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A stable system is one where the controlled variable will always settle near the set
point. An unstable system is one where, under some conditions, the controlled
variable drifts away from the set point or breaks into oscillations that get larger and
larger until the system saturates on each side.
R G2 C
G1
H
G1 G2 G2
C= R (s )+ U (s )
1+G1 G2 H 1+G 1 G 2 H
1+G1 G 2 H=0 (Characterstic Equation)
(s−r 1 )( s−r 2 )( s−r 3 ).... . .. ..=0 Im
s-p
s
p
Re
A linear control system is unstable if any roots of its characterstic equation are to the
right of imaginary axis.
If this equation has some roots with positive real parts, then the system is unstable, or
some roots equal to zero, the system is marginally stable (oscillatory), therefore it is
unstable.
3
−
1 and s2 in -ve ( 2 )The system is stable
Since the real part in s
2-Routh’s Method
a-Write the characterstic eqn. on the form of a polynomial shape:
a o s n +a 1 s n-1 + a 2 s n-2 +….. a n = 0
(*)
Where ao is positive
It is necessary that ao, a1, a2,…. an-1, an be positive. If any coeff. is negative, the system
is unstable.
If all of the coeff. are positive, the system may be stable or unstable. Then apply the
next step.
b. Routh array:
Arrange the coeff. of eqn. (*) into the first two rows of the Routh array shown
below.
Ro
w
Process Control 49 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
1 ao a2 a4 a6
2 a1 a3 a5 a7
3 A1 A2 A3
4 B1 B2 B3
n+1 C1 C2 C3
a a −a a a a −a a a1 a 6−ao a7
A 1= 1 2 o 3 A 2= 1 4 o 5 A 3=
a1 , a1 , a1
A a −a A A a −a A
B 1= 1 3 1 2 B 2= 1 5 1 3
A1 , A1
B 1 A 2 −A 1 B 2 B 1 A 3 −A 1 B3
C1 = C2 =
B1 , B1
Examine the elements of the first column of the array ao, a1, A1, B1,C1……….W1
a) If any of these elements is negative, we have at least one root on the right of
the imaginary axis and the system is unstable.
b) The number of sign changes in the elemnts of the first column is equal to the
number of root to the right of the imaginary axis.
The system is stable if all the elements in the first column of the array are
positive
3×2−0
A 2= =2
3
11/3×4−6
B 1= =2. 36
11/3
2. 36×2
C1 = =2
2 . 36
The system is stable
3 2
Example: A system has a characteristic equation s + 9 s +26 s +24=0 . Using the
Routh criterion, show that the system is stable.
Solution
3 2
q(s) = s + 9 s +26 s +24
Using the Routh-Hurwitz criterion,
s3
|s2 1 26
|s1 9 24
|s0 26 0
¿ 24 0
st
No sign change in 1 column then the system is stable.
Example: Consider the feedback control system with the characteristic equation.
K
s 3 +2s2 +( 2+ K c ) s+ c =0
τI
Solution:
The corresponding Routh array can now be formed
Ro
w
1 1 2+K c 0 The elemnets of the first-column are positive
2 2 Kc 0 except the third, which can be positive or
τI negative depending on Kc and τI.
3 2( 2+ K c )−K c / τ I 0 0 So state the stability
Put
2
4 K c /τ I 0 0 2( 2+ K c )−K c / τ I K
>0 ⇒2( 2+ K c )> c
2 τI
If Kc and τI satisfy the condition, then the system is atable
Critical stability
Process Control 51 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Put the third element=0
Kc
2( 2+ K c )=
i.e
τI
For τI=0.1
2(2+ K c )=10 K c ⇒ 4=8 K c
K c =0 .5
1) if K c <0 . 5 , the system is stable (all of the elements in the 1st column is +ve)
2) if K c >0 . 5 , the third element of the 1st column is negative. We have two sign
change in the elements of the first column.
Example:
U
R 1
Kc C
( 1s 1)( 2 s 1)
1
( 3s 1)
1 1
τ 1 =1, τ 2 = , τ 3 =
If 2 3
Determine Kc for a stable system
Solution:
The char. Eqn.
1
1+K c =0
1 1
(s +1)( s +1)( s+1 )
2 3
1 1
(s+1)( s+1)( s+1 )+K c=0
2 3
1 3 1
( s 2 + s+1)( s+1 )+K c =0
2 2 3
3 2 2
s s s s 3s
+ + + + +1+ K c=0
6 2 3 2 2
1 3 2 11
s +s + s+1+ K c=0
6 6
Ro
w
1 1/6 11/6
2 1 1+Kc
Process
3 Control
10−K c 0 52 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
6
4 1+Kc
Since Kc>0
If 10-Kc>0
K c <10
Therfore Kc must within the range 0<
Kc< 10
Example:
R 3 U 2
K c (1 )
s C
1
2
0.2s 0.4s 1
Study the stability for Kc=2
Solution:
3 1
1+ K c (1+ )×2× =0
s 2
0 . 2 s +0 . 4 s+1
s +3 2
1+K c ( )× =0
s 2
0 . 2 s +0 . 4 s+1
sK c +3 K c 2
1+( )× 2
=0
s 0 . 2 s +0 . 4 s+1
3 2
0 .2 s +0 . 4 s +s+2 sK c +6 K c=0
3 2
0 .2 s +0 . 4 s +(1+2 K c )s +6 K c =0
Ro Ro For Kc=2
w w
1 0.2 1+2Kc 1 0.2 5
2 0.4 6Kc 2 0.4 12
3 A1 0
3 2−2. 4 0
4 B1 0
0.4
4 1.2 0
Example: Designers have developed small, fast, vertical-take off fighter aircraft that
are invisible to radar. This aircraft concept uses quickly turning jet nozzles to steer
the airplane. The control system for the heading or direction control is shown in
figure.
Determine the maximum gain of the system for stable operation.
Solution
k (s +20 ) ks+20 k ks+20 k
2
= 2
= 3 2
G(s) = s (s+ 10) s( s +20 s+100 ) s +20 s +100 s
Characteristic equation,
1+GH = 0
ks+ 20 k
3 2
∗1=0
1+ s +20 s +100 s
3 2
s +20 s +100 s +ks+20k =0
s 3 +20 s2 +(100+k )s+20 k=0
The corresponding Routh array can now be formed
Ro
w
1 1 100+k
2 20 20k
3 a 0
4ProcessbControl 0 54 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
20(100+k )−20 k 20∗100+20 k−20 k
a = 20 = 20 = 100
a∗20 k−0
b= a =20 k
st
The system is stable, no sign change in 1 column,
b>0
20k >0
k>0
∴ Range of k is must be k>0