Vibration and Control ( ME F319)

Control system

(Lecture 8)

Mechanical Engineering Dept.

 Topic covered : Last Class

• Transient and Steady state response analysis

– Second Order system

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 Higher order systems

Close loop Transfer Function (CLTF)

for unit step input

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 Partial fraction expansion

Where coefficient ak is called the residue at

the pole at s=–pk

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 Partial fraction expansion: with MATLAB

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 Higher order systems: MATLAB codes

MATLAB code for unit step input

step(num,den) or, step(num,den,t)
step(A,B,C,D), or, step(A,B,C,D,t)
Example:

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 Under unit step response

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 Under unit impulse response

The unit-impulse response of a control system may be

obtained by using any of the impulse commands

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 Responses with initial condition
Example: Consider the mechanical system shown in Figure where m=1 kg,
b=3 N-sec/m, and k=2 N/m. Assume that at t=0 the mass m is pulled
downward such that x(0)=0.1 m and 𝒙 (0)=0.05 m/sec. The displacement
x(t) is measured from the equilibrium position before the mass is pulled
down. Obtain the motion of the mass subjected to the initial condition.
(Assume no external forcing function.)

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 ROUTH’S STABILITY CRITERION

• Routh’s stability criterion tells us whether or not there are

unstable roots in a polynomial equation without actually
solving for them.
• This stability criterion applies to polynomials with only a
finite number of terms.
• When the criterion is applied to a control system,
information about absolute stability can be obtained
directly from the coefficients of the characteristic equation
STEP1: Write the polynomial in s in the following form:

Ch. Equation: 1+OLTF= 0

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 ROUTH’S STABILITY CRITERION

STEP 2: Check necessary and sufficient condition:

• If any of the coefficients are zero or negative in the presence of at least
one positive coefficient, a root or roots exist that are imaginary or that
have positive real parts. Therefore, in such a case, the system is not
stable.
• For the absolute stability, there is no need to follow the procedure
further. Note that all the coefficients must be positive. This is a
necessary condition
• It is important to note that the condition that all the coefficients be
positive is not sufficient to assure stability. The necessary but not
sufficient condition for stability is that the coefficients of Equation all be
present and all have a positive sign. (If all a’s are negative, they can be
made positive by multiplying both sides of the equation by –1.:
Hurwitz test
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 ROUTH’S STABILITY CRITERION

STEP 3: If all coefficients

are positive, arrange the
coefficients of the
polynomial in rows and
columns according to the
following pattern:

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 ROUTH’S STABILITY CRITERION

Routh’s stability criterion: The necessary and

sufficient condition that all roots of ch. Equation
lie in the left-half s plane is that all the
coefficients of Equation be positive and all
terms in the first column of the array have
positive signs.
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 Example: 1

Apply Routh’s stability criterion to the following fourth order

polynomial and construct the array of coefficients.
Also comments on stability.

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 ROUTH’S STABILITY CRITERION

• Routh’s stability criterion states that the number of roots of

Characteristics Equation with positive real parts is equal to
the number of changes in sign of the coefficients of the first
column of the array.
• It should be noted that the exact values of the terms in the
first column need not be known; instead, only the signs are
needed.
• The necessary and sufficient condition that all roots of ch.
Equation lie in the left-half s plane is that all the
coefficients of Equation be positive and all terms in the first
column of the array have positive signs.

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 Special case: If a first-column term in any row is zero, but the remaining
terms are not zero or there is no remaining term, then the zero term is
replaced by a very small “ε” positive number and the rest of the array is
evaluated

The result is unchanged when the coefficients of any row are multiplied or
divided by a positive number in order to simplify the computation.

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 Special case: If all the coefficients in any derived row are zero.
In such a case, the evaluation of the rest of the array can be continued by
forming an auxiliary polynomial with the coefficients of the last row and by
using the coefficients of the derivative of this polynomial in the next row.

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 Example 2

Determine the range of K for stability.The closed-loop

transfer function is

ANS.

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