LEC.4- E1236 Stability analysis of closed loop T.

F
Closed loop Transfer function: It is the ratio of the Laplace transform of the
output (response) with zero initial conditions to the Laplace transform of the
input (driving) with zero initial conditions for a linear time-invariant control
system. The characteristic equation is the denominator of the transfer function.
Pole-Zero locations in S-plane:
1-Zeros of the TF are the values of S
as the nominator tends to zero draw as circle
2- Poles of the TF are the values of S
as the denominator tends to zero draw as cross
System is stable if it has:
1-for every bounded input excites a bounded output. Its output C(t) is bounded to every bounded input r(t) means
BIBO & C(t)=Ct(t)+ Css(t).
2- Its closed loop poles (all roots of the characteristic equation) are in the left half of the S-plane.
3-the impulse response is zero. i.e. Ct(t) =0 & C(t)= Css(t) i.e.
Characteristic equation is the denominator of the closed loop TF equal to zero
Chara. Equ. = ∆F(S)=1+G(S)H(S)=0
i-Stable system has all closed loop poles in the left half of the S-plane
ii-Critical stable system has all closed loop poles in the left half of the S-plane but at least one is on the jw- axis
iii-unstable system has at least one of the closed loop poles is in the right half of the S-plane
C(t)= ∞ & Ct(t) =∞.
ROUTH CASES

FOUR MAIN CASES

The first column is our main concert
4
All Elements have the One or More Elements
1 same Sign 2 have different Sign

One Element equals All elements in one

3 ZERO 4 row equal ZERO
Routh 's Stability Criterion of Characteristic Equation
 ROUTH EXAMPLES
Example 1
𝑆 3 + 6𝑆 2 + 12𝑆 + 8 = 0

𝑆3 1 12 0
𝑆2 6 8 0

1 6 12 −8(1) 64 6 0 − 1(0)
𝑆 6
= 8
=8 =0
6
0 8 ∗ 8 − 6(0)
𝑆 8
=8
Since there are no changes of the sign in the first
column of Routh Table, it means that all the roots are
located at “LHS” of S-PLANE

STABLE SYSTEM
 ROUTH EXAMPLES
Example 2
𝑆 5 + 4𝑆 4 + 16𝑆 2 + 7𝑆 + 8 = 0
𝑆5 1 0 7

𝑆4 4 16 8

𝑆3 4 0 − 16 1
= −4
4 7 −8 1
=5
4 4
−4 16 − 5 4 −4 8 − 4 0
𝑆2 = 21 =8
−4 −4
21 5 − 8 −4
𝑆1 = 6.5 Since there are two changes in sign (4 → −4),
21
−4 → 21 ,this means there are 2 roots in “RHS”
6.5 8 − 21 0
𝑆0 =8 of S-PLANE
6.5
UNSTABLE SYSTEM
 ROUTH EXAMPLES
Example 3
𝑆 5 + 2𝑆 4 + 2𝑆 3 + 4𝑆 2 + 11𝑆 + 10 = 0

𝑆5 1 2 11 6
−12
− 10 𝜀
𝐷1 = 𝜀 =6
𝑆4 2 4 10 −12
𝜀
𝑆3 b1=
2 2 −4 1
= 0=𝜀
2 11 − 10 1
=6 6 −12 − 10 𝜀 2
2 2 𝐷1 = =6
−12
4 𝜀 −6 2 −12 10 𝜀 − 2 0
𝑆2 𝐶1 = = = 10 𝜀 very small positive
𝜀 𝜀 𝜀 𝜀≈0
6 𝐶1 − 10 𝜀
𝑆1 𝐷1 = =6 −12
𝐶1 Since there are two changes in sign (𝜀 → ),
𝜀
−12
𝑆0 E1=
6 10 −𝐶1 0
6
= 10 𝜀
→ 6 ,this means there are 2 roots in “RHS” of S-PLANE

UNSTABLE SYSTEM
 ROUTH EXAMPLES
Example 4
𝑆 5 + 2𝑆 4 + 𝑆 3 + 2𝑆 2 + 𝑆 + 2 = 0
𝑆5 𝑆3 1 𝑆1
𝑆5 1 1

𝑆4 𝑆4 2 𝑆2 2 𝑆0 2

𝑆3 2 1 −2 1
=0 8
2 1 −2 1
=0 4
2 2
8 2 −4 2 8 2 −2 0 𝐴(𝑆) = 2𝑆 4 + 2𝑆 2 + 2 = 0
𝑆2 =1 =2
8 8 𝐴ሗ (𝑆) = 8𝑆 3 + 4𝑆 = 0
4 1 −8 2
𝑆1 = −12 Since there are two changes in sign (1 → −12),
1
−12 2 − 1 0 −12 → 2 ,this means there are 2 roots in “RHS”
𝑆0 =2 of S-PLANE
−12
UNSTABLE SYSTEM
 ROUTH EXAMPLES
Example 5 1 𝑘 1) Test Stability at k = 20
𝐻(𝑆) = ,𝐺 =
𝑆 + 5 (𝑆) 𝑆(𝑆 + 3)
∆𝑆 = 1 + 𝐺(𝑆) 𝐻(𝑆) =0

𝑘
20
1 𝑆3 1 15 0
∆𝑆 = 1 + ∗ =0
𝑆(𝑆+3) 𝑆+5
𝑆2 8 20 0

1 8 15 − 20(1) 8 0 − 1(0)
∆𝑆 = 𝑆 𝑆 + 3 𝑆 + 5 + 20 = 0 𝑆 = 12.5 =0
8 8
12.5(20) − 8(0)
∆𝑆 = 𝑆 3 + 8𝑆 2 + 15𝑆 + 20 = 0 𝑆0 = 20
12.5
STABLE SYSTEM
Since there are no changes of the sign in the first
column of Routh Table, it means that all the roots are
located at “LHS” of S-PLANE
 ROUTH EXAMPLES
Example 5 1 𝑘 1) Find Critical Gain 𝑘𝑐
𝐻(𝑆) = ,𝐺 =
𝑆 + 5 (𝑆) 𝑆(𝑆 + 3)
∆𝑆 = 1 + 𝐺(𝑆) 𝐻(𝑆)

𝑘 1 𝑆3 1 15 0
∆𝑆 = 1 + ∗
𝑆(𝑆 + 3) 𝑆 + 5 𝑆2 8 𝑘 0

1 8 15 − 𝑘 (1) 120 − 𝑘 8 0 − 𝑘(0)

∆𝑆 = 𝑆 𝑆 + 3 𝑆 + 5 + 𝑘 = 0 𝑆 = =0
8 8 8
120 − 𝑘
(𝑘) − 8(0)
∆𝑆 = 𝑆 3 + 8𝑆 2 + 15𝑆 + 𝑘 = 0 8
𝑆0 120 − 𝑘
=𝑘
120 − 𝑘
8 =0
8
120 − 𝑘 = 0

𝑘 = 120
 ROUTH TEST AND MATLAB

1 2 3

roots( ) pole( ) pzmap( )

zero( )
 ROUTH TEST AND MATLAB
1
𝑆 3 + 6𝑆 2 + 12𝑆 + 8 = 0 𝑆 3 + 2𝑆 2 + 𝑆 + 2 = 0 𝑆 3 + 2𝑆 2 + 2𝑆 + 24 = 0

roots( )

STABLE SYSTEM CRITICAL STABLE UNSTABLE SYSTEM

SYSTEM
 ROUTH TEST AND MATLAB
2
𝑆 3 + 6𝑆 2 + 12𝑆 + 8 = 0 𝑆 3 + 2𝑆 2 + 𝑆 + 2 = 0 𝑆 3 + 2𝑆 2 + 2𝑆 + 24 = 0

pole( )
zero( )

STABLE SYSTEM CRITICAL STABLE

UNSTABLE SYSTEM
SYSTEM
 ROUTH TEST AND MATLAB
3
𝑆 3 + 6𝑆 2 + 12𝑆 + 8 = 0 𝑆 3 + 2𝑆 2 + 𝑆 + 2 = 0 𝑆 3 + 2𝑆 2 + 2𝑆 + 24 = 0

pzmap( )

Three poles of first case +one pole of second case