Outline

• Stability definitions.
Stability • Necessary conditions.
• Routh-Hurwitz criterion.
M. Sami Fadali • Stable range of parameter values.
Professor of Electrical Engineering • Examples.
UNR

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>> roots([1,2,3,4,5])
Stability Definitions ans =
0.2878 + 1.4161i
MATLAB
• Asymptotic Stability: Natural response due to the
initial conditions decays to zero exponentially as
0.2878 - 1.4161i Commands
t tends to infinity. -1.2878 + 0.8579i
-1.2878 - 0.8579i
• Unstable: unbounded natural response.
>> >> zpk(g)
• In practice, nonlinearities limit the response as
the limits of validity of the linear model are
Zero/pole/gain:
exceeded.
4 (s+1)
• Marginally Stable: response is not unbounded but
-------------
does not decay exponentially.
(s^2 + s + 4)
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 Time Response Stability Determination
m
(i) Stable: For LHP poles [real:pi < 0,
∏ (s − zi ) n
Ki L n
complex:Re{pi } < 0], the term decays
G (s) = K i =1
=∑ ←⎯⎯→ g (t ) = ∑ K i e p t ,
i
t≥0 exponentially.
∏ (s − p )
n
i =1 s − pi i =1

j =1
j
(ii) Marginally stable: If there are simple (not
repeated) poles on the jω axis, the terms do
G( s) =
1 L
←⎯⎯→ g (t ) = te p t , 1
t≥0
not decay but are bounded.
(s − p1 )2 (iii) Unstable: For RHP poles or repeated jω
G( s) =
1 L
←⎯⎯→ g (t ) = t , t≥0 axis poles, the terms are unbounded.
s2

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Closed-Loop System Routh-Hurwitz Criterion

• The characteristic polynomial is known but
its roots (system poles) are not.
1) Form the Routh array.
ansn + an−1sn−1+L+as
1 + a0 2) All the roots of the polynomial are in
Necessary Stability Conditions (not enough) the LHP if and only if all entries of the
coefficients ai > 0, i = 0, 1, ... , n first column are positive.
Example: s2 + 0. s + 9 roots at +j3 and −j3 Necessary and sufficient conditions
Example: (s + 2)(s + 1)(s2 + 4s +10) stable

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 Example Stable Range of K
s + 1.5s + 16s + 28.5
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• Use Routh-Hurwitz criterion.

s 3 1 16 • Determine the range where the first column
Routh s 2 1 .5 28.5
24 − 28.5 of the Routh array remains positive.
Array s 1
1 .5 • Multiple Constraints
s 0 28.5
– The overall lower bound is the highest lower
2 sign changes: 2 RHP poles bound.

(s + 1.737 )(s 2 − 0.2366s + 16.41 )

– The overall upper bound is the lowest upper
bound.

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Example
Imaginary Axis Roots
K (s + 2)
T= 3
s + 1.5s + ( K + 16 )s + 2 K − 8.5
2
• Auxiliary equation: s3 1 K + 16
use row above zero s2 1 .5 2 K − 8 .5
s3 1 K + 16 row with K = Kcr 1
32.5 − 0.5 K
s
Routh s2 1.5 2 K − 8.5 1 .5
32 .5 − 0.5K • Solve for the roots. s 0 2 K − 8 .5
Array s1
1 .5
s 0 2 K − 8.5 1.5s 2 + 2 × 65 − 8.5 = 0
s 2 = −81
32.5 − 0.5 K > 0 ⇔ K < 65
2 K − 8.5 > 0 ⇔ K > 4.25 s1.2 = ± j 9
4.25 < K < 65 11 12

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 Multiple Constraints Quadratic Constraints
aK 2 + bK + c > 0
• Stable range of K is the range where all f ( K ) = aK 2 + bK + c = a( K − K1)( K − K 2)
constraints are satisfied. df ( K )
= 2aK + b = 0 for max or min
Example: Routh array gives dK
d 2 f (K )
• K < 7, K > 0, K > −1, K < 10 dK 2
=a

• Stable range 0 < K < 7 • Maximum for a < 0, f positive K1<K<K2

• Minimum for a > 0, f positive K < K1,K>K2

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MAPLE
¾plot([-K^2+7*K-10,K^2-7*K+10],K=0..6);

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