NASSERELDEEN AHMED KABASHI

DEPARTMENT OF BIOTECHNOLOGY
ENGINEERING
nasreldin@iium.edu.my, Tel : Ext. 4524
Sem I, 2011-2012
BTE 4415 Bioprocess Control
Week 11:
Dynamic Response
Part E: Rouths Stability Criterion
Sem I, 2011-2012
Introduction
Goal: Determining whether the system
is stable or unstable from a
characteristic equation in polynomial
form without actually solving for the
roots.
Rouths stability criterion is useful for
determining the ranges of coefficients of
polynomials for stability, especially when
the coefficients are in symbolic
(nonnumerical) form
Sem I, 2011-2012
A necessary condition for
Routh Stability
A necessary condition for stability of the
system is that all of the roots of its
characteristic equation have negative
real parts, which in turn requires that all
the coefficients be positive.
A necessary (but not sufficient) condition for stability
is that all the coefficients of the polynomial
characteristic equation be positive.

Sem I, 2011-2012
A necessary and sufficient
condition for Stability
Rouths formulation requires the
computation of a triangular array that
is a function of the coefficients of the
polynomial characteristic equation.



A system is stable if and only if all the elements of
the first column of the Routh array are positive

Sem I, 2011-2012
Characteristic Equation
Consider an nth-order system whose the
characteristic equation (which is also the
denominator of the transfer function) is:

0
0
1
1
2
2
1
1
) ( s a s a s a s a s s a
n
n n n
+ + + + + =

Sem I, 2011-2012
Method for determining the
Routh array
Consider the characteristic equation:


First arrange the coefficients of the
characteristic equation in two rows,
beginning with the first and second
coefficients and followed by the even-
numbered and odd-numbered coefficients:
0
0
1
1
3
3
2
2
1
1
1 s a s a s a s a s a s ) s ( a
n
n n n n
+ + + + + + =

5 3 1
1
4 2
:
1 :
a a a s
a a s
n
n

Sem I, 2011-2012
Routh array: method (contd)
Then add
subsequent rows
to complete the
Routh array:




* :
* :
* * :
:
:
:
1 :
0
1
2
3 2 1
3
3 2 1
2
5 3 1
1
4 2
s
s
s
c c c s
b b b s
a a a s
a a s
n
n
n
n

?!
Sem I, 2011-2012
Routh array: method (contd)
Compute elements
for the 3
rd
row:




* :
* :
* * :
:
:
:
1 :
0
1
2
3 2 1
3
3 2 1
2
5 3 1
1
4 2
s
s
s
c c c s
b b b s
a a a s
a a s
n
n
n
n

1
1 6 7
3
1
1 4 5
2
1
1 2 3
1
1
,
1
,
1
a
a a a
b
a
a a a
b
a
a a a
b

=

=

=
Sem I, 2011-2012
Routh array: method (contd)
Compute elements
for the 4
th
row:




* :
* :
* * :
:
:
:
1 :
0
1
2
3 2 1
3
3 2 1
2
5 3 1
1
4 2
s
s
s
c c c s
b b b s
a a a s
a a s
n
n
n
n

1
1 7 4 1
3
1
1 5 3 1
2
1
1 3 2 1
1
,
,
b
b a b a
c
b
b a b a
c
b
b a b a
c

=

=

=
Sem I, 2011-2012
Example 1:
Given the characteristic equation,

is the system described by this characteristic
equation stable?

Answer:
One coefficient (-2) is negative.

Therefore, the system does not satisfy the
necessary condition for stability.
4 s 4 s s 2 s 3 s 4 s ) s ( a
2 3 4 5 6
+ + + + + =
Sem I, 2011-2012
Example 2:
Given the characteristic equation,

is the system described by this characteristic
equation stable?
Answer:
All the coefficients are positive and nonzero.
Therefore, the system satisfies the necessary
condition for stability.
We should determine whether any of the
coefficients of the first column of the Routh array
are negative.
4 4 2 3 4 ) (
2 3 4 5 6
+ + + + + + = s s s s s s s a
Sem I, 2011-2012
Example 2 (contd): Routh array
4 4 2 3 4 ) (
2 3 4 5 6
+ + + + + + = s s s s s s s a
? : s
? ? : s
? ? : s
? ? ? : s
? ? ? : s
0 4 2 4 : s
4 1 3 1 : s
0
1
2
3
4
5
6
Sem I, 2011-2012
Example 2 (contd): Routh array
? :
? ? :
? ? :
? ? ? :
4 0 2 5 :
0 4 2 4 :
4 1 3 1 :
0
1
2
3
4
5
6
s
s
s
s
s
s
s
4 4 2 3 4 ) (
2 3 4 5 6
+ + + + + + = s s s s s s s a
2
5
4
10
4
4 3 2 1
=

0
4
0
4
4 1 4 1
= =

4
4
16
4
4 4 0 1
=

Sem I, 2011-2012
Example 2 (contd): Routh array
? :
? ? :
? ? :
0 5 12 2 :
4 0 2 5 :
0 4 2 4 :
4 1 3 1 :
0
1
2
3
4
5
6
s
s
s
s
s
s
s

4 4 2 3 4 ) (
2 3 4 5 6
+ + + + + + = s s s s s s s a
2 ) 2 (
2 5
2 5 2 0 4
= =

5
12
5
20 32
2 5
2 5 4 4 4
=

Sem I, 2011-2012
Example 2 (contd): Routh array
4 :
0 15 76 :
4 3 :
0 5 12 2 :
4 0 2 5 :
0 4 2 4 :
4 1 3 1 :
0
1
2
3
4
5
6
s
s
s
s
s
s
s

4 4 2 3 4 ) (
2 3 4 5 6
+ + + + + + = s s s s s s s a
The elements of
the 1
st
column
are not all positive:

the system is unstable
Sem I, 2011-2012
Example 3: Stability versus
Parameter Range
Consider a feedback system such as:





The stability properties of this system are a
function of the proportional feedback gain K.
Determine the range of K over which the
system is stable.
Sem I, 2011-2012
Example 3 (contd)






The characteristic equation for the system is
given by:
0
) 6 )( 1 (
1
1 =
+
+
+
s s s
s
K
Sem I, 2011-2012
Example 3 (contd)




Expressing the characteristic equation in
polynomial form, we obtain:
0 ) 6 ( 5
2 3
= + + + K s K s s
0
) 6 )( 1 (
1
1 =
+
+
+
s s s
s
K
Sem I, 2011-2012
Example 3 (contd)
The corresponding
Routh array is:
Therefore, the
system is stable
if and only if
K s K s s s a + + + = ) 6 ( 5 ) (
2 3
K s
K s
K s
K s
:
5 ) 30 4 ( :
5 :
6 1 :
0
1
2
3

5 . 7 K
0 K and 5 . 7 K
0 K and 0
5
30 K 4
>
> >
> >

Sem I, 2011-2012
Example 3 (contd)
Solving for the roots using MATLAB gives:

-5 and 1.22j for K=7.5
The system is unstable (or critically stable) for
K=7.5
-4.06 and 0.47 1.7j for K=13
-1.90 and 1.54 3.27j for K=25
=> The system is stable for both K=13 and K=25
K s K s s s a + + + = ) 6 ( 5 ) (
2 3
Sem I, 2011-2012
0 1 2 3 4 5 6 7 8 9 10
-2
-1
0
1
2
3
4
Time (sec)
A
m
p
l
i
t
u
d
e
Step-Response Versus K parameter
K=6.5
7
7.5
8
10
12.5
Sem I, 2011-2012
Sem I, 2011-2012
Example 4: Stability versus
Two Parameter Range
Consider a Proportional-Integral (PI) control
such as:





Find the range of the controller gains
so that the PI feedback system is stable.
) K , K (
1
Sem I, 2011-2012
Example 4 (contd)






The characteristic equation for the system is
given by:
0
2 1
1
1
1
=
+ +
|
.
|

\
|
+ +
) s )( s ( s
K
K
Sem I, 2011-2012
Example 4 (contd)




Expressing the characteristic equation in
polynomial form, we obtain:
0 2 3
1
2 3
= + + + + K s ) K ( s s
0
2 1
1
1
1
=
+ +
|
.
|

\
|
+ +
) s )( s ( s
K
K
Sem I, 2011-2012
Example 4 (contd)
The corresponding
Routh array is:
For stability, we
must have:
K s K s s s a + + + = ) 6 ( 5 ) (
2 3
1
0
1
1
1
2
3
3 3 6
3
2 1
K : s
) K K ( : s
K : s
K : s
+
+
2
3
0
1
1
> >
K
K and K
Sem I, 2011-2012
Example 4: Allowable region
for Stability
Sem I, 2011-2012
Example 4: Transient
Response for the System
Sem I, 2011-2012