CHAPTER 5 - Transient Response Stability

CONTROL
SYSTEMS THEORY
Transient response stability
CHAPTER 5
Learning Outcomes
Upon successful completion of this module, the student should be able

to:
•LO1 Develop models for control systems using fundamental physical
laws. (PO1, C4)
•LO2 Evaluate the behaviour of control systems using time and
frequency response techniques. (PO1, C5)
•LO3 Design PID controllers using root-locus/bode plot method. (PO2,
C4)
•LO4 Develop appropriate solutions for engineering applications based
on control-system knowledge. (PO5, C4)
•LO5 Demonstrate the ability to work effectively in a group on control
engineering design activities. (PO10, A3)
Module Code and Module Title Title of Slides

Objective
 To determine the stability of a system

represented as a transfer function.

Introduction
• In chapter 1, we learnt about 3

requirements needed when designing a
control system:
– Transient response
– Stability
– Steady-state errors

Introduction
• What is stability?
– Most important system specification.
– We cannot use a control system if the system is unstable
– Stability is subjective
• From Chapter 1, we have learned that we can control the

output of a system if the steady-state response consists
of only the forced response. But the total response, c(t)
c  t   cforced  t   cnatural  t 

Introduction
• Using this concept we can summarize the

definitions for linear, time-invariant systems.
• Using natural response;

– A system is stable if the natural response approaches
zero as time approaches infinity.
– A system is unstable if the natural response approaches
infinity as time approaches infinity.
– A system is marginally stable if the natural response
neither decays nor grows but remains constant or
oscillates.

Introduction
• A system is stable if every bounded input yields

a bounded output. We call this statement the
bounded-input, bounded-output (BIBO).
• Using the total response (BIBO)

– A system is stable if every bounded input yields a
bounded output.
– A system is unstable if any bounded input yields an
unbounded output.

Introduction
• We can also determine the stability of a system

based on the system poles.
– Stable systems have closed-loop transfer functions
with poles only in the left half-plane.
– 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.
– Marginally stable systems have closed-loop transfer
functions with only imaginary axis poles of multiplicity
1 and poles in the left half-plane.

Introduction
• Figure 5.1 a indicates closed-loop poles for a

stable system.
Figure 5.1 a - Closed-loop poles and response for stable system

Introduction
• Figure 5.1 a indicates closed-loop poles for an

unstable system.
Figure 5.1 b - Closed-loop poles and response for unstable system

• Stability summary

Introduction
• In order for us to know the stability of our

system we need to draw the system poles.
To find the poles we need to calculate the
roots of the system polynomials.
• Try to get the system poles for the

systems in Figure 5.1 a and Figure 5.1 b.

Introduction
• What about this system? Can you find the root locus
for this polynomial?
Figure 5.2 – Close loop system with complex polynomial.

• A method to find the stability without solving for the
roots of the system is called Routh-Hurwitz Criterion.

Routh-Hurwitz Criterion
• We can use Routh-Hurwitz criterion method to

find how many closed-loop system poles are in
the LHP, RHP and on the jω-axis
• Disadvantage : We cannot find their coordinates
• The method requires two steps:
– Generate a data table called a Routh table
– Interpret the Routh table to tell how many close-loop
system poles are in the left half-plane, the right half-
plane, and on the jω-axis

• Example
Figure 5.3 – Equivalent closed-loop transfer function
• Figure 5.3 displays an equivalent closed loop

transfer function. In order to use Routh table we
are only going to focus on the denominator.
• First step (1)

– Based on the denominator in Figure 5.3, the
highest power for s is 4, so we can draw initial
table based on this information. We label the
row starting with the highest power to s0.
s4
s3
s2
s1
s0

• Input the coefficient values for each s

horizontally starting with the coefficient of
the highest power of s in the first row,
alternating the coefficients.
s4 a4 a2 a0
s3 a3 a1 0
s2
s1
s0

• Remaining entries are filled as follows. Each entry is a
negative determinant of entries in the previous two
rows divided by the entry in the first column directly
above the calculated row.









• Example 6.1
– Make a Routh table for the system below
• Answer:
– get the closed-loop transfer function

• We can multiply any row in Routh table by

a positive constant without changing the
rows below.

• Interpreting the basic Routh table
– In this case, the Routh table applies to the

systems with poles in the left and right half-planes.
– 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.
– The system is stable if there are no sign changes in the first
column of the Routh table. Example:

-
-
+
• Based on the table, there are two sign changes in the

first column. So there are two poles exist in the right
half plane. Which means the system is unstable.

• Exercise 1
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  9s  6s  4s  7 s  8s  2s  6
7 6 5 4 3 2

Answer

Answer

Routh Hurwitz
• Exercise 2

Routh Hurwitz
• Solution

Routh Hurwitz
• Exercise 3
• Solution

Routh Hurwitz
• Exercise 4

Routh Hurwitz
• Solution

Routh-Hurwitz Criterion:
Special cases
• Two special cases can occur:
– Routh table has zero only in the first column of a row
s3 1 3 0
s2 3 4 0
s1 0 1 2
– Routh table has an entire row that consists of zeros.
s3 1 3 0
s2 3 4 0
s1 0 0 0

Special cases
• Zero only in the first column
– There are two methods that can be used to
solve a Routh table that has zero only in the
first column.
1. Stability via epsilon method
2. Stability via reverse coefficients

Special cases
– Stability via epsilon method
Example 6.2
Determine the stability of the closed-loop
transfer function
10
T  s  5
s  2s 4  3s 3  6 s 2  5s  3

Special cases
• Solution:
• We will begin forming the Routh table using the
denominator. When we reach s3 a zero appears
only in the first column.
s5 1 3 5
s4 2 6 3
s3 0 7/2 0
s2
s1
Zero in first s0
column

Special cases
• If there is zero in the first column we cannot
check the sign changes in the first column
because zero does not have ‘+’ or ‘-’.
• A solution to this problem is to change 0 into
epsilon (ε).
s5 1 3 5
s4 2 6 3
s3 0 ε 7/2 0
s2
s1
s0

Special cases
• We will then calculate the determinant for
the next s values using the epsilon.

Special cases
• If we all the columns and rows in the
Routh table we will get

Special cases
• We can find the number of poles on the right half
plane based on the sign changes in the first
column. We can assume ε as ‘+’ or ‘-’

Special cases
• There are two sign changes so there are two
poles on the right half plane. Thus the system is
unstable.

Special cases
– Stability via reverse coefficients
Example 6.3
Determine the stability of the closed-loop
transfer function
10
T  s  5
s  2s 4  3s 3  6 s 2  5s  3

Special cases
• Solution:
• First step is to write the denominator in reverse
order (123653 to 356321)
D  s   3s  5s  6s  3s  2s  1
5 4 3 2
• We can form the Routh table using D(s) values.

Special cases
• The Routh table indicates two signal changes.
Thus the system is unstable and has two right-
half plane poles.

Special cases
• Entire row is zero
– the method to solve a Routh table with zeros

in entire row is different than only zero in first
column.
– When a Routh table has entire row of zeros,

the poles could be in the right half plane, or
the left half plane or on the jω axis.

Special cases
• Example 6.4
– Determine the number of right-half-lane poles
in the closed-loop transfer function
10
T  s  5
s  7 s 4  6 s 3  42 s 2  8s  56

Special cases
• Solution:
• Start with forming the initial Routh table

Special cases
• We can reduce the number in each row

Special cases
• We stop at the third row since the entire row
consists of zeros.
• When this happens, we need to do the following

procedure.
Special cases
• Return to the row immediately above the row of
zeros and form the polynomial.
• The polynomial formed is

P  s   s  6s  8
4 2

Special cases
• Next we differentiate the polynomial with
respect to s and obtain
dP  s 
 4 s 3  12 s  0
ds
• We use the coefficient above to replace the

row of zeros. The remainder of the table is
formed in a straightforward manner.

Special cases
• The Routh table when we change zeros with
new values

Special cases
• Solve for the remainder of the Routh table
• There are no sign changes, so there are no poles

on the right half plane. The system is stable.

Example 1- normal

Example 2 - special case

Example 3 – special case

Example 4 – special case

Exercise
• Given that G(s) is the open loop transfer

function for a unity feedback system, find
the range of K to yield a stable system

• Solution

Exercise
• Find the range of K to yield a stable

system given the closed loop transfer
function below

Solution

CHAPTER 5 - Transient Response Stability

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CONTROL

Transient response stability

Upon successful completion of this module, the student should be able

Module Code and Module Title Title of Slides

 To determine the stability of a system

Module Code and Module Title Title of Slides

• In chapter 1, we learnt about 3

Module Code and Module Title Title of Slides

• From Chapter 1, we have learned that we can control the

Module Code and Module Title Title of Slides

• Using this concept we can summarize the

• Using natural response;

Module Code and Module Title Title of Slides

• A system is stable if every bounded input yields

• Using the total response (BIBO)

Module Code and Module Title Title of Slides

• We can also determine the stability of a system

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• Figure 5.1 a indicates closed-loop poles for a

Figure 5.1 a - Closed-loop poles and response for stable system

• Figure 5.1 a indicates closed-loop poles for an

Figure 5.1 b - Closed-loop poles and response for unstable system

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• In order for us to know the stability of our

• Try to get the system poles for the

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Figure 5.2 – Close loop system with complex polynomial.

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• We can use Routh-Hurwitz criterion method to

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Figure 5.3 – Equivalent closed-loop transfer function

• Figure 5.3 displays an equivalent closed loop

• First step (1)

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• Input the coefficient values for each s

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• We can multiply any row in Routh table by

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• Interpreting the basic Routh table

– In this case, the Routh table applies to the

– Routh-Hurwitz criterion declares that the number

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• Based on the table, there are two sign changes in the

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Make a Routh table and tell how many roots of the

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