Scribd
Upload
60 views

55-700843 Control of Linear Systems: Lecture 3: Poles, Eigenvalues and Stability Routh Criterion

This document outlines a lecture on control system analysis, including stability, poles, eigenvalues, and the Routh stability criterion. [1] It discusses analyzing stability in the time and frequency domains. [2] Stability is defined as a system returning to its original value after a disturbance. [3] The Routh stability criterion is introduced to analyze the stability of higher order systems by constructing an array to check for positive real poles.

Uploaded by

Sandeep K Augustine
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
60 views

55-700843 Control of Linear Systems: Lecture 3: Poles, Eigenvalues and Stability Routh Criterion

This document outlines a lecture on control system analysis, including stability, poles, eigenvalues, and the Routh stability criterion. [1] It discusses analyzing stability in the time and frequency domains. [2] Stability is defined as a system returning to its original value after a disturbance. [3] The Routh stability criterion is introduced to analyze the stability of higher order systems by constructing an array to check for positive real poles.

Uploaded by

Sandeep K Augustine
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 17

55-700843

Control of Linear Systems

Lecture 3: Poles, Eigenvalues and


Stability; Routh Criterion

Dr. Xu Xu
[email protected]
Sheaf 4106
Outline

• Classical Control System Analysis


• Stability and Roots of the Characteristic
Equation
• Stability Criteria
• Routh Stability Criterion
• System Performance

55-700843 XX 2
Classical Control System Analysis

• Goal #1: Stability


– Check if closed loop response is stable
• Goal #2: Performance
– Look at ability to track changes in reference and
reject disturbances
• Goal #3: Robustness
‒ The ability to function well under uncertainties, such
as modelling errors and simplifications, etc.

55-700843 XX 3
Classical Control System Analysis

• Time Domain Analysis


– Stability
• Stability and roots of the characteristic equation
• Routh stability criterion
– Performance
• Step Response Specifications
• Steady State Error
• Frequency Domain Analysis
– Stability in the frequency domain
– Bode Diagram

55-700843 XX 4
Stability

• A system is defined as being stable if:


– after an impulse change in the input, the
output returns to its original value.
– every finite input produces a finite output.

55-700843 XX 5
Examples

55-700843 XX 6
Stability Criteria

• Poles – roots of the characteristic equation.


• Eigenvalues - terms used in state space model,
identical to the poles.
• If there are any poles with positive real parts
then the output will tend to infinity and
consequently the system will be unstable.

55-700843 XX 7
Stability Criteria
Consider the response of an nth order system to a step change
in input: Y ( s )  n s n +  n−1s n−1 + + 1s +  0
G (s) = =
U (s) n s n + n−1s n−1 + + 1s + 0
1 ( s − zn )( s − zn−1 ) ( s − z0 )
For a step change in input: Y (s) =
s ( s − pn )( s − pn−1 ) ( s − p0 )
A A1 A2 An+1
Y (s) = 0 + + + +
s ( s − p0 ) ( s − p1 ) ( s − pn )
Inverting back to time domain y ( t ) = A0 + A1e p t + A2e p t + 0 1
+ An +1e pnt

• If the poles of the system, i.e. the roots of the denominator p1, p2 etc,
have negative real parts then the output y will tend towards A0.

• If however there are any poles with positive real parts then the output
will tend to infinity and consequently the system will be unstable.
55-700843 XX 8
Second Order System Stability

• For a second-order system


Y (s) K n 2
G (s) = = 2
U ( s) s + 2n s + n 2

– Over-damping
– Critical damping
– Under-damping
– Unstable

55-700843 XX 9
Routh Stability Criterion

• For high order system it is not practical to


determine the exact roots of the denominator
and for such system the Routh Stability
Criterion is used.
• In Matlab, you don’t have to use Routh stability
criterion since the poles of a transfer function
can be directly computed.
– Commands:
➢ sys=tf(num,den);
➢ roots(den);
➢ damp(den);
➢ pole(sys);
55-700843 XX 10
Routh Stability Criterion
Consider the following characteristic equation:
an s n + an−1s n−1 + + a1s + a0 = 0

▪ If any of the coefficients a0, a1, a2, …, an-1, an are negative


then there is at least one root of the equation which has a
positive real part and the corresponding system is unstable.
▪ If any of the coefficients a0, a1, a2, …, an-1, an are zero then
the system is critically stable at best.
▪ If all the coefficients a0, a1, a2, …, an-1, an are positive then
the system can be stable and a test must be carried out. This
test requires the construction of the Routh Array, which takes
the following form:

55-700843 XX 11
Routh Array

where:
sn an an-2 an-4 …  a 
b1 = an −2 −  n  an −3
sn-1 an-1 an-3 an-5 …  an −1 
sn-2 b1 b2 b3 …  a 
b2 = an −4 −  n  an −5
sn-3 c1 c2 c3 …  an −1 

… … … … … a 
c1 = an −3 −  n −1  b2
s1 y1 y2  b1 

a 
s0 z1 c2 = an −5 −  n −1  b3
 b1 

etc.
55-700843 XX 12
Routh Stability Criterion

• Successive rows are evaluated until only zeros


appear. The array should then contain (n+1)
rows.
• If any element in the first column is negative,
then the equation has at least one pole with
positive real part.
• The number of sign changes in the first column
is equal to the number of positive poles.

55-700843 XX 13
Example

Consider the system shown in the figure below and


determine the range of K for stability.

R(s) + K Y(s)
s ( s 2 + s + 1) ( s + 2 )
-

55-700843 XX 14
Performance
• Performance is all about how successfully a
control system meets its desired objectives.
• Return to control system with inputs
(reference, disturbance)
– How well does controller track reference?
– How well does controller reject disturbances?
• Look at input/output measures:
– Step response: How well does output track a step
change in reference value?
– Frequency response: How well does output
track/reject oscillations at different frequencies

55-700843 XX 15
Example
• Determine the values of K and L of the closed-
loop system shown in the figure below so that
the maximum overshoot in unit-step response is
25% and the peak time is 2 sec.

R(s) C(s)
+ +
K/s 1/s
- -
B(s)

55-700843 XX 16
End of Lecture.

Any questions?

55-700843 XX 17

You might also like