Chapter-5

Stability criterion of liner Control

system
(Dynamics of FB control system )
 5. Stability criterion of liner FB Control system

5.1 Introduction

5.2 Bounded input Bounded Output (BIBO)

5.3 Zero-input Stability

5.4 Roth-Hurwitz Stability criterion

5.6 Spatial case when Roth’s Tabulation Terminals

permanently

5.7 Application of design of Roth-Hurwitz stability criterion

 5.1 Introduction
q The issue of stability of a closed loop feedback system, the system is

central to control system design knowing that unstable closed loop

system is generally of no practical values. Thus, we seek methods of to

help us analyze and design stable system.

q Basically, the design of liner control system required as a problem of

arranging the location of the poles and zeros of the closed loop transfer

function such that the corresponding system will perform a according to

the prescribed specification.

1
Cont.

q For analysis and design purpose, we can classify the stability of

control system as absolute stability and relative stability.

q Absolute stability refers to the condition whether the system is

stable or unstable.

q Once the system is to be stable, it is interested to determine how

stable it is, and this degree of stability is a measure of relative
stability.

2
 5.2 Bounded-input- Bounded output (BIBO)

q The system is said to be stable, if its output c(t) is bounded to bounded input.

The BIBO stability is related to the location of the roots of the characteristic's
of equation of the system transfer function.
�(�) �
Overall Transfer functio= �� (�) = = (1)
�(�) �+��

Where; 1+GH is known as characteristics equation.

Consider, the convolution integral relating r(t),c(t),g(t)

∞
�(�) = �
�(� − �)�(�)�� (2)

3
Cont.
Taking the absolute value of both side
∞
�(�) = �
�(� − �)�(�)�� (3)

∞
�(�) ≤ �
�(�) �(� − �) �� (4)

If r(t) is bounded

�(�) ≤ �; where; M finite is positive number (5)

∞
�(�) ≤ M �
�(�) �� (6)
If c(t) is bounded

4
�(�) ≤ � ≤ ∞ where; N finite is positive number (7)
Cont.
qThus, the following conditions must hold
∞
M �
�(�) �� ≤ � ≤ ∞ (8)

qOr for any positive finite value Q

∞
�
�(�) �� ≤ � ≤ ∞ (9)

qThe area under �(�) vs � curve must be finite

qTo show the relationship with the roots of the characteristics
equation and conditions of
∞
�(�) = �
�(�)� −��
�� (10)
5
Cont.
∞ ∞
�(�) = �
�(�)� −��
�� ≤ �
�(�) �−�� �� ≤ ∞ (11)

qSince,
�−�� = �−��

qWhere, � is real part of s, where s assumes the poles of G(s)

qIf the G(s) goes to infinity(∞) then equation 11 becomes
∞
∞≤ �
�(�) �−�� �� (12)

6
Cont.
q If one or more roots of the characteristics equation of in the right half s-plane or
� ≥ � then;

�−�� ≤ � = � (13)

qThe equation (12) becomes

∞ ∞
∞≤ �
� �(�) �� = �
�(�) �� (14)

qThe equation (13), which violets BIBO stability becomes

7
Cont.

qFor BIBO stability, a necessary and sufficient conditions for a

system to be stable.

1) The roots of the characteristics equation or the poles of

G(s), must all lie in the left-half s-plane.

2) All the poles of the system transfer function have

negative real parts.

8
5.3 Zero-input Stability
qZero input stability refers to the stability condition when the input is zero,
and the system is driven only by its initial conditions.

The zero input stability defined as :

If the zero input response c(t), subjected to the finite initial condition c(�� )

reaches zero as � approaches infinity, the system is said to be zero input

stable.
1. �(�) ≤ � ≤ ∞ for � ≥ ��
2. lim �(�) = �;
�→∞
9
Cont.
q Because of the condition in the last equation requires that the magnitude of c(t)
reaches zero as time a approaches infinity, the zero-input stability is also known
as the asymptotic stability.

q When the characteristics equations has roots on the j� axis, and non in the right
half s-plane the system may be marginally stable or marginally unstable.
j� marginally stable
or unstable
an n

e n
Pl io

an i o
Fig. 5.1 stable and unstable
S- Reg
e

Pl eg
region in S-plane
S- e R
�
LH le

l
b

RH b
s ta

s ta
Un

10
Example
q consider the following transfer function and illustrate the stability
condition

�(�) ��
�) �(�) = = ; � =− �, � =− �, ��� � =− � , all poles
�(�) (�+�)(�+�)(�+�)

are RH-plane and completely stable

�(�) ��(�+�)
�) �(�) = = ; � =− �, � =− �, ��� � =− � , the
�(�) (�−�)(�� +��+�)

system is unstable due to the poles at � = �

�(�) ��(�+�) ��(�+�)
�) �(�) = = = ; � =− �, ��� � =± ��,
�(�) (�+�)(�� +�) (�+�)(�+��)(�−��)

11 the system is marginally stable/unstable due to the poles at �� axis.

 5.4 Methods of determining Stability of liner control system

The method to be outlined for determination of the stability of linear

control system.

1) Routh-Hurwitz criterion
q The criterion testes whether any of the roots of the
characteristics equation lies in the right half s-plane
2) Root locus diagram
q Is the loci of the characteristics equations roots of certain
system parameter varies (chapter 6)

12
Cont.
3) Nyquist-criterion and Bode plot diagram (chapter 6)

q Nyquist-criterion is a semi-graphical method that gives

information on the difference between the number of poles

and zeros of closed loop TF provided the stability of the

system.

q Bode-plot diagram: is a plot of the magnitude and phase of

closed loop system and provides stability of the system.

13
 5.4 Roth-Hurwitz Stability criterion
q Roth-Hurwitz Stability criterion is necessary and sufficient condition for
stability of liner control system based on the coefficient of the
characteristics equation.

qConsider the characteristics equation

�(�) = �� �� + �� ��−� + �� ��−� + �� ��−� + …�� = �

14
Cont.
q The necessary condition are

1. All the coefficients of F(s) have the same sign

2. None of the coefficients vanishes
3. All the roots lies in the left- half of s-plane

Roth’s tabulation

q The first step in the simplification of the Hurwitz criterion is to arrange the
coefficients of F(s) in two rows.
§ The first row consists of= �� �� �� �� …………
§ The first row consists of= �� �� �� �� …………
15
Cont. The process of forming rows continues until
we run out of elements. (The total number
of rows is n+1.) The coefficients b1,
b2,b3,and so on, are evaluated as follows:

16
Cont.

q The evaluation of the b's is continued until the remaining ones are all zero. The
same pattern of cross-multiplying the coefficients of the two previous rows is
followed in. evaluating the c's, d's, e's, and so on. That is

qThis process is continued until the nth row has been completed. The complete array
17 of coefficients is triangular.
 Routh-Hurwitz criterion
Routh-Hurwitz criterion: states that the number of roots of F(s) with
positive real part is equal to the number of changes in sign of the first
column of the Routh array.

qIt should be noted that the exact values of the terms in the first
column need not be known; instead, only the signs are needed.

qThe necessary and sufficient condition that all roots of lie in the left-
half s plane is that all the coefficients be positive and all terms in the
first column of the array have positive signs.

17
Cont.
q Note that: in developing the array an entire row may be divided or multiplied by a
positive number in order to simplify the subsequent numerical calculation without
altering the stability conclusion.
Example 1: Let us apply Routh's stability criterion to the following third-order
polynomial:

where all the coefficients are positive numbers. The array of coefficients becomes

18
EXAMPLE 2: Consider the following characteristic polynomial:

Solution:
The Routh array is given by: qIn this example, the number of changes in
sign of the coefficients in the first column is
2. This means that there are two roots with
positive real parts.
qNote that: the result is unchanged when the
coefficients of any row are multiplied or
divided by a positive number in order to
19 simplify the computation.
Exercise
qFor the following characteristics equations check the stability using Hurth
methods

a) �(�) = �� + �� + �� + ��

b) �(�) = �� + ��� + ���� + ��� + ��

c) �(�) = �� − ��� + � + �

Answer: a) unstable b) Stable, c) Unstable

20
 5.5 Special case when Routh’s Tabulation Terminate
permanently
qSpecial difficulties may arise while obtaining the Roth-array for
a given characteristics equations
q Case I: zero in the first column
i. If any row of the Routh-Array is zero. It should be replaced by a
small-positive number � in order to complete the array.
ii. The sign of the elements of the first column is then examined as
� approaches zero.

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Example
q Consider the characteristics equations
�(�) = �� + ��� + ��� + ��� + ��� + ��
q Determine whether the system is stable or unstable. If unstable, what is the
number of roots in the RH s-plane.
q Solution: The Routh-array is as follows

22
Cont.
q There are two changes in the first columns
q The system is unstable
q The system has two roots in the RH s-plane
Example 2
q Using Routh-hurithz criteria, Determine the stability of the system whose
characteristics equation is given by :
�(�) = �� + ��� + ��� + ���� + �� + ��

23
Cont.
qThere are two sign changes in the first columns
qThe system is unstable
qThe system has two roots in the RH s-plane
q Case II: All elements in any one row are zero
§ The situation with the entire row of zero can be remedied
by using the auxiliary equation �(�) = �, which is formed
from the coefficients of the row just above the row of zeros
in the Roth's tabulation.

24
Cont.

Take the following steps:

1) From the Auxiliary equations �(�) = � by use of the
coefficients from the row just “preceding” the row of Zero.
2) Take the derivatives of Auxiliary equations w.r.t “S”, this gives:
��(�)
��
��(�)
3) Which replace the row of zero, with coefficients of .
��

25
Example
q Consider the characteristics equations given determine the system stable or not.
�(�) = �� + ��� + ��� + ��� + �� + �

q Solution: The Routh-array is as follows

26
Cont.
q Since, there is no sign change in the first column
• Solve the axillary equation

�(�) = �(�) = ��� + � = �

� =± �

q The equation has two roots on the �� axis, and the system can be regard as
marginally stable.

Exercise:
�(�) = �� + ��� + ���� + ���� + ���� + ��� + ��
27
5.6 Application Design of Routh-Hurwitz Criterion
q Example: The forward path transfer function of unity feedback control system is
given by:
�
�(�) =
�(� + �)(� + ��)

q Determine the range of k for the system to be stable using Routh’s criterion:

R(s) � C(s)

�(� + �)(� + ��)

28
Solution
� � �(�)
�(�) = = =
( )( )
� + � � � + � � + �� + � �(�)

Characteristic equation
�(�) = �(� + �)(� + ��) + �= �� + ���� + ��� + � = �

Routh Array
From the Routh Array we can get the
range of k, for the system is stable,
�
� > � ��� �� − ≥ �, ��������,
��
k≤ ���

29
Cont.

q If we choose K=390 (the largest gain) now becomes 30-390/13=0 zeros row
The auxiliary characteristics equation becomes.

���� + ��� = � j�
+j5.48
�� =− ��

� =± � �� �

=± ��. �� -j5.48

The system will be marginally stable Fig. 5.2 Pole plot S-plane
30
Exercise 1
qFor the following characteristics equations check the stability using Hurth
methods

a) �(�) = �� + ��� + �� + �

b) �(�) = �� + �� + ��� + ��� + �

c) �(�) = �� + �� + ��� + � + �

Answer: a) unstable b) Stable, c) Unstable

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Exercise 2

qDetermine the range of values of k for the system to be stable and whose
characteristics equation is given as follows:

a) �(�) = �� + �� + ��� + �� + �

b) �(�) = �� + �� + ��� + �� + � + �

Answer: a) 0<k<2 b) 0<k<1

32
Exercise 2

qFor unity feedback control system with plant TF function G(s) given,
determine the range of values of k for stability

�(�� +��+�)
�(�) =
�(�−��+�)

Answer: � ≥ �. ���

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 End of Chapter 5
Any questions are Granted

Thank YOU….!!!