Course roadmap

Laplace transform

Transfer function

Models for systems

• electrical

• mechanical

• electromechanical

Linearization

Modeling Analysis Design

Time response

• Transient

• Steady state

Frequency response

• Bode plot

Stability

• Routh-Hurwitz

• Nyquist

Design specs

Root locus

Frequency domain

PID & Lead-lag

Design examples

(Matlab simulations &) laboratories

Stability summary (review)

ƒ (BIBO, asymptotically) stable if

Re(si)<0 for all i.

ƒ marginally stable if

ƒ Re(si)<=0 for all i, and

ƒ simple root for Re(si)=0

ƒ unstable if

it is neither stable nor

marginally stable.

Let si be poles of

rational G. Then, G is …

Routh-Hurwitz criterion

ƒ This is for LTI systems with a polynomial

denominator (without sin, cos, exponential etc.)

ƒ It determines if all the roots of a polynomial

ƒ lie in the open LHP (left half-plane),

ƒ or equivalently, have negative real parts.

ƒ It also determines the number of roots of a

polynomial in the open RHP (right half-plane).

ƒ It does NOT explicitly compute the roots.

ƒ No proof is provided in any control textbook.5

Polynomial and an assumption

ƒ Consider a polynomial

ƒ Assume

ƒ If this assumption does not hold, Q can be factored as

where

ƒ The following method applies to the polynomial

Routh array

From the given

polynomial

Routh array
(How to compute the third row)

Routh array

(How to compute the fourth row)9

Routh-Hurwitz criterion

The number of roots

in the open right half-plane

is equal to

the number of sign changes

in the first column of Routh array.

10

Example 1

Routh array

Two sign changes

in the first column

Two roots in RHP

11

Example 2

Routh array

If 0 appears in the first column of a

nonzero row in Routh array, replace it

with a small positive number. In this

case, Q has some roots in RHP.

Two sign changes

in the first column

Two roots

in RHP

12

Example 3
Routh array

If zero row appears in Routh array, Q

has roots either on the imaginary axis

or in RHP.

No sign changes

in the first column

No roots

in RHP

But some

roots are on

imag. axis.

Take derivative of an auxiliary polynomial

(which is a factor of Q(s))13

Example 4

Routh array

No sign changes

in the first column

Find the range of K s.t. Q(s) has all roots in the left

half plane. (Here, K is a design parameter.)

14

Simple & important criteria for stability

ƒ 1st order polynomial

ƒ 2nd order polynomial

ƒ Higher order polynomial

15

Examples

All roots in open LHP?

Yes / No

Yes / No
Yes / No

Yes / No

Yes / No

16

Summary and Exercises

ƒ Routh-Hurwitz stability criterion

ƒ Routh array

ƒ Routh-Hurwitz criterion is applicable to only

polynomials (so, it is not possible to deal with

exponential, sin, cos etc.).

ƒ Next,

ƒ Routh-Hurwitz criterion in control examples

ƒ Exercises

ƒ Read Section 6.

ƒ Do Examples and Problems 6-2.