Control Systems

A. Saksena

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Stability

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 Stability Definition
● A linear, time-invariant system is stable if the transient response approaches
zero as time approaches infinity.
● A linear, time-invariant system is marginally stable if the transient response
neither decays nor grows but remains constant or oscillates as time
approaches infinity.
● A linear, time-invariant system is unstable if the response grows without
bound as time approaches infinity.

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Example of Stable System

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Example of UnStable System

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 Instability Conditions
● If the closed-loop transfer function has only left-half-plane poles, then the
factors of the denominator of the closed-loop system transfer function
consist of products of terms such as (s+ai), where ai is real and positive,
or complex with a positive real part.
● The product of such terms is a polynomial with all positive coefficients.
● No term of the polynomial can be missing, since that would imply
cancellation between positive and negative coefficients or imaginary axis
roots in the factors.

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 Instability Conditions
● Sufficient condition for a system to be unstable is that all signs of the
coefficients of the denominator of the closed-loop transfer function are not
the same.
● If powers of s are missing, the system is either unstable or, at best,
marginally stable.
● Unfortunately, if all coefficients of the denominator are positive and not
missing, we do not have definitive information about the system’s pole
locations.

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Determine System Stability

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 Routh-Hurwitz Criterion
● Routh Hurwitz method requires two steps:
○ Generate a data table called a Routh table
○ 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.
● The power of the method lies in design. if there is an unknown parameter in
the in the transfer function, Routh Hurwitz can determine the range of this
parameter to yield stability.

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Routh Table

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Routh Table

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 Routh-Hurwitz Criterion
● The 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. Thus, a system is stable if there are no sign changes in
the first column of the Routh table.

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Problem

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Problem

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Problem

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 Routh-Hurwitz Criterion: Special Cases
● Two special cases can occur in Routh table:
○ The Routh table sometimes will have a zero only in the first column of a row
○ the Routh table sometimes will have an entire row that consists of zeros.

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Routh-Hurwitz Criterion: Special Cases

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Problem

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Problem

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Problem

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Stability Via Reverse Coefficients

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Stability Via Reverse Coefficients

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 Routh-Hurwitz Criterion: Special Cases
● Two special cases can occur in Routh table:
○ The Routh table sometimes will have a zero only in the first column of a row
○ the Routh table sometimes will have an entire row that consists of zeros.

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Stability via Routh Table with Row of Zeros

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Stability via Routh Table with Row of Zeros

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Stability via Routh Table with Row of Zeros

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Stability via Routh Table with Row of Zeros

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Routh-Hurwitz Criterion: Special Cases

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Problem

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Problem

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Problem

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Problem

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Problem

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Problem

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Problem

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Problems

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Problem

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Problem

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Problem

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Problem

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Problem

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Problem

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Problems

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Problems

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Problems

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Steady State Error

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Steady State Error for Unity Feedback System

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Final Value Theorem

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Final Value Theorem

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Steady State Error for Unity Feedback System

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Steady State Error for Unity Feedback System

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Problem

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