ISTANBUL AYDIN UNIVERSITY

FACULTY OF ENGINEERING
ELECTRICAL & ELECTRONICS ENGINEERING DEPT.

EEE362: CONTROL SYSTEMS

6. Stability Analysis

Instructor:
Assist. Prof. Dr. Mohammed ALKRUNZ
Electrical & Electronics Engineering Department
 Introduction,,,
 The system is considered to be a stable system, if the system’s response does
not go to infinity.

 The system is called Bounded Input Bounded Output “BIBO” stable if the
output is Bounded to a bounded input.

Dr. M. Alkrunz
April 20, 2022 2
EEE362: Control Systems
 Pole Locations and Stability,,,
Relation between Characteristic Equation and Stability!!!

 If you remember from the last lecture that the characteristic equation is the
denominator polynomial of the transfer function and its roots are the poles of
the system.
𝑛𝑢𝑚𝑒𝑟𝑎𝑡𝑜𝑟 𝑎𝑠 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 (𝑠) 𝑃(𝑠) 𝒑𝒐𝒍𝒆𝒔 𝒑𝒐𝒍𝒚𝒏𝒐𝒎𝒊𝒂𝒍
𝐺 𝑠 = =
𝑑𝑒𝑛𝑜𝑚𝑖𝑛𝑎𝑡𝑜𝑟 𝑎𝑠 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 (𝑠) 𝑄(𝑠)

 Check the location of poles:

Poles locations Stability 𝒋𝝎𝒅
All of them lie in LHP Stable LHP RHP
At least one pole lies in RHP Unstable
𝝈
One pole lies in imaginary axis Margin Stable
𝑺𝒕𝒂𝒃𝒍𝒆 𝑼𝒏𝒔𝒕𝒂𝒃𝒍𝒆
Multiple poles lie in imaginary axis Unstable

Dr. M. Alkrunz
𝒔 − 𝒑𝒍𝒂𝒏𝒆
April 20, 2022 3
EEE362: Control Systems
 Stability Determination,,,
Example:

Determine the stability of the following system:

10 𝑠 + 2
𝐻 𝑠 =
𝑠3 + 𝑠2 + 5 𝑠
Solution:

 The characteristic equation is: 𝑠 3 + 𝑠 2 + 5 𝑠 = 0

 We have a third order characteristic equation, and thus 3 poles.

 The roots are: 𝒔𝟏 = 𝟎 , 𝒔𝟐 = −𝟏. 𝟓 + 𝒋𝟏. 𝟔𝟓 and 𝒔𝟑 = −𝟏. 𝟓 − 𝒋𝟏. 𝟔𝟓 𝑗𝑤

 As you see, the roots are located at LHP. ×

 Therefore, the system is Stable. × 𝜎
×

Dr. M. Alkrunz
April 20, 2022 4
EEE362: Control Systems
 Stability Determination,,,
Example:

Determine the stability of the following system:

𝑠−1
𝐻 𝑠 =
𝑠 + 5 𝑠2 + 2

Solution:

 The characteristic equation is: 𝑠 + 5 𝑠2 + 2 = 0

 We have a third order characteristic equation, and thus 3 poles.

𝑗𝑤
 The roots are: 𝒔𝟏 = −𝟓 , 𝒔𝟐 = 𝒋 𝟐 and 𝒔𝟑 = −𝒋 𝟐

 As you see, one complex pole is located at imaginary axis. ×

× 𝜎
 Therefore, the system is Margin Stable.
×

Dr. M. Alkrunz
April 20, 2022 5
EEE362: Control Systems
 Stability Determination,,,
Example:

Determine the stability of the following system:

2 −1
𝐴=
0 5
Solution:

 The characteristic equation is: 𝑠𝐼 − 𝐴 = 0

𝑠 0 2 −1 𝑠−2 1 𝑗𝑤
𝑠𝐼 − 𝐴 = − =
0 𝑠 0 5 0 𝑠−5

𝑠𝐼 − 𝐴 = 𝑠 − 2 𝑠 − 5 = 0 × × 𝜎
 The roots are: 𝒔𝟏 = +𝟐, 𝒔𝟐 = +𝟓 (RHP)

 Therefore, the system is Unstable.

Dr. M. Alkrunz
April 20, 2022 6
EEE362: Control Systems
 Stability Determination,,,
Example:

Determine the stability of the following system:

−1 3
𝐴=
0 4
Solution:

 The characteristic equation is: 𝑠𝐼 − 𝐴 = 0

𝑠 0 −1 3 𝑠+1 −3 𝑗𝑤
𝑠𝐼 − 𝐴 = − =
0 𝑠 0 4 0 𝑠−4

𝑠𝐼 − 𝐴 = 𝑠 + 1 𝑠 − 4 = 0 × × 𝜎
 The roots are: 𝒔𝟏 = −𝟏, 𝒔𝟐 = +𝟒 (RHP)

 Therefore, the system is Unstable.

Dr. M. Alkrunz
April 20, 2022 7
EEE362: Control Systems
 Routh-Hurwitz Approach,,,
It is a method for determining the stability of such a system.

𝑄 𝑠 = 𝑎𝑛 𝑠 𝑛 + 𝑎𝑛−1 𝑠 𝑛−1 + ⋯ + 𝑎1 𝑠 + 𝑎0

𝑪𝒉𝒂𝒓𝒂𝒄. 𝒆𝒒𝒏
𝑠𝑛 𝒂𝒏 𝑎𝑛−2 ⋯ 𝑎1
𝑠 𝑛−1 𝒂𝒏−𝟏 𝑎𝑛−3 ⋯ 𝑎0
𝒂𝒏 𝒂𝒏−𝟐
𝑠 𝑛−2 𝑨 − 𝒂
𝒏−𝟏 𝒂𝒏−𝟑
𝑨=
⋮ ⋮ 𝒂𝒏−𝟏
𝑠1 ⋮ 𝑭𝒊𝒓𝒔𝒕 𝑪𝒐𝒍𝒖𝒎𝒏
𝑠0 ⋮

 The number of sign changes in the first column elements equal to the number
of roots in the RHP (Unstable poles).

 If there is no changes, then all roots are in the LHP and the system is Stable.
Dr. M. Alkrunz
April 20, 2022 8
EEE362: Control Systems
 Routh-Hurwitz Approach,,,
Example:

𝑠 3 + 25𝑠 2 + 10 𝑠 + 450 = 0

𝑠3 1 10 25 10 − 1 450 250 − 450

𝐴= = = −8
𝑠2 25 450 25 25
𝑠1 A 0 (−8)(450) − 25 0
𝐵= = 450
𝑠0 𝐵 0 −8

𝑠3 1 10
There are two sign changes: 𝟐𝟓 → −𝟖 → 𝟒𝟓𝟎
𝑠2 25 450
 There are two roots (poles) in RHP
𝑠1 −8 0
 System is Unstable.
𝑠0 450 0

Dr. M. Alkrunz
April 20, 2022 9
EEE362: Control Systems
 Routh-Hurwitz Approach,,,
Example:

𝑠 3 + 25𝑠 2 + 10 𝑠 + 50 = 0

𝑠3 1 10 25 10 − 1 50 250 − 50
𝐴= = =8
𝑠2 25 50 25 25
𝑠1 A 0 (8)(50) − 25 0
𝐵= = 50
𝑠0 𝐵 0 8

𝑠3 1 10
There are no sign changes
𝑠2 25 50
 All roots in LHP
𝑠1 8 0
 System is Stable.
𝑠0 50 0

Dr. M. Alkrunz
April 20, 2022 10
EEE362: Control Systems
 Routh-Hurwitz Approach- First Special Case
It is a special case that the first element of a row is ZERO.

So, we replace it with such a small value like 𝜀 and complete (Just a trick).

Example:
𝑠 4 + 2𝑠 3 + 10𝑠 2 + 20 𝑠 + 5 = 0
𝟎
4
𝑠 1 10 5
𝜀 20 − 2 5 0 − 10 −𝟏𝟎
𝑠3 2 20 0 𝐴= = =
𝜀 𝜀 𝜺
𝑠2 𝟎 𝜺 𝟓 0
𝑠1 𝑨 𝟎 −𝟏𝟎
There are two sign changes: 𝜺 → →𝟓
𝜺
𝑠0 𝟓 𝟎
 There are two poles in RHP
 System is Unstable.

Dr. M. Alkrunz
April 20, 2022 11
EEE362: Control Systems
 Routh-Hurwitz Approach- First Special Case
Example:

10 𝑠 4 + 10 𝑠 3 + 5.5 𝑠 2 + 5.5 𝑠 + 10 = 0

𝑠4 10 5.5 10
𝑠3 10 5.5 0
𝑠2 𝟎 𝜺 𝟏𝟎 0 𝜀 5.5 − 10 10 0 − 100 −𝟏𝟎𝟎
𝐴= = =
𝑠1 𝑨 𝟎 𝜀 𝜀 𝜺

𝑠0 𝟏𝟎 𝟎 −𝟏𝟎𝟎
There are two sign changes: 𝜺 → → 𝟏𝟎
𝜺
 There are two poles in RHP
 System is Unstable.

Dr. M. Alkrunz
April 20, 2022 12
EEE362: Control Systems
 Routh-Hurwitz Approach- Second Special Case
The second special case is the case ROW of ZEROS. So, we cancel the row and
differentiate the row above of it, and then substitute with the new coefficients.

 This case happens when there are:

 Poles on the imaginary axis.
 Poles in LHP and RHP in symmetry with each other.

 If this happens and we have one sign change in a 4th order system (4 poles),
then we conclude that:
 One pole in RHP
 One pole in LHP (by symmetry by row of zeros) 𝟒 𝒑𝒐𝒍𝒆𝒔
 Two poles on the imaginary axis (by row of zeros)

Dr. M. Alkrunz
April 20, 2022 13
EEE362: Control Systems
 Routh-Hurwitz Approach- Second Special Case
Example: 𝑠2 + 4 𝑠 − 3
𝐻 𝑠 = 4
𝑠 + 4 𝑠 3 + 8 𝑠 2 + 20 𝑠 + 15

𝑠 4 + 4 𝑠 3 + 8 𝑠 2 + 20 𝑠 + 15 = 0

𝑠4 1 8 15 𝑃 𝑠 = 3 𝑠 2 + 15 (Auxiliary Equation)
𝑠3 4 20 0
𝜕𝑃
𝑠2 𝟑 𝟏𝟓 0 =𝟔𝑠+𝟎
𝜕𝑠
𝑠1 𝟎𝟔 𝟎𝟎
 No sign changes. Then, no RHP poles.
𝑠0 𝟏𝟓 𝟎
 Row of zeros (4 poles):
 Two poles on imaginary axis
 Two poles are in LHP.
 System is Margin stable.
Dr. M. Alkrunz
April 20, 2022 14
EEE362: Control Systems
 Routh-Hurwitz Approach- Second Special Case
Example:

2𝑠 5 + 2 𝑠 4 − 𝑠 3 − 𝑠 2 − 2 𝑠 − 2 = 0

𝑠5 2 −1 −2 𝑃 𝑠 = 2 𝑠4 − 𝑠2 − 2 (Auxiliary Equation)

𝑠4 2 −1 −2 𝜕𝑃
= 𝟖 𝑠3 − 2 𝑠
𝑠3 𝟎𝟖 𝟎 −𝟐 𝟎 𝜕𝑠

𝑠2 −𝟎. 𝟓 −𝟐 𝟎  One sign change. Then, one RHP pole.

𝑠1 −𝟑𝟒 𝟎 𝟎  Row of zeros (5 poles):
𝑠0 −𝟐 𝟎  One pole in RHP.
 One pole in LHP (by symmetry)
 Two poles on imaginary axis (row of zeros)
 One pole in LHP (others)
Dr. M. Alkrunz
April 20, 2022 15
EEE362: Control Systems
 Routh-Hurwitz Approach- Applications
Example:

Determine (1) the value of “k” for stability, and (2) frequency of oscillation.

𝑠 4 + 25 𝑠 3 + 15 𝑠 2 + 20 𝑠 + 𝑘 = 0

𝑠4 1 15 𝑘
For stability, the elements of first column must be
𝑠3 25 20 0 positive values (for no changes).
𝑠2 𝟏𝟒. 𝟐 𝒌 0
𝑠1 𝟐𝟖𝟒 − 𝟐𝟓𝒌 𝟎 284 − 25𝑘
𝟏𝟒. 𝟐 𝐹𝑖𝑟𝑠𝑡 𝑐𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛: > 0, 𝑇ℎ𝑒𝑛: 𝒌 < 𝟏𝟏. 𝟑𝟔
14.2
𝑠0 𝒌 𝟎
𝑆𝑒𝑐𝑜𝑛𝑑 𝑐𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛: 𝒌 > 𝟎

0 < 𝑘 < 11.36 Stable

𝑘 = 11.36 Margin Stable
𝑘 > 11.36 Unstable
Dr. M. Alkrunz
April 20, 2022 16
EEE362: Control Systems
 Routh-Hurwitz Approach- Applications
Example:

Determine (1) the value of “k” for stability, and (2) frequency of oscillation.

𝑠 4 + 25 𝑠 3 + 15 𝑠 2 + 20 𝑠 + 𝑘 = 0

𝑠4 1 15 𝑘
For frequency of oscillation:
𝑠3 25 20 0
𝑠2 𝟏𝟒. 𝟐 𝒌 0 (Auxiliary Equation)
𝑠1 𝟐𝟖𝟒 − 𝟐𝟓𝒌 𝟎 14.2 𝑠 2 + 𝑘 = 14.2 𝑠 2 + 11.36 = 0
𝟏𝟒. 𝟐
−11.36
𝑠0 𝒌 𝟎 𝑠2 = 14.2
= −0.8 then 𝑠1,2 = ±𝑗 0.89

Therefore, frequency of oscillation is: 0.89 rad/sec

Dr. M. Alkrunz
April 20, 2022 17
EEE362: Control Systems
 Routh-Hurwitz Approach- Applications
Example:

Determine the value of “k” for stability.

𝑠 4 + 𝑘 𝑠 3 + 2 𝑠 2 + 𝑘 + 1 𝑠 + 10 = 0

𝑠4 1 2 10 𝐹𝑖𝑟𝑠𝑡 𝑐𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛:
𝑠3 𝑘 𝑘+1 0 𝑘>0
𝑠2 𝒌−𝟏 𝟏𝟎 0 𝑆𝑒𝑐𝑜𝑛𝑑 𝑐𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛:
𝒌
𝑘−1
𝑠1 −𝟗𝒌𝟐 − 𝟏 𝟎 > 0, 𝑇ℎ𝑒𝑛: 𝒌 > 𝟏
𝑘
𝒌−𝟏
𝑇ℎ𝑖𝑟𝑑 𝑐𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛:
𝑠0 𝟏𝟎 𝟎
−9𝑘 2 − 1 𝟏
> 0, 𝑇ℎ𝑒𝑛: 𝒌𝟐 < − (𝑛𝑜𝑡 𝑣𝑎𝑙𝑖𝑑)
𝑘−1 𝟗

Therefore, the system is unstable for all “k”

Dr. M. Alkrunz
April 20, 2022 18
EEE362: Control Systems
 *Questions

Dr. M. Alkrunz
April 20, 2022 19
EEE362: Control Systems
 *Thanks
Dr. M. Alkrunz
April 20, 2022 20
EEE362: Control Systems