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2023_MEE 501_STABILITY

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11 views40 pages

2023_MEE 501_STABILITY

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shaibustephen100
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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MEE 501

CONTROL THEORY

1
COURSE CONTENT

Reviews the differential equations


Laplace transform.
Feedback control: Servo Mechanism,
block transfer functions and
signal flow diagram.
Control System Stability: Nyquist
Bode, Nochols and Root locus plots
(Routh-Hurwitz, Liapnunov).
 Analogue computer fundamentals
and Simulations were utilized. 2
DEFINITION
using the natural response:

A system is stable if the natural response


approaches zero as time approaches infinity.

A system is unstable if the natural response


approaches infinity as time approaches
infinity.

A system is marginally stable if the natural


response neither decays nor grows but
remains constant or oscillates.
3
DEFINITION
Using the total response (BIBO):

A system is stable if every bounded


input yields a bounded output.

 A system is unstable if any bounded


input yields an unbounded output.

4
SYSTEM STABILITY
Stability is a continuous or discrete-time system is determined

by its response inputs or disturbances


A stable system is that remains at rest unless excited by an
external source and returns to rest if all excitations are removed

A continuous system (discrete-time system) is stable if its


impulse response yδ(t) approaches zero as time approaches
infinity
A stable system can be defined as a system whose every
bounded input produces a bounded output

5
Typical Stable System

NOTE: The oscillations for the stable system diminish


6
Typical Unstable System

NOTE: The oscillations for the Unstable system increase without bound

Close loop Pole: is the position of eigenvalue 7


Condition for Stability
Stable System:
The real parts of the roots with of the characteristic equation

have negative real parts.


This ensures that the impulse response will decay
exponentially with time.

Marginal Stability
If the system has some roots with real parts equal to zero,
but none with positive real parts

Unstable System
If the impulse response does not decay to zero, and If
bounded but certain other inputs produces unbounded
output
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Example

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Example

If,

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Routh-Hurwitz Criterion
Using Routh-Hurwitz method,
 we can tell how many closed-loop
system poles are in:
 The left half-plane,
 In the right half-plane,
 In on the jv-axis.
 We can find the number of poles in each

section of the s-plane,


 But we cannot find their coordinates.

16
The method requires two steps:
(1) Generate a data table called a Routh table
(2) 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 jw-axis.
Advantage of Routh-Hurwitz over modern
calculators and computers:
The power of the method lies in design rather
than analysis. For example, if you have an
unknown parameter in the denominator of a
transfer function, it is difficult to determine via a
calculator the range of this parameter to yield
stability. One would probably rely
on trial and error to answer the Stability question.
17
Generating a Basic Routh Table (321)

18
19
Determine if control system in Figure 1 is stable or unstable.

Figure XX

SOLUTION:
The first step is to find the equivalent closed-loop system
and test the denominator of this function, not the given
forward transfer.

Equivalent closed-loop system

20
Table XX: Completed Routh table

21
Interpretation of Routh table
Rule:
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.
For example, Table XX has two sign changes in
The first column. The first sign change occurs
from 1 in the s2 row to -72 in the s1 row.
The second occurs from -72 in the s1 row to 103
in the s0 row. Thus, the system of
Figure XX is unstable since two poles exist in
the right half-plane
22
Root Locus Techniques
Root locus:
It is a graphical presentation of the closed-loop poles
as a system parameter is varied
It is a powerful method of analysis and design for
stability and transient response
Uses:
The root locus can be used to describe qualitatively
the performance of a system as various parameters are
changed. For example, the effect of varying gain upon
percent overshoot, settling time, and peak time can be
vividly displayed. The qualitative description can then
be verified with quantitative analysis
The root locus also gives a graphical representation
of a system’s stability.

23
Considering the block diagram of a Security camera Figure YY

Figure YY: (b) block diagram; (c) closed-loop transfer function

24
The location of the closed-loop poles in
Table YY are evaluated Using Roots of Quadratic
Equation, aX2+bX+c=0, for K ≥ 0

b 2  b 2  4ac
2a

25
Figure YY01 (a) Pole plot from Table YY; (b) root locus

26
The root locus shows the changes in the
transient response as the gain,K, varies. First of
all, the poles are real for gains less than 25.
Thus, the system is over-damped.

At a gain of 25, the poles are real and multiple


and hence critically damped.

For gains above 25, the system is under-


damped.
The following conclusions are graphically
demonstrated by the root locus that, directing
our attention to the under-damped portion of the
root locus, we see that regardless of the value of
gain, K, the real parts of the complex poles are
always the same 27
Nyquist Method
Nyquist analysis, is a frequency respond method,
s a graphical procedure for determining absolute an
lative stability of closed-loop control system.
s applicable to both continuous and discrete-time
ontrol systems.
Advantage of Nyquist method:
When there is a delay in the flow of
signal of a continuous system, this
method can handle it without necessarily
approximate the stabilty information.
Can be used to obtain the transfer
function of the components
from the frequency response data.
28
t can therefore be used to get information about stability
even if the transfer function of the component and the contro
system is not known.

Mathematical Expression for Nyquist Stability Criterion


According to Nyquist theory,

Z= N+P (for any system, stable or unstable)


Where,
Z: Number of roots of 1+G(s)H(s) in RHS of S-plane
N: Number of encirclements of critical point -1, j 0 in
the clockwise direction.
P: Number of Poles of open-loop transfer function in
RHS of S-Plane.
For a stable,
Z=0 and Therefore,
N = -P 29
Note:
Both Routh-Hurwitz and Root locus stability methods
have in common the location of poles which they are
able to provide for particular values of gain.

To plot P(s) with s=σ+jw, 2-D graphs are


required.
Fisrt: Graph of jw versus σ (s-plane) and Second
is
the imaginary path of P(s)(lmp) versus the real
(Re P) part of P(s) (P(s)-Plane).
The corresponding coordinate planes for
discrete-time systems are the z-plane and the
P(z)-plane.
The correspondence between points in the two
30
planes is called Mapping or Transformation
31
32
Def-01 Definitions

Def-01

Def-02

33
Def-03

Def-04

34
Def-05

Def-06

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