UNIT - 3 Stability Analysis and Root Locus 3.1 : Concept of Stability Tmpor ant Points to Remember # The analysis of a system whether it can reach steady state, passing through the transients successfully and whether it returns to zero position when input is removed, is called stability analysis of a system. Q4 Define : i) Stable system ii) Unstable system iil) Critically ‘or Marginally stable system iv) Conditionally stable system USISPPU : Dec-89, 01, 02, 05, May-01, 03, 04,07, Marks 7) ‘Ans, :i) A linear time invariant system is said to be stable if following conditions are satisfied a) When the system is excited by a bounded input, output is also bounded and controllable. b) In the absence of the input, output must tend to zero irrespective of the initial conditions, ‘* This is called bounded input bounded output (BIBO) stability ii) A linear time invariant system is said to be unstable if, a) For a bounded input, it produces an unbounded output b)_ In absence of the input, output may not return to zero. It shows certain output without input. iii) 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 Ge»Control System =I 3-2 Stability Analysis and Root Locus iv) A 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 and system becomes unstable, Thus the stability of the system depends on condition of a particular parameter of the system. Such a system is called conditionally stable system. 3.2 : Nature of Response for Various Locations of Roots in s-plane Q.2 How the nature of response and stability of a system depends ‘on the locations of roots of characteristic equation in s-plane ? Ans. : The roots of characteristic equation of a system are its closed loop poles. Sr. | Nature of | Locations of | Step response No. | closed loop | elosed loop poles __|poles in s-plane 1. | Real, negative ie. in LHS. of . s-plane Absolutely Pure exporerial || St#ble 2 | Complex conjugate with negative real Absolutely part ie. in stable LHS. of ape oa s-plane Real, positive ie. in RHS. of splane (Any Unstable tone closed loop] pole in right half irrespective ‘of number of poles in left half of s-plane) (PECODE) @ Less than PHOTOCOPY PriceContrt System = 33 Stability Analysis and Root L 4] Complex conjugate with | gs fat postive real Unstable patic.in [7 [7 : RHS. of 3 splane 5. | Non repeated pole in RS : *| Marginally of splane ot citcally P stable 7 Frequency of csellations = 4 4 4, : Marginaly | i or entcaly stable two non Sustained repeated pairs | oscillations con imaginary. | with two axis, feequency components 6 6 | Repeated pair on imaginary axis without any pole in rae Unstable plane 4 (DECODE) @ Less than PHOTOCOPY PriceControl System =I a4 Stability Analysis and Root Locus 3.3 : Concept of Relative Stability Tmportant Points to Remember # System is said to be relatively more stable if settling time of that system is less than that of other system. It indicates how fast the system reaches to a steady state and how fast the transient part of the system dies out completely. * It is inversely proportional to the real parts of the roots of the characteristic equation of the system, The roots located near the imaginary axis in s-plane produce larger settling time. As the roots move away from the imaginary axis in left half of s-plane, the settling time reduces making the system relatively more stable. ‘* Hence the roots of the characteristic equation ie. closed loop poles located near the imaginary axis in s-plane are called dominant roots or poles, which decide the stability of the 3.4 : Routh-Hurwitz Criterion Q.3 What Is stability ? Gi sesary conditions for stability > [SPPU + May-t7, Marks 4) Ans, : For stability, refer answer of Q.1 ‘* In order that the characteristic equation of a system 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 ic. all powers of ’s’ must be present in descending order from “n’ to zero. Q4 State and explain Routh’s stability criterion. 1 [SPPU : Dee-01, 07, 15, 16, 17, May-2000, 03, 05, 09, 15, 16, Marks 6) Ans. : Consider the general characteristic equation as, F(s) = ag s® +ay 8" =0 (PECODE) @ Less than PHOTOCOPY PriceControl System =I Stability Analysis and Root Locus The Routh-Hurwitz array is then obtained as, © Coefficients for first two rows are written directly from characteristic equation From these two rows, next rows can be obtained as follows, 88MM 18a ROS yA BHO row, 4"* row can be obtained as b ayby b © This process is to be continued till the coefficient for s" is ‘obtained which will be a. From this array stability of a system can be predicted ‘* 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 a) System is unstable, b) The number of sign changes equals the number of roots lying in the right half of the plane. 5 Using Routh's Hurwitz criterion for stability analysis determine Stability of following system P(6) = s°~ 3s! ~5s5 + 4s? ~ 6+ 3, From that determine how many roots are there in left half s plane, right half s plane, and on imaginary axis. 5 [SPPU : Dec-17, Marks 8) DECODE) @ Less than PHOTOCOPY PriceControl System =I 3-6 Stability Analysis and Root Locus ‘Ans, : For given equation, Routh’s array is, T 51 There are two sign changes in first column, 7 343 Without special case. Roots in right half of splane S| 367 0 0 7 p : Roots on imaginary axis ~ 0. : 43 Roots in left half of s-plane = 5 -2=3 ° (As n= 5 = total roots) Hence the system is unstable. 3.5 : Special Cases of Routh's Array Q.6 Which are the two special cases of Routh’s array ? How these cases can be handled ? U3" [SPPU : Dec-15, April-18 (In sem), Marks 4) ‘Ans. : There are two special cases of Routh’s array Special case 1: The appearance of first element of any row as zero while same remaining row consisting of at least one nonzero element. In such a case, that zero is replaced by a small positive number +e and array is completed interms of & ‘© The signs of the first column elements are examined by taking Lim ¢> 0 and the stability is predicted Special case 2: There occurs a complete row as row of zeros while generating an array. So array terminates abruptly as shown, wt teh bby ’ oo 0 & Row of zeros ‘In such case an equation is formed 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). The auxiliary equation is, always odd or even polynomial in s. DECODE) @ Less than PHOTOCOPY PriceControl System =I 3-10 Stability Analysis and Root Locus .10 Determine the range of K for stability of a system having characteristic equation ¢* + 3Ks*=(K+2)s+4 = 0. Find the value of K so that the system is marginally stable and find the frequency of sustained oscillations. 1 [SPPU + April-t8 (In sem), Marks 6) Ans. : From given characteris ic equation, Routh’s array is, 1 K+2 From # row : a a 3K>0 isK>0 From s! now f 6K-4 oo 6K -4>0 For marginal stability, 3K? + 6K - 4 = 0. « (K - 05275) = 0 Kar = + 0.5275 only +ve value AG) =3Ks244=0 ie, 3x05275s?+4=0 i159 s. Frequency of sustained oscillations = 1.59 rad/see Q.11 Using Routh Hurwitz criterion for the unity feedback control Kis +13) Sis + 36 +7) 1) Find range of values of K for the system to be stable i) Find the value of K for marginally stable system and corresponding close loop poles and frequency of sustained oscillations. SF [SPPU : May 17, Marks 8) system with open loop transfer function G(s) = Ans, : The characteristic equation is, inte) = 0 te HRT 83 410s? +(214K)s+13K = 0 DECODE) @ Less than PHOTOCOPY Price