Lecture 14 Stability

EE-379
LINEAR CONTROL SYSTEMS

Lecture No 14
“CONTROL SYSTEMS ENGINEERING”
Text Book: Chapter 6 (6th Ed)
6.1 Introduction Page 302
6.2 Routh-Hurwitz Criterion Page 305
Instructor: Dr. Farid Gul

Class: BEE 4 A/B
Electrical Engineering Department
1
Introduction
Control systems analysis and design

focus on three specifications:
(1) transient response
(2) stability
(3) steady-state errors
2
We can control the output of a system
if
the steady-state response consists of The system is stable
only the forced response
The total response of a system is sum

of the forced and natural responses
c(t) = cforced(t) + cnatural(t)
Transient and steady state responses of a system

can be controlled only if the system is stable
3
Control Systems (Example) From Lecture 01
Consider an elevator. When the fourth-floor button is pressed,

the elevator rises to the fourth floor with a speed and floor-
leveling accuracy designed for passenger comfort.
Two measures of
performance are :
(1) the transient
response
(2) the steady-state
error.
Passenger comfort and passenger patience are dependent

upon the transient response
4
Definitions
(from natural response perspective )
Stability : A linear, time-invariant system is stable if the

natural response approaches zero as time approaches
infinity.
Instability : A linear, time-invariant system is unstable if the

natural response grows without bound as time approaches
infinity.
Marginal Stability : A linear, time-invariant system is

marginally stable if the natural response neither decays nor
grows but remains constant or oscillates as time approaches
infinity.
5
Definitions
(from total response perspective)
1. A system is stable if every bounded input yields a bounded

output.
(bounded-input, bounded-output (BIBO) definition of stability)
2. A system is unstable if any bounded input yields an

unbounded output.
6
7
Cause of problems in finding
closed-loop poles:
Poles for the forward TF

are known
Closed-loop system
We need to factorize the

characteristic polynomial
to find roots of the
closed-loop TF
equivalent system
8
Location of the poles of the closed-loop system are not known unless the
characteristic polynomial is factored or otherwise solved for the roots.
Some conclusions can be drawn about the stability of the system.

If the transfer function has poles only in the left-half-plane, then the factors of the
denominator consist of products of terms:
s + ai
ai is real and positive, or complex with a positive real part
a. The product of terms (s + ai ) is a polynomial with all positive coefficients

b. No term of the polynomial can be missing
(no cancellation between positive and negative coefficients in the factors)
9
• A sufficient condition for a system to be unstable is that all
signs of the coefficients of the denominator of the transfer
function are not the same.
• If powers of s are missing, the system is either unstable or
marginally stable
• If all coefficients of the denominator are positive and not
missing, we are uncertain about the system's pole locations
How can we find about stability of the system if all

coefficient are greater than zero ????
10
Routh-Hurwitz Criterion
The Routh-Hurwitz criterion for stability is a method that
yields stability information without the need to solve for the
closed-loop system poles.
The method requires two steps:

(1) Generate a data table called a Routh table
(2) Interpret the Routh table to tell how many system
poles are in the left half-plane, in the right half-plane,
and on the jω-axis
11
Generating Routh Table:
Q(s)  ansn  an1sn1  an2sn2  an3sn3  an4sn4   a1s  a0
sn an an-2 an-4 an-6 …… 1 an an2

b1  
sn-1 an-1 an-3 an-5 an-7 …… an1 an1 a n 3
sn-2 b1 b2 b3 b4 …… 1 an an  4
b2  
sn-3 c1 c2 c3 c4 ……
an 1 an 1 an 5
. .
1 an 1 an 3
. . c1  
. . b1 b1 b2
s2 k1 k2
1 an1 an5
s1 l1 c2  
b1 b1 b3
s0 m1
Routh-Hurwitz Criterion
Closed-loop transfer
function
Initial layout for

Routh table
14
Completed Routh table
15
Example 6.1 Make the Routh table for the system shown in the Figure.
Feedback system
SOLUTION Find the equivalent closed-loop system because we want to

test the denominator of the closed-loop transfer function.
How the transfer function is found ???
Equivalent closed-loop system
16
Make a Routh Table and label the rows with powers of s from
s3 down to s0 in a vertical column
Form the first and

second row using the
coefficients of the C P
Elements of subsequent
rows are computed
from the entries of the
preceding rows
Completed Routh table
17
s3 1 31 0
s2 1 103 0
s1 -72 0 0
s0 103 0 0
18
Case 1
(No Zero element in first column)
19
Example: (Case: 1) (No zero element in first column)
–Number of sign changes in the first column = number of

unstable poles
20
Example_Case_1
P(s) = 2s4 + 3s3 + 5s2 + 2s + 6
s4 2 5 6 Two sign
changes
s3 3 2 +
s2 +11/3 6 RHP=2 -
LHP=2
IA = 0
+
s1 -32/11
Two
0
unstable
s +6 poles
–Number of sign changes in the first column = number of
unstable poles 21
Interpreting the Basic Routh Table
The basic Routh table applies to systems with poles in
the left and right half-planes
The Routh-Hurwitz criterion declares that the

number of roots of the polynomial that are in the
right half-plane is equal to the number of sign
changes in the first column of Routh Table.
s3 1 31 0
How many sign s2 1 103 0

changes in this s1 -72 0 0
Routh table ???
s0 103 0 0
22
Example1: (Case: 2) (Zero element in first column) Un-stable
system
Case 2 (Steps)
1. First Element of a row is Zero (0)
2. Replace “0” by small number . (=0.00000000..01)
3. Continue the array
Q(s) = s5 + 2s4 + 2s3 + 4s2 + 11s + 10

11 2 1
s5 1 2 11 b1     (1x4  2 x 2)  0
22 4 2
s4 2 4 10
1 an1 an3
then c1   
b1  0 b1 b2
s3 b1 0  6
let b1   (very very small value )
12 4 1 12
s2 c1 -12/ 10 then c1    (12  4) 
  6  
s1 6
s0 10 Two sign changes whether ‘’ is
assumed +ve or –ve. 2-roots in RHS 23
Example2: (Case 2)
Case 2 (Steps)
1. First Element of a row is Zero (0)
2. Replace “0” by small number . (=0.00000000..01)
3. Continue the array
Q(s) = 3s4 + 6s3 + 2s2 + 4s +5 (2.16)
s4 3 2 5
s3 6 4
RHP=2
s2 0 2 LHP=2
IA = 0
s1 -12/
s0 2
• Two sign changes whether ‘’ was
assumed +ve or –ve. 24
Q(s) = s5 + s4 + 2s3 + 3s2 + s + 4
s5 1 2 1
s4 1 3 4
s3 -1 -3
s2 0 4
RHP=2
LHP=3
s1 4/
IA = 0
s0 4
• Two sign changes whether ‘’ was
assumed +ve or –ve. 25
Home Assignment
PROBLEM:
Make a Routh table and tell how many roots of the
following polynomial are in the right half-plane and in the
left half-plane.
Don’t submit
26
27

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EE-379

LINEAR CONTROL SYSTEMS

Instructor: Dr. Farid Gul

Control systems analysis and design

The total response of a system is sum

c(t) = cforced(t) + cnatural(t)

Transient and steady state responses of a system

Consider an elevator. When the fourth-floor button is pressed,

Passenger comfort and passenger patience are dependent

Stability : A linear, time-invariant system is stable if the

Instability : A linear, time-invariant system is unstable if the

Marginal Stability : A linear, time-invariant system is

1. A system is stable if every bounded input yields a bounded

2. A system is unstable if any bounded input yields an

Poles for the forward TF

We need to factorize the

Some conclusions can be drawn about the stability of the system.

a. The product of terms (s + ai ) is a polynomial with all positive coefficients

How can we find about stability of the system if all

The method requires two steps:

Q(s)  ansn  an1sn1  an2sn2  an3sn3  an4sn4   a1s  a0

sn an an-2 an-4 an-6 …… 1 an an2

Initial layout for

SOLUTION Find the equivalent closed-loop system because we want to

How the transfer function is found ???

Equivalent closed-loop system

Form the first and

–Number of sign changes in the first column = number of

The Routh-Hurwitz criterion declares that the

How many sign s2 1 103 0

Q(s) = s5 + 2s4 + 2s3 + 4s2 + 11s + 10

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