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Chapter 6

This document discusses stability analysis of linear feedback control systems. It introduces the concepts of stability, bounded-input bounded-output stability, and the Routh-Hurwitz stability criterion. The Routh-Hurwitz method allows assessment of stability by computing the number of characteristic roots in the right half-plane without calculating the exact values. The document also discusses using the Routh array to analyze stability for different cases and determining relative stability. Design examples demonstrate applying these concepts to select controller parameters to achieve stable closed-loop behavior.

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95 views19 pages

Chapter 6

This document discusses stability analysis of linear feedback control systems. It introduces the concepts of stability, bounded-input bounded-output stability, and the Routh-Hurwitz stability criterion. The Routh-Hurwitz method allows assessment of stability by computing the number of characteristic roots in the right half-plane without calculating the exact values. The document also discusses using the Routh array to analyze stability for different cases and determining relative stability. Design examples demonstrate applying these concepts to select controller parameters to achieve stable closed-loop behavior.

Uploaded by

hari17101991
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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Chapter 6 The Stability of Linear Feedback Systems

The issue of ensuring the stability of a closed-loop feedback system is central to


control system design. Knowing that an unstable closed-loop system is generally
of no practical value, we seek methods to help us analyze and design stable
systems. A stable system should exhibit a bounded output if the corresponding
input is bounded. This is known as bounded-input, bounded-output stability and
is one of the main topics of this chapter.
The stability of a feedback system is directly related to the location of the roots
of the characteristic equation of the system transfer function. The Routh
Hurwitz method is introduced as a useful tool for assessing system stability. The
technique allows us to compute the number of roots of the characteristic
equation in the right half-plane without actually computing the values of the
roots. Thus we can determine stability without the added computational burden
of determining characteristic root locations. This gives us a design method for
determining values of certain system parameters that will lead to closed-loop
stability. For stable systems we will introduce the notion of relative stability,
which allows us to characterize the degree of stability.

Illustrations

The Concept of Stability

A stable system is a dynamic system with a bounded response


to a bounded input.
Absolute stability is a stable/not stable characterization for a
closed-loop feedback system. Given that a system is stable
we can further characterize the degree of stability, or the
relative stability.

Illustrations

The Concept of Stability


The concept of stability can be
illustrated by a cone placed on
a plane horizontal surface.

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.

A system is considered marginally stable if only certain bounded


inputs will result in a bounded output.
Illustrations

The Routh-Hurwitz Stability Criterion


It was discovered that all coefficients of the characteristic
polynomial must have the same sign and non-zero if all
the roots are in the left-hand plane.
These requirements are necessary but not sufficient. If
the above requirements are not met, it is known that the
system is unstable. But, if the requirements are met, we
still must investigate the system further to determine the
stability of the system.
The Routh-Hurwitz criterion is a necessary and sufficient
criterion for the stability of linear systems.

Illustrations

The Routh-Hurwitz Stability Criterion


Characteristic equation, q(s)
Routh array

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.

Illustrations

an s n an 1s n 1 an 2 s n 2 a1s a0 0
sn
s n 1

an
an 1

an 2
an 3

an 4
an 5

s n2

bn 1

bn 3

bn 5

s n 3

cn 1

cn 3

cn 5

s0

hn 1

bn 1

an1 an 2 an an 3
an 1

bn 3

1 an 2
an 1 an 1

an 4

cn 1

1 an 1
bn 1 bn 1

an 3
bn 3

an 3

1 an
an 1 an 1

an 2
an 3

The Routh-Hurwitz Stability Criterion


Case One: No element in the first column is zero.
Example 6.1

Second-order system

The Characteristic polynomial of a second-order sys tem is:


q( s )
The Routh array is w ritten as:

s
1
s

a2
a1

a0
0

b1

w here:
b1

a 2 s a 1 s a 0

a1 a0 ( 0) a2
a1

a0

Theref ore the requirement f or a stable second-order system is


simply that all coef f icients be positive or all the coef ficients be
negative.
Illustrations

The Routh-Hurwitz Stability Criterion


Case Two: Zeros in the first column while some elements of
the row containing a zero in the first column are nonzero.
If only one element in the array is z ero, it may be replaced w ith a small positiv e
number that is allow ed to approach zero after completing the array.
q( s )

s 2s 2s 4s 11s 10

The Routh array is then:

s5

11

s4

10

s3

b1

s2

c1 10

s1

d1

s 0 10

w here:
b1

2 2 1 4

c1

4 2 6

12

d1

6 c1 10

6
2
c1

There are tw o sign changes in the first column due to the large negative number
calculated f or c1. Thus, the system is unstable because tw o roots lie in the
right half of the plane.
Illustrations

The Routh-Hurwitz Stability Criterion


Case Three: Zeros in the first column, and the other elements
of the row containing the zero are also zero.
This case occurs w hen the polynomial q(s) has zeros located sy metrically about the
origin of the s-plane, such as (s+ )(s -) or (s+j)(s -j). This c ase is solved using
the auxiliary poly nomial, U(s), w hich is located in the row above the row containing
the zero entry in the Routh array.
q(s )

s 2 s 4s K

Routh array:

s3
s2
s1

8 K
2

4
K
0

s0

1
2

For a stable system w e require that

0s 8

For the marginally stable case, K=8, the s^1 row of the Routh array contains all zeros. The
auxiliary plynomial comes f rom the s^2 row .
U( s )

2s Ks

2 s 8

2s 4

2( s j 2) ( s j 2)

It c an be proven that U(s) is a f actor of the characteris tic polynomial:


q(s )

s2

U( s )

Thus, w hen K=8, the factors of the characteristic polynomial are:


q(s )

Illustrations

( s 2) ( s j 2) ( s j 2)

The Routh-Hurwitz Stability Criterion


Case Four: Repeated roots of the characteristic equation on
the jw-axis.

With simple roots on the jw-axis, the system will


have a marginally stable behavior. This is not
the case if the roots are repeated. Repeated roots
on the jw-axis will cause the system to be
unstable. Unfortunately, the routh-array will fail
to reveal this instability.

Illustrations

Example 6.4

Illustrations

Example 6.5 Welding control

Using block diagram reduction we find that:


The Routh array is then:

s4

11

s3

( K 6)

s2
s1

b3
c3

Ka

s0

Ka

where: b 3

60 K
6

Ka

and

For the system to be stable both b 3 and c3 must be positive.


Using these equations a relationship can be determined for K and a .

Illustrations

c3

b 3( K 6) 6 Ka
b3

The Relative Stability of Feedback Control Systems


It is often necessary to know the
relative damping of each root to
the characteristic equation.
Relative system stability can be
measured by observing the
relative real part of each root. In
this diagram r2 is relatively more
stable than the pair of roots
labeled r1.

One method of determining the relative stability of


each root is to use an axis shift in the s-domain and
then use the Routh array as shown in Example 6.6 of
the text.

Illustrations

Design Example: Tracked Vehicle Turning Control


Problem statement: Design the turning control for a tracked
vehicle. Select K and a so that the system is stable. The
system is modeled below.

Illustrations

Design Example: Tracked Vehicle Turning Control


The characteristic equation of this system is:
1 Gc G( s )

or
1

K( s a)
s ( s 1) ( s 2) ( s 5)

Thus,
s ( s 1) ( s 2) ( s 5) K( s a)

or
4

s 8s 17s ( K 10)s Ka

To determine a stable region for the system, we establish the Routh array as:

s4

17

Ka

s3

( K 10)

s2

b3

Ka

s1

c3

s0

Ka

where
b3

Illustrations

126 K
8

and

c3

b 3( K 10) 8Ka
b3

Design Example: Tracked Vehicle Turning Control


s4
s3

1
8

17
( K 10)

s2
s1

b3
c3

Ka

s0

Ka

Ka
0

where
b3

126 K
8

and

Therefore,
K 126
K a 0
( K 10) ( 126 K) 64Ka 0

Illustrations

c3

b 3( K 10) 8Ka
b3

System Stability Using MATLAB

Illustrations

System Stability Using MATLAB

Illustrations

System Stability Using MATLAB

Illustrations

System Stability Using MATLAB

Illustrations

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