IPC

TERM
PAPER
Presented by:
SAMRIDDHA DAS GUPTA
(18BCH055)
 CONCEPTS OF
FOCUS

ROUTH STABILIT
Y
CONCEPT AND CRITERION
STABILITY CRITERIA
STABILITY
ANALYSIS
 STABILITY
The most crucial problem in the design of control
systems. In fact, any design or any adjustment in
the controller parameter which we make, are
constrained within this stability domain i.e.,
stability conditions have to be satisfied.

To get an idea of stability, we will be cashing on

some intuitive knowledge of stability followed by
building of quantitative method on that
knowledge.
 SYSTEM
w
We consider a
Disturbance as Input
linear system and
signal
see inside and
outside of system to y
r  Linear
acknowledge the
variable of interest Output is that attribute Command signal or System Output signal
to us or what are the of the system in which or
variable which make user is interested. But the reference input Required
difference to the the output does not x1 x2 ….. variable of
system under describe the dynamical xn interest
consideration. state of the system
completely. While the
dynamical state of the
system is completely
described by all the
state variable wherein,
in a typical system let
suppose that state
variables are “n”.
 SYSTEM
If the mathematical model of the system which
w
can be written in the form of transfer function,
Disturbance as Input
Y(s
= G(s) signal
) y
r  Linear
R(s we find that
With due respect to the above system
Command signal or System
the Y response is acceptable such that it satisfies all Output signal
)
the performance requirements but it doesn’t imply or
the reference input Required
that the actual system when subjected to this x1 x2 ….. variable of
particular input also will give us satisfactory xn interest
response(there could be problems).
For e.g.
• “y” may be behaving satisfactorily but in
response to the input or the disturbance, some of
the state variables of the systems in the output
So it means all that analysis we
“y” may be unstable. So we will not get “y”
have done so far doesn’t result into
because some of the state variables will be
the desired output.
It is required to ensure that
all these state variables are
at least stable. Therefore
we will monitor the
transient of “y” instead of
monitoring to time to time
basis of any of these
variables.
So, only precaution we will
take is that none of these
state variables became
unstable or none of the
dynamical modes of the
system become unstable.
So, we can experiment design on
the physical system if and only if
we can ensure that the physical
system remain stable.
Now suppose the “w” comes on
the system (where “w” is
unknown and unpredictable in
magnitude) but we will realize
that any change in “w” really in
effect changes the storage
energy within the system. So it
is equivalent to change the
initial conditions of the system
X(0) and by the basic definition
of the state variables initial
conditions at t=0 is a
representative of the energy
 QUALITATIVE
CLASSIFICATION :
1. BIBO
STABILITY 2. ZERO INPUT
STABILITY
Here the assumptions to be made are important, that the system under consideration is
operating under its linear range.
1. BIBO
STABILITY
Under BIBO stability conditions, we assume
that the system is initial relaxed i.e. X(t=0) = 0
where, t=0 is the reference time. The initial
storage energy will be 0, and all the state
variables are unexcited at that point.
If “r” the external input is bounded,
the stability should guaranty that
“y” is always bounded.
r   y
Since initial condition are all “0”, stability can G (s)
be studied in terms of the transfer function
Whether we consider
Therefore “y” will always remain bounded for
Y(s)
any bounded “r”. Here, if any external Y (s)
disturbance as an input is considered, will also R (s) Or
come under bounded condition. W (s)
If impulse response of the above system is G(t), the output y(t) is given by:

 
y(t) =

where impulse response is the complete characteristic of this system and considering only
magnitude of this system,

 
y(t) =
≤ where,

 is bounded, thus modulus of the equation is ≥ M where M is a finite value

≤M≤N<
  Thus it can be concluded that the system is said to be BIBO if and only if,

<
i.e. the total area under the curve considering all the signs, should be finite .

Now considering the transfer function instead of the impulse function ;

bs +bs
0
m
1
m-1
+……… + bm
G(s) as +as
0
n
1
n-1
+………. + an
=
where, m ≤ n and for m ≥ n, the system will become improper.

After taking partial fraction of the above equation we get,

Δ(s) = a0sn + a1sn-1 +…...+ an = 0, is a characteristic

equation of the
system and its roots will give us the poles of the transfer function.
 
Now if we take the partial
fraction expansion of this,
the zeros of the transfer
function, will only change
the magnitude of the
response and not the
character of the response. Therefore, the stability of a
The character of the control system of the type is
response will be given by determined by its open-loop
the roots of characteristic transfer function through the
equation roots of the characteristic
equation. This behaviour is
shown graphically, which relates
A first order system the nature of the response to the
gives an exponential location of the roots of the
response, either growing characteristic equation.
or decaying and so on.
Thus, the stability is
determined by the roots
of the characteristic
equation. The zeros only
shape the transient
2. ZERO INPUT
STABILITY
Here the external input is assumed to be “0”, but that doesn’t mean that the external input is
not coming. In this case X(0) is changing either because of the initial energy storage “t” = 0
or the energy injected in to the system from the external means. So, we need to study the
effect of variation of X(0) on X(t) for all time t ≥ 0 and the mathematical model.
We consider here, ẋ = A*x; x(0) ≜ x 0
which is subject to change. Intuitively, it
can come that for a
linear system, since superposition is valid, that for any “r” or “w” which is bounded, the
system output will remain bounded if the above two conditions are satisfied.
A system where input is 0 and the system is time invariant, is an autonomous system.
Taking laplace transform of the equation, we get

s*X(s) - x0 = A*X(s), where, indicates

vector quantity.

(s*I – A) X(s) = x0, I is an identity matrix

 By solving we get,

(s*I – A)+
x0
|(s*I – A)|
Asymptotic stability :

|(s*I – A)|
 In this particular case, all the states will go to 0.
0, where X = X

x(t) = ℒ-1 (s*I – A) +

x0
|(s*I – A)|
Thus any simple pole on the imaginary axis will give us boundary
state response
Thus asymptotic stability and marginal stability will become equivalent when;

det (s*I – A) is same as the denominator of the G(s) and fortunately in

most of the real life systems available to us this condition is satisfied. And this
condition is referred to as Controllability and Observability of a system.

And since this condition is satisfied, the Zero input stability ensure BIBO
stability and vice versa.

R + Y
_ G(s) Let us consider a close loop
system of the above form, where
G(s) is the open loop transfer
function of the forward path
transfer function. In a close loop
system the transfer function is,

the characteristic equation of the system is, 1 + G(s) = 0.

Y(s =
The roots of this characteristic equation, are same as the
) G(s) closed loop poles of the system and these roots dictate
R(s the stability of the system.
 We call a system stable, when all the roots of the characteristic equation are
strictly on the left half plane.

 And a system is unstable, if either of the two or both of these take place :
a) At least one root in the RHP.
b) At least one root pair on jω axis.
If condition a) or b) gives a growing mode in the response, a single growing
mode can a turn a system into an unstable one.
 Marginally stable system is a system in which, all the characteristic roots LPH
but for some simple roots on the imaginary axis.

If a zero cancels a pole, and if that particular pole is in an unstable

mode, in such case, in our characteristic equation, that mode won’t be
visible and can be declared the system as stable though it may be an
unstable one. if this condition takes place, BIBO stability condition
won’t be equivalent to an asymptotic system.
CRITERIA
FOR
STABILITY
Δ(s) = a0sn + a1sn-1 + …...+ an-1s + an = 0

So to determine the ranges of the constants of the

system, which we can consider for the above equation,
so that the system always remain stable as the
numerical solution won’t help it out. Since the numerical
solution for the equation can’t be feed for the design of
system, we consider a stability analysis technique which
helpful in design technique in addition to giving the
answer on absolute stability and the technique is known
as:
Routh Stability Criterion.
 Δ(s) =
Let us again consider the following equation

a0sn + a1sn-1 + …...+ an-1s + an = 0 and

generalize that;

an ≠ 0 and a0 > 0
and thus we’ll consider the criterion on the basis of the
above mentioned conditions. But there are some
necessary conditions, which this characteristic equation
must satisfy for stability i.e., all the coefficients of the
polynomial must be positive and non-zero for the system to
be stable. There is also a need for satisfying the sufficient
conditions along with the necessary one.
a0sn + a1sn-1 + …...+ an-1s + an
let us consider a Routh Array for the above equation from
which we can make a conclusion regarding the criterion where
first two rows are given
Coefficients of the rows
Give sn a0 a2 a4 ………
n
sn-1 a1 a3 a5 ………
Index sn-2 a1a2 – a0a3 a1a4 – a0a5 …….
of the . a1 a1
numb . . .
er of
rows s1 . .
. .
s0
 Routh suggested that the answer of stability will
be given by examining the coefficients of the first
column of the Routh Array i.e., we need to consider
only the signs and not the magnitudes. Also the
criterion says that if there is no change in sign, it
is guaranteed that all the roots of the
characteristic equation are in the LHP and the
system is stable.
 But if there are sign changes, then the system isn’t
stable and the no. of roots in the RHP is equal to
the no. of sign changes. In addition, it gives us an
information on the no. of roots in the RHP.
However it doesn’t give the location of the
unstable roots.
Let’s solve some
numericals to
understand
more clearly
Example: 1

s4 + 8s3 + 18s2 + 16s + 5 = 0

Coefficients of the rows

s4 1 18 5
Give
n
s 8 16
3
Index s2 16 5
of the
numb s1 13.5
er of
rows s0 5

Here, the Routh Array gives us an answer

on absolute stability. Looking at the first
column if there is no sign change, the
system is absolutely stable i.e., there are
Example: 2

3s4 + 10s3 + 5s2 + 15s + 2 = 0

Coefficients of the rows

Give s4 3 5 2

n 10 5
s
3
Index s2 3.5 2
of the   𝟏
s1 −
numb 𝟕
er of
rows s0 2

∴ The above system is an unstable

system. The no. of roots in the RHP is
the no. of sign change i.e., there are 2
sign changes and hence there are two
 CREDITS :
 https://www.winspc.com/what-is-the-relationship-between-process-stabi
lity-and-process-capability/

 https://www.tutorialspoint.com/control_systems/control_systems_sta
bility.htm
 https://www.electrical4u.com/bode-plot-gain-margin-phase-margin/

 Chemical Process And Dynamics Control Book 2

THANK YOU