Stability of a Linear feedback System

• Stability implies, small changes in the system input(in initial

conditions or in system parameters) do not result in large changes in
the system output.
• After the transient behavior, if the system reaches to steady state
value ,then the system is called as a stable system.
• Almost every working system is designed to be stable.
• Unstable closed loop system is generally of no practical value.
• If the system is stable, then for what range of system parameters it
is stable?
• How it can be made stable by varying the system parameters ,if it is
unstable?
• All these things are important while designing a system
• Stabilty of a feedback system is related with the roots of
characteristic equation of system T.F.
• Routh- Hurwitz method is useful for assessing system
stability.
• It is useful to determine how the roots of characteristic
equation move around S-plane as we change the system
parameter.The locus of the roots in the s-plane can be
determined from the graphical method.
• The graph of roots by varying one system parameter is
known as root locus plot.It’s a powerful tool for designing
and analysing feedback control systems.
• This method provides graphical information and
approximate sketch can be used to obtain qualitative
information about stability and performance of the system.
 Stability Definitions
• Bounded Input Bounded Output Stability:
A system is BIBO stable if, for every bounded input, the
output remains bounded with increasing time (all
system poles must lie in the left half of the s-plane).
• Marginal Stability:
A system is marginally stable if some of the poles lie on
the imaginary axis, while all others are in the LHS of
the s-plane. Some inputs may result in the output
becoming unbounded with time.
 Stability Analysis
• To test the stability of a LTI system we need only
examine the poles of the system, i.e. the roots of the
characteristic equation.
• Methods are available for testing for roots with positive
real parts, which do not require the actual solution of the
characteristic equation.
• Also, methods are available for testing the stability of a
closed-loop system based only on the loop transfer
function characteristics.
 Routh-Hurwitz Stability Criterion
• A quick method for checking BIBO stability.
• Assume the characteristic polynomial is

n-1
Q ( s ) an s an-1s + L + a1s + a0
= n
+
where a0  0 .
• A necessary (but not sufficient) condition for all roots to have
non-positive real parts is that all coefficients have the same sign.
• For the necessary and sufficient conditions, first form the Routh
array.
 Routh-Hurwitz Stability Criterion
The Routh Array
n-1
Q ( s ) an s an-1s + L + a1s + a0
= n
+
Hurwitz Determinants are formed as follows
n
s an an-2 an-4 an-6 … where
n-1
s an-1 an-3 an-5 an-7 …
sn-2
b1 b2 b3 b4 … an-1 an-2 - an an-3
b1 =
n-3 an-1
s c1 c2 c3 c4 …
: : : : an-1 an-4 - an an-5
2 b2 =
s k1 k2 an-1
1 etc.
s l1
0
s m1
 Routh-Hurwitz Stability Criterion
The Routh Array
• In a similar manner, elements in the 4th row, c1, c2 ,
… are calculated based on the two previous rows.

b1 an-3 - an-1 b2
c1 =
b1
b1 an-5 - an-1 b3
c2 =
b1
• The elements in all subsequent rows are calculated
in the same manner.
 Routh-Hurwitz Stability Criterion
Necessary and sufficient conditions:
• If all elements in the first column of the Routh array
have the same sign, then all roots of the characteristic
equation have negative real parts.
• If there are sign changes in these elements, then the
number of roots with non-negative real parts is equal to
the number of sign changes.
• Elements in the first column which are zero define a
special case.
 Routh-Hurwitz Stability Criterion
Example 1:
Q ( s ) 2s s 3s + 5s + 10
= 4
+ 3
+ 2

4 3 - 10 10 - 0
s 2 3 10 0 b1 = = -7 b2 = = 10
3 1 1
s 1 5 0 0 - 35 - 10
2 b1 b2 0 c1 = = 6 . 43
s -7
1 c1 0
s d1 =
10 ( 6 . 43 ) - 0
= 10
0 d1
s 6 . 43

The characteristic equation has two roots with positive real parts since the elements
of the first column have two sign changes. (2,1,-7,6.43,10)
 Routh-Hurwitz Stability Criterion
Special Case 1:
• A zero in the first column:
• Remedy: substitute  for the zero element,
finish the Routh array, and then let   0 .
Q ( s) s - 3s + 2
= 3
- 3e - 2 -2
b1 = ® (negative)

3
e e
s2 1 -3 0 0 b1×2
c1 = =2
s1 0(e) 2 0 b1
s0 b1 0 There are two roots with positive
s c1 real parts (1, , -2/ , 2)
 Routh-Hurwitz Stability Criterion
Special Case 2:
• An all zero row in the Routh array corresponds to pairs
of roots with opposite signs.
• Remedy:
– form an auxiliary polynomial from the coefficients in the row
above.
– Replace the zero coefficients from the coefficients of the
differentiated auxiliary polynomial.
– If there is not a sign change, the roots of the auxiliary
equation define the roots of the system on the imaginary axis.
 Routh-Hurwitz Stability Criterion
Special Case 2 (example):

Q ( s) s s - s - 1
= 4
+ 3

Auxiliary polynomial
4
s 1 0 -1 0 s2  1
3 1 -1 0 0 then
s
s
2 1 -1 0 d ( s 2  1)
=2s
1 02 0 ds
s d1 = –1
0 d1
s
The system has one root with a positive real part ( 1, 1, 1, 2, -1).
The root is found from the auxiliary eq. s2 – 1 = 0 , s = ± 1
 Routh-Hurwitz Stability Criterion
Parameter Range Test
• The Routh-Hurwitz stability criterion may be
used to find the range of a parameter for
which the closed-loop systems is stable.
• Leave the parameter as an unknown
coefficient in the characteristic polynomial,
form the Routh array, check the range of the
parameter such that the first column does not
change sign.
 Routh-Hurwitz Stability Criterion
Parameter Range Example

Q ( s) = s + 6s + 11s + 6s + K
4 3 2

60 - 6K
s
4 1 11 K 0 c1 = d1 = K
3 10
s 6 6 0 0
2 10 K 0 Then for stability,
s
1 c1 0 K >0
s
0 d1 60 - 6 K > 0 Þ K < 10
s
\ 0 < K < 10
CONSTRUCTION RULES OF ROOT
LOCUS
8 RULES TO FOLLOW
 Root Locus
• What is Root-Locus? : A graphical
representation of closed loop poles as a
system parameter varied
• Based on Root-Locus graph we can choose the
parameter for stability and the desired
transient response.
 For sketching Root Locus
8 rules to follow:

Rule 1 : When K = 0

Rule 2 : When K = ∞

Rule 3 : Real axis segment

Rule 4: Angle of asymptote
Rule 5 : Centroid

Rule 6 : Break away & break in point

Rule 7 : R-L crosses the jω-axis

Rule 8 : Angle of Departure / Arrival

 Rule 1 : When K = 0

s   pj  Root at open loop poles

(a) The R-L starts from open loop poles

(b) The number of segments is equal to the number of open loop poles
 Rule 2: When K = ∞

s   zi

(a) The R-L terminates (end) at the open loop zeros

 Rule 3: Real-axis segments
On the real axis, for K > 0 the root locus exists to the left of an odd number
of real-axis, finite open-loop poles and/or finite open-loop zeros

Example 2 K ( s  3 )( s  4 )
G (s) 
( s  1 )( s  2 )
R-L doesn’t exist here

R-L exist here R-L exist here

 Rule 4: Angle of asymptote
180 (1  2 m )
o
A  , m  0 ,1,  ( N P  N Z  1)
NP  NZ

NP = number of poles

NZ = number of zeros
 Example 3

K NP=3
G (s) 
s ( s  1)( s  2 )
NZ=0

m  0 ,1 , 2
180 o (1  2 ( 0 ))
 A1   60 o
30
 A2
 A1
180 o (1  2 (1))
 A2 
30
 180 o   A3
Centroid

180 o (1  2 ( 2 ))
 A3   300 o   60 o
30
 Rule 5: Centroid
A 
 Re( p j )   Re( z i )
NP  NZ
K
From example 3 G (s) 
s ( s  1)( s  2 )

Recall s  Re  j Im Thus, s  0,  1,  2

1 2
A   1
3 -1
Rule 6: Break away & break in points (if exist)

0 0
-2 -1 -2 -1

Break away point Break in point

How to find these points ?

 KG ( s ) H ( s )   1
1
K 
G (s)H (s)
Differentiate K with respect to S & equate to zero

dK d  1  d
     G ( s ) H ( s )  0
ds ds  G ( s ) H ( s )  ds

How ?

Solve for S  this value will either be the break away or break in point
Example 4 1
G (s) 
s(s  2)
Solution:
dK d d  1 
  G ( s )    0
ds ds ds  s ( s  2) 
 (2 s  2)
 0
( s ( s  2 )) 2

s  1 -1
0
-2
Example Root Locus

1
G (s) 
s ( s  1)( s  2 )

0
-2 -1

NP = 3

NZ = 0
 180 (1  2 m )
o
A  , m  0 ,1,  ( N P  N Z  1)
NP  NZ

 A  60o ,180o ,60o

 
 Re( p j)   Re( z i )
A
N P  N Z

 1  2
  1
3

0
-2 -1
dK d  1 

ds ds  s 3  2 s 2  2 s 
 1( 3 s 2  6 s  2 )
 3 0
( s  3s  2 s )
2 2

(3s 2  6s  2)  0

 6  36  4(3)(2) Break away point

s1, s2 
2(3)

s1 , s 2   1 . 6 ,  0 . 42
Invalid, why ???
 How to determine
0 these values ?
-2 -1 -0.42
Rule 7 : R-L crosses jω-axis (if exist)
If there is a breakaway/ break in point

Use Routh Hurwitz

From characteristic equation

1  KG ( s )  0
 1 
1 K    0
 s ( s  1 )( s  2 ) 

s  3s  2 s  K  0
3 2

Construct the Routh array

 S3 1 2

S2 3 K

S1 6-K

S0 K

3s  6  0
2 Since
Force S1 row to zero or K=6
s  j
Replace K=6 into S2 row
s  2
2
j  j 2

s  j 2
 2
 
2

0
-2 -1 -0.42


2
Rule 8 : Angle of departure (arrival) (if exist)

No complex conjugate poles/zeros

35