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

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 array

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

ƒ Characteristic equation

ƒ Routh array

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

0.5

1.5

2.5

3.5
Example 1: Range of (KP,KI)

ƒ From Routh array,9

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.

10

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

Unit step response

11

Example 2

ƒ Determine the range of K and a that stabilize the

closed-loop system.

12
Example 2 (cont’d)13

Example 2 (cont’d)

ƒ Characteristic equation

14

Example 2 (cont’d)

ƒ Routh array

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

auxiliary equation

15

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.

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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).)17

More example 2

Routh array

No sign changes

in the first column

No root in OPEN(!) RHP

Derivative of auxiliary poly.

18

More example 3

Routh array

One sign changes

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

Derivative of auxiliary poly.

40