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MESB323
Chapter 7
Stability
7.1. Introduction
Stability is a very important aspect of control system. One of the main objectives of control
system is to achieve stability. If a system is not stable then the response will become
uncontrollable and the system will be unstable. In this topic we will learn about system stability
and how to determine whether a system is stable or unstable.
7.2. Definitions
There are two definitions of stability:
First Definition:
Based on total response of the system which we call 'Bounded Input Bound Output' (BIBO).
Second Definition:
Based on a natural response of the system due to initial condition.
Based on the first definition:
(a)
A Linear time invariant (LTI) system is considered to be stable if a bounded input yields
a bounded otput. Bounded mean the signal does not go out bounded.
(b)
A system is said to be stable, if the natural response of the system approaches zero as
time (t) approaches infinity ().
(b)
A system is said to be unstable if the natural response of the system approaches infinity
as time (t) approaches infinity ().
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(i)
Y ( s)
5
U (s) s 2
Transfer function
(pole is -2)
y(t) = output and u(t)= unit step input. The initial condition y(0) = 0.
1
Suppose u(t) =1, then U(s)= s ,then the output is
5
A
B
Y ( s)
s ( s 2) s s 2
y (t) = A + B e- 2t
Force response
Natural response
2 t
As t , Be 0 . Alternatively, output y(t) is bounded and the unit step input u(t) is also
bounded. Hence the system is stable.
Y ( s)
5
U (s) s 2
(pole is +2)
2 t
Case (i) above where as t , f (t ) 0 only happens if the closed loop poles of the system are
on the left half of the s plane, basically if the poles have negative real values.
Closed loop poles on the right half plane yields instability as shown in case (ii)
A system is stable if the closed loop poles are on the left hand half of the s-plane
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hand, if the poles are on the left half plane then all the coefficients of the C.E must have the
same sign.
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Example 7.1
For the closed loop transfer function given below, determine the stability of the system.
(a)
C (s)
5
3
R ( s ) 3s 2 s 2 3s 6
(b)
C (s)
5
3
R ( s ) 3s 2 s 2 3s 6
C (s)
5
3
2
(c) R ( s ) 3s 3s 3s 6
Solution:
3
2
(a) The C.E is (3) s (2) s (3) s (6) 0
In this case all the coefficients are not the same sign as the coefficient for s2 is negative
whereas all the other coefficients are all positive. Therefore this system does not satisfy the
necessary condition and it is not a stable system.
(c)
C (s)
5
3
R ( s ) 3s 3s 6
3
The C.E is 3s 3s 6 0
In this case all the coefficients are having the same sign but not all the coefficients are
present.
Coefficient for s2 is 0, therefore this is not a stable system. In order to check for stability, we
need to find the exact location of the closed loop poles. It is easy to find if the characteristic
equation is in the order of 2 or 3. However, it is very tedious when it comes to higher order
equation. In this case Routh-Hurwitz Criterion becomes very useful.
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Routh's Table:
Let the transfer function of closed loop system be T(s) where
T (s)
as c
b4 s b3 s b2 s 2 b1 s1 b0
4
(a) Start a column with the highest power of s in the C.E to s0.
s4
s3
s2
s1
s0
Table 7.1
(b) Fill the first row starting with the coefficient of the highest power of s followed by every
other coefficient in the C.E equation.
b4
s4
b2
b0
s
s2
s1
s0
Table 7.2
(c) Do the same for the next row starting with next highest power of s.
b4
b3
b2
b1
b0
0
a1
a2
a3
a4
a7
s
No more coefficients
a5
a8
a6
a9
s4
s
s2
s1
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Table 7.3
(d) Each entries of the column are actually the negative determinant of entries in the previous
two rows divided by the entry in the first column directly above the calculated row.
The left hand column of the determinant is always the first column of the two previous
rows.
The right hand column of the determinants is the elements column above and to the
right.
s4
s
b4
b3
s2
a1
s1
s0
b0
0
b2
b1
b4
b3
b2
b1
a2
b3
b3 b1
b b
1 2
a1
a4
a1 a2
a
0
4
a5
a4
b4
b3
b0
0
b3
b4 0
b 0
3
0
a3
b3
b3 0
a 0
1
0
a5
a1
b3 0
a 0
1
0
a6
a1
a1 0
a 0
4
0
a6
a4
a1
a4
a7
0
0
0
Table 7.4
Note: To find the determinant, we do a cross multiply as shown below:
b b
b b
a
b
b b b b
a
b
b b b b
b
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Example 7.2
Given a closed loop transfer function:
3s 1
T (s) 3
s 4s 2 s 6
(a)
Indicate how many poles are on the right half s plane and how many poles are on the left
half plane.
(b)
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Solution:
The characteristic equation:
CE = s3- 4s2 + s + 6 =0
By observation, we know that the system is unstable as the coefficients of the C.E are not having
the same signal. First we solve it the normal way where we locate the closed loop poles and then
we will verify this with Routh Hurwitz method. In this case we can do both ways as the order of
the C.E is only 3.
Setting C. E = 0 (We can locate the closed loop poles)
s3 -4s2 + s + 6 = (s - 2)(s + 1)(s - 3)=0
Therefore the poles are at
s = 2, s = -1 and s = 3
There are two poles on the right half s plane and one pole on the left half s-plane. This system is
definitely unstable.
Second Method: Routh Hurwitz Method
C.E=s3-4s2+s+6 =0
s3
s2
s1
s0
1
-4
a1=2.5
b1=6
1
6
a2=0
0
Table 7.5
Basically the table will be
s3
s2
s1
s0
1
-4 (1st sign change)
2.5 (2nd sign change)
6
1
6
0
Table 7.6
Routh Hurwitz criterion states the number of sign changes in the first column of the Routh
table indicates the number of poles on the right half s- plane. In the table above we can
observe there are two sign changes. Therefore there are two poles on the right half s plane and
another pole is on the left half s-plane. This is the same result that we found by solving the C.E
to obtain the closed loop poles. This system is unstable
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Example 7.3:
Given the closed loop transfer function of a system is T(s) where
3s 5
2
T(s) = 4 s 2 s 6 s 10 s 20
4
(i)
Indicate how many poles on the right half s plane and how many poles on the left half s
plane.
(ii)
s4
s3
s2
s1
s0
6
10
20
0
20
0
Table 7.8
(a)
From the Table 7.8, we can see that there are two sign changes therefore 2 poles on
the right half s-plane. Since this system supposed to have 4 poles (the denominator of
the system is 4th order) the other two poles are on the left half s plane.
(b)
The system is unstable as the system has poles on the right half s-plane.
7.3.1
There are two special cases that we need to consider while tabulating the Routh table.
1. The first element in anyone row of Routh's table is zero but others are not.
This case will be explained using Example 7.4
Example 7.4:
Given the closed loop transfer of a system
T (s)
2 s 2 3s 4
s 4 s 3 4s 2 4s 3
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Solution:
(a)
s4
s3
s2
s1
1
1
1(4 4)
a1
0
1
(3 0)
b1
0
?
4
4
(0 3)
a2
3
1
s0
Table 7.9
As we can see in the table above, the value of bl is undefined as a1 is zero. For cases like this
above where the first element in any one row is zero, the table can be completed by a replacing a
very small value which is called epsilon (). This can be taken as a very small positive value or
a very small negative value.
(b)
1
1
s0
(3 4 )
4
4
3
0
3
0
Table 7. 10
Since is a very small positive value, the sign in the first row of Table 6.10 is
+
s4
3
+
s
2
+
s
1
s
0
+
s
1 sign change
2 sign change
Table 7. 11
3
0
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(a)
From the table above, the two sign changes. Therefore there are two poles on the right
half s-plane and two poles on the left half s-plane. We will get the same result if we take
to be a very small negative value as shown below.
(b)
s4
s3
s2
s1
s0
Table 7.12
The results are just the same as in (ii) where a positive small value is used.
2. The second special case occurs when all elements in a row are zeros.
This indicates one or more of the following conditions:
(a) The equations has one pair of real roots with equal magnitude but opposite signs.
(b) The equation has one or more roots on the imaginary axis.
(c) The equation has complex conjugate roots forming symmetry at the origin.
Example 7.5:
Given a closed loop transfer function of a system
T (s)
203s
s s 10s 10 s 2 169 s 169
5
10
s5
s4
s3
s2
s1
s0
1
1
0
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10
10
0
169
169
0
Table 7.13
The situation with all zeros in the row like above is solved using auxiliary equation of P(s) = 0.
Auxiliary equation P(s) is formed from the coefficients of the row just before the row of zeros in
the Routh tabulation. For this case the row above the row of zeros have coefficient 1 for s4, 10
for s2 and 169 for s0.
Therefore:
P(s) = s4 + 10s2 +169s0
Take the differentiation of P(s) with respect to s
dP ( s )
4 s 3 20s 0
ds
dP ( s )
The coefficients of ds are filled replacing the row of zeros and the other elements are found
like usual using these values.
s5
s4
s3
s2
s1
s0
1
1
4
5
-115.2
169
10
10
20
169
11
169
169
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Table 7.14
(b) For this case, we have two consider the tables in two different parts in determining the
location of the closed loop transfer function. The first part will be from the beginning of the
table till the row before the row of zeros (ROZ). The second part will be a test of even
polynomial from the row before the row of zeros (ROZ) till the end of the table.
(i) For the first part we have:
+
+
s5
s4
1 pole
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s4
s3
s2
s1
s0
1 pole
2 pole
3 pole
4 pole
+
+
+
+
Other
Order 1
0
1
0
Even
Fourth Order
2
2
0
Total
Fifth Order
2
3
0
Table 7.17
The system is unstable since there are two poles on the right hand side of the s-plane.
Note: If there are no sign changes in the second part then there is no poles on the right half plane
which means there are no poles on left half plane as well (symmetry condition). Therefore all
the 4 poles will be on the imaginary axis.
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