3

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 (review)

The number of roots

in the right half-plane

is equal to

the number of sign changes

in the first column of Routh array.5

Why no proof in textbooks?

“most undergraduate students are exposed to the

Routh–Hurwitz criterion in their first introductory

controls course. This exposure, however, is at the

purely algorithmic level in the sense that no attempt

is made whatsoever to explain why or how such an

algorithm works.”

An Elementary Derivation of the Routh–Hurwitz Criterion

Ming-Tzu Ho, Aniruddha Datta, and S. P. Bhattacharyya

IEEE Transactions on Automatic Control

vol. 43, no. 3, 1998, pp. 405-409.

Why no proof in textbooks? (cont’d)

“The principal reason for this is that the classical

proof of the Routh-Hurwitz criterion relies on the

notion of Cauchy indexes and Sturm’s theorem,

both of which are beyond the scope of

undergraduate students.”

“Routh-Hurwitz criterion has become one of the few

results in control theory that most control engineers

are compelled to accept on faith.”

Example 1

ƒ Design K(s) that stabilizes the closed-loop

system for the following cases.

ƒ K(s) = K (constant)

ƒ K(s) = KP+KI/s (PI (Proportional-Integral) controller)

Example 1: K(s)=K

ƒ Characteristic equation

ƒ Routh array9

Example 1: K(s)=KP+KI/s

ƒ Characteristic equation

ƒ Routh array

10

-1 0 1 2 3 4 5 6 7 8 9

0.5
1

1.5

2.5

3.5

Example 1: Range of (KP,KI)

ƒ From Routh array,

11

Example 1: K(s)=KP+KI/s (cont’d)

ƒ Select KP=3 (<9)

ƒ Routh array (cont’d)

ƒ If we select different KP, the range of KI changes.

12

Example 1: What happens if KP=KI=3

ƒ Auxiliary equation

ƒ Oscillation frequency

ƒ Period

0 2 4 6 8 10 12 14 16 18 20

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8
2

Unit step response13

Example 2

ƒ Determine the range of K and a that stabilize the

closed-loop system.

14

Example 2 (cont’d)

15

Example 2 (cont’d)

ƒ Characteristic equation

16

Example 2 (cont’d)

ƒ Routh array

ƒ If K=35, oscillation frequency is obtained by the

auxiliary equation17

Summary and Exercises

ƒ Control examples for Routh-Hurwitz criterion

ƒ P controller gain range for stability

ƒ PI controller gain range for stability

ƒ Oscillation frequency

ƒ Characteristic equation

ƒ Next

ƒ Time domain specifications

ƒ Exercises

ƒ Read Chapter 6 again.

ƒ Redo Examples 1 and 2

ƒ Do Problem 6.6-(a) and 6.7-(b)-Find the range of K for which the

system is stable.

18
More example 1

Routh array

No sign changes

in the first column No root in OPEN(!) RHP

Derivative of auxiliary poly.

(Auxiliary poly. is a factor of Q(s).)

19

More example 2

Routh array

No sign changes

in the first column

No root in OPEN(!) RHP

Derivative of auxiliary poly.

20

More example 3

Routh array

One sign changes

in the first column One root in OPEN(!) RHP

Derivative of auxiliary poly.

40