ROUTH ALGORITHM

Stability analysis of linear systems can be reduced to determining the roots of a polynomial. The poles of a transfer function give information about the BIBO stability of the system. In this case stability occur when the roots are on the left open complex plane and/or on the imaginery axis with no multiplicity. However, finding the roots of a polynomial is not always easy. In most cases one needs to apply numerical methods. On the other hand, one does not need to know the exact values of the roots. Guaranteeing that the roots are on the left open complex plane and/or on the imaginary axis with no multiplicity is enough. Routh algorithm is a method that gives some necessary and sufficient conditions for the roots to be on the left open plane and/or on the imaginary with no multiplicty. A polynomial can be written as p(s) = an sn + an-1 sn-1 +...................+ a0 s0 Using the coefficients of the polynomial construct the following table: (n) (n-1) (n-2) (n-3) : an an-1 an-2 an-3 an-4 an-5 ..... .....

Label the elements of the table like labeling elements of a matrix: (n) (n-1) (n-2) (n-3) : a11 a21 a31 a43 : a12 a23 a32 a43 : a13 a23 a33 a43 : ..... ..... .... .... :

We already know the first two rows. Let's find other elements using the following formula: a31 = (a21 a12 a11 a22)/ a21 a32 = (a21 a13 a11 a23)/ a21 : : In general, an,m = (an-1,1 an-2,m+1 an-2,1 an-1,m+1)/ an-1,1 a41 = (a31 a22 a21 a32)/ a31 a42 = (a31 a23 a21 a33)/ a31 : :

We should assume that an,1 is nonzero. This table is called the Routh table. In a Routh table, the number of sign changes on the first column gives the number of roots on the right open complex plane.

Example 1: p(s) = s3 s2 +2s +3 (3) (2) (1) (0) 1 -1 5 3 0 2 3 0 0 0 0 0 0 0 0 0 0 0 0 0 Two roots of p(s) are on the right open complex plane.

IN CASES OF an,1 = 0

A : an,1 = 0 and m an,m 0 We assume that one the rows starts with a zero and that at least one of the other elements in the row is not zero. Since the row starts with zero, it is not possible to construct the next row using the previous formula. In this case, we put a positive number instead of zero, which we assume to be very small. Example 2: p(s) = s4 + 5s3 +4 s2 + 20s +1 (4) (3) (2) (1) (0) 1 5 0 4 20 1 1 0 0 0 0 0 The first element of the third row happens to be zero. Let's write for zero and continue. (4) (3) (2) (1) (0)

1 4 1 0 5 20 0 0 1 0 0 0 0 0 (20-5)/ 1 0 0 0 0 0 0 0 The next row then starts with (20-5)/ < 0 for small enough . There are two sign changes in the first column. Hence, there are two roots on the right open complex plane.

B : an,m = 0 m If all elements of a row become zero, then we take the coefficients of the derivative of the polynomial correponding to the last row. Example 3:

p(s) = s5 + s4 + 2s3 + 2s2 + s +1 (5) (4) (3) (2) (1) (0) 1 1 0 2 2 0 1 1 0 0 0 0 Before we reach at the end of the table, a row with zeros has appeared. In this case take the derivative of the polynomial corresponding to the forth row: p4(s) = s4 + 2s2 +1 p4(s) = 4s3 + 4s

Write the coefficients of the new polynomial in the row and continue. (5) (4) (3) (2) (1) (0) 1 1 4 1 0 0 2 2 4 1 0 0 1 1 0 0 0 0 0 0 0 0 0 0 Again we have a row with zeros. Do the same thing and continue: p2(s) = s2 + 1 p2(s) = 2s

(5) 1 2 1 0 (4) 1 2 1 0 (3) 4 4 0 0 (2) 1 1 0 0 (1) 2 0 0 0 (0) 1 0 0 0 There is no sign changes in the first column, therefore there is no roots on the right open copmlex plane. However, occurence of two zero rows indicates that there is at least one multiple root on the imaginary axis.