FEEDBACK CONTROL SYSTEMS

Stability
Poles at lhp yields pure
exponential decay then
negative real part which
means
Stable systems have
closed-loop transfer
function with poles only
in the left half-plane
A marginal system (marginally stable), sometimes referred to as having neutral stability
Routh-Hurwitz Criterion:

Find the number of poles without the coordinates

 Third degree polynomial means 3 poles
Two rows change sign means 2 in rhp and 1 in lhp

Number of roots in rhp = number of sigh change at first column

Routh-Hurwitz Special Cases:
Routh-Hurwitz Special Cases:

Case 1: Zero only in the first column

Thus, the polynomial with reciprocal roots can be written in reverse order
2 rhp
3 lhp
Case 2: Entire Row is Zero
Even polynomial have roots symmetrical about origin
Review:

If all the coefficients in a row are zero, a pair of roots of equal magnitude and
opposite sign is indicated.
These could be
• two real roots with equal magnitudes and opposite signs or
• two conjugate imaginary roots.
The zero row is replaced by taking the coefficients of dP(s)/ds, where P(s), called the
auxiliary polynomial, is obtained from the values in the row above the zero row. The pair
of roots can be found by solving dP(s)/ds= 0.
Note that the auxiliary polynomial always has even degree.
It can be shown that an auxiliary polynomial of degree 2n has n pairs of roots of equal
magnitude and opposite sign.
is a even polynomial (even powers of s), that is a factor of
original polynomial
s8 to s4, two sign change → 2 rhp and 2lhp

No sign change from s4 to s0 → No rhp

Then 4 poles on jw-axis
From s8 to s6 →no sign change → no rhp then 2 poles at jw axis

From s6 to s0 → 2 sign change → 2 poles at rhp

4 poles at lhp
Stable

Unstable

Roots at lhp and two roots at jw axis → marginally stable