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Introduction
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We can control the output of a system
if
the steady-state response consists of The system is stable
only the forced response
Two measures of
performance are :
(1) the transient
response
(2) the steady-state
error.
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Definitions
(from natural response perspective )
5
Definitions
(from total response perspective)
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Cause of problems in finding
closed-loop poles:
Closed-loop system
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Location of the poles of the closed-loop system are not known unless the
characteristic polynomial is factored or otherwise solved for the roots.
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• A sufficient condition for a system to be unstable is that all
signs of the coefficients of the denominator of the transfer
function are not the same.
• If powers of s are missing, the system is either unstable or
marginally stable
• If all coefficients of the denominator are positive and not
missing, we are uncertain about the system's pole locations
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Routh-Hurwitz Criterion
The Routh-Hurwitz criterion for stability is a method that
yields stability information without the need to solve for the
closed-loop system poles.
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Generating Routh Table:
sn-2 b1 b2 b3 b4 …… 1 an an 4
b2
sn-3 c1 c2 c3 c4 ……
an 1 an 1 an 5
. .
1 an 1 an 3
. . c1
. . b1 b1 b2
s2 k1 k2
1 an1 an5
s1 l1 c2
b1 b1 b3
s0 m1
Routh-Hurwitz Criterion
Closed-loop transfer
function
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Completed Routh table
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Example 6.1 Make the Routh table for the system shown in the Figure.
Feedback system
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Make a Routh Table and label the rows with powers of s from
s3 down to s0 in a vertical column
Elements of subsequent
rows are computed
from the entries of the
preceding rows
Completed Routh table
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s3 1 31 0
s2 1 103 0
s1 -72 0 0
s0 103 0 0
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Case 1
(No Zero element in first column)
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Example 1: (Case: 1) (No zero element in first column)
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Example 2: (Case: 1) (No zero element in first column)
P(s) = 2s4 + 3s3 + 5s2 + 2s + 6
s4 2 5 6 Two sign
changes
s3 3 2 +
s2 +11/3 6 RHP=2 -
LHP=2
IA = 0
+
s1 -32/11
Two
0
unstable
s +6 poles
–Number of sign changes in the first column = number of
unstable poles 21
Interpreting the Basic Routh Table
The basic Routh table applies to systems with poles in
the left and right half-planes
s3 1 31 0
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Case 2
(Zero element in first column)
Un-stable system
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Example1: (Case: 2) (Zero element in first column) Un-stable
system
Case 2 (Steps)
1. First Element of a row is Zero (0)
2. Replace “0” by small number . (=0.00000000..01)
3. Continue the array
s2 0 2 LHP=2
IA = 0
s1 -12/
s0 2
• Two sign changes whether ‘’ was
assumed +ve or –ve. 25
Example3: (Case 2)
s5 1 2 1
s4 1 3 4
s3 -1 -3
s2 0 4
RHP=2
LHP=3
s1 4/
IA = 0
s0 4
• Two sign changes whether ‘’ was
assumed +ve or –ve. 26
Home Assignment
PROBLEM:
Make a Routh table and tell how many roots of the
following polynomial are in the right half-plane and in the
left half-plane.
Don’t submit
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Examples:
Stable,
Unstable,
and
Marginally Stable Systems
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Example:1
C(s) 2 2 n2
T(s) G(s)
R(s) (s 1)( s 2) s2 3s 2 s 2 2 n n2
Stable or Unstable?
S-plane
Characteristic equation (s+1)(s+2)=0
x x
-2 -1
Hence s+1=0 or s=-1 and s+2=0 or s=-2
The natural-response terms for the system are k1e-t and k2e-2t
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10 s 24 10s 24
Example 2:
T (s) 3
s 2s 11s 12 ( s 1)( s 3) s 4)
2
The natural-response terms for the system are k1e-t , k2e3t, and k3e-4t
Unstable due to term k2e3t
MATLAB Program: x x x
-4 -1 2.4 3
>> p = [1 2 -11 -12];
>> r = roots(p)
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s s
Example:3 T(s)
s2 1 (s j)( s j)
xj
Stable or Unstable? Marginally stable
x -j
The natural-response term for the system is k sin(t+)
MATLAB Program:
>> p = [1 0 1];
>> r = roots(p)
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s s
Example:4 T(s)
s2 1 (s j)( s j)
s2 1
s 1 x -j
C(s) T(s)R(s)
(s 2 1) (s 2 1)
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Example1: (Case: 3)
Case 3: (Steps)
1. All Element of a row are Zero. (Premature Termination )
2. Auxiliary Polynomial
3. Aux Poly is differentiated with respect to ‘s’
4. Coefficients of the Polynomial replaces the zero row
Ex. Q(s) = s2 + 1
s2 1 1 Aux Pol = s2 + 1
s1 0
2 d/ds(s2 + 2)
s0 1
2s
No sign change in the first column
implies that system is STABLE.
Aux poly indicates roots on jw axis, which implies
MARGINALLY STABLE S2=-1; S=j 34
What is Auxiliary Polynomial ??
Q(s) = s3 + s2 + 2s + 2
= (s+1) (s2 + 2) s2 1 2
s1 0
Q(s) contains an even polynomial s0
as factor. An even polynomial is one
in which the exponents of s are
Aux Pol = s2 + 2
even integers or zero
s3 1 2
This even polynomial is called
“Auxiliary Polynomial” s2 1 2
s1 0
In Routh array, coefficients of “Aux s0
Poly” are those directly above the
zero row.
Aux Pol = s2 + 2
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• Even polynomials only have roots that
are symmetrical about the origin.
• This symmetry can occur under three
conditions of root position:
(1) The roots are symmetrical and real
(2) The roots are symmetrical and
imaginary
(3) The roots are quadrantal
36
Example2: (Case: 3)
Case 3: (Steps)
1. All Element of a row are Zero. (Premature Termination )
2. Auxiliary Polynomial
3. Aux Poly is differentiated with respect to ‘s’
4. Coefficients of the Polynomial replaces the zero row
s3 1 2
Aux Pol = s2 + 2
s2 1 2 d/ds(s2 + 2) = 2s
No sign change in the first column:
MARGINALLY STABLE
s1 02 RHP=0
LHP=1
s0 2 IA = 2 37
Example3: (Case: 3)
s4 1 3 2
Aux Pol = s2 + 2
s3 1 2 d/ds(s2 + 2) = 2s
s1 0
2
RHP=0
LHP=2
s0 2 IA = 2
38
Example4: (Case: 3)
s5 1 8 16
Aux Pol = 3s2 + 12
s4 2 11 12
d/ds(3s2 + 12)
s3 2.5 10 6s
s2 3 12
No sign change in the first column
MARGINALLY STABLE.
s1 6
0
Aux poly indicates roots on jw axis
s0 12 3s2 = -12 s2 = -4 s1,2=j2
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Example 5: (Case: 3)
s6 + s5 + 5s4 + s3 + 2s2 - 2s – 8
s6 1 5 2 -8
s5 1 1 -2
Aux Pol = 4s4 +4s2 - 8
RHP=1
s2 2 -8 LHP=3
s1 72 IA =2
s0 -8 40
Unknown Parameter
in the
Characteristic Polynomial
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Example 1:
S4 1 4 K
S3 2 2
S2 3 K
S0 K → K> 0 Stable
Stability range 0<K<3
For what value of K the system will be marginally stable?
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Example 2: In the figure below, determine the range of K for the system to
be stable
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For K = 6
the characteristic equation becomes
s3 + 3s2 + 2s + 6 = 0
or s2 (s + 3) + 2(s + 3) = 0
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Example 3
S4 1 4 6
S3 2 K