a positive constant
before the next row is computed without changing the values of the rows
below and disturbing the properties of the Routh table.
 ROUTH’S STABILITY CONDITION
• If the closed-loop transfer function has all poles in the left half of the
s-plane, the system is stable. Thus, a system is stable if there are no
sign changes in the first column of the Routh table.

• The Routh-Hurwitz criterion declares that the number of roots of the

polynomial that are lies in the right half-plane is equal to the number
of sign changes in the first column. Hence the system is unstable if
the poles lies on the right hand side of the s-plane.
 EXAMPLE: GENERATING A BASIC ROUTH TABLE.

• Only the first 2 rows of the array are obtained from the characteristic eq.
the remaining are calculated as follows;
FOUR SPECIAL CASES OR CONFIGURATIONS IN THE FIRST
COLUMN ARRAY OF THE ROUTH’S TABLE:

1. Case-I: No element in the first column is zero.

2. Case-II: A zero in the first column but some other elements of the

row containing the zero in the first column are nonzero.

3. Case-III: A zero in the first column and the other elements of the

row containing the zero are also zero.

4. Case-IV: As in the third case but with repeated roots on the jw -

axis.
 CASE-I: NO ELEMENT IN THE FIRST COLUMN IS ZERO.
Second-Order System.

The characteristic polynomial of a second order system is given

below

The Routh array is written as

Where

The requirement for a stable second order system is simply that all
the coefficient be positive or all the coefficient s be negative.
Third-Order System.

The characteristic polynomial of a third order system is given below

The Routh array is

Where

• The requirement for a stable third order system is that the coefficients
be positive and
• The condition when results in a marginally stability case
(recognized as Case-3 because there is a zero in the first column) and
one pair of roots lies on the imaginary axis in the s-plane.
Example-1: Find the stability of the continues system having the
characteristic equation of

The Routh table of the given system is computed and shown is the table
below;

• Since there is no changes of the sign in the first column of the Routh
table, it means that all the roots of the characteristic equation have
negative real parts and hence this system is stable.
Example-2: Find the stability of the continues system having the
characteristic polynomial of a third order system is given below

• The Routh array is

• Because TWO changes in sign appear in the first column, we find that
two roots of the characteristic equation lie in the right hand side of the s-
plane. Hence the system is unstable.
 Example-3: Determine a rang of values of a system parameter K for which
the system is stable.

• The Routh table of the given system is computed and shown is the table
below;

• For system stability, it is necessary that the conditions 8 – k >0, and 1 + k >
0, must be satisfied. Hence the rang of values of a system parameter k must
be lies between -1 and 8 (i.e., -1 < k < 8).
 Example-4: Find the stability of the system shown below using Routh
criterion.

The close loop transfer function is shown in the figure

The Routh table of the system is shown in the table

Because TWO changes in sign appear in the first column, we find that two
roots of the characteristic equation lie in the right hand side of the s-plane.
 EXAMPLE-5: FIND THE STABILITY OF THE SYSTEM SHOWN BELOW USING
ROUTH CRITERION.

• The Routh table of the system is

• System is unstable because there are two sign changes in the first column of the
Routh’s table. Hence the equation has two roots on the right half of the s-plane.
CASE-II: A ZERO ONLY IN THE FIRST
COLUMN
There are TWO methods in case-II.

1. Stability via Epsilon Method.

2. Stability via Reverse Coefficients (Phillips, 1991).
 CASE-II: STABILITY VIA EPSILON
METHOD
• If the first element of a row is zero, division by zero would be
required to form the next row.
• To avoid this phenomenon, an epsilon, ε, (a small positive
number) is assigned to replace the zero in the first column.
• The value ε is then allowed to approach zero from either the
positive or the negative side, after which the signs of the entries
in the first column can be determined.
 CASE-II: STABILITY VIA EPSILON
METHOD
Example-6: Determine the stability of the system having a characteristic equation given below;

The Routh array is shown in the table;

Where

There are TWO sign changes due to the large negative number in the first column,
Therefore the system is unstable, and two roots of the equation lie in the right half of the s-plane.
EXAMPLE-7: DETERMINE THE RANGE OF PARAMETER K FOR WHICH THE
SYSTEM IS UNSTABLE.

The Routh array of the above characteristic equation is shown below;

Where

• Therefore, for any value of K greater than zero, the system is

unstable.
• Also, because the last term in the first column is equal to K, a
negative value of K will result in an unstable system.
• Consequently, the system is unstable for all values of gain K.
 EXAMPLE-8: DETERMINE THE STABILITY OF THE OF THE CLOSED-LOOP TRANSFER
FUNCTION;

Table-1: The complete Routh table Table-2: shows the first column of Table-1 along with
is formed by using the the resulting signs for choices of ε positive and ε
denominator of the characteristic negative.
equation T(s).

• A zero appears only in the first column (the s3 row).

• Next replace the zero by a small number, ε, and complete the table.
• Assume a sign, positive or negative, for the quantity ε.
• When quantity ε is either positive or negative, in both cases the sign in the
first column of Routh table is changes twice.
• Hence, the system is unstable and has two poles in the right half-plane.
 CASE-II: STABILITY VIA REVERSE COEFFICIENTS (PHILLIPS, 1991).

• A polynomial that has the reciprocal roots of the original polynomial has its

roots distributed the same—right half-plane, left half plane, or imaginary

axis—because taking the reciprocal of the root value does not move it to

another region.

• If we can find the polynomial that has the reciprocal roots of the original, it is

possible that the Routh table for the new polynomial will not have a zero in

the first column.

• The polynomial with reciprocal roots is a polynomial with the coefficients

written in reverse order.

 EXAMPLE-9: REPEATED EXAMPLE-8: DETERMINE THE STABILITY
OF THE CLOSED-LOOP TRANSFER FUNCTION;

• First write a polynomial that has the reciprocal roots of the denominator of
T(s).
• This polynomial is formed by writing the denominator of T(s) in reverse
order. Hence,
• The Routh table is

• Since there are TWO sign changes, the system is unstable and has
TWO right-half-plane poles.
• This is the same as the result obtained in the previous Example.
• Notice that Table does not have a zero in the first column.
 CASE-III: ENTIRE ROW IS ZERO.
• Sometimes while making a Routh table, we find that an entire row

consists of zeros.

• This happen because there is an even polynomial that is a factor of the

original polynomial.

• This case must be handled differently from the case of a zero in only the

first column of a row.

 EXAMPLE-10: DETERMINE THE STABILITY OF THE SYSTEM.
The characteristic equation q(s) of the system is
Where K is an adjustable loop gain. The Routh array is then;

For a stable system, the value of K must be;

When K = 8, the two roots exist on the jω axis and the system will be marginally
stable.
• Also, when K = 8, we obtain a row of zeros (case-III).
• The auxiliary polynomial, U(s), is the equation of the row preceding the row of
Zeros.
• The U(s) in this case, obtained from the s2 row.
EXAMPLE-10: CONTINUE.

• The auxiliary polynomial, U(s), can be obtain as;

• To show that the auxiliary polynomial, U(s), is indeed a factor of the

characteristic polynomial, q(s), we divide q(s) by U(s) to obtain

• When K = 8, the factors of the characteristic polynomial, q(s), are

 CASE-IV: REPEATED ROOTS OF THE
CHARACTERISTIC EQUATION ON THE JΩ-AXIS.
• If the jω-axis roots are repeated, the system response will be unstable with a
form tsin(ωt + Ф). The Routh-Hurwitz criteria will not reveal this form of
instability.

Example-11: Determine the stability of the system with the characteristic equation of

The Routh array is;

 EXAMPLE-11:CONTINUE.

Therefore, the Auxiliary polynomial, U(s), is;

Which indicates that TWO roots are on the imaginary jω-axis.

To examine the remaining roots, we divide the characteristic equation, q(s), by the
auxiliary polynomial, U(s), to obtain;
(a)

Establishing a Routh table for this equation, we have;

• The TWO changes in sign in the first column indicate the presence of TWO
roots in the right-hand plane, and the system is unstable.
• There are THREE roots of eq. (a). The ONE root in left-hand side is s = - 3.
• The TWO roots in the right-hand plane are
 SKILL ASSESSMENT # 3:
Problem: Make a Routh table and tell how many roots of the following

polynomial are in the right half-plane and in the left half-plane.

ANSWER OF THE SKILL ASSESSMENT # 3:

• Four roots of the characteristic equation lie in the

right half-plane (rhp), and three roots lie of the

characteristic equation in the left half-plane (lhp).

Therefore the system is unstable.