AERO480 and MECH6091: Flight Control Systems

Additional Slides

Introduction to Stability and Stability Analysis

Prof. Youmin Zhang

Outline
We will discuss in today’s lecture:
 Definitions of Stability

 Methods for Stability Analysis

 Routh-Hurwitz Stability Criterion

 An F-16 Example for Stability Analysis

Dept. of Mechanical and Industrial Engineering, Concordia University

 General Structure of Control Systems
and System Stability
disturbances disturbances
disturbances noises noises
noises
Inputs Outputs

_ Controllers Actuators System Sensors

Feedback
Elements in control systems: Properties of control systems:
 System/Plant • Stability
 Sensors
• Performance
 Actuators
• Robustness
 Controllers

Stability is the most important system specification for a closed-loop system

 What is Stability about?
Example of a Ball

If you set
your car
with
100km/h
with cruse
control on
the
highway,
what is that
1000km/h
call?

B. Etkin and L. D. Reid, Dynamics of Flight: Stability and Control, 3rd ed., Wiley, 1996.
 What is Stability about?
Example of a Cone

R. C. Dorf and R. H. Bishop, Modern Control Systems, 10th ed., Prentice Hall, 2004
 What is Stability about?
Stability vs. Control (Demo)

Stability and Control are often discussed together. They are empowered by the
same aircraft structure but are two separate concepts. Here we focus mainly on
the discussion to the stability. Then how is the stability defined?
 Definitions of Stability

 Definition of Stability Based on Natural Response:

– A LTI (Linear Time-Invariant) system is stable if the natural (un-
forced) response approaches zero as time approaches infinity
– A LTI system is unstable if the natural response grows without
bound as time approaches infinity
– A LTI system is marginally stable if the natural response neither
decays nor grows, but remains constant or oscillates as time
approaches infinity

 Definition of Stability Based on Total Response – Bounded-Input

Bounded-Output (BIBO) Stability:
– A system is BIBO stable if every bounded input yields a bounded
output
– A system is BIBO unstable if any bounded input yields an
unbounded output
 Natural vs. Forced Response

N. S. Nise, Control System Engineering, 3rd ed., John Wiley & Sons, Inc., 2000, pp. 176-178.
 Natural vs. Forced Response

N. S. Nise, Control System Engineering, 3rd ed., John Wiley & Sons, Inc., 2000, pp. 176-178.
 Definitions of Stability (Aircraft Case)
Static Stability vs. Dynamic Stability
Stability: In the case of an aircraft, stability usually refers to the ability of the
aircraft to get rid of a disturbance and return the aircraft to equilibrium (or trim
condition).
Example: Consider the case when an aircraft is flying straight and level. If a
sudden gust pitches up the aircraft nose and vanishes (causing an increase in the
angle of attack), the aircraft can respond (without any pilot input) as following three
ways:
Stable: If the aircraft returns to equilibrium (the nose comes down)
Unstable: If the aircraft continues to move away from equilibrium (the nose
continues to pitch up)
Neutrally Stable: The aircraft is able to establish a new equilibrium state
(continuously to hold the nose in the new pitched up state)
Two Types of Stability:
Static Stability: The initial tendency of the aircraft to return to equilibrium
following a perturbation from a steady-state flight condition
Dynamic Stability (Stability of Motion): The aircraft should return to
equilibrium in time. Dynamic stability focuses on the time history of aircraft motion
after the aircraft is disturbed from an equilibrium or trim condition
http://www.rit.edu/~pnveme/EMEM682n/StaticStab/index_StatStab.html
 Methods for Stability Analysis
 According to the definitions – based on time response

  For LTI
Definition of systems, however,
Stability Based on NaturaltheResponse:
stability requirement
may
– A be defined
LTI (Linear in terms
Time-Invariant) of the
system locations
is stable of the
if the natural poles
(un-forced)
of the closed-loop
response approaches zerotransfer
as time function,
approaches i.e. the roots of
infinity
the
– A LTIcharacteristic
system is unstableequation,
if the natural which can
response be without bound as
grows
demonstrated
time in the next slide
approaches infinity
– A–LTI
Asystem
system is stablestable
is marginally if allifthe poles response
the natural of the closed-
neither decays
nor loop
grows,transfer
but remains constant are
function or oscillates
in the as time approaches
left-hand side ofinfinity
the s-plane
 Definition of Stability Based on Total Response – Bounded-Input
Bounded-Output (BIBO) Stability:
 Another method is available to test for stability
– A system is BIBO stable if every bounded input yields a bounded output
without having to solve for the roots of the
characteristic equation (Δ(s)=0) – Routh-Hurwitz
– A system is BIBO unstable if any bounded input yields an unbounded
output
(Stability) Criterion
Impulse responses versus locations of closed-
loop poles in s-plane
(The conjugate pole is not shown)

Stable Marginally stable Unstable

Question: Is there any quicker and easier way for stability analysis?
 Routh-Hurwitz Stability Criterion

 A quick method for checking system stability

 Assume the characteristic equation is
n −1
Δ ( s ) = an s + an −1s
n
+  + a1s + a0 = 0
where a0 ≠ 0
 A necessary (but not sufficient) condition for all roots
to have non-positive real parts is that all coefficients
have the same sign
 For the necessary and sufficient conditions, first form
the Routh array (or Routh table)
 Routh-Hurwitz Stability Criterion
The Routh Table (Array)
n −1
Δ ( s ) = an s + an −1s
n
+  + a1s + a0 = 0
n
s an an-2 an-4 an-6 … where
n-1
s an-1 an-3 an-5 an-7 … an−1 an −2 − an an −3
n-2 b1 =
s b1 b2 b3 b4 … an−1
n-3
s c1 c2 c3 c4 … an −1 an −4 − an an−5
b2 =
: : : : an −1
2
s k1 k2 an −1 an −6 − an an−7
s 1
l1 b3 =
an −1
s0 m1 :
 Routh-Hurwitz Stability Criterion
The Routh Array (cont’d)
 In a similar manner, elements in the 4th row, c1, c2 , …
are calculated based on the two previous rows
b1 an −3 − an−1 b2 sn an an-2 an-4 an-6 …
c1 = n-1
b1 s an-1 an-3 an-5 an-7 …
n-2
b1 an −5 − an −1 b3 s b1 b2 b3 b4 …
c2 = n-3
b1 s c1 c2 c3 c4 …
: : : : :
 The elements in all 2
subsequent rows are
s k1 k2
1
calculated in the same s l1
manner 0
s m1
 Routh-Hurwitz Stability Criterion

Necessary and sufficient conditions:

 If all elements in the first column of the Routh table
have the same sign, then all roots of the characteristic
equation have negative real parts – system is stable

 If there are sign changes in these elements, then the

number of roots with non-negative real parts is equal
to the number of sign changes – system is unstable

 Elements in the first column which are zero define a

special case
 Routh-Hurwitz Stability Criterion
The Routh Table (Array)
n −1
Δ ( s ) = an s + an −1s
n
+  + a1s + a0 = 0
n
s an an-2 an-4 an-6 … where
n-1
s an-1 an-3 an-5 an-7 … an−1 an −2 − an an −3
n-2 b1 =
s b1 b2 b3 b4 … an−1
n-3
s c1 c2 c3 c4 … an −1 an −4 − an an−5
b2 =
: : : : an −1
2
s k1 k2 an −1 an −6 − an an−7
s 1
l1 b3 =
an −1
s0 m1 :
 Example 1

Δ ( s ) = 2 s 4 + s 3 + 3s 2 + 5s + 10 = 0
4 3 − 10 10 − 0
s 2 3 10 0 b1 = = −7 b2 = = 10
3 1 1
s 1 5 0 0 − 35 − 10
2 b1 b2 0 c1 = = 6 . 43
s −7
1 c1 0
s 10 ( 6 . 43 ) − 0
0 d1 = = 10
s d1 6 . 43

The characteristic equation has two roots with positive real parts
since the elements of the first column have two sign changes:
(2, 1, -7, 6.43, 10)
 Example 2: F-16 fly-by-wire (FBW) system (1/4)

http://en.wikipedia.org/wiki/F16

– A multi-loop control system

– Transfer function between elevator control surface deflection (δe) and angle of
attack (α) is given as

α − 0.083( s 2 + 0.086s + 0.0594)( s + 35.4)

= 2
δ e ( s + 0.168s + 0.0832)( s + 1.75)( s − 0.4825)
T. R. Yechout et al, Introduction to Aircraft Flight Mechanics: Performance, Static Stability, Dynamic
Stability, and Classical Feedback Control, AIAA Education Series, Reston VA, USA, May 2003, pp.437.
What is Fly-By-Wire (FBW)?
What is Fly-By-Wire (FBW)?
 What is Fly-By-Wire (FBW)?
From Mechanical Flight Control System …

Flight Augmentation
Computer

A/P
Feel and
Limitation
Computer
AP A/C
Response

to … Fly-By-Wire (FBW) … or Electrical Flight Control System (EFCS)

Auto-pilot
Computer
A/P Order
Fly-By-Wire
Computers
A/C
Response
 Fly-By-Wire: main components

• Pilot interface : sidestick

rudder pedals
indications / feed-back

• Digital computers

• Electrically signalled actuators

• Sensors (dedicated or shared)

• Electrical wiring, hydraulic power distribution

 Example 2: F-16 fly-by-wire (FBW) system (2/4)

– If we select a gain of K = 0.415, then the open-loop transfer function becomes

0.415 × (−20) × (−0.083) × ( s 2 + 0.086s + 0.0594)( s + 35.4)
GH ( s ) =
( s + 20)( s 2 + 0.168s + 0.0832)( s + 1.75)( s − 0.4825)
Open-loop poles: -0.084+j0.2759, -0.084-j0.2759, -1.75, 0.4825, -20
– The corresponding closed-loop transfer function is given by
G ( s)
Φ( s) =
1 + GH ( s )
1.66 s 3 + 58.91s 2 + 5.152 s + 3.491
= 5
s + 21.4355s 4 + 28.8489 s 3 + 13.45s 2 + 1.3398s + 0.0436

Questions: Is the closed-loop system stable? How to analyze the stability of the system?
 Example 2: F-16 fly-by-wire (FBW) system (3/4)

∆( s ) = s 5 + 21.4355s 4 + 28.8489 s 3 + 13.45s 2 + 1.3398s + 0.0436 = 0

21.4355×28.8489 – 1×13.45
5 1 28.8489 1.3398 0 b1 = = 28.2214
s 21.4355

4 21.4355×1.3398 – 1×0.0436
= 1.3378
s 21.4355 13.45 0.0436 0 b2 = 21.4355
3 21.4355×0 – 1×0
b1 b2 b3 b3 = = 0
s 21.4355
2 c1 c2 28.2214×13.45 – 21.4355×1.3378
s c1 = 28.2214
= 12.4339

1 d1
s c2=
28.2214×0.0436 – 21.4355×0
28.2214
= 0.0436
0 e1
s d1 =
12.4339×1.3378 – 28.2214×0.0436
12.4339
= 1.2388

Since the elements of the first column 1.2388×0.0436 – 0

e1 = = 0.0436
do not have sign changes (all positive), 1.2388
the closed-loop system is stable.
Example 2: F-16 fly-by-wire (FBW) system (4/4)

Unit step response of the F-16 Response under impulse disturbance

 Summary

What we have discussed today:

 Definitions of Stability (based on natural, BIBO, static and dynamic

stability in the case of aircraft)

 Methods for Stability Analysis (based on time response, location of

closed-loop transfer function)

 Routh-Hurwitz Stability Criterion (it is important for you to know

and to use it for determining system stability)

 A Simple Numerical and a Simplified F-16 Examples for Stability

Analysis using Routh-Hurwitz Stability Criterion
Thanks for Your Attention !

Questions?