Stability Analysis

A stable system is one where the controlled variable will always settle near the set
point. An unstable system is one where, under some conditions, the controlled
variable drifts away from the set point or breaks into oscillations that get larger and
larger until the system saturates on each side.

Stable system unstable system

Methods of Stability Test

1-Determination the roots of equation
U
R G2 C
G1

H
G1G 2 G2
C R (s)  U(s)
1  G1G 2 H 1  G1G 2 H
1  G1G 2 H  0 (Characterstic Equation)
(s  r1 )(s  r2 )(s  r3 ).........  0 Im
s-p
s
p 
Re

A linear control system is unstable if any roots of its characterstic equation are to the
right of imaginary axis.
If this equation has some roots with positive real parts, then the system is unstable, or
some roots equal to zero, the system is marginally stable (oscillatory), therefore it is
unstable.
Then for stability the roots of characteristic equation must have negative
real parts.
Process Control /Lec. 10 113 Written by Assis. Prof.
Fourth Class Dr. Zaidoon M. Shakor
Example:if
0.5s  1
G1  10 PI control
s
1
G2  Stirred tank
2s  1
H 1 Mesuring element without lag
1  G  1  G1G 2 H  0
10(0.5s  1)
1 0
s(2s  1)
s(2s  1)  5s  10  0
2s 2  6s  10  0
s 2  3s  5  0
3 9  20
s 
2 2
3 11 3 11
 s1  j and s 2  j
2 2 2 2
3
Since the real part in s1 and s2 in -ve (  )The system is stable
2

2-Routh’s Method
a-Write the characterstic eqn. on the form of a polynomial shape:
a os n + a1s n -1 + a 2s n - 2 + …..a n = 0 (*)

Where ao is positive
It is necessary that ao, a1, a2,…. an-1, an be positive. If any coeff. is negative, the
system is unstable.
If all of the coeff. are positive, the system may be stable or unstable. Then apply the
next step.
b. Routh array:
Arrange the coeff. of eqn. (*) into the first two rows of the Routh array shown
below.
Row
1 ao a 2 a 4 a 6
2 a1 a 3 a 5 a 7
3 A1 A2 A3
4 B1 B2 B3
n+1 C1 C2 C3
Process Control /Lec. 10 114 Written by Assis. Prof.
Fourth Class Dr. Zaidoon M. Shakor
 a1a 2  a oa 3 a1a 4  a oa 5 a1a 6  a oa 7
A1  , A2  , A3 
a1 a1 a1
A1a 3  a1A 2 A a a A
B1  , B2  1 5 1 3
A1 A1
B1A 2  A1B2 B A  A1B3
C1  , C2  1 3
B1 B1
Examine the elements of the first column of the array ao, a1, A1, B1,C1……….W1
a) If any of these elements is negative, we have at least one root on the right of
the imaginary axis and the system is unstable.
b) The number of sign changes in the elemnts of the first column is equal to the
number of root to the right of the imaginary axis.

The system is stable if all the elements in the first column of the array are
positive

Example:Given the characteristic eqn.

s4 + 3s3 +5s2 + 4s +2= 0
Solution:
Row 3  5  4  11 11
A1  
1 1 5 2 3 3
2 3 4 0 3 2  0
A2  2
3 11 3 2 0 3
4 2.36 0 11 3  4  6
B1   2.36
5 2 11 3
2.36  2
C1  2
2.36
The system is stable

Example: Apply the Routh’s stability criterion to the equation:

s4 + 2s3 +3s2 + 4s + 5 = 0
Solution:
s4 1 3 5
s3 2 4
s2 1 5
s1 -6 0
s0 5
The system is unstable.

Process Control /Lec. 10 115 Written by Assis. Prof.

Fourth Class Dr. Zaidoon M. Shakor
Example: A system has a characteristic equation s 3  9s 2  26s  24  0. Using the
Routh criterion, show that the system is stable.
Solution
q(s) = s 3  9s 2  26s  24
Using the Routh-Hurwitz criterion,
s3 1 26
s2 9 24
s 1 26 0
s 0 24 0
No sign change in 1st column then the system is stable.

Example: Consider the feedback control system with the characteristic equation.
K
s3 + 2s 2  (2  K c )s  c  0
I
Solution:
The corresponding Routh array can now be formed
Row
1 1 2  Kc 0
2 2 Kc 0
I
3 2(2  K c )  K c  I 0 0
2
4 Kc  I 0 0

The elemnets of the first-column are positive except the third, which can be positive
or negative depending on Kc and τI.
So state the stability
Put 2(2  K c )  K c  I  0  2(2  K c )  K c
2 I
If Kc and τI satisfy the condition, then the system is atable

Critical stability
Put the third element=0
i.e 2(2  K c )  K c
I
For τI=0.1
2(2  K c )  10K c  4  8K c

Process Control /Lec. 10 116 Written by Assis. Prof.

Fourth Class Dr. Zaidoon M. Shakor
K c  0 .5

1) if K c  0.5 , the system is stable (all of the elements in the 1st column is +ve)

2) if K c  0.5 , the third element of the 1st column is negative. We have two sign
change in the elements of the first column.

we have two roots to the right of imaginary axis.

Example:
U
R 1
Kc C
( 1s  1)( 2 s  1)

1
( 3s  1)

1 1
If 1 = 1,  2 = ,  3 =
2 3
Determine Kc for a stable system
Solution:
The char. Eqn.
1
1  Kc 0
1 1
(s  1)( s  1)( s  1)
2 3
1 1
(s  1)( s  1)( s  1)  K c  0
2 3
1 3 1
( s 2  s  1)( s  1)  K c  0
2 2 3
s3 s 2 s s 2 3s
     1  Kc 0
6 2 3 2 2
1 3 2 11
s  s  s  1  Kc  0
6 6
Row
1 1/6 11/6
2 1 1+Kc
3 10  K c 0
6
4 1+Kc

Since Kc>0
The system will be stable
Process Control /Lec. 10 117 Written by Assis. Prof.
Fourth Class Dr. Zaidoon M. Shakor
If 10-Kc>0
K c  10
Therfore Kc must within the range 0<Kc< 10

Example: U
R 3
K c (1  ) 2
s
C
1
0.2s 2  0.4s  1
Study the stability for Kc=2
Solution:
3 1
1  K c (1  )  2  0
s 0.2s 2  0.4s  1
s3 2
1  Kc ( ) 0
s 0.2s  0.4s  1
2

sK  3K c 2
1 ( c ) 0
s 0.2s 2  0.4s  1
0.2s3  0.4s 2  s  2sK c  6K c  0
0.2s3  0.4s 2  (1  2K c )s  6K c  0
Row Row For Kc=2
1 0.2 1+2Kc 1 0.2 5
2 0.4 6Kc 2 0.4 12
3 A1 0 3 2  2.4 0
4 B1 0 0.4
4 1.2 0
0.4(1  2K c )  (1.2K c ) 0.4  0.8K c  1.2K c 0.4  0.4K c
A1   
0.4 0.4 0.4
0.4  0.4K c  0
The system is stable for K c  1
B1  6K c  6K c  0
And K c  0
Therfore Kc must within the range 0 <Kc< 1

Process Control /Lec. 10 118 Written by Assis. Prof.

Fourth Class Dr. Zaidoon M. Shakor
Example: Designers have developed small, fast, vertical-take off fighter aircraft that
are invisible to radar. This aircraft concept uses quickly turning jet nozzles to steer
the airplane. The control system for the heading or direction control is shown in
figure.
Determine the maximum gain of the system for stable operation.

+ controller ( s  20)
R(s) Y(s)
k s ( s  10) 2 Heading
-

Solution
k (s  20) ks  20k ks  20k
G(s) =  
s(s  10) 2 s(s 2  20s  100) s3  20s 2  100s
Characteristic equation,
1+GH = 0
ks  20k
1+ 3 *1  0
s  20s 2  100s
s3  20s 2  100s +ks+20k =0
s3  20s 2  (100  k )s  20k  0
The corresponding Routh array can now be formed
Row
1 1 100+k
2 20 20k
3 a 0
4 b 0

20(100  k )  20k 20 *100  20k  20k

a= = = 100
20 20
a * 20k  0
b= =20 k
a
The system is stable, no sign change in 1st column,
b>0
20k >0
k>0
 Range of k is must be k>0

Process Control /Lec. 10 119 Written by Assis. Prof.

Fourth Class Dr. Zaidoon M. Shakor