Develop system with stability, UMB 2021

DEVELOP SYSTEM WITH STABILITY.

Emmanuel David Beltrán Rodríguez
e-mail: emmanuelbeltran.dr@academia.umb.edu.co
Mery Yazmin Estrada Martínez
e-mail: meryestrada.ym@academia.umb.edu.co
Cristhian David Pulido Rojas
e-mail: pulido9409@hotmail.com
Angie Ximena Robayo
e-mail: angierobayo.xr@academia.umb.edu.co

RESUMEN: This paper aims to examine the
transformation of elements, to solve problems in different
areas where control can be applied, considering the
challenges that arise in the areas of biomedical where
control can be applied. To consider the challenges that
arise in the hospital environment discriminating the
modeling of mechanical, electrical systems, to solve other
systems, and thus solve needs in different areas where
the control can be applied, considering the challenges that
arise in being applied in a hospital environment.
PALABRAS CLAVE: Electrical, Systems, Environment.
1 INTRODUCTION
The stability of a linear system, invariant with time, is
assured if all the roots of the characteristic polynomial of
the system are in the left half plane (SPI) of the complex
plane, so that, "a priori", the problem of The study of the
stability of this type of systems seems solved, which, no
doubt, would be so, if we knew how to solve polynomial
equations of any degree n analytically. To carry out all
these areas should have the following concepts:
a. SYSTEM STABILITY
equation are great for modeling situations where there is
a continually changing population or value. If the change
happens incrementally rather than continuously then
differential equations have their shortcomings. Instead we
will use difference equations which are recursively defined
sequences. In control engineering, second-order systems
have an important relevance, because thanks to this type
of systems, it is possible to analyze and project closed
control loops. [2].
c. ROUTH HURWITHZ STABILITY CRITERIA
It has all its roots in the left half plane, or not. The Criterion
results from proposing an arrangement of coefficients,
with a triangular shape, and from observing whether the
first column has all its coefficients with equal signs, or not.
The most important problem with linear control systems
has to do with stability. A control system is stable if and
only if all the closed-loop poles are in the left half plane of
the s- plane.
Let us consider the following closed-loop transfer function.
Routh's stability criterion allows us to determine the
number of closed-loop poles found in the right half-plane
of the s-plane (positive roots) without having to factor the
polynomial. This stability criterion only applies to
polynomials with a finite number of terms.

A linear and time-invariant system is stable if its natural

response tends to zero as time tends to infinity, which
implies that only the forced response remains as the
natural response tends to zero. An alternative definition
for stability considers the total response of the system and
the first definition based on the natural response that says Fig 1. Procedure in the Routh stability criterion
that a system is stable if it generates a bounded output in
response to a bounded input. We call this definition BIBO
of stability (bounded-input, bounded-output). Source
[http://electronicaunimag.blogspot.com/2012/05/criteri o-
de-estabilidad-de-routh.html]
b. SECOND ORDER BASIC MODELING

The Routh-Hurwitz stability criterion states that the

Second order systems are all those that have two poles
and are typically represented by second order ordinary
differential equations. Considering the case of second
order linear differential equations, with constant
coefficients and zero initial condition. Differential
number of roots of the equation with positive real parts is
equal to the number of sign changes of the coefficients in
the first column of the array. The necessary and sufficient
condition for all the roots of the equation to be in the left
half plane of the s-plane is that all the coefficients of the
equation are positive and that all the terms in the first
column of the array have a positive sign.

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Develop system with stability, UMB 2021

d. LAPLACE TRANSFORM
2 OBJETIVES
In mathematics, the Laplace transform, named after its
inventor Pierre-Simon Laplace, is an integral transform
that converts a function of a real variable (often time) to a
2.1 OVERALL OBJETIVES
function of acomplex variable (complex frequency). The
transform has many applications in science and Design through Matlab and simulink software the
engineering because it is a tool for solving differential mathematical modeling for the elaboration of 4 types of
equations. It transforms differential equations into controls for a power plant.
algebraic equations and convolution into multiplication [2].
2.2 SPECIFIC OBJETIVES
e. SIMULINK
• Develop the necessary mathematical modeling
SIMULINK is a special MATLAB toolbox used to simulate starting from the basic principles of control
the behavior of dynamic systems. It can simulate linear equations for a power plant.
and non-linear systems, continuous- time and discrete- • Determine transfer functions of mathematically
time models, and hybrid systems of all of the above. modeled plants
• Understand the operation of a power plant, its
f. MATHEMATICAL MODELING OF DYNAMIC different uses, and applications.
SYSTEMS

The movements of mechanical systems can be described

as translation or rotation or a combination of both. The
governing equations mechanical systems are formulated
by Newton's law of motion. In predicting the dynamic
behavior of a system (analysis phase), or in its
improvement in the temporal or frequency evolution
(design phase), the knowledge of the mathematical model
of both the equipment and the signals in your
surroundings. This requirement is increasingly important
in the new phases of development and production of
equipment and is closely related to the competitiveness of
companies. Today, when a new product is being
designing, before starting the stages of physical
realization of the system, it must have passed simulation
tests [5].
There is a great variety of dynamic modeling, one could
cite areas of the construction, aeronautics, industrial
production, or logistics, among others. But Specifying
about the control systems, these usually have electrical
components and mechanical, although some also have
pneumatic and even hydraulic elements.
3 MATERIALS AND METHODS
The different plants were modeled and simulated in the
matlab and Simulink, with the difference equations and
laplace transforms of each system previously obtained,
previously calculated to check their performance in each
simulation.
- PROCEDURE AND RESULTS
(session 1)
In this session it is required to establish if the transfer
functions of the three motors are stable, for this purpose
MATLAB and the Routh-Hurwitz stability criterion were
used.
 Servomotor
In the figure you can see the transfer function that was
implemented for the servomotor.

g. CONTROLLABILITY (1)

It is the interaction of a system between the external world

(inputs and outputs) and internal variables (states).
Informally, controllability is the property that indicates Fig. 2. Servomotor transfer function
whether the behavior of a system can be controlled by
acting on its tickets.
Sorce [own]

h. OBSERVABILITY
It is the interaction of a system between the external world
(inputs and outputs) and internal variables (states).
Observability is the property that indicates whether the
internal behavior of a system can be detected from its
outputs.
For the Routh-Hurwitz criterion it is necessary to consider
that it is necessary to work only with the denominator of
the transfer function, or the poles. Subsequently, to
facilitate the work in MATLAB, the values were rounded to
three tenths after zero. The figure shows the elaborated
code, and the figure presents the results that confirm that
the transfer function of the servomotor is stable.

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Develop system with stability, UMB 2021

 DC motor

In the figure you can see the transfer function that was
implemented for the DC motor.

(3)

Fig. 6. DC motor transfer function

Sorce [own]

Fig. 3. Stable system of Servomotor
Sorce [own]
 Stepper motor
In the figure you can see the transfer function that was
implemented for the stepper motor.
For the Routh-Hurwitz criterion it is necessary to consider
that it is necessary to work only with the denominator of
the transfer function, or the poles. Subsequently, to
facilitate the work in MATLAB, the values were rounded to
three tenths after zero. The figure shows the elaborated
code, and the figure presents the results that confirm that
the transfer function of the DC motor is stable.

(2)

Fig. 4. Stepper motor transfer function

Sorce [own]

For the Routh-Hurwitz criterion it is necessary to consider

that it is necessary to work only with the denominator of
the transfer function, or the poles. Subsequently, to
facilitate the work in MATLAB, the values were rounded to Fig. 6. Stable system of DC motor
three tenths after zero. The figure shows the elaborated
code, and the figure presents the results that confirm that
Sorce [own]
the transfer function of the stepper motor is stable.

- PROCEDURE AND RESULTS

(session 2)

For the second session, it was necessary to obtain the

global transfer function for the motors.

 Servomotor

To find the transfer function of the global servomotor, the

following procedure was carried out:

674,6𝑆 + 113400
𝐺𝑝 = (4)
Fig. 5. Stable system of stepper motor 𝑆 3 + 114,1 𝑆 2 + 5469 𝑆 + 136400

Sorce [own] 1
𝐺𝐶 (𝑠) = 𝐾𝑝 + 𝐾𝑖 ( ) + 𝐾𝑑 ∗ 𝑆 (5)
𝑆

Replacing, we have:

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Develop system with stability, UMB 2021

1 As explained above, for this arrangement to be ideal there

𝐺𝐶 (𝑠) = 2,662 + 3,6264 ( ) + 0 ∗ 𝑆 (6)
𝑆 cannot be negative coefficients, so we multiply the whole
equation by "S", then we are left with:
By block algebra, the following was done:
𝑃𝑐 (𝑆) = 𝑃𝑐 (𝑠) = (1)𝑆4 + (114,1 + 1) 𝑆3
+ (5469 + 1528,89 + 2446,5)𝑆²
+ + (136400 + 6,798) 𝑆1
𝐺𝑐 (𝑠) 𝐺𝑝 (𝑠) + (10,8792) 𝑆0 (14)
-

Mathematically we have:

𝐺𝑐 (𝑆) ∗ 𝐺𝑝 (𝑆)
𝐺𝑔𝑝 = (7)
1 + 𝐺𝑐 (𝑆) ∗ 𝐺𝑝(𝑆)

Replacing:

𝐺𝑔𝑝 (𝑆)
1 674 ,6𝑠 + 113400
(2,2662 + 3,6264 (𝑆 ) + 0) ( )
𝑆 3 + 114,1 𝑆 2 + 5469 𝑆 + 136400
= (8)
1 674,6 𝑆 + 113400
1 + (2,2662 + 3,6264 ( ) + 0) ( 3 )
𝑆 𝑆 + 114,1 𝑆 2 + 5469 𝑆 + 136400

1
(2,2662 + 3,6264 (𝑆) + 0) (674,6𝑠 + 113400)
𝐺𝑔𝑝 (𝑆) = (9)
𝑺𝟑 + 𝟏𝟏𝟒, 𝟏 𝑺𝟐 + 𝟓𝟒𝟔𝟗𝟓 + 𝟏𝟑𝟔𝟒𝟎𝟎
1
(1(𝑆 3 + 114,1 𝑆 2 + 5469 𝑆 + 136400)) + (2,2662 + 3,6264 𝑆 + 0) (674,6𝑠 + 113400)
𝑺𝟑 + 𝟏𝟏𝟒, 𝟏 𝑺𝟐 + 𝟓𝟒𝟔𝟗 𝑺 + 𝟏𝟑𝟔𝟒𝟎𝟎

1
(2,2662 + 3,6264 (𝑆 )) (674,6𝑠 + 113400)
𝑆
𝐺𝑔𝑝 (𝑆) = ∗( ) (10)
1
(𝑆 3 + 114,1 𝑆 2 + 5469 𝑆 + 136400) + (674,6𝑠 + 113400)(2,2662 + 36264 (𝑆 )) 𝑆

S3
Fig. 7. Stable system of servo motor

Subsequently, we perform the law of ends and means and Source [own]
multiply both the numerator and the denominator by "S" to
finally obtain the global function of the plant with  Stepper motor
incorporated controller, as we can see below.
To find the transfer function of the global stepper motor,
The resulting global transfer function is the following: the following procedure was carried out:

1
(2,2662 + 3,6264 (𝑆)) (674,6𝑠 + 113400) −13,7 𝑆 + 639,1
𝐺𝑔𝑝 (𝑆) = (11) 𝐺𝑝 = (17)
1
(𝑆 3 + 114,1 𝑆 2 + 5469 𝑆 + 136400) + (674,6𝑆 + 113400)(2,2662 + 36264 (𝑆)) 𝑆2 + 36,36 𝑆 + 647,8

Routh's arrangement: 1
𝐺𝐶 (𝑠) = 𝐾𝑝 + 𝐾𝑖 ( ) + 𝐾𝑑 ∗ 𝑆 (18)
𝑆
For the Routh arrangement we proceed to find the
characteristic polynomial of S, then: Replacing, we have:

𝑃𝑐 (𝑠) = ((𝑆 3 + 114,1 𝑆 2 + 5469 𝑆 + 136400) + 1528,89 𝑆 + 2446,5 𝑆 + 𝑆 2

1
𝐺𝐶 (𝑠) = 1,31 + 5,48 ( ) + 0 ∗ 𝑆 (19)
1
𝑆
+ 6,7986 + 10,8792 ( ) ) 𝑠 (12)
𝑆
By block algebra, the following was done:
Subsequently we proceed to group the S's, then we have that:
+
𝑃𝑐 (𝑠) = (1)𝑆 3 + (114,1 + 1) 𝑆 2 + (5469 + 1528,89 + 2446,5)𝑆1 + 𝐺𝑐 (𝑠) 𝐺𝑝 (𝑠)
(136400 + 6,798) 𝑆 0 + (10,8792) 𝑆 −1 (13) -

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Develop system with stability, UMB 2021

Mathematically we have:

𝐺𝑐 (𝑆) ∗ 𝐺𝑝 (𝑆)
𝐺𝑔𝑝 = (20)
1 + 𝐺𝑐 (𝑆) ∗ 𝐺𝑝 (𝑆)

Replacing:

𝐺𝑔𝑝
1 −13,7 𝑆 + 639,1
(1,31 + 5,48 (𝑆 ) + 0 ∗ 𝑆 ) ( 2 )
𝑆 + 36,36 𝑆 + 647,8
= (21)
1 −13,7 𝑆 + 639,1
1 + (1,31 + 5,48 (𝑆 ) + 0 ∗ 𝑆) ( 2 )
𝑆 + 36,36 𝑆 + 647,8

𝐺𝑔𝑝 (𝑆)
1
(1,31 + 5,48 ( ) + 0 ∗ 𝑆 ) ( −13,7 𝑆 + 639,1)
= 𝑆 (22)
𝟐
𝑺 + 𝟑𝟔, 𝟑𝟔 𝑺 + 𝟔𝟒𝟕, 𝟖
1
(1 (𝑆 2 + 36,36 𝑆 + 647,8 )) + (1,31 + 5,48 (𝑆 ) + 0 ∗ 𝑆) (−13,7 𝑆 + 639,1)
𝟐
𝑺 + 𝟑𝟔, 𝟑𝟔 𝑺 + 𝟔𝟒𝟕, 𝟖

1
(1,31 + 5,48 ( )) (−13,7 𝑆 + 639,1)
𝑆 𝑆
𝐺𝑔𝑝 (𝑆) = ∗( ) (23)
1 𝑆
(𝑆 2 + 36,36 𝑆 + 647,8 ) + (−13,7 𝑆 + 639,1)(1,31 + 5,48 ( ))
𝑆

Fig. 8. Stable system of stepper motor

Subsequently, we perform the law of ends and means and
multiply both the numerator and the denominator by "S" to
finally obtain the global function of the plant with Source [own]
incorporated controller, as we can see below.
 DC motor
The resulting global transfer function is the following:
To find the transfer function of the global DC motor, the
1
(1,31 + 5,48 ( )) (−13,7 𝑆 + 639,1) following procedure was carried out:
𝑆
𝐺𝑔𝑝 (𝑆) = (24)
1
(𝑆 2 + 36,36 𝑆 + 647,8 ) + (−13,7 𝑆 + 639,1)(1,31 + 5,48 ( ))
𝑆
−0,6892 𝑆 + 3,845
𝐺𝑝 = (28)
𝑆 2 + 3,726 𝑆 + 3,794
Routh's arrangement:
1
For the Routh arrangement we proceed to find the 𝐺𝐶 (𝑠) = 𝐾𝑝 + 𝐾𝑖 ( ) + 𝐾𝑑 ∗ 𝑆 (29)
𝑆
characteristic polynomial of S, then:

1
Replacing, we have:
𝑃𝑐 (𝑠 ) = (𝑆2 + 36,36 𝑆 + 647,8 ) + (−13,7 𝑆 + 639,1) (1,31 + 5,48 ( )) (25)
𝑆
1
𝐺𝐶 (𝑠) = 0,53 + 0,033 ( ) + 1,18 ∗ 𝑆 (30)
Subsequently we proceed to group the S's, then we have that: 𝑆

𝑃𝑐 (𝑠) = ((1)𝑆
2
+ (36.36 − 17.947) 𝑆1 By block algebra, the following was done:
0
+ (647.8 + 837.227 − 75.076) 𝑆
+ (3502.208) 𝑆−1) 𝑆 (26) +
𝐺𝑐 (𝑠) 𝐺𝑝 (𝑠)
-
As explained above, for this arrangement to be ideal there
cannot be negative coefficients, so we multiply the whole
equation by "S", then we are left with:

𝑃𝑐 (𝑠) = (1)𝑆
3
+ (36.36 − 17.947) 𝑆2 Mathematically we have:
1
+ (647.8 + 837.227 − 75.076) 𝑆
0
+ (3502.208) 𝑆 (27) 𝐺𝑐 (𝑆) ∗ 𝐺𝑝(𝑆)
𝐺𝑔𝑝 = (31)
1 + 𝐺𝑐 (𝑆) ∗ 𝐺𝑝 (𝑆)

Replacing:

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Develop system with stability, UMB 2021

1 −0,6892 𝑆 + 3,845
(0,53 + 0,033 (𝑆 ) + 1,18 ∗ 𝑆 ) ( 2 )
𝑆 + 3,726 𝑆 + 3,794
𝐺𝑔𝑝 = (32)
1 −0,06892 𝑆 + 3,845
1 + (0,53 + 0,033 (𝑆 ) + 1,18 ∗ 𝑆) ( 2 )
𝑆 + 3,726 𝑆 + 3,794

1
(0,53 + 0,033 ( ) + 4,18 ∗ 𝑆 ) ( −0,06892 𝑆 + 3,845)
𝐺𝑔𝑝 (𝑆) =
𝑆 (33)
𝑺𝟐 + 𝟑, 𝟕𝟐𝟔 𝑺 + 𝟑, 𝟕𝟗𝟒
2 1
(1 (𝑆 + 3,726 𝑆 + 3,794 )) + (0,53 + 0,033 ( ) + 4,18 ∗ 𝑆) (−0,06892 𝑆 + 3,845)
𝑆
𝑺𝟐 + 𝟑, 𝟕𝟐𝟔 𝑺 + 𝟑, 𝟕𝟗𝟒

1
(0,53 + 0,033 (𝑆) + 4,18 ∗ 𝑆) (−0,06892 𝑆 + 3,845) 𝑆
𝐺𝑔𝑝 (𝑆) = ∗( ) (34)
1
(𝑆 2 + 3,726 𝑆 + 3,794) + (−0,06892 𝑆 + 3,845) (0,53 + 0,033 (𝑆) + 4,18 ∗ 𝑆) 𝑆

Subsequently, we perform the law of ends and means and

multiply both the numerator and the denominator by "S" to
finally obtain the global function of the plant with
incorporated controller, as we can see below.

The resulting global transfer function is the following:

1
(0,53 + 0,033 (𝑆) + 4,18 ∗ 𝑆) (−0,06892 𝑆 + 3,845)
𝐺𝑔𝑝 (𝑆) = (35)
1
(𝑆 2 + 3,726 𝑆 + 3,794) + (−0,06892 𝑆 + 3,845) (0,53 + 0,033 (𝑆) + 4,18 ∗ 𝑠)

Fig. 9. Stable system of DC motor

Routh's arrangement: Source [own]

For the Routh arrangement we proceed to find the 4 QUESTIONAIRE

characteristic polynomial of S, then:
1. ¿What is ROUTH HOURWITZ array?
1
𝑃𝑐 (𝑠) = (𝑆2 + 3,726 𝑆 + 3,794) + (−0,6892 𝑆 + 3,845) (0,53 + 0,033 ( ) + 1,18 𝑆) (36)
𝑆
In mathematics, a Hurwitz matrix, a Routh-Hurwitz matrix;
or stability matrix in engineering, is a square matrix
Subsequently we proceed to group the S's, then we have that:
structured in reals, constructed with the coefficients of real
polynomial.
2
𝑃𝑐 (𝑠) = ((1 − 0.813256)𝑆 + (3.726 − 0.365276 + 4.5371) 𝑆1
+ (−0.0227436 + 1.65335 + 3.794) 𝑆0 1. ¿What is an unstable and stable system?
+ (0.126885) 𝑆−1) 𝑆 (37)
A linear and time invariant system is stable if its natural
response tends to zero when time tends to infinity.
As explained above, for this arrangement to be ideal there
cannot be negative coefficients, so we multiply the whole A linear and time invariant system is unstable if its natural
equation by "S", then we are left with: response grows without limit when time tends to infinity.

3
𝑃𝑐 (𝑠) = (1 − 0.813256)𝑆 + (3.726 − 0.365276 + 4.5371) 𝑆2
+ (−0.0227436 + 1.65335 + 3.794) 𝑆1 5 CONCLUSIONS
+ (0.126885) 𝑆0 (38)

It was identified that after determining the PID, it is

necessary to establish whether the transfer function of the
system is stable, for this we can use the Routh-Hurwitz
stability criterion which makes use of the denominator
coefficients, or poles, to determine how many unstable
roots arise in the system.

6 REFERENCES

[1] Pallás-Areny, R. y Webster. (2001). Sensors and signal

conditioning. EE.UU.: John Wiley and sons. (Library
Collection UMB)

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Develop system with stability, UMB 2021

[2] Benjamin Kuo (1996). Sistemas de Control

Automático. México: Prentice Hall. (Colección biblioteca
UMB)

[3] Bolton, William (2001). Ingeniería de Control.México:

Alfaomega. (Colección biblioteca UMB)

[4] Sira-Ramirez Herbert Pearson (2005) Control de

sistemas no lineales

[5] Modelado matemático de los sistemas

dinámicoshttp://www.ieef.upm.es/webantigua/spain/A
signaturas/Servos/Apuntes/4_Modelado.pdf (accessed
Oct. 05, 2020).

[6] A. Castaño, Función de

transferencia.https://controlautomaticoeducacion.com/
analisis-de-sistemas/funcion-de-transferencia/ (accessed
Oct. 05, 2020)

7 ANEXOS