505 - Lec 11 PDF

Instrumentation and Control
Systems
THISARA GANEGODA
B. Tech Engineering (Hon’s).AE(ECSL).AM(IESL)
28/08/2022- Lecture 11
What is Stability?
• A system is said to be stable, if its output is under control. Otherwise, it is said to

be unstable. A stable system produces a bounded output for a given bounded
input.
Types of Systems based on Stability
We can classify the systems based on stability as follows.
1) Absolutely stable system
2) Conditionally stable system
3) Marginally stable system

Absolutely Stable System
• If the system is stable for all the range of system component values, then it is
known as the absolutely stable system. The open loop control system is
absolutely stable if all the poles of the open loop transfer function present in left
half of ‘s’ plane. Similarly, the closed loop control system is absolutely stable if all
the poles of the closed loop transfer function present in the left half of the ‘s’
plane.
Conditionally Stable System
• If the system is stable for a certain range of system component values, then it is
known as conditionally stable system.
Marginally Stable System
• If the system is stable by producing an output signal with constant amplitude and
constant frequency of oscillations for bounded input, then it is known
as marginally stable system. The open loop control system is marginally stable if
any two poles of the open loop transfer function is present on the imaginary axis.
Similarly, the closed loop control system is marginally stable if any two poles of
the closed loop transfer function is present on the imaginary axis.
Routh-Hurwitz Stability Criterion
• Routh-Hurwitz stability criterion is having one necessary condition and one

sufficient condition for stability. If any control system doesn’t satisfy the
necessary condition, then we can say that the control system is unstable. But, if
the control system satisfies the necessary condition, then it may or may not be
stable. So, the sufficient condition is helpful for knowing whether the control
system is stable or not.
Necessary Condition for Routh-Hurwitz Stability
• The necessary condition is that the coefficients of the characteristic polynomial

should be positive. This implies that all the roots of the characteristic equation
should have negative real parts.
Cont…
• Note that, there should not be any term missing in the nth order characteristic
equation. This means that the nth order characteristic equation should not have
any coefficient that is of zero value.
Sufficient Condition for Routh-Hurwitz Stability
• The sufficient condition is that all the elements of the first column of the Routh
array should have the same sign. This means that all the elements of the first
column of the Routh array should be either positive or negative.
Routh Array Method
• If all the roots of the characteristic equation exist to the left half of the ‘s’ plane,
then the control system is stable. If at least one root of the characteristic
equation exists to the right half of the ‘s’ plane, then the control system is
unstable. So, we have to find the roots of the characteristic equation to know
whether the control system is stable or unstable. But, it is difficult to find the
roots of the characteristic equation as order increases.
Cont…
• So, to overcome this problem there we have the Routh array method. In this
method, there is no need to calculate the roots of the characteristic equation.
First formulate the Routh table and find the number of the sign changes in the
first column of the Routh table. The number of sign changes in the first column of
the Routh table gives the number of roots of characteristic equation that exist in
the right half of the ‘s’ plane and the control system is unstable.
Cont…
Cont…
Cont…
Example
Answer
Cont…
• All the elements of the first column of the Routh array are positive. There is no
sign change in the first column of the Routh array. So, the control system is stable.
Root Locus- Basics of Root Locus
• The Root locus is the locus of the roots of the characteristic equation by varying
system gain K from zero to infinity.
• We know that, the characteristic equation of the closed loop control system is
Cont…
Cont…
Cont…
Cont…
Angle Condition and Magnitude Condition
• The points on the root locus branches satisfy the angle condition. So, the angle
condition is used to know whether the point exist on root locus branch or not.
We can find the value of K for the points on the root locus branches by using
magnitude condition. So, we can use the magnitude condition for the points, and
this satisfies the angle condition.
Cont…
Cont…
Bode Plots
• The Bode plot or the Bode diagram consists of two plots −
Magnitude plot
Phase plot
• In both the plots, x-axis represents angular frequency (logarithmic scale).

Whereas, yaxis represents the magnitude (linear scale) of open loop transfer
function in the magnitude plot and the phase angle (linear scale) of the open
loop transfer function in the phase plot.
Cont…

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Instrumentation and Control

• A system is said to be stable, if its output is under control. Otherwise, it is said to

We can classify the systems based on stability as follows.

1) Absolutely stable system

2) Conditionally stable system

3) Marginally stable system

• Routh-Hurwitz stability criterion is having one necessary condition and one

• The necessary condition is that the coefficients of the characteristic polynomial

• The Bode plot or the Bode diagram consists of two plots −

• In both the plots, x-axis represents angular frequency (logarithmic scale).

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