Control Systems

A. Saksena

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Time Response of First Order System

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General Form of Second Order System: Undamped

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General Form of Second Order System: Overdamped

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General Form of Second Order System: Critically Damped

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General Form of Second Order System: Under Damped

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Transient Response of Underdamped System

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Transient Response of Underdamped System

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Peak Time

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Overshoot

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Settling Time

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Problem

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Stability

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 Stability Definition
● A linear, time-invariant system is stable if the transient response approaches
zero as time approaches infinity.
● A linear, time-invariant system is marginally stable if the transient response
neither decays nor grows but remains constant or oscillates as time
approaches infinity.
● A linear, time-invariant system is unstable if the response grows without
bound as time approaches infinity.

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 Stability Definition
● A signal whose magnitude is a finite value is called the bounded signal. A sine
wave is an example of bounded signal.
● A system is stable if every bounded input yields a bounded output.
● Bounded Input Bounded Output Stability Criteria
○ A system is stable if every bounded input yields a bounded output.
○ A system is unstable if any bounded input yields an unbounded output.

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 Determine System Stability
● How to determine if a system is stable?
● Study of system shows that poles in the left half-plane yield either pure
exponential decay or damped sinusoidal responses.
● These responses decay to zero as time approaches infinity.
● Thus, if the closed-loop system poles are in the left half of the plane (LHP)
and hence have a negative real part, the system is stable.
● That is, stable systems have closed-loop transfer functions with poles only in
the left half-plane.

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 Determine System Stability
● How to determine if a system is stable?
● Study of system shows that poles in the left half-plane yield either pure
exponential decay or damped sinusoidal responses.
● These responses decay to zero as time approaches infinity.
● Thus, if the closed-loop system poles are in the left half of the plane (LHP)
and hence have a negative real part, the system is stable.
● That is, stable systems have closed-loop transfer functions with poles only in
the left half-plane.

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 Determine System In-Stability
● Poles in the right half-plane (RHP) yield either pure exponentially increasing
or exponentially increasing sinusoidal responses. These responses approach
infinity as time approaches infinity.
● Thus, if the closed-loop system poles are in the right half of the s-plane and
hence have a positive real part, the system is unstable.
● Also, poles of multiplicity greater than 1 on the imaginary axis lead to the sum
of responses of the form Atn cos (ωt+ ϕ), where n = 1; 2; . . . ; where the
amplitude approaches infinity as time approaches infinity.
● Thus, unstable systems have closed-loop transfer functions with at least one
pole in the right half-plane and/or poles of multiplicity greater than 1 on the
imaginary axis.

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 Determine System In-Stability
● Poles in the right half-plane (RHP) yield either pure exponentially increasing
or exponentially increasing sinusoidal responses. These responses approach
infinity as time approaches infinity.
● Thus, if the closed-loop system poles are in the right half of the s-plane and
hence have a positive real part, the system is unstable.
● Also, poles of multiplicity greater than 1 on the imaginary axis lead to the sum
of responses of the form Atn cos (ωt+ ϕ), where n = 1; 2; . . . ; where the
amplitude approaches infinity as time approaches infinity.
● Thus, unstable systems have closed-loop transfer functions with at least one
pole in the right half-plane and/or poles of multiplicity greater than 1 on the
imaginary axis.

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Example of Stable System

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Example of UnStable System

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Determine System Stability

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 Instability Conditions
● If the closed-loop transfer function has only left-half-plane poles, then the
factors of the denominator of the closed-loop system transfer function
consist of products of terms such as (s+ai), where ai is real and positive,
or complex with a positive real part.
● The product of such terms is a polynomial with all positive coefficients.
● No term of the polynomial can be missing, since that would imply
cancellation between positive and negative coefficients or imaginary axis
roots in the factors.

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 Instability Conditions
● Sufficient condition for a system to be unstable is that all signs of the
coefficients of the denominator of the closed-loop transfer function are not
the same.
● If powers of s are missing, the system is either unstable or, at best,
marginally stable.
● Unfortunately, if all coefficients of the denominator are positive and not
missing, we do not have definitive information about the system’s pole
locations.

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 Routh-Hurwitz Criterion
● Routh Hurwitz method requires two steps:
○ Generate a data table called a Routh table
○ interpret the Routh table to tell how many closed-loop system poles are in the left
half-plane, the right half-plane, and on the jω-axis.
● The power of the method lies in design. if there is an unknown parameter in
the in the transfer function, Routh Hurwitz can determine the range of this
parameter to yield stability.

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Routh Table

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Routh Table

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 Routh-Hurwitz Criterion
● The Routh-Hurwitz criterion declares that the number of roots of the
polynomial that are in the right half-plane is equal to the number of sign
changes in the first column.
● If the closed-loop transfer function has all poles in the left half of the s-plane,
the system is stable. Thus, a system is stable if there are no sign changes in
the first column of the Routh table.

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Problem

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