Chapter three

Time domain analysis

 Cont….
 In time-domain analysis the response of a dynamic system to an input is
expressed as a function of time. It is possible to compute the time response of a
system if the nature of input and the mathematical model of the system are
known.
 To analyze and design a control system, we must define and measure its
performance. Based on the desired performance of the control system, the
system parameters may be adjusted to provide the desired response.
 Because control systems are inherently dynamic, their performance is usually
specified in terms of both the transient response and the steady-state response.
 The transient response is the response that disappears with time. The steady-
state response is the response that exists for a long time following an input
signal initiation.
 Cont…
• The time response of a control system is typically divided into
two main parts:
• Transient Response: It indicates how the system responds to
a change and includes metrics like rise time, peak time,
overshoot, and settling time.
• Steady-State Response: The part of the system’s output that
remains once the transient effects have disappeared. It reflects
how accurately the system follows a desired input or settles to a
steady output.
 Time Domain Analysis
 The time response of a control system is usually divided into two parts: the
transient response and the steady-state response.
 Let y(t) denote the time response of a continuous data
system; then, in general, it can be written as
• y(t)  yt (t)  yss (t)
 where yt(t) denotes the transient response and yss(t) denotes the steady-state
response.
 In control systems, transient response is defined as the part of the time
response that goes to zero as time becomes very large.
 lim yt(t)  0
• t
 Cont……
 The steady-state response is simply the part of the total response that remains

after the transient has died out. Thus, the steady- state response can still vary in
a fixed pattern, such as a sine wave, or a ramp function that increases with time.
 All real, stable control systems exhibit transient phenomena to some extent

before the steady state is reached.

 The steady-state response of a control system is also very important, because it

indicates where the system output ends up when time becomes large.
 Cont….
 In order to find the time response of a control system, we first need to model
the overall system dynamics and find its equation of motion.
 The system could be composed of mechanical, electrical, or other sub-
systems. Each sub-system may have sensors and actuators to sense the
environment and to interact with it.
 Next, using Laplace transforms, we can find the transfer function of all the
sub-components and use the block diagram approach or signal flow
diagrams to find the interactions among the system components.
 Finally, we can find the overall transfer function of the system and, using
inverse Laplace transforms, obtain the time response of the system to a test
input—normally a step input
 3.2 Standard Test Signals
 The inputs to many practical control systems are not exactly known
ahead of time. In many cases, the actual inputs of a control system may
vary in random fashion with respect to time.
 This poses a problem for the designer, because it is difficult to design a
control system so that it will perform satisfactorily to all possible forms of
input signals.
 For the purpose of analysis and design, it is necessary to assume some
basic types of test inputs so that the performance of a system can be
evaluated.
 Cont….
 By selecting these basic test signals properly, not only is the
mathematical treatment of the problem systematized, but the response
due to these inputs allows the prediction of the system's performance to
other more complex inputs.
 In the design problem, performance criteria may be specified with respect
to these test signals so that the system may be designed to meet the
criteria.
 This approach is particularly useful for linear systems, since the response
to complex signals can be determined by superposing those due to
simple test signals.
 3.2 Standard Test Signals

3.2.1 Impulse Signal

An impulse signal is shown in Fig. 3.1.

Fig 3.1
The impulse function is zero for all t 0 and it is infinity at t =0
 3.2.2Step Signal
A step signal is shown in in fig 3.2
The step-function input represents an instantaneous change in the reference
input
The mathematical representation of a step function or magnitude u(t) is

Fig 3.2 step response

If A = 1, it is called a unit step function.
 3.2.3 Ramp signal
A ramp signal is shown in Fig. 3.3.
• The ramp function is a signal that changes constantly with time. Mathematically, a ramp
function is represented by

Fig. 3.3 A Ramp Signal.

• It is zero for t < 0 and uniformly increases with a slope equal to A. It is denoted by r (t) = At.
• If the slope is unity, then it is called a unit ramp signal.
 3.2.4 Parabolic signal
• A parabolic signal is shown in Fig. 3.4.
• The parabolic function represents a signal that is one order faster than the ramp
function.

Fig. 3.4 A unit parabolic signal.

A parabolic signal is denoted by f (t) == If A is equal to unity then it is known as
a unit parabolic signal.
 Cont…

• It can be easily verified that the step function is obtained by integrating

the impulse function from 0 to a ramp function is obtained by integrating
the step function and finally the parabolic function is obtained by
integrating the ramp function.

• Similarly ramp function, step function and impulse function can be to

obtained by successive differentiations of the parabolic function.
 3.3. First Order System

Response to a Unit Step Input

Consider a feedback system with G(s) = as show in Fig. 3.5.

Fig. 3.5 A first order feedback system.

 Cont….
Analyze the system response for the following input
A. Unit step input
B. Unit ramp input
C. Unit impulse input
From the first order
 Cont…
Input is unit step

After partial fraction we get

Inverse Laplace transformation yields

The response is an exponentially increasing function

where t= T
Cont…

• Unit step response of a first order

system.
Cont…
• The error E(s) for a unity feedback system is given by

• For the system under consideration G(s) = R(s) = and therefore

Cont…
• As . Thus, the output of the first order system approaches the reference
input which is the desired output, without any error.
• In other words, we say a first order system tracks the step input
without any steady state error.
 Response to a Unit Ramp Input or Unit Velocity Input
• The response of the system in Fig. 3.4 for a unit ramp input, for which

 is given by,

 The time response is obtained by taking inverse Laplace transform of eqn.

above

 By differentiated we get
 Cont…
. As . For smaller time constant steady state error will be small speed of the
response will increase .

Figure Unit-ramp response of the system

 Unit impulse input
• Input is unit impulse function R(s)=1

Invers Laplace transform

 Cont…
An Important Property of Linear Time-Invariant Systems. In the analysis
above, it has been shown that for the unit-ramp input the output c(t) is

• For the unit-step input, which is the derivative of unit-ramp input, the output
c(t) is

• Finally, for the unit-impulse input, which is the derivative of unit-step input,
the output
• c(t) is
 3.4 SECOND-ORDER SYSTEMS

•What is a second-order system?

•  Second-order systems are described by second- order differential equations
• Example
A prototype second order differential equation:

•y(t)---output response of the system;

•u(t)---input to the system
 Cont…
Using Laplace transform and assuming zero initial conditions,
we get:

• Transfer function of a second-order system

- damping ratio , will determine how much the system

oscillates as the response decays toward steady state.
•n - undamped natural frequency, will determine how fast the system
1. Consider a series RLC circuit
shown below Example 3.1
A. Determine the dynamic of
the system in OD
B. Obtain the transfer function
C. Drow the block diagram of
series RLC ckt using unity
feedback.
D. Determine the closed loop
transfer function
E. Determine the undamped
natural frequency n damping
ratio ζ
F. Determine the unit step
response of a series RLC system
 Step Response of a General Second-order System
•This can be done by referring to the Laplace transform table.
• The result is

 Fig. below shows the unit-step responses of y(t) plotted as functions of the
normalized time ωn t for various values of ζ.
 As seen, the response becomes more oscillatory with larger overshoot as ζ
decreases. When ζ > 1, the step response does not exhibit any overshoot; that
is, y(t) never exceeds its final value during the transient.
Cont…

Unit-step
responses of the
prototype
second-order
system with
various damping
ratios.
Step Response of a General Second-order System
 Step Response of a General Second-order System

•Damping Ratio and Damping Factor

 The effects of the system parameters ζ and ωn on the step response y(t) of
the prototype second-order system can be studied by referring to the roots of
the characteristic equation.
 The two roots can be expressed as
 Cont…..
 When the two roots of the characteristic equation are real and equal, we called
the system critically damped.
 Critical damping occurs when ζ = 1 . Under this condition, the damping factor
is simply α = ωn.
 Cont…..

Natural Undamped Frequency

 The parameter ωn is defined as the natural undamped frequency.When
ζ = 0, the damping is zero, the roots of the characteristic equation are
imaginary, and the unit-step response is purely sinusoidal.
 Therefore, ωn corresponds to the frequency of the undamped
sinusoidal response.

32
Step response of second-order systems
2
u(t) 
A 2-order system: G(s)   Input : 1(t);
s 2  2n s 
2
n
 1
n
U (s) 
Case 1:   1 (underdamped), including  =0 s
(undamped) 1
y(t)  e  nt
sin(nt  where  = 1  2
1 
 ),  =tan1 ( /
Case 2:  1 )
(overdamped) 1
y(t)  1 k et /  k et /
1
where 1,2 
2
1
n  n  2 1
2 
Case 3:  1 (critically
y(t)  1- et / - tn et /
damped) where   n
1/
 Step response of
second-order systems
A 2-order system: G(s)   2 n
s 2  2n s 
2
n

Case 1:   1 (underdamped),
1
y(t)  e  nt sin(nt 
1 
)
Case 2:   1 (overdamped)
y(t)  1 k et /  k et /
1 2

1
2

Case 3:   1(critically
damped)
y(t)  1- et / - tn et /
Relationship between the characteristic-equation
roots and the step response
2
A second-order system: 
G(s) 2  2
n 2
s ns  n
2
Its characteristic equation: D(s)  s  ns  2

2  n 0
The value of determines the location of the roots of D(s) 
 0.
  s1,2  n  n  2 1 overdamped
1: 
s1,2  n
  critically
1:
0 s1,2  n  j n 1  2 damped
1: underdamped
 0 s1,2   jn undamped
:  s1,2  n  j n 1  2 negatively damped
0:
 2
A second-order G(s)    n
s 2  2n s 
2
system: n
  1: s1,2  n  n  2 1 
The roots are real, negative j
and unequal overdamp
0
  s1,2  ed
1: n j
The roots are real, negative
and equal
0    1: 0 critically
damped
s 
 j
2 1,2 j
1
nn 
The roots are complex 0 underdamp
conjugates having negative ed
j
real parts
 0 s1,2  
: imaginary
Pure jnroots 0
undamp
 A second-order system: G(s)  2 n

2  2 s  2
s n n

Effects of damping ratio 
(for a given

n ) Overshoot M p
The
 oscillation is
smaller

rise time tr
The speed
of the
response is
slower

We are confronted with a necessary compromise

between the speed of response and the allowable
Note: In control engineering, except those
systems that do not allow any oscillation,
usually a control system is desirable with
- moderate damping (allowing some
overshoot)
- quick response speed
- short settling time

Therefore, a second-order control system is

usually designed as an underdamped system.
Cont…
 Thus, for a desirable transient response of a second-order system, the damping ratio

must be between 0.4 and 0.8.

 Small values of ζ(that is, ζ < 0.4) yield excessive overshoot in the transient response, and

a system with a large value of ζ (that is, ζ >0.8) responds sluggishly.

5
 Behavior Of The System Depends On The Damping Ratio Ζ (Zeta) :

a. Underdamping (0<ζ<1):
• The system oscillates, but the amplitude of the oscillations decays over time.
• Example: A car suspension designed to absorb shocks while maintaining ride comfort.
b. Critical Damping (ζ=1):
• The system returns to equilibrium as quickly as possible without oscillating.
• Example: Door closers that shut quickly without bouncing.
c. Overdamping (ζ>1):
• The system does not oscillate but returns to equilibrium more slowly than in the critical
damping case.
• Example: Overly tight shock absorbers.
d. No Damping (ζ=0):
• The system oscillates indefinitely at its natural frequency.
 3.5 Time-domain Specifications
The performance of a system is usually evaluated in terms of the following
qualities.
1. How fast it is able to respond to the input,
2. How fast it is reaching the desired output,
3. What is the error between the desired output and the actual output, once the
transients die down and steady state is achieved,
4. Does it oscillate around the desired value,
5. Is the output continuously increasing with time or is it bounded.
 The design specifications are:
1. Delay time td: It is the time required for the response to reach 50% of the steady state
value
for the first time
2. Rise time tr: It is the time required for the response to reach 100% of the steady state
value for under damped systems. However, for over damped systems, it is taken as the
time required
for the response to rise from 10% to 90% of the steady state value.
3. Peak time tp: It is the time required for the response to reach the maximum or Peak
value of
the response.
4. Peak overshoot M : It is defined as the difference between the peak value of the
response and
the steady state value. It is usually expressed in percent of the steady state value. If the
time for
Cont….

For systems of type 1 and higher, the steady state value c () is equal to unity, the
same as the input.
5. Settling time ts : It is the time required for the response to reach and remain
within a specified tolerance limits (usually ± 2% or ± 5%) around the steady state
value.
6. Steady state error ess : It is the error between the desired output and the actual
output as t or under steady state conditions. The desired output is given by the
reference input r (t) and therefore,
Cont…

Time domain specifications of a second order system.

 Performance
analysis
Unit- nt
y(t)  e sin(dt   ) ， 0< 
step
respons 1 1
1. Rise Time 1  2
e:
tr is the time needed for the response to reach the steady-state
value for the first time, so n=1.
  w n tr
y(tr )  1, that is, 1 e sin(w d tr   )
1  2  1
e   n t r  sin(    ) 
t
1  2
0 d r

e   n  0,       (n  0, 1, 2,)
1 
t r 2 dt r
n 
Performance
analysis
tr         
d n 1   2
Im

d
n

Re
For a given ωn ， ζ ↓ ， tr ↓ ； 
For a given ζ ， ωn ↑ ， tr ↓ .
 d
 dy(t)
e
nt 0
y(t)  sin(dt   ) ， 0<  
1 1 dt
1  2  2
n
2 . Peak time dy(t) (   1  2  n
sin d t
dt  1  2
n t
)e
n
 e t  sin d
n
=0
1  2 t
sin  d t p  0   d t p  n (n  0, 1,
2,)
t is the time needed for the
p
dtp    p   
response to reach the
t
 d n 1  2

maximum value for the

first time, peek of the
For a given ωn ， ζ ↓ ， tp ↓ ；
overshoot so n=1.
For a given ζ ， ωn↑ ， tp ↓ .
y(t)  e
nt
sin(dt   ) ， 0<  t p

w 

1  2 d wn 1  
1  2

3. Overshoot 1 %
y(t p )  y()
100%
y()
  w n t
y(t p )  1 e sin(   Im
p
1  2
)
d
sin(   )  sin    1  2 n
 Re
1 2
 y(t p )  1  d
 /
eSuppose that y()  1
 2
1 arctan
Thus  %  e 1 2
100 
/
%
It is the maximum peak s value of the response curve measured
from unity
 ζ ↑ ， σ% ↓
Usually ζ is set
between
0.4 and 0.8 to get
better smoothness
and quickness, the
corresponding
overshoot is between
25% and 2.5%.

Damping
ratioξ 64
 nt
e
y(t)  sin(dt   ) ， 0< 
1 1  2 
1
4 Settling Time

With the definition of error

band
e n sin( 1  2 n st   )  0.05 or
t
1  2 0.02

ts can not be obtained directly, but we can get

the relationship between ωn, ts and ζ.
Relationship between ( ,n ) and (tr ,t p , %,
ts )

tr         
d n 1   2
For a given n
  tr  t p 
tp     
d n 1  2
   %
 can be calculated by the
 / 1 2 100 requirement
 %e
% on the overshoot  %.  [0.4,0.8].
3 n   ts 
ts ( 
 n 5%) Once  is n can be

ts
4
(  determined 
determined, based on the requirement
 n 2%) on error band %.
 Example:

1. A unit feedback control system is characterized by an open – loop transfer function

A)Determine the gain K so that the system will have a damping ratio of 0.5

B)Determine the settling time, peak overshoot and time to peak overshoot for a uni
step input

2. For the system shown in the figure below

If M=3kg K=33 N/m B= 15N.s/m

a) Find the transfer function

b) Find ζ, , %Mp, Ts, Tp, and Tr
Cont…
3.Given the translational mechanical system of the above example
where K=1 and F(t) is a unit step, find the values of M and B to yield a
response of with 30% overshoot and setting time of 10 Sec.
Example 1
 Determine the values of Td , Tr , Tp , Ts when the control
system shown in Figure below is subject to a unit step input
55
 Example 2
 For the control system shown below, find the values of K
and Kt so that the damping ratio of the system is 0.6 and the
settling time of the unit-step response is 0.1 sec.

 Use for the settling time relationship

56
 Steady state error
• Definition and Test Inputs
• Steady-state error is the difference between the input and the output for a
prescribed test input as t
• Test inputs used for steady-state error analysis and design are summarized in
Table below .
Cont…
 Cont…

 Steady-state error can be calculated from a system's closed-loop transfer function,

T(s), or the open-loop transfer function, G(s), for unity feedback systems.
 We begin by deriving the system's steady-state error in terms of the closed-loop
transfer function, T(s), in order to introduce the subject and the definitions.

• Next we obtain insight into the factors affecting steady-state error by using the
open-loop transfer function, G(s), in unity feedback systems for our calculations.
 Error Constants
Let us consider a feedback control system shown in Fig below

Fig. Feedback 'Control System.

1. The error of the system is given by
• E(s) = R(s) – C(s)H(s)
2. The out put of the system is given by
• C(s) = G(s)E(s)
3. Substitute the output
 Cont…
Applying final value theorem, we can get the steady state error as,

• Eqn. above shows that the steady state error is a function of the input R(s) and
the open loop transfer function G(s). Let us consider various standard test
signals and obtain the steady state error for these inputs.
1. Unit step or position input.
For a unit step input, R (s) = -. Hence .
 Cont…
• Let us define a useful term, position error constant Kp as,

• In terms of the position error constant, can be written as,

2. Unit ramp or velocity input.

For unit velocity input, R(s) = and hence,
 Cont…
• Again, defining the velocity error constant as,

3. Unit parabolic or acceleration input

For unit acceleration input R (s) = and hence
Cont..
• Defining the acceleration error constant as,

• For the special case of unity of feedback system, H (s)=1 the error
constant are modified as
 Dependence of Steady state Error on Type of the System
•The number of poles at the origin determines the type of system.
• Let the loop transfer function G (s) H (s) or the open loop transfer function G
(s) for a unity feedback system, be given is time constant form.

•
• We had defined the type of a system, as the number of poles present at the
origin. Hence the steady state error, which depends on
 Cont…..
• Let us therefore obtain the steady state error for various standard test signals
for type-0, type-I and type-2 systems.
• 1. Type -0 system
• Type – 0 system :- A system for which G(s) has no-poles at the
origin of the S-place
• From eqn. above with r = 0, the error constants are given by
Cont..
• Type zero steady state errors for unit step, velocity and acceleration
inputs are respectively,
 Cont…
• 2. Type 1 system
• Type 1 system: A system is said to be type 1, if it has pole at the origin of the s-
plane
• For type 1 system, r = 1

• The steady state error for unit step, unit velocity and unit acceleration inputs
are respectively,
Cont…
• The steady state error for unit step, unit velocity and unit acceleration
inputs are respectively,
• 3. Type 2-system
• Type -2 system A system is said to be type -2, if it has two
poles at the origin of the s-plane (i.e. n=2)
 Cont…
• The steady state errors for the three test inputs are,
 Cont….
• Thus a type zero system has a finite steady state error for a unit step input
and is equal to

• Similarly, a type -1 system has a finite steady state error for a velocity
input only and is given by

A type -2 system has a finite steady state error only for acceleration input
and is given by
•
 Cont…
• Table. 3.1 Steady state errors for various inputs and type of systems
 Example:
1. A unity feedback system characterized by the open loop transfer function

Determine the steady – state error for

a. unit step input
b. unit damp input and
c. unit acceleration input
 Cont…
• 2.the forward path transfer function of a unit of a unity feed back control
system is given by determine the step, ramp and parabolic error coefficient
also determine the type of the system
• 3. the block diagram of an electronic pacemaker is given in fig below
determine the steady state error to unit ramp input when K=400 also
determine the value of K for which the steady state error to unit ramp will
be 0.02

𝑘 1
+ 𝑠 + 20 𝑠
R(s) C(s)
-
 Cont…

3. The open loop Tf of unit feedback system is given by G(s) =

Find the static coefficients and steady state error of the system when
subjected to as input given by r(t) = 2+5t + 2 .

2. for the system shown in fig below determine Kp and for unit step input
Reading assignment
• Error minimizing performance index
 Stability
 The issue of ensuring the stability of a closed-loop feedback system is central to
control system design.
 Knowing that an unstable closed-loop system is generally of no practical value,
we seek methods to help us analyze and design stable systems .
 Stability of the system depends upon pols
A linear time invariant system is stable if following conditions are satisfied:
 A bounded input is given to the system, the response of the system is bounded
and controllable.
 In the absence of the inputs, the output should tend to zero as time increases.

7
8
Introduction

Bounded i/p bounded o/p for Location of roots for stable

stable system system
 Introduction
In general, unity feedback control
system can be described
K : Gain of the system
z1, z2,... zi : Zeros of the system
p1, p2,... pj n : Poles of the system
: n = 1, 2, 3 … Represents type of the system
 System Order is the order of the denominator of the transfer function a
cancellation of the common factors in the numerator.
 System Type is the value of n in the denominator or the number of pure
integration in the forward path,
n=0 : type 0
n=1 : type 1 and so on
Poles (x): the value of the Laplace transform variable, s, that cause the transfer function to
become infinite.
Zeros (o): the
8 value of the Laplace transform variable, s, that cause the transfer function to
0
 stability based on poles location
 The total response of a system is the sum of the forced and natural
responses+ c

c(t)  K 1  K 2 e K e Ke
Force response
Natural
... response

 There are three cases about the system stability:

 A system is stable if the natural response approaches zero as time
approaches infinity.
 A system is unstable if the natural response approaches infinity as time
approaches infinity.
 A system is marginally stable if the natural response neither decays nor
grows but
8
1
remains constant or oscillates.
a) A Stable System
• Poles in the left half‐plane (LHP) yield either pure exponential decay or damped
sinusoidal natural responses.
• Thus, if the closed‐loop system poles are in the LHP, the system is stable.
b)Unstable System
• Poles in the right half‐plane (RHP) yield either pure exponentially increasing or
exponentially increasing sinusoidal natural responses.
• These natural responses approach infinity as time approaches infinity
• Thus, if the closed-­loop system poles are in the RHP or at least one pole, the system is
unstable.

8 Bounded i/p Unbounded o/p for Location of roots for

2 unstable system unstable system
 c) Marginally Stable System
• A system that has imaginary axis poles yields pure sinusoidal oscillations as a natural
response.
• Thus, marginally stable systems have closed-­‐loop transfer functions with only imaginary
axis poles or/and poles in the LHP.

Bounded i/p & o/p response Location of roots

for critically stable system for critically stable system

8
3
Relative Stability
 relative stability evaluates the degree or quality of stability.
 A system may be absolutely stable i.e. it may have passed the Routh stability test.
 As a result their response decays to zero under zero input conditions.
 The ratio at which these decay to zero is important to check the concept of
“Relative stability
 When the poles are located far away from jw axis in LHP of s-plane, the
response decays to zero much faster, as compared to the poles close to jw-axis.
 The more the poles are located far away from jw-axis the more is the system
relatively stable

Response comparison
 Relative Stability(…)

8
5
 Methods to Test Stability: Routh Hurwitz Criterion
 RH criterion is a method that yields stability information without the need to identify for
the closed-­‐loop system poles.
 This method can tell how many closed-­‐loop system poles are in the LHP (left-­‐hand-­‐poles),
RHP (right-­‐hand-­‐poles), or on the imaginary axis, but we cannot find their locations.
 There are 2 steps in RH criterion approaches:
Generate the Routh Table
 Interpret the table for system stability
 Interpreting the RH Table:
 The RH criterion declares that the number of roots of the polynomial that are in the
RHP is equal to the number of sign changes in the first column.
 A system is stable if all the CL poles lie on the LHP. Thus, a system is stable if there is no
sign change in the first column of the RH table.

8
6
 Generate Routh Table

• Consider the closed-­‐loop transfer function is T(s).

• The denominator of the transfer function relates to the poles location of the
system.

Steps of generating Routh Table from the

denominator (Table )

• Labeling the rows from s6 to s0

• Fill in coefficients a6 to a0 in the 1st and 2nd rows
alternately
8
7
 • The remaining entries 3rd Table 4.3
row until the end: s4 to s0:
• Each entry is a -­ve
determinant of entries in
the previous two rows
divided by the entry in
the first column directly
above the calculated row.
• The left-­‐hand column of
the determinant is always
the first column of the
previous two rows, and
the right-­‐hand column is
the elements of the
column above and to the
right
88
 Example : Determine the stability of the following system
Figure using RH method.

11
 Complete the RH Table
Table

 No sign change in the

first column of the
RH table
 All poles at the leV ­-‐s
plane (LHP)
 System is stable

Sign of 1st column

1st column
90
 Example : Determine the stability of the following closed-­‐loop
system using RH method.
Solution:
Table
2 times sign changes in the
first column of the RH
table, from:
 s2  s1 ( +ve to -ve)
s1  s0 (-­ve to +ve)
2 poles at the right s-­‐
plane (RHP) and 2 at the
LHP
 System is unstable

91 1st column Sign changes

 Special case of RH method
•Case 1, first element of any of the rows of •Case 2, If all the elements of row in a
Routh array is zero and the remaining row Routh array are zero
contains at least one non-zero element.
• Effect The term of next row can not be
•Effect the term in the next row become ∞ determined, and the Routh test fails
and the Routh test fails. • We must consider auxiliary function
•method substitute a small positive number • The power of the auxiliary function
must be even
Ɛ in place of zero as first element in the
• The root of even auxiliary equation are
row.
always symmetric to origine .
- Complete the array with number Ɛ.
- Examine the sign change by taking
 Example
1 .Consider the following characteristic equation

2. A system oscillates with frequency ω, if it has pole at S = ± jω and no pole in

the right half S plane determine the value of k and a. So that the system shown
in fig below oscillate at a frequency 2 rad/sec.

•,

3.
Cont…

3. A unit feedback control system is characterized by open loop T.F as .

A.Using Routh criterion, calculate the range of value of k for the system
to be stable.
B.Check if for k =1 all these roots of the characteristic equation of the
above system have damping factor greater than 0.5
 Example : Consider the following system TF

Complete RH:
Table
Interpreting Row of Zero
(ROZ):

Return to the row

immediately above the
ROZ and form a
polynomial using the
entries in that row as
coefficients.

P(s) = 6s4 + 27s2 + 18

95
 • Differentiate the polynomial
with respect to s. Table cont.
dP(s)/ds = 24s3 + 54s
• Use the coefficients to replace
the ROZ.
• Then complete the RH table
frpm s3.
• When there is ROZ, poles might be
located on jw-­axis (in this case – 4
poles since ROZ is at s3.
• There is no sign change in the first
column aVer the ROZ. Hence, there
are no RHP poles. The system is
marginally stable

96
Example : Consider the following system TF

Complete RH:
Table 4.7
Interpreting Row of Zero
(ROZ):

Return to the row

immediately above the
ROZ and form a
polynomial using the
entries in that row as
coefficients.
P(s) = 3s4 + 9s2 +
15
• Differentiate the polynomial with
respect to s.
dP(s)/ds = 12s3 + 18s Check
• Use the coefficients to replace the
ROZ. 1 column
st

• Then complete the RH table frpm s5 +ve

s3 . s4 +ve
When there is ROZ, poles might be s3 +ve
located on jw-­‐axis since ROZ is at
s2 +ve
s3 . 1
s1 -­ve
• There are 2 signs change in the first 2
column aVer the ROZ. Hence,
s0 +ve
there are 2 RHP, and 2 LHP.
• The system is unstable
Sign changes
 RH-­‐Zero only in the First Column

• For Zero only in the first column, an epsilon,() is assigned to replace

the zero.
• The value is allowed to approach zero from positive and negative.
The signs of entries of the first column is then analyzed with the
value, .

Example : Determine the number of RHP poles in the CLTF

99
 Table

• 1st column
 is assigned to
replace the
zero.

10
0
 Table
• Complete the cont.
table with
positive or
negative values of
, and check the
first column sign

10
1
Ex 1: Consider the system and find that k that the system
becomes stable

Ex 2: Using routh’s criteria find the stability for given figure.

Ex 3: Determine the range of k for s4  5s3  5s2  4s  k 

stable system.
0