CS 3

STABILITY OF CONTROL SYSTEM
Chalachew W.
CONTENTS
Characteristics Equation - Location of Roots in S Plane for Stability
Routh Hurwitz Criterion
Root Locus Analysis
Effect of Pole Zero Additions on Root Locus
Nyquist Stability Criterion

CHARACTERISTICS EQUATION
LOCATION OF ROOTS IN S PLANE FOR STABILITY
For the transfer function of mass, damper
characteristics equation: equating and spring system locate poles on s-plane
denominator of tf with zero. ( )
=
( )
As the parameter changes If
If the pole goes to the right the a. m=2, B=10 and k=12;
system is becoming unstable. b. m=1, B=0 and k=4;
c. m=3, B=3 and k=-18;
If the pole goes to the left the
d. m=0.5, B=-2 and k=6.5;
system is becoming more stable.
STABILITY OF CONTROL SYSTEM
Stability and transient response of a system affected by location of closed loop

poles in s-plane.
Routh-Hurwitz: tells us number of poles on the right half s-plane.
Root-Locus: shows graphically the movement of poles on s-plane for different

parameter k.
ROUTH-HURWITZ STABILITY
CRITERION
? How can I know a pole lie on RHP
ROUTH-HURWITZ STABILITY CRITERION CONT.…
The necessary and sufficient condition the system to be stable
s4 a4 a2 a0 is there SHOULD NOT BE any sign change in the first
s3 a3 a1 0 column.
s2 b1 b2 0 If there is any sign change

s1 c1 0 0  The system is unstable.
s0 d1 0 0  The number of sign change shows the number of poles in

the RHP.
If there is zero
 The system is marginally stable.
ROUTH-HURWITZ STABILITY CRITERION CONT.…
Check stability of a system given by
a. G(s)= 2 and H(s)=0.3;

s +4s+2
( )
b. =
( ) s3 +5s2+10s+2
( )
c. =
( ) s5+3s4+3s3 +6s2+5s+3
( )
d. =
( ) s5+2s4+3s3 +6s2+5s+3
SPECIAL CASES OF ROUTH-HURWITZ
1. Zero in the first column of row
Check stability of the system
a. Substitute with small number εcheck for sign change for positive
and negative ε. ( )
a. =
( ) s5+2s4+3s3 +6s2+5s+3
b. Reverse coefficients: reverse coefficients of the polynomial.
2. Row of zero ( )
b. =
( ) s5+7s4+6s3
 Use coefficients of auxiliary polynomial.
+42s2+8s+56
 Auxiliary polynomial is derivative of the polynomial just above row zero
NB: In these cases the system never become stable but it can be marginally stable.
DESIGN USING ROUTH-HURWITZ
Finding the range of ‘gain’ in which the given system can be
stable.
Find value of k in which the system
a. G(s)=s(1+0.5s)(1+0.5s) and H(s)=0.2
b. G(s)=s(1+0.6s)(1+0.4s) and H(s)=0.3
i. To be stable
ii. To be marginally stable, how much is its’ frequency of

sustained oscillation
ROOT LOCUS(RL) ANALYSIS
Shows the movement of poles of a transfer ( ) ( )
=
( ) ( )
function on ‘S-plane’ as gain ‘k’ varies [usually
0<k<∞] We call ‘zeros’ of a transfer function values
that make numerator zero.
We call ‘poles’ of a transfer function values

that make numerator zero.
1 + kG s H(s)=0
kG s H(s)=-1 → kG s H(s)=1 ∡180⁰

RL CRITERIA
Since k varies magnitude condition satisfied
only for specific k
A given point/ value is pole of a transfer Angle condition satisfied always because
function for some value of ‘k’ if it satisfies value ‘k’ of did not affect the angle.
magnitude or angle criterion.
Check whether the given points lie on the
Magnitude criterion root locus if it lies find the value of gain ‘k’
|kG(s)H(s)|=1 G(s)=
( )
H(s)=1 a. -3 c. 2-j e. 3j
Angle condition b. -3+2j d. 3
G(s)= H(s)=1 -3+5j
∡ kG(s)H(s)=(2a+1)180⁰ a=0,1,2,3….
( )
G(s)= 3+ 3
( )
SKETCHING RL
Find poles of tf for k=0,10,25,40,50 and
plot on s-plane.
Plot poles of the tf given below for k≥0

G(s)= =1
( ) ( )
G(s)= H(s)=1
( )
+ 10 +
STEPS TO SKETCH RL
CONSIDERING G(S)H(S)-OLTF (Open Loop Transfer Function)
Rule 1: Symmetry: RL is always Rule 4: When number of poles greater than zeros
symmetrical about real axis. (n>m), n-m poles move to infinity along asymptote.
Rule 2: Number of branch equals to n, Angle of these asymptotes given by

where ‘n and m’ are finite poles and
ϴ= ⁰ where q=0,1,2…,n-m-1
zeros of OLTF respectively, [provided
that n≥m] Starting point of asymptotes on real axis (centroid)
Rule 3: Real axis is part of root locus if ∑ ∑
=
and only if sum of OLTF poles and zero
to the right of the point is odd. NB: if n=m root locus starts from poles and ends at zeros.
STEPS TO SKETCH RL CONT.…
Rule 5: Break-away or break-in point is a c. If there are no poles or zeros to the left
point at which RL comes out of (leaves)or of a zero on the real axis and this portion
enters into the real axis respectively. [for n≠m] of the real axis is a part of the RL, there
exists minimum one break in point to the
α=
± ⁰
angle of leaving/ entering left of that zero.
Break away point (value) determined by
Predicting existence of break-in/ away points
i. Derive k from 1+G(s)H(s)=0
a. Minimum one break-away point exist ii. Derivate k wrt s [i.e. ]
between two adjacent poles.
iii. Roots of =0 are break-away
b. Minimum one break-in point exist
points.
between two adjacent zeros.
STEPS TO SKETCH RL CONT.…
Step 6: intersection of RL with jω-axis equals with roots Sketch root locus of G(s)H(s) and H(s)=1
of A(s)=0 for k=k mar
( )
Step 7: the RL leaves from complex pole and enters into a. ( )
complex zero there is an angle of leaving and entering
called angle of departure( ) and arrival( )respectively.
b. ( )
= + arg[G(s)H(s)]
arg[G(s)H(s)]-angle of G(s)H(s) excluding pole where ( )

angle to be calculated.
c.
= − arg[G(s)H(s)]
d.
arg[G(s)H(s)]-angle of G(s)H(s) excluding zero where
angle to be calculated.
e.
EFFECT OF POLE ZERO ADDITIONS ON RL
Addition of poles Addition of zeros
Root locus changes its shape and shifts towards the There is change in shape of the
imaginary axis. root locus and it shifts towards
the left of the s-plane.
The intercept on the jω-axis occurs for a lower value of
k because of asymptote’s angle being lower down. So, Stability of the system is
There will be reduction in the range of k. enhanced.
Gain margin and relative stability decrease. Range of K increases.
A sluggish response can be changed to a quicker Setting time speeds up.

response for artful introduction of a pole but, System
becomes oscillatory and Settling time increases.
NYQUIST STABILITY CRITERION
A closed-loop control system having an open-loop transfer function G(s)H(s) will be stable
if and only if
where: N: number of counter clock wise encirclements about (-1,0)
N=-P point in the s-plane.
P: number of poles of G(s)H(s) in the RHP
NB:
If N>0, the system is unstable with the number of zeros of 1+G(s)H(s) in RHP Z=N+P
If N≤0, i.e., is not enclosed , the system is stable only for N=0 and P=0 or N=-P

CS 3

Uploaded by

Copyright:

Available Formats

CS 3

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

CS 3

Uploaded by

Copyright:

Available Formats

STABILITY OF CONTROL SYSTEM

Routh Hurwitz Criterion

Root Locus Analysis

Effect of Pole Zero Additions on Root Locus

Nyquist Stability Criterion

Stability and transient response of a system affected by location of closed loop

Routh-Hurwitz: tells us number of poles on the right half s-plane.

Root-Locus: shows graphically the movement of poles on s-plane for different

s2 b1 b2 0 If there is any sign change

s0 d1 0 0  The number of sign change shows the number of poles in

a. G(s)= 2 and H(s)=0.3;

 Auxiliary polynomial is derivative of the polynomial just above row zero

Find value of k in which the system

a. G(s)=s(1+0.5s)(1+0.5s) and H(s)=0.2

b. G(s)=s(1+0.6s)(1+0.4s) and H(s)=0.3

ii. To be marginally stable, how much is its’ frequency of

We call ‘poles’ of a transfer function values

kG s H(s)=-1 → kG s H(s)=1 ∡180⁰

Plot poles of the tf given below for k≥0

Rule 2: Number of branch equals to n, Angle of these asymptotes given by

arg[G(s)H(s)]-angle of G(s)H(s) excluding pole where ( )

Gain margin and relative stability decrease. Range of K increases.

A sluggish response can be changed to a quicker Setting time speeds up.

You might also like

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.