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THEORY
CHAPTER 5
STB 35103
Objective
Todetermine the stability of a system
represented as a transfer function.
Introduction
In chapter 1, we learnt about 3
requirements needed when designing a
control system
Transient response
Stability
Steady-state errors
Introduction
What is stability?
Most important system specification.
We cannot use a control system if the system
is unstable
Stability is subjective
s4
s3
s2
s1
s0
Routh-Hurwitz Criterion
Input the coefficient values for each s
horizontally starting with the coefficient
of the highest power of s in the first row,
alternating the coefficients.
s4 a4 a2 a0
s3 a3 a1 0
s2
s1
s0
Routh-Hurwitz Criterion
Remaining entries are filled as follows. Each entry
is a negative determinant of entries in the
previous two rows divided by the entry in the
first column directly above the calculated row.
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Routh-Hurwitz Criterion
Example 6.1
Make a Routh table for the system below
Answer:
get the closed-loop transfer function
Routh-Hurwitz Criterion
We can multiply any row in Routh table by
a positive constant without changing the
rows below.
Routh-Hurwitz Criterion
Interpreting the basic Routh table
-
-
+
P ( s ) = 3s + 9s + 6s + 4s + 7 s + 8s + 2s + 6
7 6 5 4 3 2
Routh-Hurwitz Criterion
Answer
Routh-Hurwitz Criterion
Answer
Routh Hurwitz
Exercise 2
Routh Hurwitz
Solution
Routh Hurwitz
Exercise 3
Solution
Routh Hurwitz
Exercise 4
Routh Hurwitz
Solution
Routh-Hurwitz Criterion: Special cases
Two special cases can occur:
Example 6.2
Determine the stability of the closed-loop
transfer function
10
T ( s) = 5
s + 2 s 4 + 3s 3 + 6 s 2 + 5s + 3
Routh-Hurwitz Criterion: Special cases
Solution:
We will begin forming the Routh table
using the denominator. When we reach s3
a zero appears only in the first column.
s5 1 3 5
s4 2 6 3
s3 0 7/2 0
s2
s1
Zero in first s0
column
Routh-Hurwitz Criterion: Special cases
If there is zero in the first column we
cannot check the sign changes in the first
column because zero does not have ‘+’ or
‘-’.
A solution to this problem is to change 0
into epsilon (ε).
s5 1 3 5
s4 2 6 3
s3 0 ε 7/2 0
s2
s1
s0
Routh-Hurwitz Criterion: Special cases
We will then calculate the determinant for
the next s values using the epsilon.
Routh-Hurwitz Criterion: Special cases
If we all the columns and rows in the
Routh table we will get
Routh-Hurwitz Criterion: Special cases
We can find the number of poles on the
right half plane based on the sign changes
in the first column. We can assume ε as
‘+’ or ‘-’
Routh-Hurwitz Criterion: Special cases
There are two sign changes so there are
two poles on the right half plane. Thus the
system is unstable.
Routh-Hurwitz Criterion: Special cases
Zero only in the first column
Stability via reverse coefficients
Example 6.3
Determine the stability of the closed-loop
transfer function
10
T ( s) = 5
s + 2 s 4 + 3s 3 + 6 s 2 + 5s + 3
Routh-Hurwitz Criterion: Special cases
Solution:
First step is to write the denominator in
reverse order (123653 to 356321)
D ( s ) = 3s + 5s + 6 s + 3s + 2s + 1
5 4 3 2
10
T ( s) = 5
s + 7 s 4 + 6s 3 + 42s 2 + 8s + 56
Routh-Hurwitz Criterion: Special cases
Solution:
Start with forming the initial Routh table
Routh-Hurwitz Criterion: Special cases
We can reduce the number in each row
Routh-Hurwitz Criterion: Special cases
We stop at the third row since the entire
row consists of zeros.
dP ( s )
= 4 s 3 + 12 s + 0
ds
We use the coefficient above to replace
the row of zeros. The remainder of the
table is formed in a straightforward
manner.
Routh-Hurwitz Criterion: Special cases
The Routh table when we change zeros
with new values
Routh-Hurwitz Criterion: Special cases
Solve for the remainder of the Routh table