Routh-Hurwitz Criteria

Routh-Hurwitzs Criterion

The Routh stability criterion provides a convenient method of determining

control systems stability.

It determines the number of characteristic roots within the unstable right half
of the s-plane, and the number of characteristic roots in the stable left half,
and the number of roots on the imaginary axis.

It does not locate the roots.

The method may also be used to establish limiting values for a variable
factor beyond which the system would become unstable.

Any change of sign in the first column of Rouths array indicates the system
is unstable and the number of changes of sign gives the number of rapt lying
in the right half of s-plane.

Using Routh-Hurwitz criterion, the number of zeros of the characteristic

equation lying in a region bounded by = -a and the j-axis can be
determined, where a is a positive constant.

The characteristic equation being tested for stability is generally of the form

an sn + an-1 sn-1 +.a1s + a0 = 0

The Routh Array is constructed as follows:

The elements in rows 3 downwards are calculated as shown below:

The numerator in each case is formed from elements in the two rows above
the element being calculated.

Using the value in column 1(pivot column) and the value in the column to
the right of the element being calculated.

The denominator is the element in the pivot column in the row above the
element being calculated.

The calculated element is made 0 if the row is too short to complete the
calculation.

b1= ( an-1.an-2 an. an-3 )/ an-1

b2= ( an-1 .an-4 an. an-5)/ an-1 , similarly remaining all

c1= ( b1 .an-3 an-1. b2 ) / b1

c2= ( b1 .an-5 an-1. b3 ) / b1 , similarly remaining all

The last row will have just one element.

Special cases for resolving Routh Stability Array:

1. If a zero appears in the first column 1 of any row marginal stability or
instability is indicated. The normal method of constructing the array cannot be
continued because the divisor would be zero. A convenient method or resolving
this method is to simply replace the zero by a small number and continue as
normal. The limit as -> 0 is then determined and the first column is checked
for sign changes.
2. If all of the elements in a row is zero (two rows are proportional). This indicates
that the characteristic polynomial is divided exactly by the polynomial one row
above the all zero row (always even-ordered polynomial). Call this polynomial
N(s). This also indicates the presence of a divisor polynomial N(s) whose roots
are all symmetrically arranged about the origin i.e. they are of the form: s =
..or s = j ..or s = - j and s = + j

All zero row will always be associated with and odd power of s. In order to
complete the array the previous row is differentiated with respect to s and the array
is completed in the normal way.
When assessing this modified array the number of sign changes in the first
column (before the all zero row) indicates the number of roots of the remainder
polynomial with positive real parts.
From the all zero row down, each change of sign in column 1 indicates the
number of roots in the divisor polynomial with positive real roots and as the roots
are symmetrical this would indicate the number of roots in the right half s plane
and the number of roots in the left- hand s plane. Root not accounted for in this
way which implies no sign change, must lie of the imaginary axis.

Nyquist Stability Criteria

Nyquist Criterion: Nyquist criterion is used to identify the presence of

roots of a characteristic equation of a control system in a specified

region of s-plane. Nyquist approach is same as Routh-Hurwitz but, it
differ with following aspect

The open loop transfer function G(s) H(s) is considered instead of

closedloop characteristic equation 1 + G(s) H(s) = 0

Inspection of graphical plot of G(s) H(s) enables to get more than yes or no
answer of Routh-Hurwitz method pertaining to stability of control system.

Nyquist Plots are a way of showing frequency responses of linear

systems. There are several ways of displaying frequency response data,
including Bode plots and Nyquist plots.

Bode plots use frequency as the horizontal axis and use two separate plots
to display amplitude and phase of the frequency response.

Nyquist plots display both amplitude and phase angle on a single plot, using
frequency as a parameter in the plot.

Nyquist plots have properties that allow you to see whether a system is
stable or unstable. It will take some mathematical development to see that,
but its the most useful property of Nyquist plots.

Rules for Nyquist Plot: The following steps will be followed during the

plotting of the nyquist plot.

Draw the polar plot say = 0 to = 0+ and for = to = +.

Take mirror image of this about real axis, image of 00 = 00+ is taken as =
and image of = 0+ is taken as = 0.

Now, if the system is of order, then total angle of encirclement from = 0

to = 0+is of 0.

And if type 1 then encirclement of clockwise from 0 to 0+.

If type 2 then encirclement of 2.
If type 3 then encirclement of 3.

If type n then encirclement of n from 0 to 0+ in clockwise direction.

This plot is called Nyquist plot.

The encirclement has a radius of .

Determination of Stability by Nyquist Plot: If N = number of encirclement

of the point -1+ j a in counter clockwise direction.

P = total number of right side pole from imaginary axis.

Z = right side zeros.

N=ZP
Find value of N from plot and P from transfer function and then find
value of Z, if Z has any value then system is unstable.
Constant Magnitude Locus-M-Circle

This is equation of circle having center at

and radius of

Constant phase angle loci N-circle

This equation having centre: