Chapter 2 Stability Testing Routh Hurwitz
Chapter 2 Stability Testing Routh Hurwitz
Chapter 2 Stability Testing Routh Hurwitz
-First step make the Routh Array:
s
n
a
n
a
n-2
a
n-4
a
n-6
s
n-1
a
n-1
a
n-3
a
n-5
a
n-7
s
n-2
b
1
b
2
b
3
b
4
s
n-3
c
1
c
2
c
3
c
4
. .
. .
. .
s
2
k
1
k
2
s
1
l
1
s
0
m
1
0 1
4
4
3
3
2
2
1
1
a s a s a s a s a s a s a ) s ( Q
n
n
n
n
n
n
n
n
n
n
+ + + + + + =
3 1
2
1
1
1
=
n n
n n
n
a a
a a
a
b
5 1
4
1
2
1
=
n n
n n
n
a a
a a
a
b
2 1
3 1
1
1
1
b b
a a
b
c
n n
=
3 1
5 1
1
2
1
b b
a a
b
c
n n
=
0 1
4
4
3
3
2
2
1
1
a s a s a s a s a s a s a ) s ( Q
n
n
n
n
n
n
n
n
n
n
+ + + + + + =
Example: (Case: 1)
Number of sign changes in the first column = number of
unstable poles
Note: Case 1
(No zero element in first column)
Example: (Case: 2) Un-stable system
Case 2 (Steps)
1. First Element of a row is Zero (0)
2. Replace 0 by small number c. (c=0.00000000..01)
3. Continue the array
Q(s) = s
5
+ 2s
4
+ 2s
3
+ 4s
2
+ 11s + 10
s
5
1 2 11
s
4
2 4 10
c 6
s
2
-12/c 10
s
1
6
s
0
10
Two sign changes whether c was
assumed +ve or ve.
0 ) 2 2 4 1 (
2
1
4 2
2 1
2
1
1
= = = x x b
0 b
1
s
3
=
=
=
2 1
3 1
1
1
0
1
b b
a a
b
c then
n n
c
= c
c
=
c c
=
12
4 12
1
6
4 2
1
1
) ( c then
) value small very very ( b let c =
1
Example: (Case: 3)
Case 3: (Steps)
1. All Element of a row are Zero. (Premature Termination )
2. Auxiliary Polynomial
3. Aux Poly is differentiated with respect to s
4. Coefficients of the Polynomial replaces the zero row
Ex. Q(s) = s
2
+ 1
s
2
1 1
s
1
0
s
0
No sign change in the first column
implies that system is STABLE.
Aux poly indicates roots on jw axis, which implies
MARGINALLY STABLE
Aux Pol = s
2
+ 1
d/ds(s
2
+ 2)
2s
2
1
S
2
=-1; S=j
What is Auxiliary Polynomial
Q(s) contains an even
polynomial as factor. An even
polynomial is one in which the
exponents of s are even
integers or zero
This even polynomial is called
Auxiliary Polynomial
In Routh array, coefficients of
Aux Poly are those directly
above the zero row. (See
examples above)
s
2
1 1
s
1
0
s
0
Aux Pol = s
2
+ 1
Aux Pol = s
2
+ 2
s
2
1 2
s
1
0
s
0
s
3
1 2
Example: (Case: 3)
Case 3: (Steps)
1. All Element of a row are Zero. (Premature Termination )
2. Auxiliary Polynomial
3. Aux Poly is differentiated with respect to s
4. Coefficients of the Polynomial replaces the zero row
Ex. Q(s) = (s+1) (s2 + 2) = s
3
+ s
2
+ 2s + 2
s
3
1 2
s
2
1 2
s
1
0
s
0
Aux Pol = s
2
+ 2
d/ds(s
2
+ 2)
2s
2
1
RHP=2
LHP=2
IA = 0
Example: (Case: 3)
Ex. Q(s) = s
4
+ s
3
+ 3s
2
+ 2s + 2
s
4
1 3 2
s
3
1 2
s
2
1 2
s
1
0
s
0
Aux Pol = s
2
+ 2
d/ds(s
2
+ 2)
2s
2
2
RHP=0
LHP=2
IA = 2
Example_Case_1 from Book (Page 146)
P(s) = 2s
4
+ 3s
3
+ 5s
2
+ 2s + 6 (2.14)
s
4
2 5 6
s
3
3 2
s
2
+11/3 6
s
1
-32/11
s
0
+ 6
Number of sign changes in the first column = number of
unstable poles
Two sign
changes
+
-
+
Two
unstable
poles
RHP=2
LHP=2
IA = 0
Case 2 (Steps)
1. First Element of a row is Zero (0)
2. Replace 0 by small number c. (c=0.00000000..01)
3. Continue the array
Q(s) = 3s
4
+ 6s
3
+ 2s
2
+ 4s +5 (2.16)
s
4
3 2 5
s
3
6 4
c 2
s
1
-12/c
s
0
2
Two sign changes whether c was
assumed +ve or ve.
0
b
1
s
2
Example_Case_2 from Book (Page 149)
RHP=2
LHP=2
IA = 0
Q(s) = s
5
+ s
4
+ 2s
3
+ 3s
2
+ s + 4 (2.20)
s
5
1 2 1
s
4
1 3 4
s
3
-1 -3
s
2
c 4
s
1
4/c
s
0
4
0
Example_Case_2 from Book (Page 149)
Two sign changes whether c was
assumed +ve or ve.
RHP=2
LHP=3
IA = 0
Q(s) = s
5
+2s
4
+ 8s
3
+ 11s
2
+ 16s + 12 (2.24)
s
5
1 8 16
s
4
2 11 12
s
3
2.5 10
s
2
3 12
s
1
0
s
0
12
Example_Case_3 from Book (Page 150)
Aux Pol = 3s
2
+ 12
d/ds(3s
2
+ 12)
6s
6
No sign change in the first column
MARGINALLY STABLE.
Aux poly indicates roots on jw axis
3s
2
=-12 s
2
=-4 s
1,2
=2
s
6
+ s
5
+ 5s
4
+ s
3
+ 2s
2
- 2s 8 (2.26)
s
6
1 5 2 -8
s
5
1 1 -2
s
4
4 4 -8
s
3
0 0
s
2
2 -8
s
1
72
s
0
-8
Aux Pol = 4s
4
+4s
2
+ 8
16
Example Example_Case_3 from Book (Page 152)
d/ds(4s
4
+4s
2
+ 8)
16s
3
+8s
2
8
RHP=1
LHP=3
IA = 2
S
3
2 2
S
2
3 K
S
1
(6-2K)/3
S
0
K
(6-2K)/3 > 0
K> 0
Stable
Stable
For what value of K the system will be marginally stable?
S
4
1 4 K
Stability range 0 < K < 3
Example_ from Book (Page 160)
P(s) = S
4
+ 2s
3
+ 4s
2
+ 2s + K
S
3
2 K
S
2
4-K/2 6
S
1
S
0
6
> 0
K < 8
Stable
Stable
S
4
1 4 6
Stability range can not be satisfied for any value of K
(complex roots). Polynomial has RHP roots for all K
Example_ from Book (Page 160)
complex roots
) . (
K
=
5 0 2
24 16 4
0 12 4
2
2
= + K
K
P(s) = S
4
+ 2s
3
+ 4s
2
+ Ks + 6
2 4
12
/ K
K