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Ee9118 Dynamics & Control Stability Analysis

This document discusses stability analysis of control systems. It defines a stable system as one where the output settles to a finite value in response to disturbances. Key points: - Stability can be determined by analyzing the system's characteristic equation and identifying the location of its poles in the s-plane. A system is stable if all poles are in the left half plane and unstable if any pole is in the right half plane. - Four examples are analyzed to illustrate stability determination from the characteristic equation. Example 3 has a pole in the right half plane and is therefore unstable, while Example 4 is marginally stable with poles along the jw axis. - Additional methods like time response analysis and Routh-Hur

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91 views30 pages

Ee9118 Dynamics & Control Stability Analysis

This document discusses stability analysis of control systems. It defines a stable system as one where the output settles to a finite value in response to disturbances. Key points: - Stability can be determined by analyzing the system's characteristic equation and identifying the location of its poles in the s-plane. A system is stable if all poles are in the left half plane and unstable if any pole is in the right half plane. - Four examples are analyzed to illustrate stability determination from the characteristic equation. Example 3 has a pole in the right half plane and is therefore unstable, while Example 4 is marginally stable with poles along the jw axis. - Additional methods like time response analysis and Routh-Hur

Uploaded by

Ana Zana
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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EE9118 DYNAMICS & CONTROL

STABILITY ANALYSIS
Objectives

• Understand the importance of system


stability
• Identify stable & unstable systems
• State the characteristic function,
characteristic equation, system zeroes and
poles of a system
• Analyse stability in the s-plane
On 7 Nov 1940, at about 10 a.m. in TACO
MA, Washington, USA something happene
d ….
Your Tasks

• Think about the Tacoma story.


• Find out more about the story and answer the following:
– What happened in Tacoma on 7 Nov 1940?
– What could be the cause of that?
– How is it related to what you are learning?
What have you learned ?
Concepts on System Stability

• What is stability of a system?


• Why is it important?
• What are some examples?
• Can we know if a system is stable from its
mathematical model? If so, how?
What is Stability ?
A control system is stable if the output eventually settles
down to a finite value due to a set-point change, load change
or disturbance.

Input System Output


r(t) c(t)

lim c (t )  a (finite value) - Stable System


t 

lim c (t )   (infinite value) - Unstable System


t 
The following are time-response of outputs of stable systems

C(t)
C(t)

a a

0 0 t
t

lim c (t )  a (finite value) - Stable System


t 
The following are time-response of outputs of unstable systems

C(t)
C(t)

0 0 t
t

lim c (t )   (infinite value) - Unstable System


t 
A special case is the marginally stable system where the
output oscillates continuously.

C(t)

0 t
Why is stability important?

What are some examples?


• Robotic Arm
• Nuclear Power Plant
• Missile
• Oscillator
• Tacoma Narrows Bridge **
There are many ways of determining the stability of control
systems :

a. Based on Time Response

b. Based on Roots of Characteristic Equation

c. Routh- Hurwitz Stability Criterion


Stability based on Time Response

The procedures to determine the stability of a closed-loop


control system are:

a. Find the closed-loop transfer function

b. Find the output c(t)

c. Find c(t) as t 
Example 1

R(s) + 1 C(s)
- s 1

C (s) 1

R( s) s  2
1
C ( s)  R( s)
s2
1 1 1
  * R(s)  for a step input
s s2 s
Example 1...

c(t )  k1  k 2 e 2t
c()  k1

Since the output stabilises at k1, the system is stable


Example 2

R(s) + 1 C(s)
- ( s  0.2)( s  0.5)

C (s) 1

R ( s ) 1  ( s  0.2)( s  0.5)
1
C (s)  R(s)
1  ( s  0.2)( s  0.5)
1 1
 
s 1  ( s  0.2)( s  0.5)
Example 2...

c(t )  L1C ( s )  k1  k 2 e 0.35t sin(t  1 )


lim c(t )  k1  system is stable.
t 
Example 3

R(s) + 1 C(s)
- ( s  0.5)( s  0.2)

C (s) 1

R ( s ) 1  ( s  0.5)( s  0.2)
1
C (s)  R(s)
1  ( s  0.5)( s  0.2)
1 1
 
s 1  ( s  0.5)( s  0.2)
Example 3...

c(t )  L1C ( s)  k1  k 2 e 0.15t sin(0.94t  1 )

lim c(t )    system is unstable.


t 
Example 4

R(s) + 1 C(s)
- 2
s 3

C (s) 1
 2
R(s) s  4
1
C (s)  R(s)
s2  4
1 1
  2
s s 4
Example 4...

1
c(t )  L C ( s )  k1  k 2 sin(2t  1 )
lim c(t )  Sustained Oscillation
t 

 System is marginally stable


Stability based on Roots of Characteristic Equation

The Characteristic Equation is formed from the denominator


of the closed-loop transfer function.

Consider the closed-loop control system :

R(s) + C(s)
G(s)
-

H(s)
The closed loop transfer function for this system is :

C ( s) G (s)

R( s) 1  G ( s) H ( s)

The Characteristic Equation (CE) of the system is :

1  G (s) H ( s)  0
Determination of the Stability

The following are steps to determine the stability of a


closed-loop control system using the Characteristic Equation:

1. Find the Characteristic Equation of the system.

2. Determine the roots of the Characteristic Equation.

3. Locate the roots on the S-plane.


Determination of the Stability (continued..)

4. System is stable if all the root are in the


Left-Hand-Side of the S-plane.

System is unstable if one or more roots


are in the Right-Hand-Side of the S-plane.
System is marginally stable if there is
at least one pair of complex-conjugate
roots on the j axis.

If the characteristic equation of the system has a


pair of complex-conjugate roots, the system response
will be oscillatory.
We will now use the CE to determine the stability of
Example 1 to Example 4 :

The CE for Example 1 is :


s20
i.e. the root is s  -2
This is represented by a cross at the - 2 position.

x
-2
Since the root lies on the LHS of the s-plane the
system is stable.
In Example 2

C ( s) 1

R ( s) 1  ( s  0.2)( s  0.5)

CE : 1  ( s  2)( s  0.5)  0
 - 1.25  j0.66
Roots :s1 = - 0.35 + j, s2 = - 0.35 - j
j
x

-0.3
-j
x

Since the roots are on the LHS of the s-plane, the


system is stable.
However, as the roots are complex, the transient period
is oscillatory.
In Example 3

C (s) 1

R( s ) ( s  0.2)( s  0.5)  1
CE : (s + 0.2)(s - 0.5) + 1 = 0
Roots : s1 = 0.15 + 0.94j, s2 =0.15 - 0.94j
Roots of CE are located on RHS  System is unstable
0.94j x

0.15

-0.94j x
In Example 4

C ( s) 1
 2
R( s) s  4
CE : s2 + 4 = 0
Roots : s1 = 2j, s2 = - 2j
Roots of CE are on the j axis  System is marginally stable

x 2j

x -2j
Click anywhere on this slide to for an interesting

program that shows the relationship between the

pole positions(roots of the Characteristic equation

and the transient response.

Have fun….

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