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Systems
Introduction
o Three requirements enter into the design of a control system:
transient response, stability, and steady-state errors
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Definition of Sability
We know that the total response of a system is given by:
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Relations among Stability, Transfer Function, and Poles
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Example: Stable, Unstable and Neutral Transient
Response (first-order)
Marginally stable
or neutral Unstable
Stable
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Second-Order Systems
o Stable systems have poles only in the left-half plane
Undamped
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Finding the Poles of the Closed-Loop Transfer Function
For such a system, the determination of the locations of the poles of the
closed-loop transfer function is not easy to grasp.
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Some Important Properties
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Routh-Hurwitz Criterion
o The method requires two steps:
Generate a data table called a Routh table
Interpret the Routh table
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Generating a Basic Routh Table
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Generating a Basic Routh Table
label the rows with powers of 𝑠 from the highest power 𝑠 4 of the
denominator of 𝐺𝑝(𝑠) to 𝑠 0
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Generating a Basic Routh Table
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Generating a Basic Routh Table
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Generating a Basic Routh Table
Note: Any row of the Routh table can be multiplied (or divided) by a
positive constant without changing the values of the rows below 17
Example #1
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Example #2
Solution
First of all, obtain the equivalent closed-loop transfer
function: 1000
𝐺(𝑠) (𝑠 + 2)(𝑠 + 3)(𝑠 + 5)
𝐺𝑒 𝑠 = =
1 + 𝐺 𝑠 𝐻(𝑠) (𝑠 + 2)(𝑠 + 3)(𝑠 + 5) + 1000
(𝑠 + 2)(𝑠 + 3)(𝑠 + 5)
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Now generate the basic Routh table
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Interpreting the Basic Routh Table
The basic Routh table applies to systems with poles in the left and
right half-planes but not on the imaginary axis.
Systems with pure imaginary poles and the kind of Routh table that
results will be discussed in the next section.
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Interpreting the Result of Example #2
The table has two sign changes in the first column.
o The first sign change occurs from 1 in the 𝑠 2 row to -72 in the 𝑠1 row.
o The second occurs from -72 in the 𝑠1 row to 103 in the 𝑠 0 row.
Thus, the system is unstable since two poles exist in the right half-plane.
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Example #3 (Second and third order systems)
ao s 2 a1s a2 0 ao s a1s a2 s a3 0
3 2
2
s3 ao a2 0
s a0 a2 0
s2 a1 a3 0
s a1 0 0
a1a2 ao a3
s 0
a2 s 0 0
a1
s0 a3
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Routh-Hurwitz Criterion Special Cases
Two main special cases may occur in a Routh table
o The first element in any row is zero
o Entire row is zero
Case (1) The first element in any row is zero
If the first element of a row is zero, division by zero would be
required to form the next row.
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Example #4 – Stability via Epsilon Method
𝝐 tends to zero
It can be either 𝟎+ or 𝟎−
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Example #4 – Stability via Epsilon Method
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Example #4 – Stability via Epsilon Method
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Example #4 – Stability via Epsilon Method
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Example #5 - Stability Design via Routh-Hurwitz
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Example #5 - Stability Design via Routh-Hurwitz
• For 0 < 𝐾 < 1386, the system is stable since, in that case, all
entries in the 1st column are positive. (3 l-h-p poles)
• For 𝐾 > 1386, there are two sign changes in the 1st column and
thus, in this case, the system is unstable (2 r-h-p- poles and 1 l-h-p
pole)
• For 𝐾 = 1386, the Routh table has a row of zeros with poles on the
𝑗𝜔-axis.
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Example #6 - Stability Design via Routh-Hurwitz
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Solution
Routh-Hurwitz table
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Solution
Routh-Hurwitz table