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Algebraic Criterion For Stability

1) The Routh stability criterion provides a systematic way to determine the stability of a system by analyzing the signs of the coefficients in the characteristic equation. 2) The Routh array is constructed from the coefficients. If there are no sign changes in the first column, the system is stable. A sign change indicates instability. 3) For higher order systems, the Routh test is necessary but not sufficient. The auxiliary equation method can also be used to analyze stability.

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Phani Sarma Nagavarapu
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61 views

Algebraic Criterion For Stability

1) The Routh stability criterion provides a systematic way to determine the stability of a system by analyzing the signs of the coefficients in the characteristic equation. 2) The Routh array is constructed from the coefficients. If there are no sign changes in the first column, the system is stable. A sign change indicates instability. 3) For higher order systems, the Routh test is necessary but not sufficient. The auxiliary equation method can also be used to analyze stability.

Uploaded by

Phani Sarma Nagavarapu
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Chapter 6

Algebraic Criterion
for stability
Stability of a system
means
bounded input
produces bounded
output
Stability of a system
means
In the absence of input
output tends to zero
C
R
G
GH 1
1+GH = 0 is called the
characteristic equation
of the system. Its
roots are the closed
loop poles.
If the real part of
closed loop poles
are in L H P, stable
response
G (s) = transfer function
of a system
g (t) = L
-1
G(s)
= impulse
response
- a
e
-a t
stable
stable
e
- a t
sin bt
-a
-jb
jb
unstable
e
+ a t
sin bt
a
jb
-jb
limitedly stable
sin t
je
-je
unstable
t sin t
je
-je
limitedly stable
u
-1
(t)
unstable
t u
-1
(t)
unstable stable
first order :
s + = 0
s = - ,
is the pole.
If is positive,
stable
condition
Second order :
a s
2
+ bs + c = 0
product of roots =
c
a
sum of roots =
b
a
Both the roots
will have negative
real part only
when a, b, c are of
the same sign.
Therefore necessary and
sufficient conditions for
negative ness of real part
is all coefficients must be
non zero and of the same
sign.
First & Second order.
Necessary & sufficient
condition
- all coefficients must be
present and of same
sign
If the order of the system
is more than two.
The condition is necessary
but not sufficient.
Routh stability test
is for checking the
negativeness of the real
part of the roots.
Routh Stability Criterion:
Necessary condition
satisfied.
s
3
+ 6s
2
+ 11s + 6 = 0
s
3
+ 6s
2
+ 11s + 6 = 0
s
3
s
2
s
1
s
0
1
11
6 11 1 6
6
. .
0
6
6 6
Routh Table
= 10
s
3
s
2
s
1
s
0
a
0
a
2
a a a a
a
1 2 0 3
1
0
a
1
a
3
a
0
s
3
+ a
1
s
2
+ a
2
s
1
+ a
3
= 0
b a a
b
1 3 1
1
0 .
=
=b
1
After completing the table,
look for sign change in
FIRST COLUMN.
No sign change - stable
sign change - unstable
s
3
+ 6s
2
+ 11s + 6 = 0
s
3
s
2
s
1
s
0
1
11
6 11 1 6
6
. .
0
6
6 6
Routh Table
= 10
No sign change in
first column
System is STABLE
Hence Routh Test is a
Go/No Go test. Does
not reveal any other
quantitative
performance
measures.
s
4
+2s
3
+ 8s
2
+ 4s + 3 = 0
Ex :
s
4
s
3
s
2
s
0
1 3
2 0
s
1
8
4
6
3
3
3
stable
Example :
Necessary condition
- fails
- unstable
s
4
+10s
3
+ 4s + 8 = 0
s
4
+2s
3
+ s
2
+ 4s + 2 = 0
Ex :
s
4
s
3
s
2
s
0
1 2
2
s
1
1
4
-1
Sign change in the
first column ----
unstable
s
4
+2s
3
+ s
2
+ 4s + 2 = 0
Ex :
s
4
s
3
s
2
s
0
1 2
2
s
1
1
4
-1
8
2
2
2sign changes
unstable
2 roots in RHP
s
5
s
4
s
3
1 2
0
1 2
3
3
0
Ex:
full row becomes zero
cannot proceed further
indicates symmetry of roots.
Form auxiliary equation
using the coefficients of
the row previous to the
all-zero row.
s
5
s
4
s
3
1 2
0
1 2
3
3
0
Form Auxiliary
equation A(s)
A(s) = s
4
+ 3s
2
+ 2
dA/ds = 4s
3
+ 6s
s
5
s
4
s
3
s
1
1 2
1 2
s
2
3
3
| 4
6/4
4/6
2
s
0
2
| 6
No sign change
limitedly stable
s
5
+ s
4
+ 3s
3
+ 3s
2
+ 2s + 2
= (s
4
+ 3s
2
+2) (s+1)
= ( s
2
+ 1) (s
2
+ 2) (s + 1)
Roots are :
j 1 j 2 - 1 , ,
R(s)
+
-
G(s)
C(s) E(s)
G
K
s s s s
4 3 2
4 13 36
Characteristic equation is
s
4
+ 4s
3
+ 13s
2
+ 36s + K = 0
s
4
s
3
s
2
s
0
1 K
4 0
s
1
13
36
4
36-K
K
K
For stability
0 < K < 36
When K = 36 ,
s
1
row becomes zero.
A (s) = 4s
2
+ K = 0
or 4s
2
+ 36 = 0
s
2
+ 9 = 0
s = j 3
s
4
s
3
s
2
s
0
1 36
4 0
s
1
13
36
4
| 8
36
36
0
Routh Table
Routh test indicates that
apart from roots on
imaginary axes, all other
roots have negative real
parts.
s
4
+ 4s
3
+ 13s
2
+ 36 s +36
= (s
2
+9) ( s
2
+ 4 s + 4)
Roots are
j 3 , - 2 , - 2 .
System limitedly stable
For K = 36
s
5
s
4
s
3
1 2
1 1
3
3
0 1
Example
first column element
becomes zero
- method breaks down
- replace 0 by
e > 0
s
5
s
4
s
3
s
0
1 2
1
1
s
2
3
3
1
1
s
1
3 1
1
3 1
2
1
3 1
=
3
1
As 0, 3 -
1
is negative
- unstable
Alternate method
s
5
+ s
4
+ 3s
3
+ 3s
2
+2s +1 = 0
Let s =
1
x
Then
x
5
+ 2x
4
+ 3x
3
+ 3x
2
+ x + 1 = 0
s
5
s
4
s
3
s
0
1 1
2
1
s
2
3
3
1/2
1
s
1
1
3/2
7/3
-1/7
unstable

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