LU 4

STABILITY : HURWITZ CRITERION

1. Solution:

a) Poles are at s = 0 ;  1,5 + j1,6583 ;  1,5  j1,6583

One pole at s = 0 (marginally stable)

b) Poles are at s = 5; j 2 ; j 2

Two poles on j axis (marginally stable)

c) Poles are at s =  0,8688 ; 0,4344 + j2,3593 ; 0,4344  j2,3593

Two poles in RHP (unstable)

d) Poles are at s = 5; 1+j; 1j

All poles in the LHP (stable)

e) Poles are at s =  1,3387 ; 1,6634 + j2,164 ; 1,6634  j2,164

Two poles in RHP (unstable)

f) Poles are at s =  22,8487  j22,6376 ; 21,3487  j22,6023

Two poles in RHP (unstable)

2.
Solution:
a)
Two sign changes in the first column. Two roots in RHP.

b)
No sign changes in the first column. No roots in RHP.

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 c)
No sign changes in the first column. No roots in RHP.

d)
Two sign changes in the first column. Two roots in RHP.

Question 3.
3a

Thus, the system is stable for 0 < K < 11,36. When K = 11,36, the system is marginally
stable. The auxiliary equation is A(s) = 14,2s2 + 11,36 = 0. The solution of A(s) = 0 is
s2 =  0,8. The frequency of oscillation is 0,894 rad/s.

A(s) = 14,252 + 11,36

= 0
 s2 + 0,8 = 0
s2 =  0,8
s =  j0,894
3b
The conditions for stability are:
K > 0, K > 1 and  9K2  1 > 0.
Since K2 is always positive, the last condition cannot be met by any real value of K.
Thus, the system is unstable for all values of K.

3c
The conditions for stability are:
K >  2 and K2 + 2k  5 > 0 or (K + 3,4495)(K  1,4495) > 0, or K > 1,4495.
Thus, the condition for stability is K > 1,4495. When K= 1,4495 the system is marginally
stable. The auxiliary equation is A(s) = 3,4495s2 + 10 = 0. The solution is s2 =  2,899.
The frequency of oscillation is 1,7026 rad/s.

3d
The conditions for stability are:
K > 0 and K < 10. Thus 0 < K < 10.
When K = 10, the system is marginally stable. The auxiliary equation is
A(s) = 20s2 + 100 = 0. The solution of the auxiliary equation is s2 =  5. The frequency
of oscillation is 2,236 rad/s.
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3e
The conditions for stability are:
K > 0, K > 2 and 5K  10  K3 > 0.
The last condition is written as (K + 2,9055)(K2  2,9055 + 3,4419) < 0. The second-
order term is positive for all values of K. Thus, the conditions for stability are: K > 2 and
K <  2,9055. Since these are discrepant, the system is unstable for all values of K.

3f
The condition for stability is 0 < K < 0,24. When K = 0,24, the system is marginally
stable. The auxiliary equation is A(s) = 0,6s2 + 0,24 = 0. The solution of the auxiliary
equation is s2 =  0,4. The frequency of oscillation is 0,632 rad/s.

4. a

Conditions for stability:

From the s3 row : K < 3 x 107

From the s2 row : K < 2,1408 x 107
From the s1 row : K2  (2,162 x 107)K + (5 x 1012) < 0
or (K  2,34 x 105)(K  2,1386 x 107) < 0

Thus: (2,34 x 105) < K < (2,1386 x 107)

From the s0 row : K > 0

Thus, the final condition for stability is (2,34 x 105) < K < (2,1386 x 107)

When K = 2,34 x 105  = 10,6 rad/s

When K = 2,1386 x 107  = 188,59 rad/s

4b
Stability condition: K > 4,6667

When K = 4,6667, the auxiliary equation is A(s) = 6,6667s2 + 933,333 = 0. The solution
is s2 =  140. The frequency of oscillation is 11,832 rad/s.

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 4c
Stability condition: 0 < K < 6000

When K = 6000, the auxiliary equation is A(s) = 30s2 + 6000 = 0. The solution is s2
=  200. The frequency of oscillation is 14,142 rad/s.

4d
Stability condition: K >  1.

When K =  1, the zero element occurs in the first element of the s0 row. Thus, there is
no auxiliary equation. When K =  1, the system is marginally stable, and one of the
three characteristic equation roots is at s = 0. There is no oscillation. The system
response would increase monotonically.