Unit 5

Stability of control systems in time

domain

Dr. Ankita Malhotra

SVKM's D J Sanghvi College of Engine
 Routh’s stability criterion
• Most linear closed-loop systems have closed-loop transfer functions
of the form:

• where the a’s and b’s are constants and m< n.A simple criterion,
known as Routh’s stability criterion, enables us to determine the
number of closed-loop poles that lie in the right-half s plane
without having to factor the denominator polynomial.

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SVKM's D J Sanghvi College of Engine
• Routh’s Stability Criterion. 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. When the criterion
is applied to a control system, information about absolute stability
can be obtained directly from the coefficients of the characteristic
equation.
• 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 a n≠ 0;

that is, any zero root has been removed.

Dr. Ankita Malhotra

SVKM's D J Sanghvi College of Engine
• Routh’s Stability Criterion. 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. When the criterion is
applied to a control system, information about absolute stability can
be obtained directly from the coefficients of the characteristic
equation.

Dr. Ankita Malhotra

SVKM's D J Sanghvi College of Engine
• The procedure in Routh’s stability criterion is as follows:
• 1. Write the polynomial in s in the following form:

---- 5.1
• where the coefficients are real quantities. We assume that an a n≠ 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, a root or roots exist that are imaginary
or that have positive real parts. Therefore, in such a case, the system
is not stable. If we are interested in only the absolute stability, there
is no need to follow the procedure further.

Dr. Ankita Malhotra

SVKM's D J Sanghvi College of Engine
• Note that all the coefficients must be positive. This is a necessary
condition, as may be seen from the following argument: A polynomial
in s having real coefficients can always be factored into linear and
quadratic factors, such as (s+a) and (s2+bs+c), where a, b, and c are
real. The linear factors yield real roots and the quadratic factors yield
complex-conjugate roots of the polynomial. The factor (s2+bs+c) yields
roots having negative real parts only if b and c are both positive. For all
roots to have negative real parts, the constants a, b, c, and so on, in all
factors must be positive
• The product of any number of linear and quadratic factors containing
only positive coefficients always yields a polynomial with positive
coefficients. It is important to note that the condition that all the
coefficients be positive is not sufficient to assure stability. The
necessary but not sufficient condition for stability is that the
coefficients of Equation (5.1) all be present and all have a positive sign.
(If all a’s are negative, they can be made positive by multiplying both
sides of the equation by –1.)
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SVKM's D J Sanghvi College of Engine
• 3.

• If all coefficients are positive, arrange the coefficients of the

polynomial in rows and columns according to the following pattern:

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• The process of forming rows continues until we run out of elements.
(The total number of rows is n+1.) The coefficients b1, b2, b3 , and so
on, are evaluated as given below. The evaluation of the b’s is
continued until the remaining ones are all zero. The same pattern of
cross-multiplying the coefficients of the two previous rows is
followed in evaluating the c’s, d’s, e’s, and so on.

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Limitations of Routh-Hurwitz criterion

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Special Cases of Routh-Hurwitz Criteria

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 Example of special case 1 :

Example of special case 2

The terms in the s3 row are all zero. (Note that such a case occurs only in
an odd numbered row.) The auxiliary polynomial is then formed from the
coefficients of the s4 row.
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SVKM's D J Sanghvi College of Engine
• The auxiliary polynomial P(s) is

We see that there is one change in sign in the first column of the new
array. Thus, the original equation has one root with a positive real part.

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SVKM's D J Sanghvi College of Engine
 Examples

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Dr. Ankita Malhotra
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Dr. Ankita Malhotra
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Dr. Ankita Malhotra
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Dr. Ankita Malhotra
SVKM's D J Sanghvi College of Engine
 Control system analysis and design by root
locus method
• The basic characteristic of the transient response of a closed-loop
system is closely related to the location of the closed-loop poles. If
the system has a variable loop gain, then the location of the closed-
loop poles depends on the value of the loop gain chosen.
• It is important, therefore, that the designer know how the closed-loop
poles move in the s plane as the loop gain is varied.
• The closed-loop poles are the roots of the characteristic equation.
• A simple method for finding the roots of the characteristic equation
has been developed by W. R. Evans and used extensively in control
engineering. This method, called the root-locus method, is one in
which the roots of the characteristic equation are plotted for all values
of a system parameter.

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Dr. Ankita Malhotra
SVKM's D J Sanghvi College of Engine
• The roots corresponding to a particular value of this parameter can
then be located on the resulting graph. Note that the parameter is
usually the gain, but any other variable of the open-loop transfer
function may be used. Unless otherwise stated, we shall assume that
the gain of the open-loop transfer function is the parameter to be
varied through all values, from zero to infinity.

• By using the root-locus method the designer can predict the

effects on the location of the closed-loop poles of varying the gain
value or adding open-loop poles and/or open-loop zeros.
Therefore, it is desired that the designer have a good
understanding of the method for generating the root loci of the
closed-loop system.

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SVKM's D J Sanghvi College of Engine
 ROOT- LOCUS PLOTS
• Angle and Magnitude Conditions. Consider the negative feedback
system shown in Figure. The closed-loop transfer function is

Control system

• The characteristic equation for this closed-loop system is obtained by

setting the denominator of transfer function equation equal to zero.
That is,

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SVKM's D J Sanghvi College of Engine
The values of s that fulfill both the angle and magnitude conditions are the
roots of characteristic equation, or the closed-loop poles. A locus of the points
in the complex plane satisfying the angle condition alone is the root locus.
The roots of the characteristic equation (the closed-loop poles) corresponding
to a given value of the gain can be determined from the magnitude condition.

Dr. Ankita Malhotra

SVKM's D J Sanghvi College of Engine
• Let characteristic equation based on system gain K is given as:

• Then the root loci for the system are the loci of the closed-loop poles
as the gain K is varied from zero to infinity.
• Note that to begin sketching the root loci of a system by the root-
locus method we must know the location of the poles and zeros of
G(s)H(s). Remember that the angles of the complex quantities
originating from the open-loop poles and open-loop zeros to the test
point s are measured in the counterclockwise direction.

• where –p2 and –p3 are complex-conjugate poles, then the angle of
G(s)H(s) is
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where
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 Figure (a) and (b) Diagrams showing angle measurements from open-loop
poles and open-loop zero to test point s.
• The magnitude of G(s)H(s) for this system is

where A1 , A2 , A3 , A4 , and B1 are the magnitudes of the complex

quantities s+p1 ,s+p2, s+p3, s+p4 , and s+z1
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Dr. Ankita Malhotra
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Dr. Ankita Malhotra
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 Root –locus conclusion
• Design by Root-Locus Method. The design by the root-locus
method is based on reshaping the root locus of the system by
adding poles and zeros to the system’s open-loop transfer function
and forcing the root loci to pass through desired closed-loop poles in
the s plane.
• In designing a control system, if other than a gain adjustment (or
other parameter adjustment) is required, we must modify the
original root loci by inserting a suitable compensator. Once the
effects on the root locus of the addition of poles and/or zeros are
fully understood, we can readily determine the locations of the
pole(s) and zero(s) of the compensator that will reshape the root
locus as desired

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SVKM's D J Sanghvi College of Engine
 Series Compensation and Parallel (or Feedback) Compensation.

A) Sereis compensation, b) parallel compensation

In compensating control systems, we see that the problem usually boils down to a
suitable design of a series or parallel compensator. The choice between series
compensation and parallel compensation depends on the nature of the signals in the
system, the power levels at various points, available components, the designer’s
experience, economic considerations, and so on.

In general, series compensation may be simpler than parallel compensation; however,

series compensation frequently requires additional amplifiers to increase the gain
and/or to provide isolation. (To avoid power dissipation, the series compensator is
inserted at the lowest energy point in the feed forward path.) Note that, in general, the
number of components required in parallel compensation will be less than the number
of components in series compensation, provided a suitable signal is available.
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SVKM's D J Sanghvi College of Engine
• Effects of the Addition of Poles. The addition of a pole to the open-loop
transfer function has the effect of pulling the root locus to the right,
tending to lower the system’s relative stability and to slow down the settling
of the response. (Remember that the addition of integral control adds a pole
at the origin, thus making the system less stable.)

• Effects of the Addition of Zeros. The addition of a zero to the open-loop

transfer function has the effect of pulling the root locus to the left, tending
to make the system more stable and to speed up the settling of the response.
(Physically, the addition of a zero in the feed forward transfer function
means the addition of derivative control to the system. The effect of such
control is to introduce aDr.degree of anticipation into the system and speed up
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Dr. Ankita Malhotra
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 Lead Compensator
• In carrying out a control-system design, we place a compensator in series
with the unalterable transfer function G(s) to obtain desirable behavior.
• The main problem then involves the judicious choice of the pole(s) and
zero(s) of the compensator Gc(s) to have the dominant closed-loop poles at
the desired location in the s plane so that the performance specifications will
be met.

• Consider a design problem in which the original system either is unstable for
all values of gain or is stable but has undesirable transient-response
characteristics. In such a case, the reshaping of the root locus is necessary in
the broad neighborhood of the jw axis and the origin in order that the
dominant closed-loop poles be at desired locations in the complex plane.
This problem may be solved by inserting an appropriate lead compensator in
cascade with the feedforward transfer function
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• By drawing the root-locus plot of the uncompensated system (original
system), ascertain whether or not the gain adjustment alone can yield the
desired closed loop poles. If not, calculate the angle deficiency Փ.This
angle must be contributed by the lead compensator if the new root locus is
to pass through the desired locations for the dominant closed-loop poles.

• If static error constants are not specified, determine the location of the pole
and zero of the lead compensator so that the lead compensator will
contribute the necessary angle Փ. If no other requirements are imposed on
the system, try to make the value of a as large as possible.

• Determine the value of Kc (gain of compensator)of the lead compensator

from the magnitude condition.

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SVKM's D J Sanghvi College of Engine
 Lag Compensation
• The problem of finding a suitable compensation network for the case
where the system exhibits satisfactory transient-response characteristics
but unsatisfactory steady-state characteristics. Compensation in this case
essentially consists of increasing the open loop gain without appreciably
changing the transient-response characteristics. This means that the root
locus in the neighborhood of the dominant closed-loop poles should not be
changed appreciably, but the open-loop gain should be increased as much
as needed.
• This can be accomplished if a lag compensator is put in cascade with the
given feed forward transfer function. To avoid an appreciable change in the
root loci, the angle contribution of the lag network should be limited to a
small amount, say less than 5°.To assure this, we place the pole and zero of
the lag network relatively close together and near the origin of the s plane.
Then the closed-loop poles of the compensated system will be shifted only
slightly from their original locations. Hence, the transient-response
characteristics will be changed only slightly.
Dr. Ankita Malhotra
SVKM's D J Sanghvi College of Engine