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Stability

The document discusses the Routh Stability Criterion, which is a method for determining the stability of linear systems without solving for the roots of the characteristic equation. It explains how to construct the Routh array and interpret its first column to assess stability. Examples are provided to illustrate the application of the criterion in various scenarios.

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2 views

Stability

The document discusses the Routh Stability Criterion, which is a method for determining the stability of linear systems without solving for the roots of the characteristic equation. It explains how to construct the Routh array and interpret its first column to assess stability. Examples are provided to illustrate the application of the criterion in various scenarios.

Uploaded by

sudeaates
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Automatic Control I

Routh Stability Criterian

By Vasfi Emre Ömürlü, Ph.D.


Stability of Linear Systems
Routh Stability Criterion

By Vasfi Emre Ömürlü, Ph.D., 2005 2


Stability
called
th
m deg ree. polynomial. with .m. zi .roots m 
zeros
  
B( s ) b1  s m  b2  s m 1  ......  bm 1
 (s  zi )
G( s)   n 1
 K i n1
A( s ) s  a1  s  ......  a n
n
  
n th deg ree. polynomial. with .n. p j .roots

j 1
(s  p j )

called
poles

A dynamic system is required to be stable for it to work in a


required manner and in desired system performance. We can decide
any system’s stability by directly checking the positiveness of
characteristic equation coefficients. However, this type of stability
decision is not always sufficient.
By Vasfi Emre Ömürlü, Ph.D., 2005 3
Routh Stability Criterion
Routh Stability Criterion tells us whether or not there are unstable roots in a
polynomial equation without actually solving for them. When this criterion
is applied to a control system, information about the absolute stability of a
system can be obtained by just looking to the characteristic eq. coefficients.

b f(t) k b  y  k  ( y  x)  f (t )
m
m  x  k  ( x  y )  0
y x

Y ( s) m  s2  k

F ( s ) s (b  m  s 2  k  m  s  b  k )
X (s) k

F ( s ) s (b  m  s 2  k  m  s  b  k )

By Vasfi Emre Ömürlü, Ph.D., 2005 4


Usage
Write down the polynomial in s as
aosn + a1sn-1 +…….+an-1s + an=0
sn : a0 a2 a4 a 6
First two rows are constructed from
the polynomial coefficients. sn-1:a1 a3 a5 a7
The rest is calculated from the first sn-2:b1 b2 b3
two rows as:
a0 a 2 a0 a4 a0 a6 sn-3:c1 c2 c3

a1 a3 a1 a5 a1 a 7
b1  b2   b3   . .
a1 a1 a1

a1 a5 a1 a7
. .
a1 a3
b1 b3 b1 b4
c1  
b1 b2
b1
c1  
b1
c3  
b1
s1 : f1
s0 : g1
By Vasfi Emre Ömürlü, Ph.D., 2005 5
What are we looking for?
positiveness of first column of the routh
array element ensures the stability of the
intended system sn : a 0 a2 a4 a6
if (-) values are present in the first sn-1:a1 a3 a5 a7
column, then number of sign changes in sn-2:b1 b2 b3
the first column indicates how many
unstable poles the system . sn-3:c1 c2 c3
. .
. .

s1 : f1
s0 : g1
By Vasfi Emre Ömürlü, Ph.D., 2005 6
Example
A characteristic equation of a dynamic system is given as s4 + 2s3 + 3s2 + 4s + 5=0.
Determine the stability condition of the system by using Routh Stability Criterion.

Ans: 1 2 1 -6 5

By Vasfi Emre Ömürlü, Ph.D., 2005 7


Special Case
What happens if one of the elements of the fırst column of Routh Array turns out to be
zero?
Check the stability of the system with characteristic equation s3 +2s2 + s + 2 = 0.

By Vasfi Emre Ömürlü, Ph.D., 2005 8


K G(S)
+

Example R(S) -
Y(S)

A characteristic equation of the above Y (S ) K * G(S )



closed loop system is given as s4 +2s3 R( S ) 1  K * G ( S )
+ (4+k)s2 + 9s +25 = 0. Determine the
stability condition of the system by
using Routh Stability Criterion.

By Vasfi Emre Ömürlü, Ph.D., 2005 9


+ K 1
- 10 S  100
R(S) (S )

Example Kh

Determine the stability condition of


the system by using Routh Stability
Criterion in terms of K and Kh.

By Vasfi Emre Ömürlü, Ph.D., 2005 10

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