2015-04-15

SIGNALS AND CONTROL SYSTEMS

Week 10_2
Stability of Linear Feedback Systems
Instructor : Dr. Raouf Fareh
Fall Semester 2014/2015

Introduction
The stability of a feedback system is directly related to the location of the roots of the
characteristic equation of the system transfer function.
The RouthHurwitz method is introduced as a useful tool for assessing system stability
The technique allows us to compute the number of roots of the characteristic equation in the
right half-plane without actually computing the values of the roots.
It was discovered that all coefficients of the characteristic polynomial must have the same
sign and non-zero if all the roots are in the left-hand plane.
These requirements are necessary but not sufficient. If the above requirements are not met,
it is known that the system is unstable. But, if the requirements are met, we still must
investigate the system further to determine the stability of the system.

The Routh-Hurwitz criterion is a necessary and sufficient criterion for the stability of
linear systems.

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The Routh-Hurwitz Stability Criterion

an s n + an 1s n 1 + an 2 s n 2 + L + a1s + a0 = 0

Characteristic equation, q(s)

Routh array

The Routh-Hurwitz criterion states

that the number of roots of q(s)
with positive real parts is equal to
the number of changes in sign of
the first column of the Routh array.

or

an 2

an 4

an 1
bn 1

an 3
bn 3

an 5
bn 5

s n 3

cn 1

cn 3

cn 5

s0

hn 1

(an1 )(an 2 ) an (an3 ) =

an 1

an

1
an 1 an 1

an 4

1 an 1
cn 1 =
bn 1 bn 1

a n 3
bn 3

bn 3 =

or

an

s n 1
s n2

bn 1 =

or

sn

1 an
an 1 an 1

an 2
an 3

an 5

Example: Second-Order System

Example 6.1

Second-order system

The Characteristic polynomial of a second-order sys tem is:

q(s )
The Routh array is w ritten as:

w here:
b1

a1 a0 ( 0) a2
a1

a 2 s + a 1 s + a 0

s2
s1

a2
a1

a0
0

s0

b1

a0

Theref ore the requirement f or a stable second-order system is

simply that all coef f icients be positive or all the coef ficients be
negative.

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Example: Third-Order System

The characteristic polynomial of a third-order system is:

The polynomial satisfies all the necessary conditions because all the coefficients exist and are
positive.
Utilizing the Routh array, we have:

Because there are two changes in sign in the first column, we find that two roots of
D(s) lie in the right- hand plane, and our prior knowledge is confirmed.

Example: Fourth-Order System

2 s 4 + s 3 + 3s 2 + 5s + 10 = 0
Routh's Tabulation
s4
s

s2
s1
s0

1
5
1 3 2 5
= 7 10
1
7 5 1 10 45
=
0
7
7
10

10

2 sign change 2 RHP roots

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Special Case1: Zero only in the first column

Zero only in the first column
When forming the Routh table, replace the zero with a small number
evaluate the first column for positive values of .

and

Problem: Determine the stability of the closed loop transfer function:

Sign of first column for > 0, 0

s5

s4

s3

s2

s0

two sign changes

two poles in RHP
unstable system

Special Case 2: Entire row is zero

Problem: Determine the number of right hand plane poles in the closed-loop transfer
function:

Now we are faced with the problem of zeros in the third row.

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Special Case 2: Entire row is zero

1. Form a new polynomial using the entries in the row above zeros. The polynomial will
start with power of s in that row, and continue by skipping every other power of s, i.e.

2. Next we differentiate the polynomial with respect to s and obtain

(2)

3. Finally the row with all zeros in the Routh table is replaced with the coefficients in
Eq.(2), and continue the table.

Special Case 2: Entire row is zero

We see no sign changes hence no RPH poles.

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Special Case 2: Entire row is zero

Why does an entire row of zeros occur?
When a purely odd or even polynomial is a factor of the original polynomial. (
6
8 is an even polynomial as it only has even power of s.)
Some polynomial only have roots symmetrical about the origin.
Routh table from the even polynomial

is a test of the even polynomial.

The rows of zeros indicates the possilbility of jw roots.

Examples
Example 1

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Examples
Example 2
As an example, consider

Two sign changes, hence unstable with two RHP poles

Examples
Example 3

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Examples
Example 4

Examples
Example 5
Given the system below find the range of the gain K that will lead to stability, unstability
and marginal stability.

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Examples
Example 5

If K is positive (assumed) all the elements in the first column are positive except that
the
entry may be positive/nagative.
If K < 1386, the system will remain stable.
If K > 1386, the system will remain unstable.
If K = 1386, a row of zeros, so using

Since there are no sign change from to

the even polynomial has no unstable roots,
only j! roots, therefore the system is
marginally stable when K = 1386.