Some Examples

Given a TF T(s)

T ( s) =

20 s8 + s 7 + 12s 6 + 22s 5 + 39s 4 + 59s 3 + 48s 2 + 38s + 20

Evaluate how many poles on the RHS, LHS and on the j axis.

Routh table

zeros on the s3 row so use auxiliary equation

Step 4: Go to the row above and form an auxiliary equation. The polynomial will start with the power of s from the label column, skipping every other power of s.

P(s) = s + 3s + 2 ; P(s) = s + 2 s + 1
4 2

)(

Step 5: Differentiate the auxiliary polynomial with respect to s

dP( s) = 4s3 + 6s + 0 ds

Two sign changes indicating 2 RHS poles There are 2 poles on the LHS of the splane (symmetry). Since the order of the characteristic equation is eight, the auxiliary equation gives 4 poles on the j axis

Example 2 Stability via Gain Adjustment

(a) For the system to be stable, all elements of (column 1) > 0, ie. no sign changes Therefore, K < 1386, 3 poles are on the LHS (b) If K > 1386, the 3rd element in the first column (s1 label) becomes ve. Therefore, there are 2 sign changes, 2 RHS poles and 1 LHS pole

If K = 1386, there is a row of zeros, signifying poles on the j axis

Go to the row above and form the auxiliary equation.

P( s) = 18s 2 + 1386
Step 5: Differentiate the auxiliary polynomial with respect to s

dP( s) = 36s + 0 ds
Replacing the zero with the coefficient 36, the Routh table is formed

There are no sign changes. However, solving the auxiliary equation, there are two poles on the imaginary axis and 1 on the LHS of the s-plane

18s 2 + 1386 = 0 s = j8.775

The system oscillates at 8.775 rad/s and is marginally stable

Feedback control system Example 3

Routh table

The system is unstable, 2 poles on the RHS ( due to 2 sign changes) and 2 on the LHS

Feedback control system Example 4

Routh table
Taking as a small +ve value and considering the first column, row 3 is +ve, row 4 is ve, row 5 is +ve. This means 2 sign changes. So 2 poles on the RHS and 3 on the LHS. System is UNSTABLE

Feedback control system Example 5

Routh table

P(s) = s + 8s + 32s + 64
6 4 2

dP (s ) = 6s 5 + 32s 3 + 64s ds

There are 2 sign changes from the s6 row so 2 RHS poles. Since the order of the auxiliary equation is even, from symmetry there will be 2 on the LHS. The remaining 2 must be on the j axis. The order of the characteristic polynomial is 8, so the remaining 2 more poles must be on the LHS. Total: 2 on the j axis, 4 on the LHS and 2 on the RHS. System is unstable.

Routh table for antenna control: Example 6

6.63K T ( s) = 3 s + 101.71s 2 + 171s + 6.63

For stability 0< K< 2623

Example 7

For a unity feedback system with forward TF, G( s) = find the range of K to ensure stability.

K ( s + 20) s( s + 2)( s + 3)