LINEAR CONTROL SYSTEMS

Stability Analysis
Dr. Roy ABI ZEID DAOU

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 OUTLINE
 Introduction

 Placement of poles

 Routh-Hurwitz Algorithm

 Case study

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 Introduction
Stability Analysis

Closed Loop Systems Open Loop Systems

Placement Routh-Hurwitz Bode plot Nyquist plot

of poles Algorithm Phase Margin Nyquist stability Root Locus plot
Gain Margin criterion

Mainly used for control purpose

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Refer to lectures 5, 6 and 7
 Introduction (cont’)
 So, in this lecture, we will focus on the closed loop methods
 Placement of poles
 This method will define whether the system is stable or not
 First you have to calculate the closed-loop poles
 May be complex if the system is of high order!!!

 Routh-Hurwitz criterion
 Determine if the system is stable or not… no additional clues if the
system is unstable
 Helps in determining the rang of values of a parameter within the TF (for
example the gain) in order to get a stable system
 Used to determine in an advanced stage if the required error can be
reached while maintaining the system stable

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 Placement of poles
 As presented in the previous chapter, all the closed loop
poles must have a negative real part in order to have a stable
system

 The first step is to compute the closed loop TF of the whole

system (plant, controller and sensor)

 The second step is to determine the poles of the function

 At this level, one can also plot them using Re vs Im axis

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 Placement of poles (cont’)
 Consider this system

 The closed loop poles are shown as follow:

 From the above figure, one can conclude that the system is stable

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 Placement of poles (cont’)
 In MATLAB, we can do the following:
You can also display the results
using the same function pzmap

You can also use tf2zp

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 Placement of poles (cont’)
 In MATLAB, we can do the following:

Pole-Zero Map
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From this plot, 1.5

one can notice

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that the system
Imaginary Axis (seconds-1)

is unstable 0.5
Poles with
0 positive real
-0.5
parts

-1

-1.5

-2
-2 -1.5 -1 -0.5 0 0.5
Real Axis (seconds -1)
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 Routh-Hurwitz Algorithm
 This method defines whether the system is stable or not
 No idea how to stabilize the system if unstable!!

 Consists of a table
 The first two rows are filled by
 The closed loop denominator
OR
 The addition of the open loop numerator and denominator

 Loop at the elements of the first columns

 If all have the same sign ➔ stable system

The number of roots of the polynomial that are in the right half-
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plane is equal to the number of sign changes in the first column
 Routh-Hurwitz Algorithm (cont’)
 Example

Closed loop system

First two rows coming from the C.L.T.F

Number of
columns =
the degree
of the TF
Looks like a step
Each two rows ➔ one column is removed
One exception may be at the level of the 1st
step in case the TF order is even

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 Routh-Hurwitz Algorithm (cont’)
 Example

SYSTEM IS UNSTABLE

Open loop system

Closed loop system
NEXT SLIDE
(s+2)(s+3)(s+5) + 1000 = s3 + 10s2 +31s + 1030

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 Routh-Hurwitz Algorithm (cont’)

SYSTEM IS UNSTABLE

Elements of the first columns not of the same sign

Two sign changes ➔ two poles with positive real parts
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 Routh-Hurwitz Algorithm (cont’)

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 Routh-Hurwitz Algorithm (cont’)
 Special cases:
 One element of the first column is equal to 0 ➔ replace it by
ε = 0+

 A complete row is equal to 0 ➔ use the auxiliary polynom

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 Routh-Hurwitz Algorithm (cont’)
 1st special case
Consider that:

Replace 0 by ε

2 sign changes ➔
Negative value system is unstable

If this value is
positive or negative
we will have the
same result

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 Routh-Hurwitz Algorithm (cont’)
 2nd special case

In this case, we will have

2 poles on on the jw-axis
Auxiliary polynom:
P(s) = 7s4 + 42s2 + 56
= s4 + 6s2 + 8
P’(s) = 4s3 + 12s = s3 + 3s

All row is 0

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All values are positive ➔ sys is stable
 Routh-Hurwitz Algorithm (cont’)

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 Routh-Hurwitz Algorithm (cont’)
 Determine the range of values of a parameter to
have the system stable

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