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CS Notes - Stability RH RL

This document discusses stability analysis and root locus analysis. It provides the necessary and sufficient conditions for stability, including that the characteristic polynomial must have all coefficients with the same sign and all poles in the left half of the s-plane. It also describes the Routh-Hurwitz stability test and provides examples of stable and unstable polynomials. Finally, it outlines the key concepts and rules for constructing root loci as open-loop gain is varied, including how poles and zeros affect the loci.

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152 views5 pages

CS Notes - Stability RH RL

This document discusses stability analysis and root locus analysis. It provides the necessary and sufficient conditions for stability, including that the characteristic polynomial must have all coefficients with the same sign and all poles in the left half of the s-plane. It also describes the Routh-Hurwitz stability test and provides examples of stable and unstable polynomials. Finally, it outlines the key concepts and rules for constructing root loci as open-loop gain is varied, including how poles and zeros affect the loci.

Uploaded by

madhubalans
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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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STABILITY ANALYSIS

Conditions for Stability:


A. Necessary condition for stability: All coefficients of characteristic polynomial have the
same sign and none of them is missing.
B. Necessary and sufficient condition for stability: determinant of characteristic polynomial
0 for Re[s] 0
or, equivalently All poles of G(s) in the left-half of the s-plane

The system may be stable, if all the coefficients of a stable characteristic polynomial
have the same sign.
Examples:
A(s) = s2 + s + 1 is stable
A(s) = s3 + s2 + s + 1 can be stable or unstable
A(s) = s3 s2 + s + 1 is unstable
A(s) = s3 + s + 1 is Marginally stable (unstable)

Stability testing: Test whether all poles of G(s) (roots of CE) have negative real parts.
Find all roots of characteristic equation - Too many computations
Easier Stability test? Routh Hurwitz stability test.

Routh Hurwitz stability test

1. Polynomial A(s) is stable (i.e. all roots of A(s)


have negative real parts) if there is no sign
change in the first column.
2. The number of sign changes in the first
column is equal to the number of roots of A(s)
with positive real parts.

or no sign change
Special Cases:
1. The properties of the table do not change when all the coefficients of a row are multiplied
by the same positive number.
2. If the first-column term becomes zero, replace 0 by and continue.
If the signs above and below are the same, then there is a pair of (complex) imaginary
roots.
If there is a sign change, then there are roots with positive real parts.
2a. (OR) If the first-column term becomes zero, replace s by 1/z and do the test for z
polynomial. The results reflect the s polynomial.

3. If all coefficients in a line become 0, then characteristic polynomial has roots of equal
magnitude radially opposed on the real or imaginary axis. Such roots can be obtained from
the roots of the auxiliary polynomial.

The imaginary roots of auxiliary polynomial give the frequency of sustained oscillation.

ROOT LOCUS
Its a graphical method in which movement of poles in s-plane is observed / sketched when
a particular parameter (Gain K) of the system is varied from zero to infinity.
The locus of the closed loop poles or the roots of the characteristic equations plotted in the
s-plane or z-plane is called Root Locus.

The root locus technique is powerful tool for adjusting the location of closed loop poles
to achieve the desired system performance by varying one or more system parameters.
k
Consider the open loop transfer function of system, G( S )
S ( S P1)( S P 2)
The closed loop transfer function of the system with unity feedback is given by,
C (S ) K

R( S ) S ( S P1)( S P 2) K
The characteristic equation is given by,
S ( S P1)( S P 2 ) K 0
The roots of a characteristic equation is function of open loop gain K. when the gain
K is varied from 0 to , the roots of characteristic equation will take different values. The
path taken by the roots of characteristic equation when open loop gain K is varied from 0 to
are called root loci.

Rules for Construction of Root Locus:


1. The root locus is symmetrical about the real axis.
2. Each branch of the root locus originates from an open loop pole corresponding to K=0 and
terminates at either on a finite open loop zero (or open loop zero at infinity) corresponding
to K= . The number of branches of the root locus terminating on infinity is equal to (n-
m), i.e. the number of open loop poles minus the number of finite zeros. Segments of the
real axis having an odd number of axis open loop poles plus zeros to their right are parts
of the root locus.
3. The (n-m) root locus branches that tend to infinity, do so along straight-line asymptotes
making angles with the real axis given by,
180 0 [2q 1]

A ; q 0,1,2.....(n m).
nm
4. The point of intersection (Centroid) of the asymptotes with the real axis is at S = A where
Sum of poles Sum of zeros

A
nm
5. The breakaway and breaking points of the root locus are determined from the roots of the
equation dK/ds (K obtained from characteristic equation), if r number of branches of root
locus meet at a point, then they break away at an angle of -1800 / r
6. The angle of departure from a complex open-loop pole is given by,
p 1800 2q 1 ; q 0,1,2...
Where is the net angle contribution at the pole by all other open loop poles and zeros.
Similarly, the angle of arrival at a complex open loop zero is given by,
z 1800 2q 1 ; q 0,1,2...
Where is the net angle contribution at the zero by all other open loop poles and zeros.
7. The intersection of root locus branches with the imaginary axis can be determined by use
of the Routh criterion, or letting s = j in the characteristic equation and equating the real
part and imaginary part to zero, to solve for and K. the value of is the intersection point
on imaginary axis and K is the value of gain at the intersection point.
8. The open loop gain K at any point S = Sa on the root locus is given by
n

S a Pi
K i 1
m

S Z
i 1
a i

K = (sum of lengths from the point to open loop poles - sum of lengths from the point to
open loop zeros) / n m

Typical Root Locus plots


EFFECT OF ADDING POLES AND ZEROS

Effect of Addition of Open Loop Poles:


Root locus shifts towards imaginary axis
System stability relatively decreases
System becomes more oscillatory
Range of operating values of K for stability decreases
Effect of Addition of Open Loop Zeros:
Root locus shifts to left away from imaginary axis
System stability relatively increases
System becomes less oscillatory
Range of operating values of K for stability increases

Addition of a Pole to Forward path of Transfer function


Increase order of the system
Increases overshoot
Reduces stability
Increase rise time of step response
Reduces bandwidth
Pushes and bends the complex conjugate portion of root locus of second order system to
right half of s-plane.

Addition of A pole to closed loop transfer function


Increase rise time
decreases overshoot

Addition of zero to Forward path TF


Adding zero far away from imaginary axis
Overshoot is large
Damping is very poor
When zero moves right side
Overshoot reduced
Damping improves
When zero moves closer to origin
Overshoot increases
Damping improves

Addition of zero to closed loop TF


Decreases rise time
Increases overshoot of step response.

Dominant and Insignificant poles


The poles close to imaginary axis in left half s-plane give rise to transient response that
will decay relatively slowly and they are called dominant poles. If poles far away from
imaginary axis they are insignificant poles.

**********

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