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Chapter 6 - Stability

This document discusses stability analysis using the Routh-Hurwitz criterion. It defines stable, unstable, and marginally stable systems and explains how to determine stability using the Routh table. The Routh table is created from the coefficients of the characteristic equation. No sign changes in the first column of the Routh table indicates the system is stable, while any sign changes mean the system is unstable due to right half-plane poles. Special cases when the first column contains a zero or all zeros are also covered. Examples demonstrate how to apply the Routh-Hurwitz criterion to determine stability and the range of a gain parameter that results in a stable system.

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Thanes Waran
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39 views

Chapter 6 - Stability

This document discusses stability analysis using the Routh-Hurwitz criterion. It defines stable, unstable, and marginally stable systems and explains how to determine stability using the Routh table. The Routh table is created from the coefficients of the characteristic equation. No sign changes in the first column of the Routh table indicates the system is stable, while any sign changes mean the system is unstable due to right half-plane poles. Special cases when the first column contains a zero or all zeros are also covered. Examples demonstrate how to apply the Routh-Hurwitz criterion to determine stability and the range of a gain parameter that results in a stable system.

Uploaded by

Thanes Waran
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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CHAPTER 6

STABILITY
BEEE2364
CONTROL PRINCIPLES

HAFEZ JTKEK FTKEE


Learning Outcome
After completing Chapter 6, the student will be able to:

• make and interpret a basic Routh table to determine the


stability of a system.

HAFEZ JTKEK FTKEE


Stability Definitions
Definitions of stability:
• A linear, time-invariant system is stable if the natural
response approaches zero as time approaches infinity.
• A linear, time-invariant system is unstable if the natural
response grows without bound as time approaches infinity.
• A linear, time-invariant system is marginally stable if the
natural response neither decays nor grows but remains
constant or oscillates as time approaches infinity.

More definitions:
• A system is stable if every bounded input yields a bounded
output.
• A system is unstable if any bounded input yields an
unbounded output.
HAFEZ JTKEK FTKEE
Stability Definitions
(Cont.)
Stable system

Left half-plane
poles location Natural response
approaches zero

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Stability Definitions
(Cont.)
Unstable system

Natural response
Right half-plane grows without bound
poles location

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Stability Definitions
(Cont.)
Marginally stable system

Natural response
neither decays nor
grows
Imaginary plane
poles location

HAFEZ JTKEK FTKEE


Routh-Hurwitz Stability
Criterion
Problem: Consider an equivalent closed-loop system as
following.

Stable or unstable system? -> Use Routh-Hurwitz Criterion

Routh-Hurwitz Criterion:
• A method that yields stability information without the need
to solve for the closed-loop system poles.
• Two steps:
1. Create Routh table
2. Interpret Routh table
HAFEZ JTKEK FTKEE
Routh-Hurwitz Stability
Criterion
#1. Create Routh table

Initial Routh table

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Routh-Hurwitz Stability
Criterion (Cont.)
#1. Create Routh table (Cont.)
Complete Routh table

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Routh-Hurwitz Stability
Criterion (Cont.)
#2. Interpret Routh table
• 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.
• In other words, any sign changes exist implies the
existence of right-half plane poles, thus the closed-loop
system is unstable.

HAFEZ JTKEK FTKEE


Routh-Hurwitz Stability
Criterion (Cont.)
Example 6.1: Determine the stability of the following system.

Solution:
Find the closed-loop transfer function.

HAFEZ JTKEK FTKEE


Routh-Hurwitz Stability
Criterion (Cont.)
Solution (Cont.):
Create and interpret Routh table.

1. +ve to -ve

2. -ve to +ve

First column: Two sign changes -> two right half-plane poles,
thus the closed-loop system is unstable.
HAFEZ JTKEK FTKEE
Routh-Hurwitz Stability
Criterion (Cont.)
Special Case #1: Zero in the First Column (Solution 1)

Example 6.2 Determine the stability of the closed-loop transfer


function.

Solution #1:
Create Routh table:

HAFEZ JTKEK FTKEE


Routh-Hurwitz Stability
Criterion (Cont.)
Solution #1 (Cont.):
Assign the value of 𝜖 and check the sign

First column: Two sign changes -> two right half-


plane poles, thus the closed-loop system is unstable.
HAFEZ JTKEK FTKEE
Routh-Hurwitz Stability
Criterion (Cont.)
Special Case #1: Zero in the First Column (Solution 2)

Example 6.2 Determine the stability of the closed-loop transfer


function.

Solution #2:
Write the polynomial of the denominator in reverse order

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Routh-Hurwitz Stability
Criterion (Cont.)
Solution #2 (Cont.):

First column: Two sign changes -> two right half-


plane poles, thus the closed-loop system is unstable.
HAFEZ JTKEK FTKEE
Routh-Hurwitz Stability
Criterion (Cont.)
Special Case #2: Zero in the Entire Row

Example 6.3 Determine the stability of the closed-loop transfer


function.

Solution:
Create Routh table
Formed polynomial:

0 0 0

Differentiate the polynomial:


HAFEZ JTKEK FTKEE
Routh-Hurwitz Stability
Criterion (Cont.)
Solution (Cont.):
Complete and interpret Routh table

First column: No sign change -> no right half-plane


pole, thus the closed-loop system is stable.
HAFEZ JTKEK FTKEE
Routh-Hurwitz Stability
Criterion (Cont.)
Example 6.4: Find the range of gain 𝐾, for the system below
that will cause the system to be stable.

Solution:
The closed-loop transfer function:

HAFEZ JTKEK FTKEE


Routh-Hurwitz Stability
Criterion (Cont.)
Solution (Cont.):
Create Routh table

For the closed-loop system to be stable, no sign changes is


allowed for the first column.
Since “1” and “18” are positive, then
1386−𝐾
𝐾 > 0 and > 0 or 𝐾 > 1386.
18
HAFEZ JTKEK FTKEE

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