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CHE 411 Lesson 9 Note

This document discusses using the Routh stability criterion to determine the stability of a system using its characteristic equation. The Routh array is constructed from the coefficients of the characteristic polynomial and used to test for stability. Examples of second and third-order systems are provided to demonstrate applying the Routh stability criterion.

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72 views18 pages

CHE 411 Lesson 9 Note

This document discusses using the Routh stability criterion to determine the stability of a system using its characteristic equation. The Routh array is constructed from the coefficients of the characteristic polynomial and used to test for stability. Examples of second and third-order systems are provided to demonstrate applying the Routh stability criterion.

Uploaded by

David Akomolafe
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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⮚ SYSTEM

DETERMINING CHARACTERISTI
C EQUATION
STABILITY OF A ⮚ ROUTH ARRAY
SYSTEM USING ⮚ ROUTH
STABILITY
ROUTH STABILITY CRITERION
CRITERION ⮚ SOME EXAMPLES
◼Preliminary.
◼Characteristic Equation.
◼Routh Array
CONTENTS
◼Routh Stability Criterion
◼Some Examples
◼The stability of the characteristic equation is
determined from the values of its roots (eigenvalues).
◼This is easy for first and second order equations (and
not too hard for third).
◼Since there is an analytical solution for the roots of
polynomials through third order. If the polynomial is
fourth order or higher, the roots must be determined
PRELIMINARY numerically.
◼There is a method for determining if any of the roots
are positive (unstable) without actually calculating the
roots (Routh, 1905).
◼This method involves all analysis of the coefficients of
the characteristic polynomial by setting up the Routh
Array.
◼The test of the coefficients in the Routh Array is called
the Routh’s Stability Criterion.
◼The Routh Stability Criterion is based on the
characteristic equation that has the following
polynomial form
(226
◼We can arbitrarily assume that an > 0. If an < 0,
then multiply (226) by -1.
THE
◼A necessary condition for stability is that all of
CHARACTERISTIC
the coefficients in (226) must be positive.
EQUATION
◼If any of the coefficients are negative or zero
then at least one eigenvalue (root of the
characteristic equation) is positive or zero,
indicating that the equation is unstable.
◼Even if all of the coefficients are positive, we
cannot slate that the system is stable.
◼What is needed is a sufficient condition
for stability.
◼To determine that the system is stable,
we must construct the Routh array and
THE use the Routh stability criterion, which
CHARACTERISTIC provides necessary and sufficient
EQUATION conditions for stability.
◼If all of the coefficients of the characteristic
equation (225) are positive, the necessary
condition for stability is satisfied.
◼The following Routh array is developed to
test for the sufficient conditions for stability:

Row
ROUTH ARRAY 1 an an-2 an-4 …
2 an-1 an-3 an-5 …
3 b1 b2 b3 …
4 c1 c2 …
- -
n+1
◼where n is the order of the characteristic
polynomial. Notice that the first two rows
consist of the coefficients of the characteristic
polynomial.
◼The elements of the third row are calculated in
the following fashion:

ROUTH ARRAY
◼And so on. ..
◼Elements of the fourth and larger rows are
calculated in a similar fashion:

ROUTH ARRAY
◼A necessary and sufficient condition for
all roots of the characteristic polynomial
to have negative real parts is that:

✔All of the coefficients of the polynomial


ROUTH STABILITY are positive, and
CRITERION

✔All of the elements in the left column of


the Routh array are positive.
◼Consider the second-order ODE:

(227)
SOME EXAMPLES: ◼The characteristic polynomial is:
EXAMPLE 21- (228)
SECOND-ORDER ◼If all of the coefficients a2, a1, and a0 are
CHARACTERISTIC positive, then the necessary condition is
EQUATIONS satisfied.
◼We can form the Routh array to test for
the sufficient condition:
Row
1 a2 a0
2 a1
SOME EXAMPLES: 3 a0

EXAMPLE 21-
◼Since the left column consists of the
SECOND-ORDER
polynomial coefficients, if all of the
CHARACTERISTIC
coefficients in the second-order system are
EQUATIONS
positive, the system is stable.
◼Notice that, for second-order systems, a test
for positive coefficients is necessary and
sufficient for stability.
◼Consider the system:

(229)

◼With the characteristic polynomial as:


SOME EXAMPLES:
(230)
EXAMPLE 22- ◼And the following Routh array:
THIRD-ORDER
SYSTEM Row
1 1 3
2 2 1
3 5/2
4 1
◼All of the coefficients of the
characteristic polynomial are positive
and all of the elements in the left column
of the Routh array are positive.
SOME EXAMPLES: ◼So the system is stable.
◼The Routh array is particularly useful for
EXAMPLE 22-
determining how much a parameter can
THIRD-ORDER
vary before a system loses stability.
SYSTEM
◼The following example illustrates such a
system.
◼The system:
(231)

◼Has the characteristic polynomial:


SOME EXAMPLES:
(232)
EXAMPLE 23- where μ is a parameter that may vary.
THIRD-ORDER ◼ The Routh array is:
SYSTEM WITH A
VARIABLE Row
PARAMETER 1 1 3
2 2 μ
3 b1
4 c1
◼From the characteristic polynomial, we see
that μ > 0 is required.
◼The same result holds true for the
requirement of c1 > 0.
SOME EXAMPLES:
◼We notice that b1 will be positive only if μ <
6.
EXAMPLE 23-
THIRD-ORDER ◼From these conditions, we find that the
SYSTEM WITH A stability requirement is 0 < μ < 6.
VARIABLE ◼For complex, high order (3 or greater), it is
PARAMETER not uncommon for a system to have
parameters that stabilize the system only
over a certain range of parameter values.
◼This is particularly true of feedback control
systems (later to be taught in CHE 510)
◼We have reviewed techniques to solve
homogeneous and nonhomogeneous
(heterogeneous) nth-order ODEs.
◼Homogeneous problems are solved
using the roots of the characteristic
equation, forming the solution as a sum
SUMMARY of exponential terms.
◼Homogeneous equations generally occur
if the system is unforced, but there is an
initial deviation from steady state in the
state variables.
◼The method of undetermined coefficients is useful
for solving nonhomogeneous (heterogeneous)
problems. These generally occur if the system is
forced by a changing input.
◼The integrating factor method was useful for
solving a first-order heterogeneous equation with
a time-varying coefficient.
SUMMARY ◼The Routh array was used to test for the stability
of a differential equation. This is useful for finding
values of a parameter that cause a system to lose
stability.
◼The type of dynamic behavior of an nth-order
differential equation is a function of the
eigenvalues (roots of the characteristic equation).
◼Eigenvalues that are further in the left half plane
are "fast."
◼The larger the ratio of the imaginary portion to
real portion of a complex eigenvalue, the more
oscillatory the response.
◼Stability is determined by the real portion of the
SUMMARY complex eigenvalue.
◼If all eigenvalues have a real portion that is
negative, then the system is stable.
◼If any single eigenvalue has a real portion that is
positive, then the system is unstable.
◼Although the method of undetermined
coefficients can be used to solve these problems,
the Laplace transform technique is used more

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