Routh-Hurwitz Stability Criterion

• The Routh-Hurwitz criterion states that “the number of roots of the characteristic
equation with positive real parts is equal to the number of changes in sign of the
first column of the Routh array”.

• The characteristic equation of the nth order continuous system can be write as:

• The stability criterion is applied using a Routh table which is defined as;

• Where are coefficients of the characteristic equation.

 Routh’s Stability Condition

• 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.

• The Routh-Hurwitz criterion declares that the number of roots of the

polynomial that are lies in the right half-plane is equal to the number
of sign changes in the first column. Hence the system is unstable if
the poles lies on the right hand side of the s-plane.
Closed loop transfer function
•  

Find out GCL with respect to set point change as well as with respect to
load or disturbance change

Find out the value of kc for which the system is stable?

Off-set
Offset is a sustained deviation of the process variable from the
set point.

Error at steady state, e(t) at t infinity

Offset= new set point- ultimate value of the response

Closed loop transfer function
•  

Find out GCL with respect to set point change as well as with respect
to load or disturbance change
Find out the value of kc for which the system is stable?
Calculate the offset of the system for a unit step change in i/p?
Types of feed back controllers
• Proportional control
• Proportional integral control
• Proportional integral and derivative control
 
Proportional Control

A proportional controller attempts to perform better than the On-off type

Control action that is proportional to the error (difference between setpoint and
measurement),

C or

S.s, error=0;

Tuning parameter (proportional gain, kc) 

•  
• Time constant has been decreased by a factor of (better response)

• Offset = new set point- ultimate value of the response

This offset can be reduced by increasing the value of proportional gain,

but that may also increase the oscillations for higher order systems
Adv:

• Proportional controller helps in reducing the steady state error, thus

makes the system more stable.

• Slow response of the over damped system can be made faster with the help
of these controllers.

Disadv:

• Due to presence of these controllers we some offsets in the system.

• Proportional controllers also increase the maximum overshoot of the

system.
 Summary of P-control

• By p control, time constant decreases, response if faster

(Def of time constant: time required to reach 63.2% of step value)
• Offset is not zero, but steady state error got reduced
• By increasing kp offset can be reduced
• But this increases the oscillations and overshoot of the process
Integral control
• The introduction of integral control in a control system can reduce the steady-state error to zero.

• As the name suggests in integral controllers the output (also called the actuating signal) is
directly proportional to the integral of the error signal.

• Integral control applies a restoring force that is proportional to the sum of all past errors, multiplied
by time.

• For a constant value of error ∑(E×Δt) will increase with time, causing the restoring force to get larger
and larger.

• Eventually, the restoring force will get large enough to overcome friction and move the controlled
variable in a direction to eliminate the error.
• Order of the closed loop system increase by one.
This may cause instability of the closed loop
system.

• Offset or steady state error reduces to zero.

• System response is generally slow, oscillatory and

unless properly designed sometimes even unstable.
Adv:

• Due to their unique ability they can return the controlled variable back to
the exact set point following a disturbance that’s why these are known as
reset controllers.

Disadv:

• It tends to make the system unstable because it responds slowly towards

the produced error.
Summary of I-controllers
• Offset=0
• Increase the order of the system
(may cause instability)
• Responds slowly
• Determine damping coefficient which is very less
• Overshoot increases
PI controllers

• Combination of proportional and integral controller

• Output is directly proportional to summation of proportional of error

and integral of the error signal
• By varying kp damping coefficient can be increased.

• P- transient response can be improved

• I- offset is zero

• PI- steady state error is reduced to zero as well as faster response.

Summary of PI controllers

• Eliminates the error

• Damping constant is reduced by using kp value
• So system will not oscillatory

• Increase the overshoot

 Derivative control
• One solution to the overshoot problem is to include derivative control.

• Derivative control ‘applies the brakes,’ slowing the controlled variable just
before it reaches its destination.

• We never use derivative controllers alone.

• It should be used in combinations with other modes of controllers because of its

few disadvantages which are written below:

• It never improves the steady state error.

• It produces saturation effects and also amplifies the noise signals produced in the
system.
Proportional Derivative controller

•   P-D control is not very useful

• With the proportional controller

• With P-D controller
23
Summary of PD control

• Does not eliminates off-set

• Fast response due to p action
• Decreases overshoot due to derivative action

CL RESPONSE RISE TIME OVERSHOOT SETTLING TIME S-S ERROR

Kp Decrease Increase Small Change Decrease

Ki Decrease Increase Increase Eliminate

Small Small
Kd Decrease Decrease
Change Change
Types of feed back controllers
• Proportional control
• Proportional integral control
• Proportional integral and derivative control
PID controller
• As proportional, integral and derivative controllers have their
individual strengths and weaknesses, they are often combined so that
their strengths are maximised, whilst minimising their weaknesses.

• Many industrial controllers are a combination of P + I, or P + D, and are

referred to as PI and PD controllers respectively.

• A proportional–integral–derivative controller (PID controller) is a

generic control loop feedback mechanism (controller) widely used in
industrial control systems.
The Characteristics of P, I, and D controllers

A proportional controller (Kp) will have the effect of reducing the rise time and will

reduce, but never eliminate, the steady-state error.

An integral control (Ki) will have the effect of eliminating the steady-state error, but

it may make the transient response worse.

A derivative control (Kd) will have the effect of increasing the stability of the

system, reducing the overshoot, and improving the transient response.

Tips for Designing a PID Controller

1. Obtain an open-loop response and determine what needs to be improved

2. Add a proportional control to improve the rise time
3. Add a derivative control to improve the overshoot
4. Add an integral control to eliminate the steady-state error
5. Adjust each of Kp, Ki, and Kd until you obtain a desired overall
response.

Lastly, please keep in mind that you do not need to implement all three controllers
(proportional, derivative, and integral) into a single system, if not necessary. For
example, if a PI controller gives a good enough response (like the above
example), then you don't need to implement derivative controller to the system.
Keep the controller as simple as possible.
PID controller

• Effect of tuning parameters

Gain:

Increase in gain will speed up the process response (only for 1 st and 2nd order systems)
otherwise it destabilizes the system

Integral time

increase in integral time tends to slow down the response

decrease in integral time tends to speeds up the process

too small destabilizes the system

Derivative time

increase in derivative time tends to help stabilize the closed loop response.
32
 33

First order+ P-control

 34

Second order +P-control

 35

Integral control
 36

PID control