Stability

Chapter 6

Engr. Muhammad Sohail

Outlines
• 6.1 Introduction

• 6.2 Routh-Hurwitz Criterion

• Case 1: No Zero in the Ist Column

• 6.3 Routh-Hurwitz Criterion: Special Cases

• Case 2: One Zero in the Ist Column

• Case 3: All Element of a row are Zero

• 6.4: Routh-Hurwitz Criterion: Additional Examples

 Introduction
1. A system is stable if the natural response approaches zero as
time approaches infinity.
2. A system is unstable if the natural response approaches infinity as
time approaches infinity.
3. A system is marginally stable if the natural response neither
decays nor grows but remains constant or oscillates.

Using the total response (BIBO):

1. A system is stable if every bounded input yields a bounded output.
2. A system is unstable if any bounded input yields an unbounded
output.
 Stability: Stable systems have closed-loop transfer functions
with poles only in the left half-plane.

C(s) 2 2 n2
Example1 T(s)  G(s)    
R(s) (s  1)( s  2) s2  3s  2 s 2  2  n  n2

Stable or Unstable? Why Characteristic equation (s+1)(s+2)=0

Hence s+1=0 or s=-1 and s+2=0 or s=-2 S-plane

x x
system to be stable is that all roots (-1 & -2) -2 -1
of the characteristic equation (Over-damped)

The natural-response terms for the system are k1e-t and k2e-2t
 10s  24 10 s  24
Example 2: T(s)  
s  2s  11s  12 (s  1)( s  3)s  4)
3 2

Hence roots are s= -1, s= 3, & s= -4

Stable or Unstable? Unstable due to s=3
The natural-response terms for the system are
k1e-t ,k2e3t, and k3e-4t Unstable due to term k2e3t

x x x
-4 -1 2.4 3

Note: Numerator 10s+24 has NO role in the

stability of the system
 s s
Example:3 T(s)  
s2  1 (s  j)( s  j)

xj
Hence roots are s = -j, j
x -j
Stable or Unstable? Marginally stable

The natural-response terms for the system are

ksin(t)
Marginally stable because no exponential term
 Example:4 s s
T(s)  
s2  1 (s  j)( s  j)
Hence roots are s= -j, s=j  Marginally stable
1
Let the input r(t)= sint  R(s) 
s2  1 x j

s 1
C(s)  T(s)R(s) 
(s 2  1) (s 2  1) x -j

The response of the system c(t) = tsin(t)

Stable or Unstable? Unstable due to t
sint is marginally stable but the multiplication of time (t)
it makes it unstable
NOTE: The natural-response of the system are ksin(t+)
bounded (marginally stable) but in case of forced response
output becomes unbounded (unstable) even though input is
bounded
6.2 Routh-Hurwitz Criterion
The Routh-Hurwitz criterion is an analytical procedure and is used in
the stability analysis of linear time-invariant systems for a closed loop
system.

Using this criterion we can tell the number of closed loop system
poles in LHP, RHP and on jω axis without actually determining the
exact value of the roots. Therefore this stability criterion is a powerful
tool that determines the absolute stability of a system.

The Routh-Hurwitz criterion applies to a polynomial of the form

Q( s )  a n s n  a n 1 s n 1    a1 s  a 0
The first step in the application of the Routh-Hurwitz criterion is to form
the array called the Routh array, where the first two rows are the
coefficients of the above polynomial.
  Generating a Basic Routh Table (Page 306)

Q(s)  ansn  an1sn1  an2sn2  an3sn3  an4sn4   a1s  a0

sn an an-2 an-4 an-6 ……

1 an an2
sn-1 an-1 an-3 an-5 an-7 …… b1  
an1 an1 a n 3
sn-2 b1 b2 b3 b4 ……
1 an an  4
sn-3 c1 c2 c3 c4 ……
b2  
an 1 an 1 an 5
. .
. . 1 an 1 an 3
. . c1  
s2 k1 k2 b1 b1 b2

s1 l1 1 an1 an5
c2  
s0 m1 b1 b1 b3
Q(s)  ansn  an1sn1  an2sn2  an3sn3  an4sn4   a1s  a0
Step#1: Find Closed Loop Transfer function

Step#2: Calculate the Routh Table

Step#3: Notice the sign changes in first column. No. of sign changes is equal to
the No. of roots in the RHP. In above system there are two sign changes in the first
column i.e. two poles in the RHP. Thus system is unstable
 Routh-Hurwitz
Criterion: Special
Case 1
(No Zero element in first column)
 Example1: (Case: 1) (No zero element in first column)

Interpreting the Basic Routh Table

–No. of sign changes in the first column = number of poles in RHP = 2
 Example2 (Case#1)

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
unstable
s0 +6 poles

–No. of sign changes in the first column = No. of unstable poles

 Next
Routh-Hurwitz
Criterion: Special
Case 2
(Zero element in first column)
Un-stable system
Example: (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

Q(s) = s5 + 2s4 + 2s3 + 4s2 + 11s + 10

11 2 1
s5 1 2 11 b1     (1x 4  2 x 2)  0
22 4 2
s4 2 4 10
1 an1 an3
then c1   
b1  0 b1 b2
s3 b
0  6
let b1   (very very small value )
1
12 4 1 12
s2 -12/ 10 then c1    (12  4) 
  6  
s1 6
s0 10
• Two sign changes whether ‘’ was
assumed +ve or –ve. 2-roots in RHS
Example_Case_2
Q(s) = s5 + s4 + 2s3 + 3s2 + s + 4

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.
 Next
Routh-Hurwitz
Criterion
Case 3
(All Element of a row are Zero
(Premature Termination )
Example: (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) = (s+1) (s2 + 2) = s3 + s2 + 2s + 2

s3 1 2
Aux Pol = s2 + 2
s2 1 2 d/ds(s2 + 2)
2s
s1 2 0 RHP=0
LHP=1
s0 2
IA = 2
What is Auxiliary Polynomial
Q(s) contains an even s2 1 1
polynomial as factor. An even s1 0
polynomial is one in which the s0
exponents of s are even Aux Pol = s2 + 1
integers or zero

This even polynomial is called s3 1 2

“Auxiliary Polynomial”
s2 1 2
In Routh array, coefficients of s1 0
“Aux Poly” are those directly s0
above the zero row. (See
examples above) Aux Pol = s2 + 2
Example: (Case: 3)

Ex. Q(s) = s4 + s3 + 3s2 + 2s + 2

s4 1 3 2

s3 1 2
Aux Pol = s2 + 2
s2 1 2 d/ds(s2 + 2)
2s
s1 2 0 RHP=0
LHP=2
s0 IA = 2
2
Example_Case_3
Q(s) = s5 +2s4 + 8s3 + 11s2 + 16s + 12

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 60
 Aux poly indicates roots on jw axis
s0 12 3s2 = -12 s2 = -4 s1,2=j2
Example Example_Case_3

s6 + s5 + 5s4 + s3 + 2s2 - 2s – 8
s6 1 5 2 -8

s5 1 1 -2

s4 4 4 -8 Aux Pol = 4s4 +4s2 + 8

d/ds(4s4 +4s2 +
8)
s3 16 0 8 0 16s3 +8s

RHP=1
s2 2 -8
LHP=3 or 1
s1 72
IA =2 or 4
s0 -8