2.

004
Dynamics & Control II
Kamal Youcef-Toumi
Professor
Department of Mechanical Engineering
Massachusetts Institute of Technology
Youcef@mit.edu
April 14th, 2017
- Routh-Hurwitz Stability Criterion -
 Closed-loop poles
and response:

a. Stable

b. Unstable

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 Routh-Hurwitz Criterion:

Start with a feedback system

a. Original system;

Compute the closed loop transfer function

b. Equivalent system

The method is used to

- Check stability
- Provide conditions that must satisfied to achieve stability
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 Routh-Hurwitz Criterion:

For the closed loop transfer function

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 Routh-Hurwitz Criterion:

Initial layout for the Routh table

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 Routh-Hurwitz Criterion:

Completed table is

The number of unstable roots/poles is equal to the number

of sign changes in the first column
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 Example 1:

a. Feedback
system

b. equivalent
closed-loop
system

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 Example 1:

There are 2 sign changes in the first column. From 1 to -72 is

one sign change. Then from -72 to 103 is another sign change.
There must 2 roots/poles in the right half plane and thus the system
Is unstable.

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 Example 1:

>> p = [1 10 31 1030]
>> roots(p)
ans =
-13.4136 + 0.0000i
1.7068 + 8.5950i
1.7068 - 8.5950i.

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 Example 2:

The closed loop transfer function is:

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 Example 2:

There are 2 sign changes in the first column. There must 2 roots/poles
in the right half plane and thus the system is unstable.
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 Example 2:

>> p3 = [1 3 10 24 48 96 128 192 128]

>> roots(p3)
ans =
1.0000 + 1.7321i
1.0000 - 1.7321i
0.0000 + 2.0000i
0.0000 - 2.0000i
-1.0000 + 1.7321i
-1.0000 - 1.7321i
-2.0000 + 0.0000i
-1.0000 + 0.0000i
 Example 3:

A closed loop transfer function

And the closed loop characteristic equation:

 Example 3:
S^4. 1. 3 k

S^3. 3 2 0

1. 3 1. k
S^2 3. 0
3. 2
- = 7/3 - =k
3 3

S^1 3. 2
7/3. k
- = -(3k - 14/3)/(7/3) 0
7/3 = a
7/3 k
S^0.
a 0
- =k
a
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 Example 3:
S^4. 1. 3 k

S^3. 3 2 0

1. 3 1. k
S^2 3. 2 3. 0
- = 7/3 - =k
3 3

3. 2
S^1
7/3. k
- = - k + 14/9 0
3
S^0. k

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 Example 3:
Stability conditions:

k>0 and -(3k - 14/3)/(7/3) >0. or k < 14/9

Or 0 < k < 14/9

kcritical = 14/9 = 1.5556

>> p=[1 3 3 2 1.5] >> p=[1 3 3 2 14/9] >> p=[1 3 3 2 1.56]

>> roots(p) >> roots(p) >> roots(p)
-1.4903 + 0.2551i -1.5000 + 0.2887i -1.5008 + 0.2911i
-1.4903 - 0.2551i -1.5000 - 0.2887i -1.5008 - 0.2911i
-0.0097 + 0.8100i 0.0000 + 0.8165i 0.0008 + 0.8170i
-0.0097 - 0.8100i 0.0000 - 0.8165i 0.0008 - 0.8170i
Stable. Marginally Stable. Unstable
Example 4
Example 5
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Example 6
Relative Stability Analysis
End