Scribd
Upload
15 views13 pages

Topic 7 - Stability

Uploaded by

voquocdangkhoa2003
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
15 views13 pages

Topic 7 - Stability

Uploaded by

voquocdangkhoa2003
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 13

PROCESS CONTROL

FUNDAMENTALS
CH3031
Prof. Dr. Mohd Azlan Hussain

Stability
Introduction

Stability
Stability of a system is defined
as the property for which the
output response is bounded
for all bounded inputs.
Stability Criterion
To make the stability definition into a more
simple criterion, that can be used to find the
control systems stability

Figure: Basic single-loop control system


Stability Criterion Cont.…
We get the transfer function as follows:

Suppose a unit-step change in set point.


Note
Then,

is characteristic
equation for control
system in figure above
Stability Criterion Cont.…
• If there are any of the roots in the right half of the
complex plane, then response C(t) will contain a
term that grows exponentially in time and the
system is unstable.

• Therefore the stability of a control system can be


characterized by the criteria :
A linear control system is unstable if any roots of its
characteristic equation are on, or to the right of, the
imaginary axis. Otherwise the system is stable.
Figure: Stability of typical roots of the characteristic equation
Example:
Stability by Characteristic Equation
In terms of the basic single-loop control system shown before, if it has
the following:
Example:
Stability by Characteristic Equation Cont.…
Routh Test for Stability
• The Routh test is a purely algebraic method to determining the
stability of linear control system.
Procedure for Routh Test
1. Write characteristic equation in form

Where a is positive. (if a0 is originally negative, multiply -1 for both


sides are). In this form, it is necessary that all the coefficients
be positive if all the roots are lie in the left half plane.
If any coefficient is negative, then system is
unstable.
Routh test is not need to answer the question of stability.
2. Routh Array
2. Routh Array
• Arrange the coefficient into the first two rows of the Routh
array

• In this case, array is filled in for n = 7. The array is prepared in the same
manner for any other value of n. In general, there are n+1 rows. For n
even, the first row has one more element that the second row
The Routh Test Theorems
•
Example:
Stability by Routh Test
Determine the stability by Routh criterion?
Given characteristic equation is:
Example:
Stability by Routh Test Cont….

You might also like