Module -3 Prof. Prashant Hanasi
ne
Stability Analysis
Stability is very important requirement &
characterietics of q sy steam Almost every working sy Steen
is designed +o be Stable within the permitted boundaries
of parameter Variation § Generally speaking w stable
sy stern is usefull systems and unstable sy stern ts uselese
Systen.
& Stability Analysis 1-> The analysis of, whether the given
NORCO
systeen can reach steady state ; passing through the
ctransienE period Successfully ic called Stability analysis
of System.
A linear time jovariant (LTE) System is stable it the
following hoo coodition$ Should sati sty
1y klbeo the system is excited by bounded inputs. the
output should be bounced C Bran stability)
2 Th the absence of the input, the outpul'choule ye
+o zero ivvespective of intial Conditions
CThis stability concept it Enown as zero cooditran
Stability or asymptotic stability)
adefo:y A syste is Saidtobe stuble ,if all of its poles
u «,
and zerog lies 00 left half of 's’ plane,
Defn:-> The analysis of given system can reach steady
slate , passing through the transical state successfully
is called otability analysis of the system,ctabili
eects ied scents in-place 4 system Sahil
ey Caenginagy 000. FOI
lept hel of
plage New tna of § plane
bE sro Ceeal axis)
N
OWS
Mrargine!
x
fra: Consider a roots of system sz-0dib
52 cary
x fe ‘
stable Time response
tra: consider single woot af Sythe ¢a0.
0 een)
oe
e
Unste ble Teepe
besa TH vwte ove S246
7 >
jer
+
ceiticaly
Marginally Hable or Sable
Types of Stability -y
ty Absolute Stability ‘>
This, kind of stability expressed WOE a
particular parameter and the system 1s fed 49 be
absolutely tleble,ip itip stable fov ell values oF
parameter
ay Conditivoal stability: >
This Kind of stability
porameter andthe sytteen i said tobe conditionally
Hain bounded ange
expressed Work a: particule
stable if it remoting stable only Cer
Value of thot parameter
3} Marginal ox cpibical stabil >
ES ithe iy said tebe marginally stable if some
sc nenapented roots (ez on the jue ants &
Femoining lies tothe left half of S-plane
‘Ang System with vepeoted roots 09312 ovis ehould
be unstable
Ay Relative sta 2
Pie a quantitative measure of how fast the
dyansicot-sespanse wenishes oul i Hoe systeen. The
meter Like overeheat, dam ping vatis rise Hime 4
pera
lative Stability
Eetling Hime indicatesa)
Rout Huausre carrenca oy CAM CUTE
Mcrae chevacte of nth order Contes]
“The characterise equato od 0 i
system canbe «9 .
isn COED 25
Now cansider chavacteritHe easel
aes eas" ays 4 anne
Necessary condstisns for the equation aot > have
srotts vith prcitive veal park ave
Ail the coned ficients ae, ay-+--2n must be Teal
1 ill the Coneflictals must hove Some 890
ay Inle ctagle tev af either even paote ov od powers
Of fet sou sk wits from Ce, Al posers of "8!
ovdes from 'o"-40 2ev8
eras be present fo clescen
Routh Harwite criteria pescedare 1
Given the chavacteriete equatoo
Fram the co-cfficitnts of abrve chasacherice
equotite a array knoue as Routh array oy Routh
Aabilation can be conthucted as folloot
Lalhere,
ep sabe
* a
ame bidemeits tye bias a tiby
br Ta
ae Bhceicomputing all co-eHliceats ef RM array Ting
wn the att colouma of array If observed
|
ign changes
‘hen the tytten ts unttable. The numbry af sig0 charges
in Jit colbumo indicates the number of roots lying en
right half of < plane
“a For a system 4 be stable thre should net be any
Tigo changu in tt coleeme af array ie all Corfticiats
mutt have same £199
By peouce hat
cack) Libenevee the (*F coltema elements of any vow
ee Mcaast 3 clement in that aa td ntonzere,
reais ints aa indeltrminent form while cémputing the
ee peaks af eubeunt woh. The remedy Soe Fs
cose 3
essay 9 The IF colouna neve element £8 veplaced ty
cioail positive numer E ond the Subsequent Co-efiet
cents ave computed iottems Of € Athen by applying
Ing, the neok sige changes in 4k coltame ove
observedRemedy > Replace s by Mz in the chasocten st Gi
quation & obta‘n the characters she sauetion
faterms ap 12" A bolve thet equation using RM
Criteria
£6082 2) When all elimends of ow ore zero, it erally
Tate an indetemminant form while computing Subseqiuss
Fox unstable cystin it gives the avinber of rool
tying in the Tight OF &. plane
47 Tt ts pestible te determine conditions or abgoluhe
E alative Stability Of a sth,
5) The vonge of Unkneze Variable & con be
Actewn ined Sota Stable system,
6} TH helps the. io finding out He tterseetion Bf rook
locus with imaginary ox's
disadvantages ior
1 Tt ie applicable only for linear time favariont tyshn
ay The Rit Criteria, dorsal give location of ¥opts
that We fo Tight half of Splune and alse cleat tal
tohethey ‘the vents axe real oF comple.
Applications
WF RM Criteria. can be applied todetermine systns
absolute etability
ty Tt ts applicable tpdeteemine the range of Unkonan
Variable K for 4 FHable tystem.
8) Tecan be used fodatermine intertectivo of ook
locus with imaginary oxiNumerical st
1 Proove that a syctem is aro stable if and oaly
Hf it's impulse response is bounded oO absolute —
integrable.
prook: Consider a LTT cont wal system havin
ce vesponge gc) Shove, 7
9 input re+)
output cet) and on imp
ran f gen oe ecto
Output of this Cs is given lay convolution
co = ge ETEK) |
The above Coavelutive equation giver by coovolate
tategral:
%
cena J gle) v6t-ade —O
Th the t1p 74) 1s bounded ,thea oxish a Constaely
gain M Such thal
jrct-ta] emcee
Taking magnitude on both side of e490
lect! = J* Lgleollrct-efde
leeb| < S" 1 gceal [rete] de
Lectl & [*lgleol mde
Es
se Jace ded cw thes Ici] 3
ov contvel syste kit al@aye veal dad brace
funillory 64? Blade 142 £4 1136 =0
4 Lest condition (54, LE*YI) Conk wer by any
4083]
eal value, Thus ty shen is always unstable
the frequency of suttaine oscillations is
+ ay B negative Jeulback Contra! Systm has g6sde te
low 0844 rad] Seey Stee
and Hee dlutevenine ange Opik for which the
a) For charactevictte equatita 7 ‘
S44 mode ate (emp see glen reeneins Stable Rialto datermine frequiosy,
3p Determine tzange of, for system tobe stible
‘Auctaind otallatito for Uniting, valuary
iy Valur of ego that fyskemn i morginally tbls
ot frequency ef erate fj opBole: Ge 14QCO Hen
Tepe tc aoe eee ee)
si eay” Ga
itestss Dn a7e
FORA 80)
eC een (tay ae ee
« Letecte ie at asea]tices
eaters area)
$44 55S ase eae
emarray
%
eae
4anie
=
4
5
1) Foe ty Ekin 4 be ttable
eye, ao blak ye
= 4d itaece
Kw 2356
1) Fer marginal ste ble.
a nae =e
urilary 299
nse 3.26 =o
voy for unity esd back contvol cy stem
drantfer function @co= # Et
at feeg. of 25 tad |see-De
gol CE 14 GLO HEIDE Mi
ye eo ay
epee
4 petegcrat RET DRO
ha pets (BHEDSH 20ND =O
pow ovvayp
ae Pa.
2cesi>
seuewe* o
eet
Tp the cyeten 18
apt Omen
apa
e
apa cend et =o
apes tr
ue 23? —O
re
weit open loop
2) oscillates
De pa
feemine vatus>f EAP
coe
ep 2H
A
~ apape tet
a
apt cee
ee
be narginally sto bleUy A uaity feed back cystem with opralorp TF:
Durillary © £0
pect eat
+ ae
atk = 4
ben
put ker n@
Peete
ceed
ay A unity feed back, coatrel system hose open loop
Te en ea vars> =e eneieis
z Dekvmioe
5 Cs S41)
range of & for hich system Te Stab
CE. 1g HG =e
-os§
=0
ist
ocsteceo te €° Fao =
Eos: =05
pstrs#ie Gon) =e aft ot
s3y sees + Cl-oeg)=e neglect Higher
(b4 PASH HOSES HO terms,
lo. Sk ISAK =O —D
For fystente be stable
kro & inh k 72
ry REE
0.666
K range fs
O< HS 0-686
. Teed
ay Find the Stability of unity J ecdback Control sy seen
st
having opealeop TR. G6O= _& using Rent CriberToe
- SCS 42) i
sole: 14 4coy HC) =O,
ast
42 m0
C842) ! are
y, Beep
ottaseeSTaD | Cia ;
s24264(1-$T) =O
chy Q-T)S+ 1 =O
eH array14Y The open loop T-F of unity teedbock cS; 14 aig
C6413)
SCEtSD CED
Tanges BK tor which the systems has closed Loop
by gco= using R-H Criteria fend
poles more negative thao -1
Sole: CE. 14 Ges7 HOD =O
pee C4132
eC)
Sst GH
§ (£43) Cot te C5490
(ct4357 (St#)4 KS 413k ee
C3 475% 35% 2IS+KSFIBK So
C34 LoS 2st KSFIB Kao
3410s (UF HIS ta K =D
Since the closed loop poles ghould be more negative
than -Heoce pul St%
Ga-12 3.430Ca-i2% 4 Cal +4 C2413 K Se
pBjoay (21) $0 (24-22) 4212-21 HEE “KBE Zo
ehj-az%437 soz to -20Z42IZ “2 tk2-k BK =0
he 72 4 ate Z $ C12 412K) <0
34 72h (atk IZt Aled =e
RH array
(4th 0 12D
a
= ast Te tet
zi | 4S 0 a
= 405k
ze | 2tk-0 a
Fol ctability 6
} ' eh
ko ik kee ye1, gg tebe!
- am yo! | ahr
Skeet i
apse 1 ' '
eek
ke vacge is) [ISK <8], ;
1
[Sy Find the waluie of & Such that roots ob follostag
e thon -1
chavdictetietic| equate axtimore oegatiy
Bp ack ans? + CTEFS)S +QE+4) =o
Gl? See CAE aad Mort Aegative Hthab:A1" Henke! spat seat
G24 alka len 24 CTE SCZ ARNE =O
paerazce 4 Quen) 24a) ea - Fh ASZ-S Pht He
pact Bz Maztakzteak -6KZ paztya 62 HIKE “4 Et SZ4B RE
og 34 BK att KZ+2Z44 =O é
a4 Kot (e42) 244 =
B-H array
eae
1
sel & ‘
7
4 BEMED-E 70
arse
| BAER 4 70
(ee asats) Cet arats) 70
2. Kraoge IS eo eyosttr & Kr -2524K
(esses srcTencisy\é> The polynomial Fess Sy 2st as S41 has) o
@-os) (2%
moots in left of § plane. Use BH Crites ta to deter jac usztpo-asz y+ 2 (zF-orr SASS Ho gsey,
the number of roots of FS) lyieg behowe S=O-S 4555 ABZ OF SR ~32 474 0-550
| gle: CE rs stan ste as a stl =o 24 olase-VeS2dp04s2% 0525400625 TOFS 2038S 2
put S=Z-!
4223. 2
a 02s -s2h41Sz 447% 22412 T=0
ptere Gata (ere sta +24
stn 2* 2 +ho6asae
(24) (2-24 2 (2-034 302-4 ADH 0
\ a BH array
(oy [23-1eaz ce] +2 [28-132 Ce) + az]
4z44iz0
(eet) [ ebeisz%eaz]42[23-1-12499) paz ezee
i zteozdyazaz4e
RH arvagh
there ave Hotel 4 Sige Changes itherefore Sour
wraots vight of Se} plane
Now pub $2 ZO
4 0 Jy 3¢2-05)%, L
(2-0-5 )44 2 (20574 362-0574 (2-05) 150 i These ave 2 Sign charges,
(2-0-5) (z-05924 2 (2-08)*+ 3 (2-0 Sth 2-OSH HO _ arats right of S=-OS plane
Gos) [.2d-ojasnir52 069] t2L ZONA 1S (2-08)
G-2) =2 vovts bla Sect £ Sam
+3 [24 25-2] +z +0550\Iy Using BH Criteria determine relation betwee AT
co that unity feedback Contral systea with opce 190m
7
Fl) CATH)
Tr. Gee 6 is stable!
s(s enor)
amio Hon behoten "kK! aad 'T! i rooky
Also deterenine rela ho if ha ot Be
dB} C-E.avete eto left of Inne S=-I =
Soler CE. ff 14 GG HOVE Oo & Stay or -4a-K
(pe 0 *
SCS S40) 47)
stabi cng rate.
s(s¢say 47) +k =0 chor stability eT pasate yb
-T-
eC stwsaT 4h =e ete? ? -neper-kre
byt i
£34 1064 STHK =O | yT-4 ; pers
fea Relation blo ke £T ae
echt [eae & eer “
feo ep tetelt To \
ee 1} For control system chon, below find Arange!t}
Leet hay fee
oT yk for ctability HE acy = HG cumin
feat] ee
“ [eeeeut
t
fas qe
put sez-l RETR 7 [ae |
(2-34 w (2-p7T (2D tke i
z 31-32 (2-1) 410 (241-22) +72 -THK =o Solo: cing block “reduction sae y
ZI 324497 410274 10-202 4TZ-THe <0 a ae) (=
mae 1
Ree (“17 47) 2 + (4-THE) 20 1-400) y
p y42059 gar
ree Wa
Moo sete,
(ease 1 @cn ~ @tew
ato yo {
Baten 14rer
Ei 1242059) (
= 1-28) =0 ‘
Bray sas a ae
es sates 7 Fare ibleck diagram
bag 4
a ae a qos = ;
G44)* C8487 ' (S429 C841) Co.gg+id
G44)*Cst5)*— akr=0 pe : :
2 ha it oust |
Geer es) Corpaspres 2k 0 0.00 § + |
St428S* 1053416574 4 00r 1605 t8s342005 + Bos*_ap2=o slid ieordey ULE Wed
4 x se
shaiesteial sty acosp400-2K%=0 | | | ol + tcusresed teen
uate u vil (ean) Cost (sei) Cooasgen +B) =o
ceany COGH) Lopesetestoooss +1] FHSS
Stl i 2 aware : Fs +
4 25'f siliee ¥.i o:poais! eepea heme aan
s3/ 1g 360 Gr) [ ooorse’ OS S* 40.0025 S*F0-5$ H0-00FSe48 +
\
1 so!)
fT vet ca? o-oos gti] th
! 2 (542) (00025524 0.50 FE5% 1505S H1) 4x0
s!] zapttesce a
5.002 9544 o.501S S44 1505544 $+ 0.008 §34. 1.015574 3.018
8) g-ape>
+24Kiso
stabil , a ;
: : 0: 0025 ST4 0.512574 252574 4.015 + (14K) <0
40 -2K"7 20
oo yaKr
fl ejo2te 4 lang
2uv> ted i
W4.tg> &
Lh _Eo
A
R-H array (0
fowl
e : SESH C5429 te shad Bo t
0.0085 bse tte sist 2sts42] +ks¢ geno
3 ! ° } ! %,
8) o.sias 401 | Seas asHesHge se
s4] a. 24k 2 oa
25 | 84384 Oth s+ an co
S'] 3.¢-0-20516. BH array
Ss} atk : :
i e87 tus ate
\ for stability and 3.6-O20FK 72 eo
ae 36 70.205K . es
| kone Kets a os3 £
f Since Kit aluoys He pl a
a ZK LIK SE !
i ge [ecwernre| 1y dow stability and 2-0-33K>0
| a0} For unity negative feed back Control system of below tae ky 606 |
kro ! 1
K est 4)
‘SC s4i) (S42)
Fied the ollowing "
i> The range of K that keeps the cyst! Stable
i} The value ef ke that makes cy stm to oscillate
The frequency ef, oscillatiog
acs) eA cen
figs with gcse iby using R-H Critenta
[eee 2606
For marginally stable
2-033 =0
Burillary Using R-H Criteria. determine Stability Ley Cheon eee :
‘b loop TF has polegat £x0,c=-1, ¢--3
ak S2-8, gain k of forward path ic 19
cin Zeros. Zeror ab SF-2
Te Ges Hens K CSt2)
S$ CS41D
CE = 1446s HO) =o
Ui qesy 1 KEL) _ seeing telseny
SCStty, =2,
64)
2
mp SPHSEEStek SoM Hine + IEO
ep -OH arva
: : ee IN casera icone ee
s%
owe For stobility Be eae
i 7 ‘ ‘
sae ° 2kro and Hee yO, ae
Kod ar
ul
veplace allzems roo by 21810
s°l og
=f sanoe nfegrice]
kent (discord)
24> Adecdback Cootrel system has a chavactericHe eq?
sShasSeaqst4 16552467 32S 16d0 How many poles
ave 1) Tn lefthelfoF Splane
1) 06 right half of plane
00 imaginary axis
se! BH array
2g te
i } ie Ueno ey
He “g Ae there is no 8'go change io It colo nis eo
a . ia tight half of plane. '
\
Now
ply= SFE 16 =D
22 #4 64-64
=
ath roo alleltenents Zero
Acsr= S44 967416
sten4 \ '
estin, S=dir
Thus Jour Bets 08, Imaginary avis
ak Heave crook lying left bath of £ plane= 6-4 = 2.fig
25% The open loop TF ig qty Heer=! He C42)
sCS-1) i Now R-H arvay.!
icieah =
IDetermine value of K when damping co-eth
i ‘rl 1 2k
ostox
2) Determine valucaf kK whre closed loop Sy Sten has sh \ et
hop york: 00 jw axis ee ae
for skability
K-41 2o Ak 2KYD
Kyo
kel
co The value op i che RH Criteria for Stability
be vequin [k= 5-9 22
BY Pee marginally ctable
Soln: CE is given by
y 144059 Hes =0
4
14 KC)
e059
sC5-1-4 K642)=0 '
gst KS42k =O
sh 4CK-St2Ks0 | 1
«, ) eempare and order cs.
2 4 2G Wot Wore=a equation, 3 K-lso
wel
2h Wee K-) and W.*= 2K he
ul j Boe
boa Vak hes) = S*4+2K=0
ctr -2K
29 (2e= kK-! ots -2x)
2RxvaiVe= K-1 iy een
§ = 4jVE
2X0. FoF xr4IVE = K-)
44 VR = kl
Square both side
C144) *= Ce?
4k = [+K7-2K
1 -CKFI=0
Kroiz & Ky sare