KE36303 CONTROL SYSTEMS

Assoc. Prof Ir Dr Yang Soo Siang

BEng(Hons) MSc PhD MIEM PEng
Room 28 Level 3 Block A
Faculty of Engineering
Universiti Malaysia Sabah
KE36303 CONTROL SYSTEMS

LECTURE 5: STABILITY ANALYSIS

Assoc Prof Ir Dr Yang Soo Siang 2

 OVERVIEW
General.

Routh-Hurwitz criterion.

Stability design.

Assoc Prof Ir Dr Yang Soo Siang 3

 GENERAL
Transient requirements: time constant, rise
time, settling time, peak overshoot,
damping ratio etc

Steady state requirements: errors

Stability: MOST IMPORTANT SYSTEM

SPECIFICATION! WHY?
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 GENERAL
If system is unstable need not consider other
specifications no basis for controller design.

Formal definitions:
An LTI system is stable if the natural response approaches zero as time
approaches infinity.

An LTI system is unstable if the natural response grows without bound

as time approaches infinity.

An LTI system is marginally stable if the natural response neither

decays nor grows but remains constant or oscillates as time approaches
infinity.
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 GENERAL
OR can be described as:
A system is stable if every bounded input
yields a bounded output

A system is unstable if any bounded input

yields an unbounded output

this definition is more relevant in terms of control system

stability!
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 GENERAL
Remember which part of the transfer function effects
system stability?

Hint:
if poles in left half plane (s-plane).

If poles in right half plane (s-plane).

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GENERAL

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 GENERAL
Unstable systems- physically results in
damage of equipment, adjacent properties
and most importantly human lives.

Systems are designed with limit stops to

prevent total runaway.

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 GENERAL
Not all mathematical models or transfer
functions are easily factorised for you to
observe their poles conveniently!

For example l
ant f
ev y o
re ilit
it ll lab n?
s ai tio
e
u av isa
s
is t or
his e fac
t th r
is fo
e
ith war
w oft
s

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ROUTH-HURWITZ CRITERION

This method- yields stability information without

the need to solve for the closed loop poles.

Results- the number of closed loop system poles

in the left half plane, in the right half plane and
on the j axis.

How many but not where! So back to the previous questions why
is this method still relevant? Hint: for controller design able to yield
a range of parameters to ensure stability of system.

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ROUTH-HURWITZ CRITERION

Requires two steps:

Generate a data table known as a Routh table

Interpret the Routh table to know how many

closed loop poles are in the left half plane
etc...

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ROUTH-HURWITZ CRITERION

Generating the Routh table:

For example:

Begin by labeling the rows with powers of s from the highest of the
denominator of the closed loop transfer function to s0

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ROUTH-HURWITZ CRITERION

Start with coeff of the highest power of

s in the denominator and list
horizontally in the first row, every other
coeff.

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ROUTH-HURWITZ CRITERION

In the second row, list horizontally

starting with the next highest power of
s, every coeff that was skipped in the
first row.

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ROUTH-HURWITZ CRITERION

Generating the Routh table: the remaining

entry
Each entry is a negative determinant of entries in the previous
two rows divided by the entry in the first columns 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.

The table is complete when all the rows are completed down to
s0.

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ROUTH-HURWITZ CRITERION

Generating the Routh table:

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ROUTH-HURWITZ CRITERION

For example:

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ROUTH-HURWITZ CRITERION

for convenience any row can be multiplied by a positive constant

without changing the value of the rows below. Not to be multiplied by
negative constants!

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ROUTH-HURWITZ CRITERION

Interpretation:
The Routh-Hurwitz criterion declares that the number
of roots of the polynomial that are in the right half
plane is equal to the number of sign changes in the
first column.

If closed loop tf has all poles in LHP then system is

stable; no sign change in the first column!

From the example shown two poles in right RHP

Why? (based on Routh-Hurwitz criterion)
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ROUTH-HURWITZ CRITERION

Positive number

Negative number

Positive number

2 sign change = 2 RHP poles exist! Hence system is unstable!

unstable

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ROUTH-HURWITZ CRITERION

Special cases:

Zero in first column of a row

Entire row consisting of zero

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ROUTH-HURWITZ CRITERION

For example (zero in first column):

T(s)= 10/s5+2s4+3s3+6s2+5s+3

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ROUTH-HURWITZ CRITERION

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ROUTH-HURWITZ CRITERION

Replace zero by a small number, .

Assume a sign, positive or negative for the

quantity .

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ROUTH-HURWITZ CRITERION

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ROUTH-HURWITZ CRITERION

Whether positive or negative, results of

interpretation will be the same.

For the example, system is unstable with 2

poles in RHP.

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ROUTH-HURWITZ CRITERION

Alternatively

Write a polynomial that has reciprocal

roots of the denominator write the
denominator in reverse order,

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ROUTH-HURWITZ CRITERION

Via the same example:

T(s)= 10/s5+2s4+3s3+6s2+5s+3

The denominator in reverse order

D(s)= 3s5+5s4+6s3+3s2+2s+1

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ROUTH-HURWITZ CRITERION

Two sign changes hence system

is unstable and has two RHP
poles!

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ROUTH-HURWITZ CRITERION

For example (row of zeros*):

T(s)= 10/s5+7s4+6s3+42s2+8s+56

* zero in magnitude NOT zero of transfer function!

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ROUTH-HURWITZ CRITERION

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ROUTH-HURWITZ CRITERION

Second row divided by 7 for convenience.

Third row all zeros hence

Observe the row immediately above the row of zeros,

use entries in that row for coeff to form polynomial to
replace all zeros in the 3rd row.

P(s)=s4+6s2+8

Differentiating, dP(s)/ds=4s3+12s+0
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ROUTH-HURWITZ CRITERION

Use the coeff from the differentiated polynomial to replace the zeros,

4s3+12s+0

For convenience, multiplied divide by 4 after replacing the zeros.

Remainder of row is formed in a straightforward manner by following

the standard form.

Obviously, there are no RHP poles!

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 STABILITY DESIGN

Stability design example: find the range of gain K for

system to be stable, unstable and marginally stable.
Assume K>0.

Find the closed loop transfer function.

Form the Routh table

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 STABILITY DESIGN

Stability design example:

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 STABILITY DESIGN

Stability design example:

Since K is assumed positive, we see all elements in the first

column are always positive except for the s1 row.

This entry can be positive, negative or zero.

If K < 1386 all terms will be positive, hence no sign change-
3

poles on the LHP and stable.

If K > 1386 the s1 term will be negative, hence 2 sign change-

2 poles on the RHP and 1 pole in LHP, system unstable.

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 STABILITY DESIGN

Stability design example:

If K = 1386 we have entire row of zero

Returning to the s2 row and replacing K with 1386, form the

polynomial,
P(s)=18s2+1386

Differentiating with respect to s,

dP(s)/ds = 36s+0

hence replace coeff in the row of zeros

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 STABILITY DESIGN

Stability design example:

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 STABILITY DESIGN

Stability design example:

No change of sign hence the even polynomial down

to bottom of table.

Even polynomial has two roots on the jw axis.

No sign change above even polynomial, hence

remaining root is in LHP-
system is marginally
stable.

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NEXT LECTURE
Root Locus:
Basic stuff- significance etc.
Plotting and sketching

What you need to do!

Review this lecture and try out examples in Chp 5, Nise till pg
305. They are all relevant for your understanding and for you to
be familiar with forming the Routh table and stability design via
Routh Hurwitz.

In addition, read about root locus of course!

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