STABILITYSTABILITY OF CONTROL SYSTEMS The study of stability deals with two basic questions: * Is the systems stable? (ABSOLUTE STABILITY) * How stable is the system? (RELATIVE STABILITY) ABSOLUTE STABILITY: After a disturbance occurs + ASTABLE system's output returns to and remains at its original equilibrium state. * AnLTI system is STABLE if and only if the real parts of all its poles are negative. * An UNSTABLE system's output grow in time with no bound. * An LTI system is UNSTABLE if any of its poles has positive real part or if multiple poles lie on the imaginary axis and all others in the left hand complex plane. + AMARGINALLY STABLE system's output either oscillate continually about an equilibrium state or settles down to another equilibrium state, + An LTI system is marginally stable if any of the poles lie on the imaginary axis and no poles located on the right hand complex plane. RELATIVE STABILITY: * Defined only for absolutely stable systems. * Systems having shorter settling times are RELATIVELY MORE STABLE.EXAMPLES Im Im In Re Re Re STABLE UNSTABLE Im In Re Re Re UNSTABLE IMARGINALLY MARGINALLY STABLE STABLE multiple poles multiple poles ‘Re UNSTABLEROUTH - HURWITZ STABILITY CRITERION A SIMPLE METHOD TO DETERMINE: * whether the system is STABLE or NOT * if the system is NOT STABLE, the number and sometimes locations of poles responsible for the instability. without actually finding the poles of the system. THERE ARE TWO STAGES OF THIS METHOD: 1. Hurwitz Test : The necessary but not sufficient condition for a STABLE system !!! 2. Routh Criterion : The necessary and sufficient condition for a STABLE system !!!HURWITZ TEST + The necessary but not sufficient condition for a stable system * Let the closed-loop transfer function of the system is given as; _N(s) Gls where the characteristic equation is: D(s)=a,s"#a,. passing the Hurwitz test requires: i, all the coefficients a, must exist (ie. a, # 0 for i= 1, 2, ...n) ii, all the coefficients must have the same sign (ice. all positive or all negative) 3425745 ~ not stable, a, is missing. P4397 — 947 > not stable, a, and a, are missing, signs are different. S4s*425—1 ~ not stable, signs are different. 44 5°4+2.5*+5s+7 > may be stable, we can apply the ROUTH CRITERIONROUTH CRITERION + The necessary and sufficient condition for a stable system * Routh Criterion is applied through the use of Routh Array. if the characteristic equation is: D(s)=a,s"+a,_,s" '+...ta, stay number of rows of the Routh Array: n,=n+1 number of colums of the Routh Array: n,=int(”)+1 MOC & a | arb deo]One a, ay] p a itetdn2 Aue a By Ay tals 5 og, Q) 7 To a, — 0 ' ayy ayy B 3 o o Dia, 3-44 bs — ae oF ete. male le ° 0 by to | | Ifthe elements of the first column of the Routh aie [0 Array have the same sign, the system is " STABLE. (i.e. all poles have negative real parts) (ait | 0 + Ifthe elements of the first column of the Routh (la ole] Lol 18) array are of different signs, the number of sign ae miseven changes is equal to the number of poles with TWO POSSIBLE ENDINGS __ positive real parts.EXAMPLE 1 Test the stability of the system with the characteristic polynomial D(s)= 497429424 HURWITZ TEST PASS (all coefficients exist and they have the same sign) ROUTH ARRAY 3 n=3 > n=ntl=341=4 & n=int(Z)+1=int(5)+ Q @ wm) a | 2 6, =U 04) Gi 22 BE MOI 3, @Q 1 24 @ % 0 M 7 0 * signs in the first column are not the same ==> UNSTABLE * number of sign changes = 2 ==> TWO POLES WITH POSITIVE REAL PARTSEXAMPLE 2 Comment on the coefficients a; in order to have a stable 2" order systemD(s)=a,s°+a,s+a, To pass the HURWITZ TEST alla,>0 or alla, <0 ROUTH ARRAY n=2 > n=nt1=241=3 & (S41 =int(Z)41=2 @ @ GQ) 4% | % (4, 0 Bt ==> Therefore, the first column is a,, a;, a Bb 0 For a stable 2™ order system, all coefficients should have the same sign !!!EXAMPLE 3 Comment on the coefficients a; in order to have a stable 3“ order systemD(s)=a,s'+a,s°+a,sta, To pass the HURWITZ TEST alla, >0 or alla, <0 ROUTH ARRAY n=3 > n=ntl=341=4 & nsint(2)+1sint(3)41=2 @) @) Q)) 3 | % _(42)(a,)=(a5)(a9) Qa) a c 3) 4 0 5 : oy elho For a stable 3 order system: * all coeffi nts must have the same sign ! + a,a; >a, 4;EXAMPLE 4 Test the stability of the system with the characteristic polynomial D(s)=s°+7s‘+19s°+25s°+16s+4 HURWITZ TEST PASS (all coefficients exist and they have the same sign) ROUTH ARRAY n=5 > n=ntl=5+1=6 & (Set =imt (S)41=3 ee p= DU9)=()(25) _ 108 p= D6) =()(4) _ 108, @ 1 19 16 0 (7) 7 a (7) 7 TRICK 1 Any row of the Routh Array may be multiplied or divided by any positive constant without altering the conclusion. e,= W257) 1g (1) 6) 4, 0 TRICK 2 When an element of the array has two zeros immediately below, it can make a Knight's move. 2 down (18)(1)—(1)(4) 1 left = 7 ae 9 No sign change in the first column of the Routh Array ==> THE SYSTEM IS STABLEEXAMPLE 5 Test the stability of the system with the characteristic polynomial D(s)=s°+2s°+3s*+7s5°+6s HURWITZ TEST PASS (all coefficients exist and they have the same sign) ROUTH ARRAY n=6 % n,=nt+1=6+1=7 & nzint(%)+1=int(S)+1=4 3)-()(7)_ p= 2)(6)=((5) (2) 2 * (2) =D -(2)(7)_ oy © % g,=D2N=-1)(29) 176, _ (44)(29)-(21)(63) _-47 21 21 44 ~ 44 m Le (21) (44) * UNSTABLE + 4 sign changes in the first column of the Routh Array ==> 4 Poles with positive real partsSPECIAL CASES CASEI The leading element in a row is zero, but the remaining elements of the same row are not all zeros. * In this case there is at least one pole causing instability. * To determine the number of unstable poles: * replace the zero by a small positive € and continue constructing the array. * Take the limit ¢ > 0 and determine the signs of the elements of the first column to find the number of sign changes. EXAMPLE Test the stability of the system with the characteristic polynomial D(s)=s°+s*+25°+2s°+3 9415 MO @ &) wm} a|2 {3 @ 1 2 15 @) © 12 0 (4) 12/e 15 0 > tim (-12+5¢)==12 <0 (3) -12 0 0 (6) |e8 9 | 8 There are two poles with positive real parts.SPECIAL CASES CASEI Row of Zeros indicates that there are symmetrical poles with respect to the origin. Im. Im Re Re MARGINALLY 1. POLE = MARGINALLY STABLE STABLE 2 POLES = UNSTABLE Im —«—|_x—Re UNSTABLE UNSTABLE * Form an auxiliary polynomial Q(s) using the coefficients of the row just above the row of zeros. Q(s) = 0 gives the poles symmetrical with respect to the origin. + Take dQ(s) and replace the Row of Zeros with the coefficients of 4Q(s) ds dsEXAMPLE Test the stability of the system with the characteristic polynomial D(s S42 5'459°4 105° +4548 M @ ©) m.1is 4 2)(5)=(1)(10 (2) (2) 2 10 @ 5 8 (5) 9/5 0 6) 8 oO QO(s)=2s*+10s°+8=0 O(s)=2(s?+1)(s7+4)=0 Sati 8542425EXAMPLE Test the stability of the system with the characteristic polynomial D(s)=s°+25*+3 s°+6s°—4s—8 MY @ & @ 413 -4 @ 2 6 38 (5) 10/3 0 0 © 8 o 0 O(s)=25°+6 s°-8=0 QO(s)=2(s?+4)(s?-1)=0PARAMETER SELECTION FOR STABILITY EXAMPLE. Determine the range of the integral gain K; for a stable system. R(s) 1 cls) G(s)=£ D(s)=s'+2s°+4s+K, Hurwitz test requires K, > 0 ———____| n=3 => n,=4,n.=2 (@) (2) @) 4) @ ©) 1 4 2 «K b, K, 0 for stability: 8-K,>0 > R(s) S425°445+K, -———————> 0K, =s°(s+2)4+4(s+2) =(s°+4)(s+2) =(s—j2)(s+ j2)(s+2) imaginary conjugate poles, MARGINALLY STABLEPARAMETER SELECTION FOR STABILITY EXAMPLE 2: Show the allowable values of K and T on a T-K plane for a stable system. Ts) stl G(s)= a =| D(s)=Ts*+47s°+(34K)T s+K R(s) s(s+1)(s+3)+K(Ts+1) Hurwitz test requires T'> 0, K>0 Routh criterion for a 3" order system: 47(3+K)T>KT 9 T>~—~— 4(K+3)STABILITY MARGIN AND RELATIVE STABILITY For a stable system, STABILITY MARGIN is defined as the absolute value of the real part of the pole closest to the imaginary axis. u=min|Re(p;)|, 1sisn where p, represents the i pole. ‘The system with larger stability margin is said to be RELATIVELY MORE STABLE. The Routh criterion may be used to determine the stability margin of a system using a trial-and-error procedure as described below: * Substitute s = z- a with an arbitrary a>0 * Write D(z)= * Construct Routh array withD(z) (z-a) * Ifthe 1% column of the array has sign changes, then p,a + Ifthe array has a Row of Zeros with no sign changes in the first column, then = @EXAMPLE Determine the stability margin of a system with the characteristic polynomial D( s S#15 574385430 Leta=1 > s=z-1 9 D(z)=225+927+14245 HURWITZ TEST PASS, (9)(14)>(2)(5) % — u.>1 Leta=2 9 s=z-2 9 D(z 432°+22—29 HURWITZ TEST FAIL, Due to -29 term, there will be at least one sign change in the Routh array —,<2 Leta=15 > > = D(z)=22°+62" =z(22°+6 243.25) pole at the origin, MARGINALLY STABLEEXAMPLE Find the ranges of T and K such that the system has stability margin 1, > 1 D(s)=T 8° +47 ,s°+(K+3)T)s+K Let a= > Dlz)=7,2°+T,2°+(K-2)T,2+K(1-T,) Hurwitz test requires K>2, 0T,K(1-T,) > TK) admissible region for u,>1