Control Engineering MT-353: Stability

Control Engineering
MT-353
Chapter 6
Stability
Learning Outcome
After completing this lecture, you should be able to learn
What is stability
The Routh-Hurwitz criterion for Stability
How to generate a basic Routh Table
How to interpret the basic Routh Table
Stability
External
Internal (bounded-input,
(asymptotic) bounded output
or BIBO
Depends on system characteristic t→ Zero-state (Forced)

roots (poles) not zeros response decay to zero for
t→ Zero-input response decay to all bounded inputs
zero i.e all roots (poles) in LHP To BIBO the Natural
e-t response is also to be
bounded i.e decay to zero.
We check with impulse
response
May be effected by pole
zeros cancellations
Stability
Original System
Equivalent System
Location of poles cannot be found without solving for roots

Routh-Hurwitz Criterion
We shall learn a method that yields the stability information
without the need to solve for the closed-loop system poles
Using this method, we can tell how many closed-loop poles are in
the
Left half-plane
Right half-plane
and on the jω-axis
Notice that we say how many, not where
We can find the number of poles in each section of the s-plane but
we cannot find their coordinates
This method is called Routh-Hurwitz criterion for stability
(Routh, 1905)
Routh-Hurwitz Criterion
The method requires two steps
Generate a Routh Table
Interpret the Routh table to tell how

many closed loop poles are in the left,
right or on the jω-axis
Generating a Basic Routh Table
Consider the equivalent closed loop TF
Since we are interested in the system poles, we focus

our attention on the denominator
We first create the Routh table
By labeling the rows with powers of s from the highest
power of the denominator of the closed-loop TF to so
Next start with the coefficient of the highest power of
s in denominator and list, horizontally in the first row,
every other coefficient
In the second row, list horizontally, starting with the
next highest power of s, every coefficient that was
skipped in the first row
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
The left-hand column of the determinant is always the
first column of the previous two rows
The right-hand column is the elements of the column
above and to the right
The table is complete when all rows are completed
down to so
Generating a Routh Table
Example: Creating a Basic Routh Table
Sol. Example
Interpreting the Routh Table
The basic Routh table applies to systems having poles in the left
or the right half plane
Simply stated, the Routh-Hurwitz criterion states
In the example above, there are two sign changes in the first
column
The 1st sign change occurs from 1 in the s2 row to -72 in s1 row
The second sign change occurs from -72 in the s1 row to 103 in the so
row
As there are two sign changes, there are two poles to the right
hand plane and the system is unstable
Problem
Control Engineering
MT-353
Chapter 6
Routh-Hurwitz Criterion: Special Cases
Learning Outcome
The two special cases of Routh-Hurwitz Criterion
Zero only in first column
How to form the Routh table when entire row is zero
How to form the auxiliary polynomial from the even
polynomial
How to interpret the Routh table to check for poles on the
RHP, LHP and on the jω axis
Zero Only in the First Column
If the first element of a row is zero, division by zero
would be required to form the next row
To avoid this phenomenon, an epsilon ϵ is assigned to
replace the zero in the first column
The value of ϵ is allowed to approach zero from either
the positive or negative side
After which the signs of the entries in the first column
can be determined
Example(stability via epsilon method)
Example Contd..
If ϵ is chosen +ve. There will be a sign change from
the s3 row to the s2 row
Another sign change will take place from the s2 row to
the s1 row
Hence the system is unstable and has two poles in the
right half plane
Similar explanation for the –ve sign of epsilon ϵ
Alternate Method to deal with zeros only in
the first column
A polynomial that has the reciprocal roots of the
original polynomial has its roots distributed the same
(left, right or jω axis)
Thus, if we can find the polynomial that has the
reciprocal roots of the original, it is possible that the
Routh table for the new polynomial will not have a
zero in its first column
The polynomial we are looking for, the one with the
reciprocal roots is simply the polynomial with its
coefficients written in reverse order
Assume the equation
If s is replaced by 1/d, then d will have roots that are

reciprocal of s. Making this substitution we get
Factoring out (1/d)n
A polynomial with reciprocal

roots is a polynomial with
the coefficients
Written in reverse order
Example with Alternate method
Example Contd..
Two sign changes. First from s2 row to s1 row and then from s1 row to so row. Thus the
system is unstable. Also the table does not have a zero in the first column
problem
Consider the following polynomial
s  2s  4s  8s  10  0
4 3 2
Find the number of RHP poles using the epsilon

method and the alternate polynomial method
Entire Row is Zero
Sometimes when making a Routh table we find that
the entire row consists of zeros
This is because there is an even polynomial that is a

factor of the original polynomial
This case must be handled differently then the case

where there was a zero only in the fist column of the
Routh Table
Example (stability via Routh table with Row
of zeros
Start by forming the Routh Table for the denominator

At the second row multiply through by 1/7 for
convenience
Stop at third row, since the entire row has zeros
Entire row is 0
• First return to the row immediately above the row with zeros
•Form an auxiliary polynomial, using the entries of the row as coefficients
•The polynomial will start with the power of s in the label column and continue by
•skipping every other power of s
•The polynomial formed for this example is
Example
Next differentiate w.r.t to s we get
Finally we use the coefficients of the above to replace

the row of zeros
For convenience the third row is multiplied by ¼ after
replacing the zeros
The remainder of the table is formed in a straight
forward way as before
Explanation
An entire row of zeros will appear in the Routh table
when a purely even or purely odd polynomial is a factor
of the original polynomial
For example, s4+5s2+7 is an even polynomial
It has even powers of s
Even polynomial have roots that are symmetrical about
the origin
The symmetry can occur under three conditions of
root position
The roots are symmetrical and real
The roots are symmetrical and imaginary
The roots are quadrantal
Roots of Even polynomial are symmetric
around the origin
More Explanation
It is this even polynomial that causes the row of zeros to
appear
Thus, the row of zeros tell us of the existence of an even
polynomial whose roots are symmetric about the origin
Some of these roots could be on the jω axis
On the other hand, since jω roots are symmetric
around the origin
If we do not have a row of zeros, we cannot possible
have jω roots
Everything from the row containing the even
polynomial down to the end of the Routh table is a test
of only the even polynomial
Example 2
X by 1/10
X by 1/20
X by 1/2
X by 2
Interpretation of Routh Table
Since all entries from the S4 row down to s0 row is a test of the
even polynomial
No sign changes from s4 row down to s0 row
Even polynomial does not have right-half plane poles
From symmetry, no RHP poles mean no LHP poles
Hence the even polynomial has all four poles on the jω axis
The remaining roots of the total polynomial are evaluated
from row s8 to row s4
There are two sign changes, meaning 2 RHP poles and 2 LHP
poles
The total is the sum of all fourth order poles
System is Unstable due to the presence of 2 right-half plane poles
End Chapter probs 1-6
Examples 6.6-6.8
Control Engineering
MT-353
Chapter 6
Unity feedback with unknown parameter K
Learning Outcome
How to analyse the case where an unknown parameter
appear in the TF
How to find the range of the parameter to make the
system stable, unstable or marginally stable
Example 1
Sol. E.3
If K is +ve all entries in the column are +ve except the
entry except the s1 row
This entry can be +ve, -ve or 0 depending upon the
value of K
If K<1386, then all terms in the first column are +ve
and no sign change (3 LHP poles)
If K>1386, then there are two sign change (2 RHP ploes
and one LHP poles)=unstable system
If K=1386, we have an entire row of zeros, which could
mean jω poles
Example 2
Sol. E. 2
Problem 1
Sol. P.1
Stability in State-Space
To find the stability in state-space
First form the matrix (sI-A)
Then take its determinant i.e. det(sI-A)
This will form the characteristic equation from which
the system poles can be found
Example 6.11
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Control Engineering

Depends on system characteristic t→ Zero-state (Forced)

Location of poles cannot be found without solving for roots

Generate a Routh Table

Interpret the Routh table to tell how

Since we are interested in the system poles, we focus

If s is replaced by 1/d, then d will have roots that are

Factoring out (1/d)n

A polynomial with reciprocal

Find the number of RHP poles using the epsilon

This is because there is an even polynomial that is a

This case must be handled differently then the case

Start by forming the Routh Table for the denominator

Finally we use the coefficients of the above to replace

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