CONTROL SYSTEM STABILITY ANALYSIS

Routh’s Stability Criterion

Goal:
• Determining whether a system is stable or unstable
from the (closed loop) characteristic equation in
polynomial form without actually solving for the
roots.
• Routh’s stability criterion is useful for determining
the ranges of coefficients of polynomials for
stability, especially when the coefficients are in
symbolic (nonnumerical) form …design

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 A necessary condition for Routh
Stability
• A necessary condition for stability of the system is
that all of the roots of its characteristic equation
have negative real parts, which in turn requires that
all the coefficients be positive.

A necessary (but not sufficient) condition for stability

is that all the coefficients of the polynomial
characteristic equation be positive.

2
 A necessary and sufficient condition
for Stability
• Routh’s formulation requires the computation of a
triangular array that is a function of the
coefficients of the polynomial characteristic
equation.

A system is stable if and only if all the elements of

the first column of the Routh array are positive

3
 Characteristic Equation/polynomial

• Consider an nth-order system whose characteristic

equation (which is also the denominator of the
transfer function) is:

n 1 n2
a ( s )  a0 s  a1s
n
 a2 s    an 1s  an s
1 0

4
Method for determining the Routh array
• Consider the characteristic equation:

a( s )  a 0  s n  a1 s n 1  a 2 s n  2  a3 s n 3    a n 1 s 1  a n s 0

• First arrange the coefficients of the characteristic

equation in two rows of even-numbered and
odd-numbered coefficients as follows:

s n : ao a2 a4  Even coefficients
n 1
s : a1 a3 a5  Odd coefficients

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 Routh array: method (cont’d)
• Then add n
s : ao a2 a4 
subsequent rows n 1
to complete the
s : a1 a3 a5 
n2
Routh array: s : b1 b2 b3 
n 3
s : c1 c2 c3 
   
2
s : * *
1
s : *
0
s : * 6
 Routh array: method (cont’d)
• Compute elements for s n : ao a2 a4 
the 3rd row as follows: n 1
s : a1 a3 a5 
a1a2  a0 a3
b1  , s n  2 : b1 b2 b3 
a1
n 3
a1a4  a0  a5 s : c1 c2 c3 
b2  ,
a1    
a1a6  a0 a7 s 2
: * *
b3 
a1
s1 : *
s0 : * 7
 Routh array: method (cont’d)
• Compute elements sn : a0 a2 a4 
for the 4th row, thus:
s n 1 : a1 a3 a5 
b1 a3  a1b2 s n2 : b1 b2 b3 
c1 
b1 s n 3 : c1 c2 c3 
b1 a5  a1b3    
c2 
b1 s2 : * *
b1 a 7  a1b4 s1 : *
c3  etc
b1 s0 : * 8
 Example 1:
Given the characteristic equation,
a (s)  s 6  4s5  3s 4  2s3  s 2  4s  4
is the system described by this characteristic
equation stable?
Answer:
• One coefficient (-2) is negative.
• Therefore, the system does not satisfy the
necessary condition for stability.

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 Example 2:
Given the characteristic equation,
a(s)  s 6  4s 5  3s 4  2s 3  s 2  4s  4
is the system described by this characteristic
equation stable?
Answer:
• All the coefficients are positive and nonzero.
• Therefore, the system satisfies the necessary
condition for stability.
• We should determine whether any of the
coefficients of the first column of the Routh array
are negative.
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 Example 2 (cont’d): Routh array
a(s)  s 6  4s 5  3s 4  2s 3  s 2  4s  4
6
s : 1 3 1 4
s5 : 4 2 4 0
4
s : ? ? ?
s3 : ? ? ? …Resulting array
is triangular
s2 : ? ?
1
s : ? ?
s0 : ?
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 Example 2 (cont’d): Routh array

a(s)  s 6  4s 5  3s 4  2s 3  s 2  4s  4
6
s : 1 3 1 4
4 * 3  1* 2 5
5
s : 4 2 4 0 b1  
4 2
4
s : 52 0 4 4 *1  1 * 4
b2  0
s3 : ? ? ? 4
4 * 4  1* 0
s2 : ? ? b3  4
4
s1 : ? ?
s0 : ?
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 Example 2 (cont’d): Routh array
a(s)  s 6  4s 5  3s 4  2s 3  s 2  4s  4

s6 : 1 3 1 4
s5 : 4 2 4 0 2.5 * 2  4 * 0
c1  2
s4 : 5 2 0 4 2.5
2.5 * 4  4 * 4
s 3 : 2  12 5 0 c2   12 / 5
2.5
s2 : ? ?
2.5 * 0  4 * 0
s1 : ? ? c3  0
2.5
s0 : ?
…fill these similarly

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 Example 2 (cont’d): Routh array

a(s)  s 6  4s 5  3s 4  2s 3  s 2  4s  4
s6 : 1 3 1 4
s5 : 4 2 4 0
s4 : 52 0 4
s3 : 2  12 5 0 ….The elements of
s2 : 3 4 the 1st column
s1 :  76 15 0 are not all positive:
s0 : 4

the system is unstable

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 Example 3: Stability versus
Parameter Range
Consider a feedback system such as:

The stability properties of this system are a function of the

proportional feedback gain K. Determine the range of K
over which the system is stable.

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 Example 3 (cont’d)

• The characteristic equation for the system is given by:

s 1
1 K 0
s( s  1)(s  6)

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 Example 3 (cont’d)

s 1
1 K 0
s( s  1)(s  6)

• Expressing the characteristic equation in polynomial

form, we obtain:

s  5s  ( K  6)s  K  0
3 2

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 Example 3 (cont’d)
a(s)  s 3  5s 2  ( K  6) s  K

• The corresponding Routh • Therefore, the system is

array is: stable if and only if

s3 : K 6 4K  30
1  0 and K  0
5
s2 : 5 K
 K  7.5 and K  0
s1 : (4 K  30) 5
s0 : K  K  7.5

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 Example 4: Stability versus Two
Parameter Range

Consider a Proportional-Integral (PI) control such as:

Find the range of the controller gains ( K , K1 ) so that the PI

feedback system is stable.

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 Example 4 (cont’d)

• The characteristic equation for the system is given by:

 K1  1
1  K   0
 s  ( s  1 )( s  2 )
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 Example 4 (cont’d)

 K1  1
1  K   0
 s  ( s  1 )( s  2 )

• Expressing the characteristic equation in polynomial

form, we obtain:

s  3s  ( 2  K )s  K1  0
3 2

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 Example 4 (cont’d)
s  3s  ( 2  K )s  K1  0
3 2

• The corresponding Routh • For stability, we must

array is: have:

s3 : 1 2 K
s2 : 3 K1 K1  0 and K 
K1
2
s1 : ( 6  3K  K1 ) 3 3
s0 : K1

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  Special case:…Zero 1st column element??
 Replace element by e > 0
 Proceed as usual
 Example
d  s   s3  3s  2

 s3 1 3
 s2 0 e  2
3e  2
 s1
0
e
 s0 2

2 sign changes  2 roots in RHP  Roots at 1,1,  2 

23 23
Special case… when only the first element of
one of the rows is zero…

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Special case… when an entire row of the
Routh array is zero…

25
Root Locus Construction

26
 Goal:
Learn a specific technique which shows how
changes in one of a system’s parameter
(usually the controller gain, K)
will modify the location of the closed-loop poles
in the s-domain.

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 Definition
• The closed-loop poles of the negative feedback control system:

are the roots of the characteristic equation:

1  KG s H s   0
The root locus is the locus of the closed-loop poles
when a specific parameter (usually gain, K)
is varied from 0 to infinity.
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 Root Locus Method Foundations
• The value of s in the s-plane that make the
loop gain KG(s)H(s) equal to -1 are the closed-
loop poles
(i.e. 1  KG s H s   0  KG s H s   1 )

• KG(s)H(s) = -1 can be split into two equations

by equating the magnitudes and angles of
both sides of the equation.

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 Angle and Magnitude Conditions
KG s H s   1

 KG s H s   1

 KG s H s   180 0
2l  1
l  0,1, 2, 

 G s H s   1 K

 G s H s    180 o
2l  1 l  0,1, 2, 
Independent of K 30
 Example 1

1) Sketch the root locus of the following

system:

2) Determine the value of K such that the

damping ratio ζ of a pair of dominant
complex conjugate closed-loop is 0.5.
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 Rule #1
Assuming n poles and m zeros for G(s)H(s):

• The n branches of the root locus start at the n

poles.
• m of these n branches end on the m zeros
• The n-m other branches terminate at infinity
along asymptotes.

First step: Draw the n poles and m zeros of

G(s)H(s) using x and o respectively
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 Applying Step #1
Draw the n poles and
m zeros of G(s)H(s)
using x and o
respectively.
G s H s  
1
ss  1s  2 

• 3 poles:
p1 = 0; p2 = -1; p3 = -2

• No zeros
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 Applying Step #1…
Draw the n poles and
m zeros of G(s)H(s)
using x and o
respectively.
G s H s  
1
ss  1s  2 
• 3 poles:
p1 = 0; p2 = -1; p3 = -2

• No zeros
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 Rule #2
• The loci on the real axis are to the left of an
ODD number of REAL poles and REAL zeros
of G(s)H(s)

Second step: Determine the loci on the real

axis. Choose an arbitrary test point. If the
TOTAL number of both real poles and zeros
to the RIGHT of this point is ODD, then this
point is on the root locus
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 Applying Step #2
Determine the loci on the
real axis:

• Choose a arbitrary test

point.
• If the TOTAL number of
both real poles and zeros
to the RIGHT of this point
is ODD, then this point is
on the root locus

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 Applying Step #2…
Determine the loci on the
real axis:

• Choose a arbitrary test

point.
• If the TOTAL number of
both real poles and zeros
to the RIGHT of this point
is ODD, then this point is
on the root locus
Rule: On the real axis, for K>0, the root locus exists to the left of an odd number of
finite open loop poles and/or finite open loop zeros.
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 Rule #3
Assuming n poles and m zeros for G(s)H(s):
 The root loci for very large values of s must be asymptotic
to straight lines originating on the real axis at point:
 p z
i i ….Centroid or
c s   n m
center of asymptotes
nm
radiating out from this point at angles:
 180o 2l  1 ….Angle of asymptotes
l 
nm
Third step: Determine the n - m asymptotes of the root loci.
Locate s =  on the real axis. Compute and draw angles.
Draw the asymptotes using dash lines.
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 Applying Step #3
Determine the n - m asymptotes:
 Locate s = α on the real axis:
p1  p2  p3 0  1  2
s     1
30 3
 Compute and draw angles:
 180 2l  1 l  0,1, 2, 
l 
nm

  1800 2  0  1

 0   60 0

30

   1800
2 1  1  1800
 1 30
 Draw the asymptotes using
dash lines. 39
 Applying Step #3
Determine the n - m asymptotes:
 Locate s = α on the real axis:
p1  p2  p3 0  1  2
s     1
30 3
 Compute and draw angles:
 180 2l  1 l  0,1, 2, 
l 
nm
  1800 2  0  1

 0   60 0

30

   1800
2 1  1  1800
 1 30
 Draw the asymptotes using
dash lines. 40
 Break-away/in points

• The break-away/in points are the points in

the s-domain where multiple roots of the
characteristic equation of the feedback
control system occur.

• These points correspond to intersection

points on the root locus.

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At the breakaway or break-in
point, the branches of the root
locus form an angle of 180/n
with the real axis, where n is
the number of closed loop
poles arriving or departing
from the single breakaway or
break-in point on the real axis.

In this example the angles are

90 degrees at the breakpoints.

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 Rule #4
Given the characteristic equation, KG(s)H(s) = -1

• The break-away/in points are the closed-loop poles that

satisfy:
dK
0
ds

Fourth step: Find the breakpoints. Express K as:

1
K .
G s H s 
Set dK/ds = 0 and solve for the poles.
43
 Applying Step #4
Find the break-away/in points.
• Express K such as:
1
K   ss  1s  2
G( s )H ( s )
K   s 3  3s 2  2s

• Set dK/ds = 0 and solve for the

poles.
 3s 2  6s  2  0
s1  1.5774, s2  0.4226
44
 Applying Step #4
Find the break-away/in points.
• Express K such as:
1
K   ss  1s  2
G( s )H ( s )
K   s 3  3s 2  2s

• Set dK/ds = 0 and solve for the

poles.
 3s 2  6s  2  0
s1  1.5774, s2  0.4226
Break-away point
45
 Recall Rule #1
Assuming n poles and m zeros for G(s)H(s):

• The n branches of the root locus start at the n

poles.
• m of these n branches end on the m zeros
• The n-m other branches terminate at infinity
along asymptotes.

Last step: Draw the n-m branches that terminate

at infinity along asymptotes
46
 Applying Last Step

Draw the n-m branches that

terminate at infinity along
asymptotes

Use arrows to indicate that the root locus originates

at a pole and terminates at a zero

47
Example : Sketch the root locus for the system shown ….

• Ans…

48
 Points on both root locus & imaginary axis?

• Points on imaginary axis

satisfy:
s  j jω?

• Points on root locus satisfy:

1  KG s H s   0

• Substitute s=jω into the

characteristic equation and - jω

solve for ω.
  0 or    2
Alternative method uses auxiliary equation from Routh array 49
j-crossing using Routh Criterion

50
 Angles of departure and arrival…

-This helps to
sketch the
root locus
more
accurately by
determining
the root
locus
departure
angle from
a complex
poles and
the arrival
angle to a
complex
zeros.
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