STABILITY ANALYSIS
EE006-3.5-2
CONTROL ENGINEERING
Outcome(s) for the Lecture
At the end of this lecture you will be able to:
Evaluate the STABILITY condition of a system
Use Routh Criterion to evaluate and improve the
STABILITY of a system
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
PREVIOUS LECTURES
We have learned the following:
Modeling of various engineering systems
Mechanical
Electrical
Electromechanical
System Response (Time Response Analysis)
First Order
Second Order Transient Response
Steady-State Response
Simplification of a model
o Stability
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
A linear time invariant system is stable if the natural response
approaches to zero as time approaches to infinity.
A linear time invariant system is unstable if the natural
response grows without bound as time approaches to infinity.
A linear time invariant system is marginally stable if the
natural response neither decays nor grows but remains
constant or oscillates as time approaches to infinity.
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
How do we determine if a system is stable?
If the closed loop system poles are in the left-half of the
s-plane and hence have a negative real part, the system is
stable.
Unstable systems have closed loop system transfer functions
with at least one pole at the right half.
Similarly, marginally stable systems have closed loop transfer
function with only imaginary axis poles of multiplicity 1 and
poles in the left half plane.
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
Stability information without solving for poles location
Using Routh-Hurwitz criterion for stability (1905)
This method provides information how on many closed loop
poles are located on the right-half plane, left-half plane and on
the imaginary axis.
It involves only two steps:
Generating data table called Routh Table
Interpretation of the data in the table
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
Considering the equivalent closed loop transfer function
below, we focus our attention on the denominator since we
are interested in the system poles.
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
Then Routh Table is constructed as below
S4
S3 Begin by labeling the rows with power of s
from the highest power of the denominator of
S2 the closed loop transfer function to s0
S1
S0
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
Then Routh Table is constructed as below
S4 a4 a2 a0
S3
S2 Then start with the coefficient of the highest
power of s in the denominator and list,
S1
horizontally in the first row, every other
coefficient.
S0
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
Then Routh Table is constructed as below
S4 a4 a2 a0
S3 a3 a1
S2
Then in the second row list horizontally,
S1
starting with the highest power of s, every
S0 coefficient that was skipped in the first row.
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
The remaining entries are filled as follows:
Each entry is a negative determinant of entries in the
previous two rows divided by the entry in the first column
directly above the calculated row.
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
The remaining entries are filled as follows:
The left-hand column of the determinant is always the first
column of the previous two rows, and the right hand column
is the elements of the column above and to the right.
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
The remaining entries are filled as follows:
The left-hand column of the determinant is always the first
column of the previous two rows, and the right hand column
is the elements of the column above and to the right.
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
The remaining entries are filled as follows:
The left-hand column of the determinant is always the first
column of the previous two rows, and the right hand column
is the elements of the column above and to the right.
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
The remaining entries are filled as follows:
The left-hand column of the determinant is always the first
column of the previous two rows, and the right hand column
is the elements of the column above and to the right.
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
Interpretation of the Routh Table:
If all the entries in the first column of the table are positive
non-zero, then the system is STABLE
If there is a negative value on the first column entries, this
indicate that the system is UNSTABLE. The number of
poles on the right-half plane is equal to the number of sign
changes in the first column.
If there is a zero in the first column then this indicates that
the system is MARGINALLY STABLE provided that theres
no pole on right-half plane.
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
There are three cases which can be encounter in the creation
of the Routh Table
Case I : Normal
Case II : A zero in the first column of a row
Case III : An entire row is zero
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
CASE I: NORMAL The entries in the first column are neither 0 nor
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
CASE II: A zero in the first column of a row
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
CASE III: An entire row is zero
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
P(s) s 4 6s 2 8
CASE III: An entire row is zero
dP(s)
4s 3 12s
ds
s 3 3s
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
EXAMPLE 1
Use Routh criterion to determine the stability of the system
below.
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
EXAMPLE 2
Use Routh criterion to determine the stability of the closed
loop system below.
10
T (s) 5
s 2s 3s 6s 5s 3
4 3 2
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
EXAMPLE 3
Use Routh criterion to determine the stability of the closed
loop system below.
10
T (s) 5
s 7s 6s 42s 8s 56
4 3 2
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
EXAMPLE 4
Find the range of K such that the system shown is
stable.
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
STABILITY ANALYSIS
EXERCISES
Find the range of K such that the system shown is
stable.
(a)
K (s 2)
(b) G (s) 2
(s 1)(s 4)(s 1)
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
Q&A
EE006-3.5-2-CONTROL ENGINEERING STABILITY ANALYSIS
