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Hurwitz stability test Test q
hurwitz test thetestbeginswithtwochecks on qts stability Chee
All the coefficients are
present All the coefficients are positive
If or arenot true thenthe system is unstable
If we pass the theHurwitztestthenwe need tobuildtheRoutharray
Routh Array
2
A Assuming all entries in the left most column are non zero
The number of signchanges is the number of poles in theRHP
B A left most columnentry is zero however all entries to the right of
the
zero are non zero Replacethe zero with E so then proceed to build
array Letting E so count the number of signchanges to findpoles in the Rt
ne
there
is an all zero row Replace the all zerorow with the differential
equation Theauxiliaryequation comesfromthe row above the
axillary
all zero row Count the
number
of sign changes to
finding
the of poles in the
RHP
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Open loop Poles when K O then des 0
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Characteristic Equation I t KHcs Gcs It k 8 O OR
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tops to gettingthe denominator Root LocusRules Assuming
polynomial into thestandardform at negative feedback
theRootLocus Goal it kills The root locus starts at k 0
separate and isolate the termwith k openloop poles andends as to
Divide by the terms thatdo open loop zeros
plot the open looppolesand zeros on
not involve KEEFFE p Identify fine segments on th
A line segmentonthereal axis is apartof therootlocusreal
if andonly if an oddnumber of polesandorzeros lie axis that lie ontherootlocal
to thetight of the line segment er or a offas
Find the asympotic behavior for large k ie K as
Asymptote QA LIFE CZl I where l 0,1 p 21
Angle
Find the breakaway and re entry points on the real axis
Breakaway Relativemaximum inthe gainkl Use the magnitude condion
Reentry Relativeminimum in thegaink KitesGcs K's
findthe line segment where two poles will meetand breakawayfrom
K
l4
Method f therealoraxis then calculate the values of k for the differentvaluesof s
tofind themaximum minimain value
idst'replace it intheformula for k to find thevalue
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Make a all zero row in the RouthArray fortest in theRouth Hurwitz
Whenthere is aterm with k in it find avalueof k that willmakethetermequalto o
Thisvalueof k iswhenwe'llhavea crossingonthe imaginaryaxis j w axiswhere the
Dothederivative of the rowabove it to getthepointonthejw axis poles cross it
If the allzerorow isonthe si row takethe derivativeofthe s2
the valueof s ofthispolynomial are the locationsofthe poles whenthey areon the jw axis EzeroAngle
Verify that is value of s is on the rootlocus withthePhaseAnglecondition E Poleangles
Root Locus cont
PhaseAnglecondition
zeroAngles E Poleangles 180
Find the angles of departure and arrival
Arrival Poles arrive at a
zeros polesdepartfromtherealaxistogettothezet
Angle of Arrival's Preform the phase Angle condition relative to the zero
Poles will arrive at the angle of the zero istheonly
Anglesof Departures Performthe Phasedingle
condition relative to the polesthat are departing
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Controller Design Controller Cst
Controller Zero Placement 2 Options
66 in the LHP
1 Place the zero to cancel out a polefrom
2 Locate the zero of the controller at the real axis part of the desired
andominant pole of the system
on troller Pole placement 2 Options based on the zero Placerme
Fiendpotektorinesefeatate egliswpitalitifastesteffredcested equation for
fear
2 Use the phaseangle condition to find the location ofthepole
find K magnitude condition Solve for K
Pl Controller d
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OFI Goes Kp t ESI SEFFE.at
Laid Ltigtial Eight
Locate where the zero needstobe
placed
2 Determine the gainrep d it dat da ncsa
3 Solve for the integrator'sgain
Division Rule IF die
s we sweep k from O to o we see that the Caf poles
moving through the s plane on a path calledthe RootLocus
Root Locus the rootlocus begins on the open loop polesandends on the zeros finite or
