Estabilidad de Sistemas Dinmicos

Luis Snchez

Estabilidad de sistemas dinmicos

Estabilidad Absoluta
Es la caracterstica ms importante de los sistemas de control, se refiere a que si el
sistema es estable o inestable.

Bounded-input-bounded-output(BIBO) stability:
Definicin. Un sistema de control es estable si ante cualquier entrada acotada, el
sistema posee una salida acotada.

T.F. En lazo cerrado

La estabilidad es una caracterstica propia de cada sistema y no depende de las

entradas

Usando Matlab
Determinar la respuesta de un escalar unitario de una funcin de trasferencia con
polos en los distintos cuadrantes del plano complejo

t = [0:0.2:20]';
num = [1];
den = poly([-1 -2 -4]);
ye = step (num,den,t);
plot (t,ye);
title ('Respuesta a un escalon unitario');
xlabel ('tiempo(seg)');
grid on

Estabilidad de sistemas dinmicos

Plano s

Estabilidad de sistemas dinmicos

Anlisis de Estabilidad en Laplace
La estabilidad de un sistema se puede determinar por la ubicacin de los polos de
lazo cerrado en el plano s. Si alguno de los polos de lazo cerrado de un sistema se
encuentra en el semiplano derecho el sistema es inestable.

Mapa de polos y ceros

La funcin pzmap realiza la representacin grafica de la situacin
en el plano complejo de los polos (cruces) y los ceros (crculos)
del sistema. Por ejemplo, el siguiente cdigo Matlab:
>> sis=tf([1 8.5],[1 10 61])
>> pzmap(sis)

Polos en lazo cerrado

G(S)

H(s) = 1

>>numg=1;
% Define numerator of G(s).
>>deng=conv([1 0],[2 3 2 3 2]); % Define
denominator of G(s).
>>G=tf(numg,deng);
% Create G(s) object.
>>T=feedback(G,1)
% Calculate closed-loop
% T(s) object.
>>poles=pole(T)
% Find poles of T(s).

LTI systems
Stability Conditions

stable

Location of poles
all poles in LHP

marginally stable

simple poles on the jw-axis

and no poles in RHF

unstable

at least one simple pole in

RHF or at least one multiorder pole on the jw-axis

Routh-Hurwitz stability criterion

All poles in left splane

>

No poles in right
s-plane

The criterion tests whether any of the roots of the

characteristic equation lie in the right half of the s-plane,
without actually calculating the roots.
Information about stability can be obtained directly from the
coefficients of the characteristic equation.

Routh-Hurwitzs stability criterion

A necessary (but not sufficient) condition for stability:

(1) All the coefficients of the characteristic equation

have the same sign.
(2) None of the coefficients vanishes.
Consider the characteristic equation of a LTI system

D( s) a0 s n a1s n1 ... an1s an 0, a0 0

Note 1: The above conditions are based on the laws of

algebra .

( s s1 )( s s2 )( s s3 ) 0 a0 s a1s a2 s a3 0
s( s s2 )( s s3 ) s1 ( s s2 )( s s3 ) 0
3

s( s ( s2 s3 )s s2 s3 ) s1 ( s ( s2 s3 )s s2 s3 ) 0
s3 ( s1 s2 s3 )s 2 ( s1s2 s1s3 s2 s3 )s s1s2 s3 0
2

a1
si 0
a0
i 1

3
a2
si s j 0
a0 i , j 1
i j

3
a3
si s j sk 0
a0
i , j , k 1
i j k

If all roots of the system characteristic equation have

negative real parts, all the coefficients have the same
sign
Note 2: These conditions are not sufficient.

Rouths Tabulation
Consider the characteristic equation of a LTI system

D( s) a0 s n a1s n1 ... an1s an 0, a0 0

sn
s n 1
s

n2

a0

a2

a4

a6

a1

a3

a5

a7

b1

b2

b3

b4

c2

c3

c4

s n 3 c1

s2

e1

f1

s0

g1

e2

1 a0
b1
a1 a1

a2

1 a0
b2
a1 a1

a4

1 a0
b3
a1 a1

a6

a3
a5

a7

1 a1
c1
b1 b1
1 a1
c2
b1 b1

1 a1
c3
b1 b1

a3
b2
a5
b3

a7
b4

Rouths Criterion
A necessary and sufficient condition for stability:
all the elements of the first column of the Routh
Tabulation are of the same sign.
The number of changes of signs in the elements of the
first column equals the number of roots in the right-half splane.

Example

s 2s 3s 4s 5 0
4

s4

s3

s1

Therefore, the system is unstable and has two roots in the

right-half s-plane.

First-order:

a0 s a1 0

If a0 and a1 have the same sign, the system is stable.

a0 s a1s a2 0
2

Second-order:

If a0 , a1 and a2 have the same sign, the system is stable.

Third-order:

a0 s a1s a2 s a3 0
3

s3

a0

a2

s2

a1

a3

s0

a0 a3 a1a2

a1
a3

If a0,a1,a2,a3 are all positive

and a1a2>a3a0,the system is
stable.

Special cases when applying

Rouths Tabulation

Special cases when applying Rouths Tabulation

Case 1: only the first element in one of the rows of Rouths
tabulation is zero

Solution: replace the zero with a small positive constant

and proceed as before by taking the limit as 0
s 4 3s 3 4s 2 12 s 16 0
s4

4 16

12

s2
s1
s0

0( )
16
12 48
0

16

when 0
12 48

12

48

The system is unstable and

has two roots not in the lefthalf s-plane.

Case 2: an entire row of Rouths tabulation is zero.

Example

The characteristic equation of a system is

s 4 2s 3 7s 2 4s 10 0
Determine whether there are any roots on the imaginary axis or in the
RHP.
Indica:
Existe un polinomio divisor, que
divide exactamente al polinomio
caracterstico.
Este polinomio divisor es un
polinomio PAR y se obtienen de los
coeficientes del regln anterior al
regln con solo ceros.
E.C

( s 2)( s 2s 5)
2

Case 2: an entire row of Rouths tabulation is zero.

This indicates
There are complex conjugate pairs of roots that are mirror
images of each other with respect to the imaginary axis.

e.g.

s1,2 1

e.g.

s1,2 1 j1
s3,4 1 j1

e.g. s1,2 1 j

s3,4 2 j

Example

The characteristic equation of a system is

s 5 3s 4 3s 3 9s 2 4s 12 0
Determine whether there are any roots on the imaginary axis or in the
RHP.
55

s
s
44
s
s
33

s
s
22
s
s
11

s
s
00
s
s

1
1

44
1
3 33 4
3
12
3 9 99 12

12
3
Introducing an auxiliary equation:
12
12
8 0 00
0
0118
A( s ) 3s 4 9 s 2 12 0

9/2

dA
12
(s)

Its derivative:

50

ds

12 s 3 18s 0

12

The sign in the first column changes once, so the system is unstable and there
is one root outside LHP.

Solving the auxiliary equation

A( s) 3s 9s 12 0
4

s 3s 4 ( s 1)( s 4) 0
4

s1, 2 1
j

j2

j2

s3,4 j 2
A positive real
root locates in
the RHP

Example

Dada la funcin de trasferencia siguiente determine el

numero de polos que hay en el semiplano derecho,
izquierdo y en el eje jw

Application of Routh Tabulation

(1) Rouths tabulation can not only be used to determine the
stability of a system, but also the spread of its characteristic roots.
(2) For a control system with a regulator, Rouths tabulation can be
used to select parameter values so that the system is stable.
Example

Determine the range of K so that the system is stable.

R( s )

10
s ( s 1)( s 2)

Y ( s)

R( s )

10
s ( s 1)( s 2)

Y ( s)

Characteristic equation:

1 Gl oop ( s ) 0
20k
1
0
s( s 1)( s 2)

Characteristic equation

20k
1
0
s ( s 1)( s 2)

s 3s 2s 20k 0
3

s3

s2

20k

s0

3 2 20k
3
20k

0 6 - 20k 0 k 0.3

k 0

So when 0 k 0.3 , the system is stable.

Exercise
Consider that a 3rd-order system has the characteristic equation

0.025s 3 0.325s 2 s k 0

Determine the range of k so that the system is stable.

Solution. Reformulate the characteristic equation as

s 3 13s 2 40 s 40k 0

40

13

40k

s
s

13 40 40k
13
40k

k 13
k 0

Diseo de estabilidad usando Matlab

Encuentre el margen de ganancia K mxima, para el sistema que haga que el sistema
se estable

K=[1:1:2000];

% Define range of K from 1 to 2000 in

% steps of 1.
for n=1:length(K);
% Set up length of DO LOOP to equal
dent=[1 18 77 K(n)];
% Define the denominator of T(s) for
poles=roots(dent);
% Find the poles for the nth value of
r=real(poles)
% Form a vector containing the real
if (r(1)>=0|r(2)>=0 |r(3)>=0)
break
% Stop loop if rhp poles are found.
end
% End if.
end
K = K(n-1)