Chapter 2 (page#143)

2.5 Stability Testing

2.5.1 Coefficient Tests
2.5.4 Case 1
Introduction
2.5.2 Routh-Hurwitze Stability Testing
2.5.5 Case 2
2.5.6 Case 3
2.6 Parameter Shifting (Page 159)
System should be

Stable: BIBO stable if, for every bounded input, the
output is bounded for all time

LTI system must have all poles in the left-half of the s-
plane (negative real parts)

Transfer function poles are same as roots of the
characteristic polynomial are the same as system
Eigen- values

All Eigen-values must have negative real parts for BIBO
stability

Poles on imaginary axis are not stable by this definition

Stability
Example:1
) s )( s ( ) s ( R
) s ( C
) s ( G ) s ( T
2 1
2
+ +
= = =
Stable or Unstable? Why Characteristic equation (s+1)(s+2)=0
Hence s+1=0 or s=-1 and s+2=0 or s=-2
system to be stable is that all roots (-1 & -2)
of the characteristic equation (poles of the
closed-loop transfer function) lie in the left
half of the s-plane.
x x
-2 -1
S-plane
The natural-response terms for the system are k
1
e
-t
and k
2
e
-2t

2 2
2
2
2 3 2
2
n n
n
s
s s
e + ,e +
e
=
+ +
=
Over Damped System? Critically Damped System?
Example 2:
12 11 2
24 10
2 3
+
+
=
s s s
s
) s ( T
) s ) s )( s (
s
4 3 1
24 10
+ +
+
=
Hence roots are s= -1, s= 3, & s= -4
The natural-response terms for the system are k
1
e
-t
,k
2
e
3t
,and k
3
e
-4t

Stable or Unstable? Unstable due to s=3
Unstable due to term k
2
e
3t
MATLAB Program:

>> p = [1 2 -11 -12];
>> r = roots(p)

Note: Numerator 10s+24 has NO role in the stability of the system

x x
-4 -1
x
3
Example:3
1
2
+
=
s
s
) s ( T
) j s )( j s (
s
+
=
Hence roots are s= -j, s=j
The natural-response terms for the system are ksin(t+u)
Stable or Unstable? Marginally stable
Marginally stable because no exponential term
MATLAB Program:

>> p = [1 0 1];
>> r = roots(p)

x
x
j
-j
Example:4 (Example 3)
1
2
+
=
s
s
) s ( T
) s ( ) s (
s
) s ( R ) s ( T ) s ( C
1
1
1
2 2
+ +
= =
The response of the system c(t) = tsint
Marginally stable
Let the input r(t)=sint
1
1
2
+
=
s
) s ( R
) j s )( j s (
s
+
=
Hence roots are s= -j, s=j
x
x
j
-j
x
x
j
-j
Stable or Unstable? Unstable due to t
sint is marginally stable but the multiplication of time (t) it makes it unstable
NOTE: The natural-response of the system are ksin(t+u)
bounded (marginally stable) but for unbounded output
(unstable) for certain bounded input
Necessary condition
If any coefficientai of Q(s) is zero or negative
then not all roots lie in the left half of the s-plane

Otherwise: set up Routharray and use Routh-
Hurwitz criterion:
It requires that all poles of the closed-loop TF lie in the
LHP.

Hence Absolute Stability analysis requires determining
if any poles are in the RHP or on the jw axis.

Routh-Hurwitz Criterion (Doesnt actually calculate
roots)
Routh-Hurwitz Stability Testing (Criterion)

- Gives the number of roots with positive real parts.
0 1
1
1
) ( a s a s a s a s Q
n
n
n
n
+ + + + =

-First step make the Routh Array:
s
n
a
n
a
n-2
a
n-4
a
n-6


s
n-1
a
n-1
a
n-3
a
n-5
a
n-7


s
n-2
b
1
b
2
b
3
b
4


s
n-3
c
1
c
2
c
3
c
4

. .
. .
. .
s
2
k
1
k
2

s
1
l
1

s
0
m
1

0 1
4
4
3
3
2
2
1
1
a s a s a s a s a s a s a ) s ( Q
n
n
n
n
n
n
n
n
n
n
+ + + + + + =

3 1
2
1
1
1

=
n n
n n
n
a a
a a
a
b
5 1
4
1
2
1

=
n n
n n
n
a a
a a
a
b
2 1
3 1
1
1
1
b b
a a
b
c
n n
=
3 1
5 1
1
2
1
b b
a a
b
c
n n
=
0 1
4
4
3
3
2
2
1
1
a s a s a s a s a s a s a ) s ( Q
n
n
n
n
n
n
n
n
n
n
+ + + + + + =

Example: (Case: 1)
Number of sign changes in the first column = number of
unstable poles
Note: Case 1
(No zero element in first column)
Example: (Case: 2) Un-stable system
Case 2 (Steps)
1. First Element of a row is Zero (0)
2. Replace 0 by small number c. (c=0.00000000..01)
3. Continue the array
Q(s) = s
5
+ 2s
4
+ 2s
3
+ 4s
2
+ 11s + 10
s
5
1 2 11
s
4
2 4 10

c 6

s
2
-12/c 10
s
1
6
s
0
10
Two sign changes whether c was
assumed +ve or ve.
0 ) 2 2 4 1 (
2
1
4 2
2 1
2
1
1
= = = x x b
0 b
1
s
3
=
=
=

2 1
3 1
1
1
0
1
b b
a a
b
c then
n n
c
= c
c
=
c c
=
12
4 12
1
6
4 2
1
1
) ( c then
) value small very very ( b let c =
1
Example: (Case: 3)
Case 3: (Steps)
1. All Element of a row are Zero. (Premature Termination )
2. Auxiliary Polynomial
3. Aux Poly is differentiated with respect to s
4. Coefficients of the Polynomial replaces the zero row
Ex. Q(s) = s
2
+ 1
s
2
1 1
s
1
0
s
0

No sign change in the first column
implies that system is STABLE.
Aux poly indicates roots on jw axis, which implies
MARGINALLY STABLE
Aux Pol = s
2
+ 1
d/ds(s
2
+ 2)
2s
2
1
S
2
=-1; S=j
What is Auxiliary Polynomial
Q(s) contains an even
polynomial as factor. An even
polynomial is one in which the
exponents of s are even
integers or zero

This even polynomial is called
Auxiliary Polynomial

In Routh array, coefficients of
Aux Poly are those directly
above the zero row. (See
examples above)
s
2
1 1
s
1
0
s
0

Aux Pol = s
2
+ 1
Aux Pol = s
2
+ 2
s
2
1 2
s
1
0
s
0

s
3
1 2
Example: (Case: 3)
Case 3: (Steps)
1. All Element of a row are Zero. (Premature Termination )
2. Auxiliary Polynomial
3. Aux Poly is differentiated with respect to s
4. Coefficients of the Polynomial replaces the zero row
Ex. Q(s) = (s+1) (s2 + 2) = s
3
+ s
2
+ 2s + 2
s
3
1 2

s
2
1 2

s
1
0

s
0

Aux Pol = s
2
+ 2
d/ds(s
2
+ 2)
2s
2
1
RHP=2
LHP=2
IA = 0
Example: (Case: 3)
Ex. Q(s) = s
4
+ s
3
+ 3s
2
+ 2s + 2
s
4
1 3 2

s
3
1 2

s
2
1 2

s
1
0

s
0

Aux Pol = s
2
+ 2
d/ds(s
2
+ 2)
2s
2
2
RHP=0
LHP=2
IA = 2
Example_Case_1 from Book (Page 146)
P(s) = 2s
4
+ 3s
3
+ 5s
2
+ 2s + 6 (2.14)
s
4
2 5 6

s
3
3 2

s
2
+11/3 6

s
1
-32/11

s
0
+ 6
Number of sign changes in the first column = number of
unstable poles
Two sign
changes
+
-
+
Two
unstable
poles
RHP=2
LHP=2
IA = 0
Case 2 (Steps)
1. First Element of a row is Zero (0)
2. Replace 0 by small number c. (c=0.00000000..01)
3. Continue the array
Q(s) = 3s
4
+ 6s
3
+ 2s
2
+ 4s +5 (2.16)
s
4
3 2 5
s
3
6 4

c 2

s
1
-12/c
s
0
2

Two sign changes whether c was
assumed +ve or ve.
0
b
1
s
2
Example_Case_2 from Book (Page 149)
RHP=2
LHP=2
IA = 0
Q(s) = s
5
+ s
4
+ 2s
3
+ 3s
2
+ s + 4 (2.20)
s
5
1 2 1
s
4
1 3 4
s
3
-1 -3

s
2
c 4

s
1
4/c

s
0
4
0
Example_Case_2 from Book (Page 149)
Two sign changes whether c was
assumed +ve or ve.
RHP=2
LHP=3
IA = 0
Q(s) = s
5
+2s
4
+ 8s
3
+ 11s
2
+ 16s + 12 (2.24)
s
5
1 8 16

s
4
2 11 12

s
3
2.5 10

s
2
3 12

s
1
0

s
0
12
Example_Case_3 from Book (Page 150)
Aux Pol = 3s
2
+ 12
d/ds(3s
2
+ 12)
6s
6
No sign change in the first column
MARGINALLY STABLE.

Aux poly indicates roots on jw axis
3s
2
=-12 s
2
=-4 s
1,2
=2
s
6
+ s
5
+ 5s
4
+ s
3
+ 2s
2
- 2s 8 (2.26)
s
6
1 5 2 -8

s
5
1 1 -2

s
4
4 4 -8

s
3
0 0

s
2
2 -8
s
1
72
s
0
-8
Aux Pol = 4s
4
+4s
2
+ 8
16
Example Example_Case_3 from Book (Page 152)
d/ds(4s
4
+4s
2
+ 8)
16s
3
+8s
2

8
RHP=1
LHP=3
IA = 2
S
3
2 2
S
2
3 K
S
1
(6-2K)/3
S
0
K
(6-2K)/3 > 0
K> 0
Stable
Stable
For what value of K the system will be marginally stable?
S
4
1 4 K
Stability range 0 < K < 3
Example_ from Book (Page 160)
P(s) = S
4
+ 2s
3
+ 4s
2
+ 2s + K
S
3
2 K
S
2
4-K/2 6
S
1

S
0
6
> 0
K < 8
Stable
Stable
S
4
1 4 6
Stability range can not be satisfied for any value of K
(complex roots). Polynomial has RHP roots for all K
Example_ from Book (Page 160)
complex roots
) . (
K

=
5 0 2
24 16 4
0 12 4
2
2
= + K
K
P(s) = S
4
+ 2s
3
+ 4s
2
+ Ks + 6
2 4
12
/ K
K

Example (Important used in designing)

Design specification that e
ss
must be less than 2% of the constant
unit step input. Find value of K that will produce error > 2%. Using
Routh Hurwitze criteria, verify the values of K for stability.

S
3
1 5
S
2
4 2+2K
S
1
1/4(18-2K)
S
0
2+2K
K<9
K> -1
Stable
Stable
p c
s
p
G G lim
0
= K
K
s s s
K
s
p
=
+ + +
=

2 5 4
2
lim
2 3
0
K
50
1
1
1
<
+
=
K
e
ss
2 5 4
2
2 3
+ + +
=
s s s
K
KG
p
49 > K
For e
ss
<2% K>49 system to be stable -1 < K<9 Hence Not possible
_

K
2
s
3
+ 4s
2
+ 5s + 2



49 2 > K of value % for Henc
Q(s) = s
3
+ 4s
2
+ 5s +2+2K
_

K
2
s
3
+ 4s
2
+ 5s + 2



Q(s) = s
4
+ 4s
3
+ 5s
2
+ (2 + 2K
p
) s + 2 K
i
s
4
1 5 2K
i
s
3
4 2+2K
p
s
0
2K
i
K
p
<9
K
i
> 0
Stable
Stable
s
k s K
G with replaced is K the example previous the In
i p
c
+
=
s
k s K
i p
+
Q(s) = s
4
+ 4s
3
+ 5s
2
+ (2 + 2K
p
) s + 2 K
i
s
4
1 5 2K
i
s
3
4 2+2K
p
s
0
2K
i
K
p
<9
K
i
> 0
Stable
Stable
s
k s K
s
K
K G with replaced is K example previous the In
i p p
p c
+
= + =
Choose K
p
&K
i
= 3; using simulink simulate the problem
_
K
2
s
3
+ 4s
2
+ 5s + 2
_
K
2
s
3
+ 4s
2
+ 5s + 2
_
K
2
s
3
+ 4s
2
+ 5s + 2