Stability of a System

Meaning, Types, and Routh-Hurwitz Criteria

With solved Exercise problems from Hasan Sayeed

 What is the Stability of a system?

• The behavior of a system over time is referred to as its stability. After being
disturbed, a stable system tends to revert to its equilibrium condition. An unstable
system, on the other hand, exhibits unpredictable or divergent behavior.
Understanding a system's stability is critical in many domains, including control
systems and signal processing. Stability is divided into three levels.
• i) Stable System
• ii) Unstable System
• iii) Marginally stable System
 Stability(contd.)

• Stable system: A system is said to be stable if its response cannot be made to

increase indefinitely by the application of bounded input excitation or a system is
said to be stable if the natural response approaches zero as time approaches
infinity.
• Unstable system: If the system's response approaches infinity for a sufficiently
large time when applying bounded input excitation, then the system is unstable,
or if the natural response approaches infinity when the time approaches infinity.
• Marginally stable system: Its is one in which the natural system reaction does
not decay or expand but instead remains constant or oscillates.
 Stability (contd.)

Most linear closed-loop systems have closed-loop transfer functions of the form:

The output is given by:

C(t)=
Where g()= =impulse response of the system.
A system is said to be stable if the impulse response approaches zero for sufficiently large period of
time. When the impulse response approaches infinity over a large period of time, the system is said to
be unstable. The system is said to be marginally stable if the impulse response approaches a consistent
value for a sufficiently long duration.
 Stability(contd.)

Force(f)

Force(f)

Stable system: Unstable system: Marginally stable system:

i)Not disturbed by the a small amount of force can i)When applied with a small force it is stable
type of force applied disturb the entire system ii)When large force is applied it’s unstable
ii)When force is given to
the ball, it repositions
itself
Fig: Response to force in a stable, unstable
and marginally stable system
Stable, Unstable and Marginally stable systems graphically:

Fig: Signal response for a stable, unstable, and marginally stable system
[1]
respectively
 BIBO Stability

• The ability of a system to give bounded output for any confined input is
referred to as BIBO stability.
• When a system is BIBO stable, the output remains bounded regardless of
the characteristics of the input signal. The system becomes unstable if a
bounded input yields an unbounded output.
 BIBO Stability (contd.)

Let u(t), y(t), and g(t) be the input, output, and impulse response of a linear time-invariant
system, respectively. With zero initial conditions, the system is said to be BIBO (bounded input,
bounded-output) stable, or simply stable, if its output y(t) is bounded to a bounded input u(t).
The convolution integral relating u(t), y(t), and g(t) is
y(t)=
Taking the absolute value of both sides of the equation
|y(t)|=||
or
y(t)
If u(t) is bounded,
|u(t)|
Where M is finite positive number then,
|y(t)|
Thus if y(t) is to be bounded,or
|y(t)|  ∞ 
Where N is a finite positive number,the following condition must hold,
 ∞ 
 BIBO Stability (contd.)

If u(t) is bounded,
|u(t)|
Where M is a finite positive number then,
|y(t)|
Thus if y(t) is to be bounded, or
|y(t)|  ∞ 
Where N is a finite positive number, the following condition must hold,
 ∞ 
Or for any finite positive Q,
 ∞ ---------------------------------(i)
The condition given in eqn. (i) implies that the area under the | curve must be finite.

[2]
 Role of poles

• Poles and zeros are essential notions related with system transfer functions in the context of
control systems and stability research. Poles are the values of the Laplace variable S that make
the transfer function's denominator equal to zero. In other words, they are the system's
characteristic equation's roots. Poles are critical in determining the system's stability:
i) Stable System: To be stable, all of the poles must have negative real portions. This means
that the poles should be plotted on the complex plane in the left-half plane (LHP). The farther
the poles are from the imaginary axis, the more stable the system.
ii) Marginally Stable System: A system is deemed marginally stable if its poles on the
imaginary axis are not repeated. In this situation, the system will not develop or decay over
time, but will instead remain stable.
iii) Unstable System: The system is unstable if it has poles with positive real parts or poles on
the imaginary axis with positive real parts. An unstable system grows indefinitely in response to
shocks and cannot return to equilibrium.
Graphical representation of the poles in axes

Fig: Pole location , transfer function system response

with response their curves
 Role of Zeroes
• Zeros are the Laplace variable S values that set the transfer function's numerator to zero. Although not
as directly or significantly as the poles, zeros can also have an impact on the stability of the system
i) Effect on Stability: By canceling out the transfer function's poles, zeros can have an impact on
stability. It might increase the stability of the system if a zero cancels a pole. However, instability may
result if a zero cancels a pole that is in charge of keeping the system stable.
ii) Imaginary Zeros: Stability is unaffected by imaginary zeros on the axis. Instead, they have an
impact on the system's frequency response and can alter its behavior there.
• The effects of zeros and poles on stability can be summed up as follows:
Poles: Ascertain the system's stability. In the left-half plane, all poles denote stability, but in the
right-half, all poles denote instability.
Although zeros' direct influence on stability is less important than that of poles', they can
nevertheless have an impact by canceling poles or altering the system's frequency response.
Understanding the positions of the poles and zeros in the transfer function is essential when developing
or studying control systems to ensure stability and desirable system behavior.
 Necessary conditions for stability (not sufficient)

Considering a system with characteristics equation,

a0sm+a1sm-1+…..+am=0
a)All the coefficients of the equation should have the same sign
b)There should be no missing term
If the above conditions are not satisfied the system will be unstable. Even If all
the coefficients have the same sign and there is no missing term, it’s not of
absolute certainty that the system will be stable
For the stability of the system, the ROUTH-HURWITZ CRITERION is used.
 Routh-Hurwitz Criteria
The Routh-Hurwitz criteria is a method used to determine the stability of a system based on
the coefficients of its characteristic equation. By constructing a Routh array and checking
the sign changes in its first column, we can determine the number of roots of the
characteristic equation that have positive real parts.
Statement: The system is stable if and only if all the elements in the 1 st column have the
same algebraic sign. If all the elements are not of the same sign, then the number of sign
changes of the elements of the 1st column equals the number of roots of the characteristics
equation in the right half of the s-plane(0r equals to the number of roots with positive real
parts)
In control systems engineering, the Routh-Hurwitz criteria are a useful tool for quickly
assessing the stability of linear time-invariant systems. Making educated decisions on the
stability and behavior of the system requires an understanding of the coefficients of the
characteristic equation.
 Routh-Hurwitz Criteria (contd.)

The Routh-Hurwitz criterion:

Considering the following characteristics polynomial:
a0sm+a1sm-1+…..+am=0
Where the coefficients a0,a1…an are all of the same sign and none is zero
1. Arranging all the coefficients of the above polynomial in two rows,
Row 1: a0 a2 a4
Row 2: a1 a3 a5
2. From these 2 rows forming a third row,
Row 1: a0 a2 a4
Row 2: a1 a3 a5
Row 3: b1 b3 b5
 Routh-Hurwitz Criteria (contd.)

Where,
b1=
b 3=

3.From 2nd and 3rd row forming a 4th row

Row 1: a0 a2 a4
Row 2: a1 a3 a5
Row 3: b1 b3 b5
Row 1: c1 c3 c5

Where,
c1=
c 3=

4.To form new rows the process in continued

Creating a Routh Table:
1000
Make the Routh table for the closed loop system
(𝑠+2)(𝑠+3)(𝑠+5)

Answer:
1000
𝑇 (𝑠 ) = (𝑠+2)(𝑠+3)(𝑠+5)

1000
𝑇( 𝑠) = 𝑠 3 +10𝑠 2 +31𝑠+1030

The Routh table for this equation:

s3 1 31 0

s2 10 1030 0
s1
10∗31−1030
10 = −72
10∗0−1∗0
10 =0 0

s0
−72∗1030−10∗0
−72 = 1030 0 0

This is the routh table for the equation. From the equation we can say that this
system is unstable because of negative sign in the co-effficient.
(Stability analysis, Exercise Problem 5.5)
The characteristic equation of a system is given by:

s4 + 20s3 + 15s2+2s+k=0; here determine the range of K for a system to be stable.

Answer:
If Routh table for the equation is formed then the table will be like this:

s4 1 15 k

20 2 0
s3

14.9 k 0

29.8−20𝑘
s12 14.9
0 0
s0
k 0 0

Here the system will be unstable if there is a negative value in the s1 row. In order to
29.8−20𝑘
make the system stable must follow a certain condition. The condition
14.9
is:

29.8-20k>0
→29.8>20k
29.8
→ >k
20

→1.49>k

Therefore, according to the condition, the value of k must be smaller than 1.49.
Otherwise, there will be a negative value in the s1 row which will cause the system to
be unstable.
(Stability analysis) Exercise Problem 5.7:

The characteristic equation for a control system is 𝑠 (𝑠 2 + 5𝑠 + 20) + 𝑘(𝑠 + 2) = 0 ,

use Routh’s criterion to determine the range of value of k such that the system is stable.

Answer: given equation,

𝑠 ( 𝑠 2 + 5𝑠 + 20) + 𝑘(𝑠 + 2) = 0
→ 𝑠 3 + 5𝑠 2 + 20𝑠 + 𝑘𝑠 + 2𝑘 = 0

Routh table for the system is:

 1 20 2𝑘
𝑠3
5 𝑘 0
𝑠2 5∗20−𝑘
2𝑘 0
5
𝑠1 100−𝑘
( )∗𝑘−10𝑘
5
𝑠0 100−𝑘 0 0
5

100−𝑘
From the table, in the 𝑠 1 row first column co-efficient is 5
In order to make this positive 100-k>0
→ 100>k
So, the value of k must be smaller than 100
100−𝑘
( )∗𝑘−10𝑘
5 100−𝑘
Again in 𝑠 0 row first column co-efficient is
5
 100𝑘−𝑘 2 −10𝑘
5
→ 100−𝑘
5

100𝑘−𝑘 2−50𝑘
→
100−𝑘

𝑘 ( 50−𝑘 )
→
100−𝑘

In order to make this positive 50 − 𝑘>0

→ 50>k

Therefore the value of k must be smaller than 50. Only then first columns of all rows
will be zero hence the system stable.
 (Stability Analysis)
Exercise Problem
5.2: 𝑘 (𝑠 2 + 30𝑠 + 200)

𝑠 2 ( 𝑠 + 2)

Consider the closed loop feedback control system like in the figure. Using Routh
Harwitz Criterion determine the range of k for which the system is stable. Find also
the number of roots of the characteristic equation that are in the right half of s plane
for K=0.5

Answer:
 𝑘(𝑠 2 +30𝑠+200)
The system is
𝑠 2 (𝑠+2)

Let,
𝑘(𝑠 2 + 30𝑠 + 200)
𝑇= 𝑠 2 ( 𝑠 + 2)
1+
𝑘(𝑠 2 + 30𝑠 + 200)
𝑠 2 ( 𝑠 + 2)

𝑘(𝑠 2 + 30𝑠 + 200)

= 𝑠 2 ( 𝑠 + 2)
𝑠 2 ( 𝑠 + 2) + 𝑘(𝑠 2 + 30𝑠 + 200)
𝑠 2 ( 𝑠 + 2)
 𝑘(𝑠 2 + 30𝑠 + 200)
=
𝑠 2 ( 𝑠 + 2) + 𝑘(𝑠 2 + 30𝑠 + 200)

𝑘(𝑠 2 + 30𝑠 + 200)

=
𝑠 3 + 2𝑠 2 + 𝑘𝑠 2 + 300𝑘𝑠 + 200𝑘

𝑘(𝑠 2 + 30𝑠 + 200)

=
𝑠 3 + (2 + 𝑘 ) 𝑠 2 + 30𝑘𝑠 + 200𝑘

Now Routh Table for this system will is,

𝑠3
1 30𝑘

𝑠2
2+𝑘 200𝑘
30𝑘 2 −140𝑘
𝑠1 2+𝑘
0

𝑠0
200𝑘 0
For a stable system, 30𝑘2 − 140𝑘>0

→
𝑘(30𝑘 − 140) > 0
Either, Or,
k>0 30k-140>0

140
→ k>
30

→k> 4.667
14
K must be greater than 3 in order to get positive value of first column in all rows in
the
stable. Thus the system will acquire stability.
If the value of k is 0.5 then the Routh table will be:

𝑠3
1 15

𝑠2
2.5 100

𝑠1
−25 0

𝑠0
100 0
In the table there are two sign changes. From positive 2.5 it turned into negative -25,
then from negative -25 positive 100. The system is unstable and due to two time
sign changes there are two roots in the right half plane.
(Special Condition 1 Stability via Epsilon Method)
Determine the stability of the closed-loop transfer function
1
𝑇(𝑠) =
2𝑠 5 + 3𝑠 4 + 2𝑠 3 + 3𝑠 2
+ 2𝑠 + 1

Routh table for this system is:

𝑠5 2 2 2

𝑠4
3 3 1

4
𝑠3 0 € 3
0

3€−4
𝑠2 €
1 0
 12€−16−3€2
𝑠1
9€−12

𝑠0 1

3€ − 4 0 −
lim = = −∞
€→0 4 € 0

12€−16−3€ 2 12∗0−16−0
lim4 =
=
€→0 9€−12 0−12 3
As in the 𝑠 2 row there is negative (−∞) and in the 𝑠 1 row there is positive
( ). Therefore there are two times of sign changes. Hence, system is unstable.
4
3
(Special Condition 2- Rows of zeroes) Exercise problem 5.6:
Apply Routh Criterion and determine the number of roots that lie in the right half plane of the
following characteristic equation:
a. 𝑠 6 + 6𝑠 5 + 10𝑠4 + 12𝑠 3 + 13𝑠2 − 18𝑠 − 24 = 0

Answer: Routh table for the system is:

𝑠6 1 10 13 -
24

6 12 -18 0
𝑠5

8 16 -24 0

𝑠4
0 32 0 32 0 0

𝑠3
8 24 0 0

𝑠2
𝑠1 128 0 0 0

-24 0 0 0
𝑠0

s3 row is the row of zeroes. In order to find the coefficients of these row an equation
need to be formed using the coefficient of s4 row. The equation is:

𝑃(𝑠) = 8𝑠 4 + 16𝑠2 − 24,

( )
→ 𝑑𝑃𝑑 𝑠 = 32𝑠 3 + 32𝑠
𝑥
Therefore, 32 and 32 will be the coefficients of first two column for 𝑠 3 row. After
completing the Routhtable it is noticed that there is only one sign change when -24
was the result for 𝑠 0 row. So, right half plane has only one root for this system.

b. 𝑠 3 + 2𝑠 2 + 4𝑠 + 8 = 0

Answer: Routh table for the system is:

𝑠3 1 4 0

𝑠2 2 8 0

𝑠1 0 4 0 0
𝑠0 8 0 0

Here, 𝑠 1 row was the row of zeroes. In order to find the coefficients of these row
an equation need to be formed using the coefficient of 𝑠 2 row. The equation is:

P(𝑠) = 2𝑠 2 + 8,

→ 𝑑𝑃 (𝑠 ) = 4𝑠 + 0
𝑑𝑠

So, 4 is the only coefficient of 𝑠 1 row. Using Routh table condition rest of the table is
calculated. In the first row of the table there is no change of sign. First row of the
entire table is positive. Therefore, there is no root in the right half plane. [1]
 Conclusion
In summary, understanding the stability of a system is essential in engineering
and control systems. The Routh-Hurwitz criteria serves as a powerful tool to
determine the stability of a system based on its characteristic equation
coefficients.
References

[1] S. H. Saeed, Automatic Control System, Seagull Books Pvt Ltd, 2008.
[2] D. B. C. K. Farid Golnaraghi, Automatic Control Systems, McGraw-
Hill Education, 2017.
Thank You!
for your attention.