Tutorial – Stability

1. For the following system:

i) Build the Routh table

ii) Determine the number of poles in the right-half plane, left-half plane and/or jw-
axis if any
iii) State the condition of stability (i.e. stable, unstable, marginally stable)

a) Polynomial;

𝑃(𝑠)=𝑠5+3𝑠4+5𝑠3+4𝑠2+𝑠+3

Answer: Unstable - 2 rhp, 3

lhp

b) Transfer function; s+8

T(s)=
𝑠^5−𝑠^4+4𝑠^3−4𝑠^2+3𝑠−2

Answer: Unstable - 3 rhp, 2

lhp

c) Block diagram;

Answer: Marginally stable – 2 lhp, 2

jw

240
d) Unity feedback; G(s) =
(𝑠+1) (𝑠+2) (𝑠+3) (𝑠+4)

Answer: Unstable – 2rhp,

2lhp
e) Positive feedback;

Answer: Unstable – 1 rhp, 2 lhp, 2 jw

f) Closed loop;

Answer: Unstable – 2 rhp, 3

lhp
 2. Determine the range of K for stability for the unity feedback system with the following:

a) (K+ 2)
G( s ) =
s(s − 1)(s + 3)

Answer: The first column will always have a sign change regardless of the
value of K. There is no value of K that will stabilize this system.

b) K (s+ 6)

G (s) =
s (s+ 1) (s+ 3)

Answer: Stable for 0 K 6

c) K (s− 2) (s+4) (s + 5)
G(s) = (s^2+3)

Answer: Stable for 1/54 K 

d) 𝐺(𝑠)= 𝐾(𝑠+2)
(𝑠^2+1) (𝑠+4) (𝑠−1)

Answer: Conditions state that K <−12, K> 2, and K >−33. These

conditions cannot be met simultaneously. System is not stable for any value of K.
3. For the unity feedback system with the following:
i. Build the Routh table
ii. Determine the value of K that will make the system oscillate (i.e.
marginally stable)
iii. Solve for the frequency of oscillation

a) K
G(s) =
(s + 15)( s + 27)(s+ 38)

Answer: There will be a row of zeros at s1 row if K 144,690. The

previous row, s2, yields the auxiliary equation, 80 s 144,690
2

15,3900. Thus, s j44.73. Hence, K 144,690 yields a frequency

of oscillation of 44.73 rad/s.

b) K(s+ 4)
G( s )

=
s( s+1)(s+ 2)
Answer: ROZ at s1 for K 6. From previous row with K 6,
3s^224 0. Thus s j √8 , or
𝜔 √8 rad/s.
4. Determine the range of K that make a system to have only two right-half plane poles
for a unity feedback system with: G(s) = K(s+2)
(s^2 + 1) (s+4) (s-1)

Answer: For K 33: 1 sign change; For -33 K 12: 1 sign change; For -12 K
0: 1 sign change; For 0 K 2: 3 sign changes; For K 2: 2 sign changes.
Therefore, K 2 yields two right-half-plane
poles.
5. Determine the value of K for the following system that has the poles located as figure
shown below:

Answer: Row of zeros when K 2. Therefore s2 2 and s j√2, or

1.414rad/s. Thus K 2 will yield the even polynomial with 2 jwroots and no
sign changes.