Chapter 6

Algebraic Criterion for stability

Stability of a system:
bounded input produces bounded output In the absence of input output tends to zero

C G = R 1 + GH

1+GH = 0 is called the characteristic equation of the system. Its roots are the closed loop poles. If the real part of closed loop poles are in L H P, stable response

stable

unstable

first order :
s + = 0 s = - ,

If is positive, stable condition

as2 + bs + c = 0 Second order :

c product of roots = a
Both the roots will have negative real part only when a, b, c are of the same sign.

b sum of roots = a

First & Second order: Therefore necessary and sufficient conditions for negative ness of real part is all coefficients must be non zero and of the same sign.
If the order of the system is more than two. The condition is necessary but not sufficient.

a0

+ a1 + a2 3 s a0 2 s a1
1 s 0 s

3 s

2 s

1 s

a 1a 2 a 0 a 3 = 0 =b1 a1 b 1 a 3 a 1 .0 b1

+ a3 = 0 a2 a3

After completing the table, look for sign change in FIRST COLUMN. No sign change - stable sign change - unstable

Ex:

s3 + 6s2 + 11s + 6 = 0

Routh Table
3 s 2 s 1 s 0 s

1 6
6.11 1.6 = 10 6

11 6 0

System is STABLE

Example :
4 s 3 +10s

+ 4s + 8 = 0

Necessary condition - fails - unstable

Ex :
4 s

3 +2s

+
1 2 -1

2 s

+ 4s + 2 = 0
1 4 2

4 s 3 s 2 s 1 s 0 s

Sign change in the first column ----

unstable

Ex :
4 s

3 +2s

+
1 2 -1 8 2

2 s

+ 4s + 2 = 0
1 4 2
2sign changes unstable 2 roots in RHP

4 s 3 s 2 s 1 s 0 s

Ex: 5 s
4 s 3 s

1 1 0

3 3 0

2 2

full row becomes zero cannot proceed further indicates symmetry of roots.
Form auxiliary equation using the coefficients of the row previous to the all-zero row.

s5 s4 s3 s2 s1 s0

1 1

3 3

2 2

4
6/4 4/6 2

6
2
A(s) = s4 + 3s2 + 2 dA/ds = 4s3 + 6s

No sign change limitedly stable

5 s

+ + + + 2s + 2 4 + 3s2 +2) (s+1) = (s 2 + 1) (s2 + 2) (s + 1) = (s

4 s

3 3s

2 3s

Roots are :

j 1 , j 2 , -1

R(s) + E(s) -

G(s)

C(s)

K G= 4 3 2 s + 4s + 13s + 36s
Ch eq:s4 + 4s3 + 13s2 + 36s + K = 0

4 s 3 s 2 s 1 s 0 s

1 4

13 36

K 0

K 4 36-K K
For stability 0 < K < 36

4 s

+ + + 36 s +36 2 +9) ( s2 + 4 s + 4) = (s Roots are j3,-2,-2.

3 4s

2 13s

System limitedly stable For K = 36

Routh Table
4 s 3 s 2 s 1 s 0 s

1 4 4 8 36

13 36 36 0

36 0

apart from roots on imaginary axes, all other roots have negative real parts.

Example
5 s 4 s 3 s

1 1 0

3 3 1

2 1

first column element becomes zero - method breaks down - replace 0 by

> 0

5 s 4 s 3 s 2 s 1 s 0 s

1 1

3 1

3 3 1 1

2 1
2

1 3 1

1 A s 0, 3 is negative - unstable

1 3 1 = 3

Alternate method
5 s

Then
5 x

+ 1 Let s = x
+
4 2x

4 s

3 3s

2 3s

+2s +1 = 0

3 3x

2 3x

+x+1=0

5 x 4 x 3 x 2 x 1 x 0 x

1 2 3/2 7/3 -1/7 1

3 3 1/2 1

1 1

unstable