Scribd
Upload
199 views

CHAPTER 4 STABILITY AND PERFORMANCE Part2

The document discusses stability analysis techniques including: 1) The Routh-Hurwitz stability test which uses a polynomial's coefficients to determine stability without directly solving for roots. It involves arranging coefficients in a Routh array where stability requires positive values in the first column. 2) Examples demonstrate applying the Routh-Hurwitz test to determine stability of systems defined by characteristic equations. One example finds a system unstable because a coefficient is missing, violating a stability condition. 3) The Final Value Theorem can determine steady-state error from the limit of a transfer function as s approaches zero.

Uploaded by

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

CHAPTER 4 STABILITY AND PERFORMANCE Part2

The document discusses stability analysis techniques including: 1) The Routh-Hurwitz stability test which uses a polynomial's coefficients to determine stability without directly solving for roots. It involves arranging coefficients in a Routh array where stability requires positive values in the first column. 2) Examples demonstrate applying the Routh-Hurwitz test to determine stability of systems defined by characteristic equations. One example finds a system unstable because a coefficient is missing, violating a stability condition. 3) The Final Value Theorem can determine steady-state error from the limit of a transfer function as s approaches zero.

Uploaded by

Haliza Matsani
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 12

CHAPTER 4

STABILITY AND
PERFORMANCE TEST
 

4.2 Stability and performance test for a system.


4.2.1 Routh-Hurwitz stability test.
4.2.2 Final value theorem to determine
error.
4.2.3 Calculations on problems related to
effect of parameter system
Routh-Hurwitz stability test
Routh's Stability Criterion
-tells us whether or not there are unstable roots in a polynomial equation without
actually solving for them. This stability criterion applies to polynomials with only a
finite number of terms.

The procedure in Routh's stability criterion is as follows:


1. Write the polynomial in s in the following form:

where the coefficients are real quantities. We assume that an ≠ 0; that is, any
zero root has been removed.
2. If any of the coefficients are zero or negative in the presence of at least one
positive coefficient, there is a root or roots that are imaginary or that have positive
real part

3. If all coefficients are positive, arrange the coefficients of the polynomial in rows
and columns according to the following pattern:
Routh Array Generation
Given a polynomial of the form:
ansn + an–1sn–1 + ● ● ● + a1s + a0 = 0
Row
1 an an–2 an–4 ● ● ●
2 an–1 an–3 an–5 ● ● ●
3 b1 b2 b3 ●●●
4 c1 c2 ● ● ● b  an 1an  2  an an 3 b1an 3  an 1b2
1
c1 
an 1 b1
●●●
●●●

an 1an  4  an an 5 b1an 5  an 3b3


b2  c2 
an 1 b1
n + 1 z1
 
Theorems on Routh Test
Theorem 1
A necessary and sufficient condition for all the roots of the
characteristic equation to have a negative real parts (or
stable system) is that all the elements of the first column in
the Routh array be positive and nonzero
Theorem 2
If some of the elements in the first column are negative,
the number of roots with a positive real part, i.e. in the
right hand plane, is equal to the number of sign changes in
the first column
Example 1

Determine the stability of system that has


characteristic equation
s4 + 5s3 + 3s2 + 1 = 0

Solution:
Since the s term is missing, its coefficient is zero

Thus, the system is unstable. Recall that a


necessary condition for stability is that all of the
coefficients in the characteristic equation must
be positive.
Example 2

Determine the stability of system that has


characteristic equation
s4 + 3s3 + 5s2 + 4s + 2 = 0
Solution:
Row
1 1 5 2
2 3 4
3 11
/3 2
4 26
/11
System is stable since all terms
5 2 in the 1st column is positive
(Theorem 1)
Example 3

Determine the stability of system that has


characteristic equation
s6 + s5 + 4s4 + 3s3 + 2s2 + 4s + 2 = 0
Solution: Row
1 1 4 2 2
2 1 3 4
3 1 –2 2
4 5 2  System is unstable since not
5 –12
/5 2 all terms in the 1st column is
positive
6 –74
/12  2 roots are in the right half
plane due to 2 sign changes
7 2
Example 4
2s 4  s 3  3s 2  5s  10  0

2 3 10
1 5 0
13   2 5  7 10 0
1
 7 5  110   6.43 0 0
7
10
Example 5
10s 3  17 s 2  8s  1  K c   0

10 8
17 1  Kc

b1 
17 8   10 1  K c 
 7.41  0.588 K  0 b2  0
c
17
b1 1  K c   17  0 
c1   1  Kc  0 c2  0
b1

1  K c  12.6
Example 6
Let us determine the range of K for stability.
The closed-loop transfer function is

You might also like