Laboratory Exercise No.

8
Stability Analysis of Dynamic Systems

1. Objective:
The activity aims to analyze the stability of a dynamic system.
2. Intended Learning Outcomes (ILOs):
The students shall be able to:
2.1 analyze the stability of a dynamic system.

3. Discussion:
When a system is unstable, the output of the system may be infinite even though the input to the
system was finite. This causes a number of practical problems. For instance, a robot arm controller that is
unstable may cause the robot to move dangerously. Also, systems that are unstable often incur a certain
amount of physical damage, which can become costly. Nonetheless, many systems are inherently unstable
- a fighter jet, for instance, or a rocket at liftoff, are examples of naturally unstable systems. Although we can
design controllers that stabilize the system, it is first important to understand what stability is, how it is
determined, and why it matters.
The system is assumed to be linear, and can be represented either by a set of transfer functions.
Linear systems have an associated characteristic polynomial, and this polynomial tells us a great deal about
the stability of the system. Negativeness of any coefficient of a characteristic polynomial indicates that the
system is either unstable or at most marginally stable. If any coefficient is zero/negative then we can say that
the system is unstable. It is important to note, though, that even if all of the coefficients of the characteristic
polynomial are positive the system may still be unstable.
When the poles of the closed-loop transfer function of a given system are located in the right-half of
the S-plane (RHP), the system becomes unstable. When the poles of the system are located in the left-half
plane (LHP) and the system is not improper, the system is shown to be stable. A number of tests deal with
this particular facet of stability: The Routh-Hurwitz Criteria, the Root-Locus, and the Nyquist Stability Criteria
all test whether there are poles of the transfer function in the RHP.
A dynamic system has one of the following stability properties:
• Asymptotically stable system. The behavior after an impulse is shown below:

• Marginally stable system. The behavior after an impulse is shown below:

 • Unstable system. The behavior after an impulse is shown below.

The poles is important when analysis the stability of a system. The figure below gives an overview of the
poles impact on the stability of a system:

Thus, we have the following:

Asymptotically stable system:

Each of the poles of the transfer function lies strictly in the left half
plane (has strictly negative real part).

Marginally stable system:

 One or more poles lies on the imaginary axis (have real part equal
zero), and all these poles are distinct. Besides, no poles lie in the right
half plane.

Unstable system:
At least one pole lies in the right half plane (has real part greater than
zero).

Or: There are multiple and coincident poles on the imaginary axis.

4. Resources:
Matlab

5. Procedure:
1. For the transfer functions as shown below, determine its poles, pzplot and stability properties as
asymptotically stable system, marginally stable system and unstable system.

B
 C

2. Given the following feedback system:

The transfer function of the process is :

The transfer function for the measurement/sensor is:

The transfer function for the controller is:

Use three (3) different values for Kp

Determine poles , pzplot, and step response for the feeback system. Is the system asymptotically stable,
marginally stable system or unstable (for the 3 different values of Kp) ?

3. Given the following control system:

The transfer function for the process (including measurement) is:

The transfer function for the controller is:

Use three (3) different values for Kp

Define the stability properties of this process (is the process stable or not?).
4. Determine the stability properties of each of the following system
4a

4b

4c

4d
4e

4f Consider the ff. feedback control system:

Where : H1 =
H2 =
H3 =
G1 =
G2 =
G3 =
G4 =
Hint:

4g Consider the ff. feedback control system:

 where :
H2 = 2
H3 = 3
G1 =
G2 =
G3 =

4h Given the block diagram:

where: b1 = 1
b2 = 2
b3 = 3
a1 = 3
a2 = 2
a3 = 1
Course: Laboratory Exercise No.: 8
Group No.: Section:
Group Members: Borja, Yasmin Kaye C. Date Performed:
Date Submitted:
Instructor: Engr. Maranan

6. Data and Results:

Procedure 1a

Transfer Function

Poles -1

pzplot

Stability Properties Asymptotically stable system

Procedure 1b

Transfer Function

Poles 0
 pzplot

Stability Properties Unstable system

Procedure 1c

Transfer Function

Poles 0,0
pzplot

Stability Properties Unstable system

Procedure 1d
Transfer Function

Poles 1
pzplot

Stability Properties Asymptotically stable system

Procedure 2 for Kp= 1

Transfer function of the feedback system

Poles
 Pzplot

Step Response

Stability Properties Asymptotically stable system

 Procedure 2 for Kp= 2

Transfer function of the feedback system

Poles

Pzplot

Step Response

Stability Properties Asymptotically stable System

Procedure 2 for Kp= 4

Transfer function of the feedback system

Poles
 Pzplot

Step Response

Stability Properties Unstable System

Procedure 3 for Kp= 1

Transfer function of the feedback system

0
-2
Poles
 Pzplot

Step Response

Stability Properties Unstable System

a
Procedure 3 for Kp= 2

Transfer function of the feedback system

Poles 0
-4
 Pzplot

Step Response

Stability Properties Unstable System

Procedure 3 for Kp= 4

Transfer function of the feedback system

0
-8
Poles
 Pzplot

Step Response

Stability Properties Unstable System

Procedure 4a

Transfer function of the overall system

Poles
 Pzplot

Step Response

Stability Properties Asymptotically Stable System

Procedure 4b

Transfer function of the overall system

Poles
 Pzplot

Step Response

Stability Properties Asymptotically Stable System

Procedure 4c

Transfer function of the overall system

Poles
 Pzplot

Step Response

Stability Properties Unstable System

Procedure 4d

Transfer function of the overall system

Poles
 Pzplot

Step Response

Stability Properties Unstable System

Procedure 4e

Transfer function of the overall system

Poles
 Pzplot

Step Response

Stability Properties Unstable System

Procedure 4f

Transfer function of the overall system

 Poles

Pzplot

Step Response

Stability Properties Unstable System

 Procedure 4g

Transfer function of the overall system

Poles

Pzplot

Step Response
Stability Properties

Procedure 4h

Transfer function of the overall system

Poles
Pzplot
Step Response
Stability Properties Unstable

7. Conclusion:
I therefore conclude that transfer function stability is solely determined by its denominator. The roots of a
denominator are called poles. Poles located in the left half-plane are stable while poles located in the right
half-plane are not stable. People can use the pzplot or step response to determine the graph of a transfer
function. If the graph is not linear, then the said transfer function is an unstable system.

8. Further Readings:
Ferraris, G. and Manenti, F. (2010). Interpolation and regression models for the chemical engineer:
solving numerical problems. Germany: Wiley-VCH Verlag
Filo, O. (2010). Information processing by biochemical systems: neural network type configurations.
New Jersey: Wiley.
Gopal, S. (2009). Bioinformatics: a computing perspective. India: McGraw-Hill Science/Engineering
Math.
Jaluria, Y. (2012). Computer methods for engineering with MATLAB applications (2 nd ed.). Boca,
Raton,Florida: CRC Press.
 Knopf, F. C. (2012). Modeling, analysis and optimization of process and energy systems.Hoboken,
New Jersey: John Wiley and Sons.
Velten, K. (2009). Mathematical modeling and simulation: introduction for scientists and engineers.
Singapore: Wiley-VCH.

9. Assessment (Rubric for Laboratory Performance):

TECHNOLOGICAL INSTITUTE OF THE PHILIPPINES
RUBRIC FOR MODERN TOOL USAGE
(Engineering Programs)
Student Outcome (e): Use the techniques, skills, and modern engineering tools necessary for engineering
practice in complex engineering activities.
Program: Chemical Engineering Course: CHE ECE 006 Section: CH42FB1 Summer SY 2020
Performance Unsatisfactory Developing Satisfactory Very Score
Indicators 1 2 3 Satisfactory
4
1. Apply Fails to identify Identifies Identifies Recognizes the
appropriate any modern modern modern benefits and
techniques, techniques to techniques but techniques and constraints of
skills, and perform fails to apply is able to apply modern
modern tools to discipline- these in these in engineering
perform a specific performing performing tools and shows
discipline- engineering discipline- discipline- intention to
specific task. specific specific apply them for
engineering engineering engineering engineering
task. task. task. practice.
2. Demonstrate Fails to apply Attempts to Shows ability to Shows ability to
skills in any modern apply modern apply apply the most
applying tools to solve tools but has fundamental appropriate and
different engineering difficulties to procedures in effective
techniques and problems. solve using modern modern tools to
modern tools to engineering tools when solve
solve problems. solving engineering
engineering engineering problems.
problems. problems.
3. Recognize the Does not Recognizes Recognizes the Recognizes the
benefits and recognize the some benefits benefits and need for
constraints of benefits and and constraints constraints of benefits and
modern constraints of of modern modern constraints of
engineering modern engineering engineering modern
tools. engineering tools. tools and shows engineering
tools. intention to apply tools and
makes
Total Score
Mean Score = (Total Score / 3)
Percentage Rating = (Total Score / 12) x 100%
Evaluated by: Engr. Crispulo G. Maranan June 7, 2020
Printed Name and Signature of Faculty Member Date