Control Engineering

(BDA 30703)
Lecture #14
By :
Salihatun Md Salleh
Department of Mechanical Engineering,
Faculty of Mechanical Engineering & Manufacturing,
Universiti Teknologi Tun Hussein Onn
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 TIME-DOMAIN ANALYSIS : STABILITY
Today’s Objective:
Students will be able to :
a) determine the stability of a system represented as a transfer
function.
b) determine system parameters to yield stability
Learning topics:
• Routh-Hurwitz Criterion

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 STABILITY
1. Introduction :
Analysis and design objectives :
I . Transient response
II. Stability
III. Steady-state error
Definition of stability :
Total response of a system is the sum of the transient and steady-state response

c(t) = ctransient(t) + csteady-state(t)

A LTI system is stable, if the transient response approaches zero as time

approaches infinity.
A LTI system is unstable, if the transient response grows without bound as time
approaches infinity.
A LTI system is marginally stable if the transient response neither decays nor
grows but remains constant or oscillates as time approaches infinity. 4
STABILITY

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 STABILITY

Figure 1
Closed-loop poles
and response:
a. stable system;
b. unstable system

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 STABILITY
2. Routh-Hurwitz Criterion :
is a method that yields stability information without the need to
solve for the closed-loop transfer function
This method requires two steps :
i. Generate a data table called a Routh table
ii. 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
Generating a Basic Routh Table:
The first step is to find the equivalent closed-loop system because
we want to test the denominator of this function, not the given forward
transfer function, for pole location

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STABILITY

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 STABILITY
Interpreting the Basic Routh Table:
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,

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 IN CLASS TUTORIAL

Problem :
Make a Routh table and tell how many roots of the following
polynomial are in the right half-plane and in the left half-plane
P( s)  3s 7  9s 6  6s 5  4s 4  7 s 3  8s 2  2s  6

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 IN CLASS TUTORIAL

Solution :

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 STABILITY
2. Routh-Hurwitz Criterion (Special Case) :
Zero Only in the First Column :
I. First Method : Stability via epsilon method

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T (s)  2
s  2 s  3s  6 s  5s  3
4 3 2

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 STABILITY

Interpretation : First we must assume a positive or negative sign for

quantity ε. Then the resulting signs for choices of ε positive and negative
is checked.
The system is unstable, with two poles in the right-half plane 13
 STABILITY

II. Second Method : Stability via reverse coefficients

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T (s)  5
s  2 s  3s  6 s  5 s  3
4 3 2

Write the denominator of the equation above in reverse order

D( s )  3s  5s  6 s  3s  2 s  1
5 4 3 2

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 STABILITY

The system is unstable, with two poles in the right-half plane

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 STABILITY

Entire Row is Zero :

I. First Method : Stability via Routh table with row of zeros

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T ( s)  5
s  7 s 4  6s 3  42s 2  8s  56

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 STABILITY

Return to the row immediately above the row of zeros and form an
auxiliary polynomial, using entries in that row as coefficients.
P( s)  s 4  6s 2  8
Differentiate the polynomial with respect to s and obtain
dP( s )
 4s 3  12s  0
ds
Finally use the coefficients of the equation above to replace the row of
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zeros.
 STABILITY
Interpretation :
i. An entire row of zeros will
appear in the Routh table when
a purely even or purely odd
polynomial is a factor of the
original polynomial. For example,
s4+5s2+7 is an even polynomial.
ii. Even polynomial only have roots
that are symmetrical about origin.
This symmetry can occur under
three condition as shown in figure

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 IN CLASS TUTORIAL

Problem:
How many poles are in the right half-plane, the left half-plane, and
on the jω-axis for the open-loop system of figure below

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 IN CLASS TUTORIAL

Solution :

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 IN CLASS TUTORIAL

Problem:
For the system of figure below, tell how many closed-loop poles
are located in the right half-plane, in the left half-plane and on the
jω-axis. Notice that there is positive feedback

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 IN CLASS TUTORIAL

Solution :

+ve

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 HOMEWORK TUTORIAL

Problem:
How many poles are in the right half-plane, the half-plane, and
on the jω-axis for the open-loop system of figure below

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 IN CLASS TUTORIAL

Problem:
For the unity feedback system of figure below, determine the
range of K for stability

K ( s  6)
G (s) 
s ( s  1)( s  3)

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 IN CLASS TUTORIAL

Solution :

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