Chapter 4: Stability 4.1. Introduction of stability and causes of instability 4.2. Characteristic equation, root location and stability 4.3. Setting loop gain using Routh-Hurwitz criterion 4.4. R-H stability criterion 4.5. Relative stability from complex plane axis shiftingWhat is stability and instability anyway? WV (a) Stable (b) Neutral (c) Unstable Time Domain Response of Such Systems Stable Neutral UnstableBasics It is usually not desirable that a small change in the input, initial condition, or parameters of the system produces a very large change in the response of the system. If the response increases indefinitely with time the system is said to be unstable. Stability is an important property thata system is required to possess. It is not only essential to design a system to obtain the desired response, It Is also necessary to design a system which is stable. ‘Suppose we have a control system which is designed to drive a load at a desired speed. For some reason if there is a small change in the load on the motor, the motor speed should not increase indefinitely In general there are two concepts of stability. 1. Thefirst one is known asa Bounded Input Bounded Output stability (BIBO). According to thisconcept, if bounded input is gen to the system, the output should be bounded 2. The second one is defined with no input tots system. fan intial condition fs apaied to the system, the system should return to its equilibrium condition, which is usually the origin. For linear time invariant systems the two concepts are equivalent. For non linear systems, the determination of stability is more complicated. 1. Even if system is found to be stable or a certain bounded input it may not be stable for another bounded input. 2. Ifa nonlinear system is found to be stable for certain initial condition, it may not be stable when a bounded input is given. Usually nonlinear system stability is studied for autonomous systems ie., systems without input. In contrast to this, for a linear, time invariant system, there are simple criteria for determining the stability. In this chapter, we will deal with an algebraic criterion for determining the stability of linear, time invariant systems.Chapter 4: Stability 4.1. Introduction of stability and causes of instabilityIntroduction of stability * A linear time invariant system is stable if: 1. System has bounded input for bounded output [i.e response cannot be made to increase indefinitely by the application of a bounded input excitation] 2. In absence of input, output tends towards 0 irrespective of initial conditions {asymptotic stability) Stability of feedback system depends upon location of roots of characteristic equation (denominator of T.F=0) of system T.F. + System stable: response cannot be made to increase indefinitely by application of some input. ‘“ System unstable: output approaches towards infinite value for sufficiently large time.“Types of Systems based on Stability: We can classify the systems based on stability as follows. 1) Absolutely Stable System + Ifthe 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’ 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 ofthe 's’ plane. 2) Conditionally Stable System + Ifthe system is stable for a certain range of system component values, then it is known as conditionally stable system. 3) Marginally Stable System + Ifthe 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Causes of instability * Main cause of instability: Elements which store large quantum energy takes large time to reach steady value after oscillations. If oscillations dies out system is stable else system is unstable, Results of InstabilityChapter 4: Stability 4.2. Characteristic equation, root location and stabilityCharacteristic equation of a System Input + E,{s) » TF of closed loop control system: R(s) G(s) ¥(s) G(s) - RS) 1+G@HS) 0) » Characteristics Equations 1+G(s)H(s) =0 Hs) 1o Roots of Characteristics Equations: Its very simple to find out roots of a characteristic equation Replace ‘s’ with a factor jw Characteristic Equation: 1 + G(s)H(s) = Substituting the s symbol we get Characteristic Equation: 1+ G(jw)H(jw) = 0 Now solving this equation we get the roots The roots will have 2 parts, one imaginary and one real Real part is denoted with o-axis and imaginary part with jw-axis Output 0)Root location and stability Stable Stable Unstable Unstable Single=Marginally stable Multiple=Unstable — Non-repeated=Marginally stable1) Proof for Simple Pole at left, right half & origin of s-plane Simple pole at: Origin of s-plane Loft half of s-plane | Right half of s-plane [Single pole Multiple pole Figure: iw S-plane (s) c(t) ke* Kew" K kt Jim c(t) +o o k © Stability: stable unstable Marginally stable Unstable Output curve of e(¢) 1 02) Proof for Complex Conjugate Pole at left, right half & imaginary axis of s-plane za atjw s+ (@—jw) 5+ (a+jw) + (a+ jw) __2k(s +a) __2k(s~ a) “ra tw “=a? tw? 2ke~*coswt 2ke“coswt 2kcoswt Fo % 2k stable unstable Mar ginally stabi Pps RARE RaaStable region Stable region joRoot location and stability ‘be “bm fame “HefChapter 4: Stability 4.3. R-H stability criterionA Question Here * Is it really possible and feasible for us to calculate roots of every kind of higher order characteristic equation? * Definitely no! * What is the solution then? * Routh-Herwitz Criterion * The Routh-Hurwitz Criterion is called a necessary and sufficient test of stability because a polynomial that satisfies the criterion is guaranteed to be stable. © The criterion can also tell us how many poles are in the right-half plane or on the imaginary axis.Routh Herwitz criteria (R-H) array Consider a system having characteristic equation: 1+G(s)H(s) =0 It can be written in polynomial form as: ays" +a,8" 1+ .....+0, =0 There are two conditions to be satisfied for stability of the system. a) Necessary condition for stability i. Positive coefficient of characteristic equation ii, No missing terms b) Sufficient condition for stability (Prepare R-H table) i, No sign change in I*tcolumn of R-H array (System stable) ii. Sign change in I*‘column of R-H array (System unstable) Number of sign change in IS‘column = total no. of roots on right half of s-plane.CH CMa Elem Retell) ea Clu RO + £0), 1000 is) G+ Ds +3\6+5) = RO) CO) @ Solution, coe 1000 GFDG+ 3645) H(s)=1 Characteristic equation: 1 + G(s)H(s) = 0 or, s? + 10s? + 31s + 1030 a) Necessary condition for stability is satisfied i. Positive coefficient of characteristic equation (1s? + 10s? + 31s + 1030) ii, Nomissing terms (s* + 10s? + 31s' + 1030s”) b) Sufficient condition for stability (Prepare R-H table)Steps of making RH table + Let Characteristic equation: ays” + a,s"-* + +a, =0 * Number of rows in RH table=n+1. Step 1: Arrange coefficients of characteristics equation as follows: a a | ay a | as | as Example: Characteristic equation: 1s? + 10s? + 31s + 1030=0 31 1030Step 2: Calculate elements of third(s”~+) row (by, b3, bs formula: ay az ay 7 a3 as by=? bs =? ses) by following & a ay a6 an a3 as a; by bs mentees mae al ala, a3 ala, a, = M12 ~ aoas = M144 = Gos ar ac 8Example Step 2: Calculate elements of third (st) rowStep 3: Calculate elements of fourth (s"~*) row(cy, C3, C5...) by following formula: a as bs €3=2 4 a ay ae a a as, a; by bs bs by fs 4% eee by Bylbs bs _ yaa aba cece Step 4: Calculate element of remaining row upto (n + 1)**termExample Step 3: Calculate elements of fourth (s*) rowb) Sufficient condition for stability (Prepare R-H table) i. No sign change in I* column of R-H array (System stable) ii, Sign change in IS*column of R-H array (System unstable) Number of sign change in I‘tcolumn = total no. of roots on right half of s-plane. Example a The column 1 of the R-H array is s ar 1 1 7 “P 103 ’ * It has two sign changes (from 1 to -72 and from -72 to 103) in I column of R-H array . + Number of sign change in [*tcolumn= total no. of roots on right half of s-plane=2 * Hence the system is unstable with two poles in the right-half plane.Special Cases: Case I: First element of a row is zero. * 1%* method: Replace 0 by a small positive number ‘e’ and continue evaluation of remaining elements. + 24 method: Multiply the original characteristics equation by (s + 1) and form RH array. Case II: All the element of a row is zero. * Take the coefficients of derivative of polynomial formed by former row.Casel: First element of a rowis zero. 1°" method: € Example : Consider the control system with closed-loop transfer function: = 10 © SS 42544399 +657 +5543 1 2 we 6e-7 € 42€ — 49 — 6c? Ize — 14 3Label First Column Label € Label - s 1 s + $ + # 2 ! + # + Z He s + $ i 2 be-1 4 a Z + € 42¢ - 49 ~ be? 7 s! 7 De-14 7 i é © If ‘e' is chosen positive there are two sign changes. * If 'e’ is chosen negative there are also two sign changes. *Hence the system has two poles in the right-half plane and it doesn't matter whether we chose to approach zero from the positive or the negative side.Case II: All element of a rowis zero. Auxiliary equation” Example : Consider the control system with closed-loop transfer function: 10 TF = ———.— sits? +4s?+s+3 s4 A 4 3 Ss 1 1 0 s? 3 3 0 si 0 Oo QO 50 = 4 £Develop an auxiliary equation, A(s) sf 1 4 3 3 1 fl 0 st 3 3 0 st 6 0 0 Sy 3 - A + Sign changes in IS* column = 0 * So, system = stableClasswork: Q)s® + 255 + 8s* + 12s? + 20s? + 16s + 16 = 0. Find positive real, negative real & imaginary roots.The characteristic equation is: s° + 25> + 854 + 12s? + 20s* + 16s +16 =0 Necessary condition is satisfied i.e: The auxiliary equation is: 1) All coefficients of characteristic equation A(s) = 2s4 +125? +16 is positive. a 2) No missing terms —A(s) = 8s3 + 24s = 153 + 35 Sufficient condition: ds Preparing R-H table. There are 6 roots: Number of rows=n+1=6+1=7 A(s): 2s¢+12s?+16=0 Gai 3 2 16 or, (s* + 2)(s? +4) =0 ip 22 Esa A Gir Wi Sk Et I A 2 ayckef2 2 12 16 0(1) 003) eal cane) jw — axis root =4 aa R.H.P roots = 0 3 L.H.P roots =6—-4=2 16 System is marginally stable.Chapter 4: Stability 4.4. Setting loop gain using Routh-Hurwitz criterionSetting loop gain using Routh-Hurwitz criterion Q) Find the range of k for which the system is stable & determine the value of k which will cause the sustained oscillation and corresponding frequency. k 4 OresThe characteristic equation is: 1+ G(s)H(s) =0 k * s(s? ce SERIO ei or, s?42s?+4s+k=0 One 0 R-H table:The system is stable if: 8-k eae & k>O s E 0 or, =z Ben or, 5 or, k<8 0 all roots are to the left of vertical line through (—2, 0) * ie System has relative stability unit of more than 2.