Control Systems Lectures-Ch6-Mine
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bayanalradi2002Control Systems Lectures-Ch6-Mine
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bayanalradi2002Stability of Linear Feedback
Systems
Chapter 6
Dr. Hasan Zidan
Associate Professor
1
Chapter Outcomes
• Understand the concept of stability of dynamic systems.
• Be aware of the key concepts of absolute and relative stability.
• Be familiar with the notion of bounded-input, bounded-output
stability.
• Understand the relationship of the s-plane pole locations (for transfer
function models) and of the eigenvalue locations (for state variable
models) to system stability.
• Know how to construct a Routh array and be able to employ the
Routh-Hurwitz stability criterion to determine stability.
Concept of Stability of Dynamic Systems
• A stable system is defined as a system with a bounded (limited) system response.
That is, if the system is subjected to a bounded input or disturbance and the
response is bounded in magnitude, the system is said to be stable.
• A necessary and sufficient condition for a feedback system to be stable is that all
the poles of the system transfer function have negative real parts
• If the characteristic equation has simple roots on the imaginary axis jw-axis with
all other roots in the left half-plane, the steady-state output will be sustained
oscillations for a bounded input, unless the input is a sinusoid (which is bounded)
whose frequency is equal to the magnitude of the jw-axis roots. For this case, the
output becomes unbounded. Such a system is called marginally stable
Concept of Stability of Dynamic Systems
Concept of Stability of Dynamic Systems
ROUTH-HURWITZ STABILITY CRITERION
• All the coefficients of the polynomial must have the same sign if all the roots are in the
left-hand plane.
(no sign change)
• It is necessary that all the coefficients for a stable system be nonzero.
(no missed terms)
1. No element in the first column is zero.
2. There is a zero in the first column, but some other elements of the row containing the
zero in the first column are nonzero. (unstable)
3. There is a zero in the first column, and the other elements of the row containing the
zero are also zero.
4. Repeated roots of the characteristic equation on the jw-axis.
The Routh-Hurwitz criterion states that the number of roots of q(s) with positive real parts is
equal to the number of changes in sign of the first column of the Routh array
ROUTH-HURWITZ STABILITY CRITERION
1. No element in the first column is zero.
ROUTH-HURWITZ STABILITY CRITERION
2. There is a zero in the first column, but some other elements of the
row containing the zero in the first column are nonzero.
ROUTH-HURWITZ STABILITY CRITERION
3. There is a zero in the first column, and the other elements of the row
containing the zero are also zero.
ROUTH-HURWITZ STABILITY CRITERION
4. Repeated roots of the characteristic equation on the jw-axis.
Stability of Dynamic Systems
Find the range of K for a stable System
Stability of Dynamic Systems
