Chapter 3: Dynamic

Response (Cont.)
Linear Analysis Using the
Linear System Analyzer

linearSystemAnalyzer(sys1,sys
2,...,sysN)
Function linearSystemAnalyzer

◼ Type:
❑ sys1 = tf ([25], [1 6 25])
❑ sys2 = tf ([17], [1 2 17])
❑ linearSystemAnalyzer(sys1,sys2)
MATLAB Window
Second-Order Systems
Natural Frequency and Damping Ratio

◼ The standard form of a second-order

system may be written in terms of  and
wn . w n2
2
+ w
s 2 ns + w n
2

◼ The step response in these terms is

1 - w n t
c( t ) = 1 - e sin(w n 1- 2 t + q )
1- 
2

where 
-1  1- 
2 

q = tan
  
 
Performance Specifications

◼ Stability: jw

❑ Specified damping ratio or
q 
a region of the s-plane with
a minimum damping ratio. 
❑ Specified maximum
percent overshoot, P.O. 1.8
Step Response

Mp
1.6

M p - css
1.4

P.O. =  100%
1.2
css

Amplitude
1

css 0.8

p /
0.6

= 100e 1-
- 2 0.4

0.2

0
0 10 20 30
Time (sec.)

for second-order systems.

Performance Specifications

◼ Speed of Response (continued):

❑ Specified rise time, Tr (time from 10% to 90%
of steady-state). Step Response

1.8

1.6

❑ Specified time to 1.4

Tp
1.2

first peak, Tp . 1

90% 0.8

p
Tp =
0.6

w n 1-  2 0.4

10% 0.2

for second-order systems. 0

0 10 20 30

Tr Time (sec.)
Performance Specifications

◼ Settling time: max.

jw
- 
❑ Specified settling time, Ts 
(time to stay within  of

the steady-state value).
Step Response

1.8

For  =  2% , e s = 0.02
- T 1.6

1.4

4 4
then Ts  =
1.2

 w n
 1

0.8

For  =  1% , e-  Ts
= 0.01
0.6

0.4
Ts
4.6 4.6 0.2

then Ts  =
  wn
0
0 10 20 30

Time (sec.)
Performance Specifications

◼ Steady-state accuracy:
❑ Specification of the maximum error in steady-
state (after all dynamics have settled).

1.8

1.6

reference
1.4
cref - css
1.2
ess ess% = 100%
1

0.8
cref
0.6

0.4

0.2

0
0 10 Time (sec.) 20 30
 Time domain specifications, summary
1.4 tp

1.2 Mp
1 1%
90%
0.8

0.6
y(t) tr rise time
0.4 ts settling time
tp peak-time
0.2 Mp overshoot
10%
0
tr

ts
time
 Specifications, summary
For second order systems:

18
.
tr =
wn
p
tp =
w n 1- 2
4.6
ts = for  1%
w n
p
-
1-  2
Mp = e
Design a second order system in which the

• overshoot is 20%

• settling time is 20 seconds

Verify your solution with MATLAB

Stability
complex GH-plane
complex s- Im{GH(jw)}
plane jw

 Re{GH(jw)}

-1

RHS
Stability Definitions

◼ Bounded Input Bounded Output Stability:

❑ A system is BIBO stable if, for every bounded
input, the output remains bounded with
increasing time (all system poles must lie in the
left half of the s-plane).
◼ Marginal Stability:
❑ A system is marginally stable if some of the
poles lie on the imaginary axis, while all others
are in the LHS of the s-plane. Some inputs
may result in the output becoming unbounded
with time.
Stability Analysis

◼ To test the stability of a LTI system we need

only examine the poles of the system, i.e. the
roots of the characteristic equation.
◼ Methods are available for testing for roots with
positive real parts, which do not require the
actual solution of the characteristic equation.
◼ Also, methods are available for testing the
stability of a closed-loop system based only on
the loop transfer function characteristics.
 Routh-Hurwitz Stability Criterion
◼ A quick method for checking BIBO stability.
◼ Assume the characteristic polynomial is
n-1
Q( s) = an s + an-1s
n
+ L + a1s + a0
where a0  0 .
◼ A necessary (but not sufficient) condition for
all roots to have non-positive real parts is
that all coefficients have the same sign.
◼ For the necessary and sufficient conditions,
first form the Routh array.
 Routh-Hurwitz Stability Criterion
The Routh Array
n-1
Q( s) an s an-1s + L + a1s + a0
= n
+
n
s an an-2 an-4 an-6 …
n-1
s an-1 an-3 an-5 an-7 … where
n-2
s b1 b2 b3 b4 … an-1 an-2 - an an-3
sn-3 c1 c2 c3 c4 … b1 =
an-1
: : : :
2 an-1 an-4 - an an-5
s k1 k2 b2 =
1 an-1
s l1 etc.
s0 m1
 Routh-Hurwitz Stability Criterion
The Routh Array
◼ In a similar manner, elements in the 4th
row, c1, c2 , … are calculated based on
the two previous rows.
b1 an-3 - an-1b2
c1 =
b1
b1 an-5 - an-1b3
c2 =
b1
◼ The elements in all subsequent rows are
calculated in the same manner.
 Routh-Hurwitz Stability Criterion
Necessary and sufficient conditions:
◼ If all elements in the first column of the Routh
array have the same sign, then all roots of the
characteristic equ. have negative real parts.
◼ If there are sign changes in these elements,
then the number of roots with non-negative
parts is equal to the number of sign changes.
◼ Elements in the first column which are zero
define a special case.
 Routh-Hurwitz Stability Criterion
Example 1:
Q( s) 2s s 3s + 5s + 10
= 4
+ 3
+ 2

4 3 - 10 10 - 0
s 2 3 10 0 b1 = = -7 b2 = = 10
3 1 1
s 1 5 0 0 - 35 - 10
2 b1 b2 0 c1 = = 6 .43
s -7
1 c1 0
s d1 =
10 ( 6.43) - 0
= 10
0 d1
s 6 .43

The characteristic equation has two roots with positive real parts since the
elements of the first column have two sign changes. (2,1,-7,6.43,10)
 Routh-Hurwitz Stability Criterion
Special Case 1:
◼ A zero in the first column:
◼ Remedy: substitute  for the zero element,
finish the Routh array, and then let  → 0 .

Q( s) s - 3s + 2
= 3
- 3 - 2 -2
b1 = → (negative)
3
1 -3 0 0  
s b1  2
0() 2
2
s 0 c1 = =2
1 b1
s b1 0
0 There are two roots with
s c1
positive real parts (1, , -2/ , 2)
(MATLAB)
 Routh-Hurwitz Stability Criterion
Special Case 2:
◼ An all zero row in the Routh array which
corresponds to pairs of roots with opposite
signs.
◼ Remedy:
❑ form an auxiliary polynomial from the coefficients in
the row above.
❑ Replace the zero coefficients from the coefficients
of the differentiated auxiliary polynomial.
❑ If there is not a sign change, the roots of the
auxiliary equation define the roots of the system on
the imaginary axis.
 Routh-Hurwitz Stability Criterion
Special Case 2 (example):
Q( s) s s - s - 1
= 4
+ 3

Auxiliary polynomial
4 1 0 -1 0
s s2 - 1
3 1 -1 0 0
s then

s2 1 -1 0 d ( s2 - 1)
=2s
1 02 0 ds
s
0 d1 = –1
s d1

The system has one root with a positive part ( 1, 1, 1, 2, -1).

The root is found from the auxiliary eq. s2 – 1 = 0 , s = ± 1
 Routh-Hurwitz Stability Criterion
Parameter Range Test
◼ The Routh-Hurwitz stability criterion may be
used to find the range of a parameter for
which the closed-loop systems is stable.
◼ Leave the parameter as an unknown
coefficient in the characteristic polynomial,
form the Routh array, check the range of the
parameter such that the first column does not
change sign.
 Routh-Hurwitz Stability Criterion
Parameter Range Example
Q( s) s 6s 11s + 6s + K
= + +
4 3 2

4 60 - 6K
s 1 11 K 0 c1 = d1 = K
3 10
s 6 6 0 0
2 10 K 0 Then for stability,
s
1 c1 0 K >0
s
0 d1 60 - 6K > 0  K < 10
s
\ 0 < K < 10