Professional Documents
Culture Documents
Course roadmap
Laplace transform
Transfer function
• electrical
• mechanical
• electromechanical
Linearization
Time response
• Transient
• Steady state
Frequency response
• Bode plot
Stability
• Routh-Hurwitz
• Nyquist
Design specs
Root locus
Frequency domain
Design examples
marginally stable if
Re(si)<=0 for all i, and
unstable if
marginally stable.
Let si be poles of
rational G. Then, G is …
Routh-Hurwitz criterion
Consider a polynomial
Assume
where
Routh array
polynomial
7
Routh array
Routh array
Routh-Hurwitz criterion
is equal to
10
Example 1
Routh array
11
Example 2
Routh array
Two roots
in RHP
12
Example 3
Routh array
or in RHP.
No sign changes
No roots
in RHP
But some
roots are on
imag. axis.
Example 4
Routh array
No sign changes
Find the range of K s.t. Q(s) has all roots in the left
14
15
Examples
Yes / No
Yes / No
Yes / No
Yes / No
Yes / No
16
Routh array
Next,
Exercises
Read Section 6.